RT-Thread-[24 Embedded Design Competition] LIDAR framework Infineon PSOC6RT-Thread问答社区

[24 Embedded Design Competition] LIDAR framework Infineon PSOC6

发布于 2024-09-19 10:16:41 浏览：173 订阅该版

The integration of the TF-LUNA Micro LiDAR Distance Sensor with the TLV493D-A1B6 MS2GO 3D magnetic sensor offers a unique way to enhance spatial awareness and environmental sensing. With the TF-LUNA providing precise distance measurements and the TLV493D capturing orientation and magnetic field data, this setup combines both linear and directional sensing capabilities in a single system. Traditional LiDAR systems focus solely on distance, while magnetic sensors detect changes in orientation. By combining these two technologies, the system can detect objects in 3D space with a high degree of precision, while also monitoring the sensor's orientation, thus allowing it to capture dynamic changes in an environment. This makes it ideal for IoT applications, robotics, interactive environments, and automation systems where both position and orientation are vital.

![IMG_20241029_075805.jpg](https://oss-club.rt-thread.org/uploads/20241030/5d52b419af66a2d9cfeb1bea39e6cde3.jpg.webp)

Solid-State LiDAR constitutes a variant of light detection and ranging (LiDAR) technology, distinguished by its independence from mechanical moving components for measurements and scanning. Utilizing optoelectronic devices and phase control techniques, Solid-State LiDAR governs emitted and received laser pulses, thereby facilitating distance and depth measurements of target objects and subsequently generating three-dimensional spatial information.

Although the operational principles of Solid-State LiDAR resemble those of traditional LiDAR systems, which calculate distance by emitting and receiving reflected laser pulses, the former diverges in its implementation. Rather than relying on mechanical rotation for laser beam scanning, Solid-State LiDAR employs electronic means to control and direct the laser beams, obviating the need for mechanical movement.

Configuring and Setup of PSOC6

![TF-Luna-Pinout.jpeg](https://oss-club.rt-thread.org/uploads/20241030/f9a7732b546c0328f76910bc8658931e.jpeg)

| Number  | Function  |  Description |
| ------------ | ------------ | ------------ |
| 1  |  5V |  Power input  |
| 2 | RXD/SDA   | Receive/Data   |
| 3 | TXD/SCL   |  Transmit/Clock  |
| 4  | GND   | Ground  |
| 5  |  Interface Input Configuration  | Ground: boot it in I2C mode.NC or connected to 3.3V: start in serial mode   |
| 6 |  Multiplexed Output  |  Switching mode function: Switching output I2C mode and switch mode off: data ready indication  |

![IMG_20241029_080416.jpg](https://oss-club.rt-thread.org/uploads/20241030/3ad0f455e8c71c9eedcde4332286b112.jpg.webp)

```c
Magnet Sensor
///
#ifndef TLI493_W2BW_H
#define TLI493_W2BW_H

#include "cyhal.h"
#include "cybsp.h"
#include "FreeRTOS.h"
#include "task.h"
#include "cybsp.h"
#include "semphr.h"

/*
* @brief Initialize the magentic sensor 
* 
* @param i2c The i2c handle
* @param cb The callback for new measurements
*
* @return the result
*/
cy_rslt_t init_sensor(cyhal_i2c_t *i2c, cyhal_gpio_event_callback_t cb);

/*
* @brief Update the mag values
* 
* @param i2c The i2c handle
*/
void update_mag_vals(cyhal_i2c_t *i2c);

/*
* @brief Get X magnitude
* 
* @return X magnitude
*/
float get_X();
/*
* @brief Get X magnitude
* 
* @return X magnitude
*/
float get_Y();
/*
* @brief Get Y magnitude
* 
* @return Y magnitude
*/
float get_Z();
/*
* @brief Get Z magnitude
* 
* @return Z magnitude
*/
float get_R();
/*
* @brief Get R magnitude
* 
* @return R magnitude
*/
float get_T();
/*
* @brief Get T temperature
* 
* @return T 
*/
float get_N();
/*
* @brief Get azimuth
* 
* @return amazimuth
*/
float get_azimuth();
/*
* @brief Get polar
* 
* @return polar
*/
float get_polar();

#endif
///
```
TLV493D-A1B6 MS2GO

Combining distance data from the TF-LUNA with the directional sensing from the TLV493D-A1B6 creates a more precise and oriented map of surroundings. This can be invaluable in robotics for navigation, obstacle detection, and path planning, where spatial awareness and orientation are crucial.