YDLIDAR SCL works

kaiaai · Aug 21, 2024 · 075c85b · 075c85b
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diff --git a/README.md b/README.md
@@ -6,7 +6,7 @@ and read this [blog post](https://kaia.ai/blog/arduino-lidar-library/) for more
 Please visit the [Support Forum](https://github.com/makerspet/support/discussions/)!
 
 This library supports:
-- YDLIDAR X4, X3, X3-PRO, X2/X2L models
+- YDLIDAR X4, X3, X3-PRO, X2/X2L, SCL models
 - SLAMTEC RPLIDAR A1
 - Neato XV11/Botvac
 - Xiaomi Roborock Mi 1st gen LDS02RR
@@ -19,6 +19,11 @@ Other models are in the works.
 
 ![LDS_collection_labeled_v3](https://github.com/kaiaai/LDS/assets/33589365/7b6a6a6f-a27c-45de-99c9-9e60d17b4d14)
 
+### Video: YDLIDAR SCL runs on Arduino, ROS2
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=7mj5hnlwmx4" target="_blank">
+ <img src="http://img.youtube.com/vi/7mj5hnlwmx4/maxresdefault.jpg" alt="YDLIDAR SCL laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
+</a>
+
 ### Video: Neato XV11 runs on Arduino, ROS2
 <a href="http://www.youtube.com/watch?feature=player_embedded&v=kfk1Q0RSJpI" target="_blank">
  <img src="http://img.youtube.com/vi/kfk1Q0RSJpI/maxresdefault.jpg" alt="Neato XV11 laser distance scan sensor runs on Arduino, ROS2" width="720" height="405" border="10" />
@@ -74,6 +79,9 @@ Some LiDAR/LDS models do not have built-in motor control and therefore require a
 
 ## Release notes
 
+## v0.5.6
+- added YDLIDAR SCL
+
 ## v0.5.5
 - compilation bugfix
 

diff --git a/keywords.txt b/keywords.txt
@@ -11,6 +11,7 @@ LDS_YDLIDAR_X4	KEYWORD1
 LDS_YDLIDAR_X3	KEYWORD1
 LDS_YDLIDAR_X3_PRO	KEYWORD1
 LDS_YDLIDAR_X2_X2L	KEYWORD1
+LDS_YDLIDAR_SCL	KEYWORD1
 LDS_NEATO_X11	KEYWORD1
 LDS_LDS02RR	KEYWORD1
 LDS_RPLIDAR_A1	KEYWORD1

diff --git a/library.properties b/library.properties
@@ -1,9 +1,9 @@
 name=LDS
-version=0.5.5
+version=0.5.6
 author=Ilia O. <iliao@kaia.ai>
 maintainer=Ilia O. <iliao@kaia.ai>
 sentence=Laser distance scan sensors (LDS/LIDAR) wrapper/controller for kaia.ai robotics platform
-paragraph=Supports YDLIDAR X4, X3, X3 PRO, X2/X2L; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2G, -2A 115000; LDROBOT LD14P; CAMSENSE X1
+paragraph=Supports YDLIDAR X4, X3, X3 PRO, X2/X2L, SCL; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2G, -2A 115000; LDROBOT LD14P; CAMSENSE X1
 category=Sensors
 url=https://github.com/kaiaai/LDS
 architectures=*
diff --git a/src/LDS_YDLIDAR_SCL.cpp b/src/LDS_YDLIDAR_SCL.cpp
@@ -273,9 +273,9 @@ LDS::result_t LDS_YDLIDAR_SCL::waitScanDot() {
     if (CheckSumResult == true) {
       int32_t AngleCorrectForDistance = 0;
       point = package_scl.packageSampleDistance[package_Sample_Index];
-      node.distance_mm = (point.distance0 >> 2) + (point.distance1 << 8);
+      node.distance_mm = (point.distance_lsb >> 2) + (point.distance_msb << 6);
       node.intensity = point.intensity;
-      node.quality_flag = point.distance0 && 0x03;
+      node.quality_flag = point.distance_lsb && 0x03;
 
       if (node.distance_mm != 0) {
         AngleCorrectForDistance = (int32_t)(atan(17.8f/((float)node.distance_mm))*3666.929888837269f); // *64*360/2/pi

diff --git a/src/LDS_YDLIDAR_SCL.h b/src/LDS_YDLIDAR_SCL.h
@@ -50,8 +50,8 @@ class LDS_YDLIDAR_SCL : public LDS_YDLIDAR_X4 {
 
     struct cloud_point_scl_t {
       uint8_t intensity;
-      uint8_t distance0;
-      uint8_t distance1;
+      uint8_t distance_lsb;
+      uint8_t distance_msb;
     } __attribute__((packed));
 
     struct node_package_scl_t {