RpLidar A1 Rust Implementation

This project contains a Rust-based implementation for interfacing with the RpLidar A1 device using a Raspbery Pi.

RpLidarA1: RpLidar Struct Implementation

• This file defines a RpLidarA1 struct that handles motor control and UART communication with the RpLidar A1 device.
• It contains methods for sending commands, starting scans, and continuously reading data from the LIDAR.
• The LIDAR commands are encapsulated in a Command enum, which includes common operations such as Stop, Scan, GetInfo, and more.
• Main features include:
  • send_command: Sends a command to the LIDAR.
  • run_with_callback: Starts the LIDAR scan and pipes data to a callback function for further processing.

hello_lidar: Example Implementation for Using RpLidar A1 on a Raspberry Pi

• This file is an example implementation that demonstrates how to initialize the LIDAR on a Raspberry Pi.
• The code uses the rppal crate to interface with the GPIO and UART pins, setting up UART communication at a baud rate of 115,200.
• The run_with_callback method from RpLidarA1 is used to handle incoming LIDAR data and parse it using a custom callback, parse_scan_data.
• parse_scan_data function extracts the following information from LIDAR data:
  • Quality of the measurement.
  • Angle in degrees.
  • Distance in millimeters.
• Only valid measurements are printed to the console for readability.

Setup Requirements

• Hardware: Raspberry Pi with connected RpLidar A1 device.
• Software: rppal crate for GPIO and UART communication.
• Pins: The LIDAR motor control should be connected to GPIO pin 18, and UART Rx/Tx pins should be connected to the LIDAR.

How to Use

1. Compile the project using cargo build.
2. Run the example using cargo run --example hello_lidar.
3. Ensure that the LIDAR motor pin is connected, and the UART Rx/Tx pins are correctly set up.