This includes the signal strength

Makefile

@@ -1,3 +1,5 @@
 all:
 	mkdir -p bin
 	g++ examples/llv3.cpp src/lidarlite_v3.cpp -I . -o bin/llv3.out
+	g++ examples/llv3_2.cpp src/lidarlite_v3.cpp -I . -o bin/llv3_2.out
+	g++ examples/llv3_stream_all.cpp src/lidarlite_v3.cpp -I . -o bin/llv3_stream_all.out

examples/llv3.cpp

@@ -26,6 +26,7 @@ LIDARLite_v3 myLidarLite;
 int main()
 {
     __u16 distance;
+	__u16 signalstrength;
     __u8  busyFlag;
 
     // Initialize i2c peripheral in the cpu core
@@ -46,8 +47,9 @@ int main()
             // This method will result in faster I2C rep rates.
             myLidarLite.takeRange();
             distance = myLidarLite.readDistance();
+			signalstrength = myLidarLite.readsignalstrength();
 
-            printf("%4d\n", distance);
+            printf("%4d,%4d\n", distance,signalstrength);
         }
     }
 }

examples/llv3_2.cpp

@@ -0,0 +1,119 @@
+/*------------------------------------------------------------------------------
+  This example illustrates how to use the LIDAR-Lite library to gain quick
+  access to the basic functions of LIDAR-Lite via the Raspberry Pi interface.
+  Additionally, it provides users of any platform with a template for their
+  own application code.
+
+  Copyright (c) 2019 Garmin Ltd. or its subsidiaries.
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+  http://www.apache.org/licenses/LICENSE-2.0
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+------------------------------------------------------------------------------*/
+
+#include <linux/types.h>
+#include <cstdio>
+
+#include <include/lidarlite_v3.h>
+
+LIDARLite_v3 myLidarLite;
+
+int main()
+{
+    __u16 distance;
+	__u16 signalstrength;
+    __u8  busyFlag;
+	//__u32 distance1;
+	//__u32 signalstrength1;
+	double distance1;
+	double signalstrength1;
+	double i_avg;
+	int i;
+	i_avg = 25;
+	i = -1;
+	distance1 = 0;
+	signalstrength1 = 0;
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Optionally configure LIDAR-Lite
+    myLidarLite.configure(0);
+
+
+    while(1)
+    {
+        // Each time through the loop, check BUSY
+        busyFlag = myLidarLite.getBusyFlag();
+
+        if (busyFlag == 0x00)
+        {
+			i = i + 1;
+            // When no longer busy, immediately initialize another measurement
+            // and then read the distance data from the last measurement.
+            // This method will result in faster I2C rep rates.
+            myLidarLite.takeRange();
+            distance = myLidarLite.readDistance();
+			signalstrength = myLidarLite.readsignalstrength();
+			//distance1 = distance1 + (double)distance/100;
+			//signalstrength1 = signalstrength1 + (double)signalstrength/100;
+			//printf("%4d,%4d\n", distance, signalstrength);
+
+			distance1 		= distance1 		+ 	((double)distance)/i_avg;
+			signalstrength1 = signalstrength1 	+ 	((double)signalstrength)/i_avg;
+			//printf("%d,%d\n", distance1, signalstrength1);
+
+			if (i>i_avg-1){
+				//printf("%d,%d\n", distance1, signalstrength1);
+				printf("%f,%f\n", distance1, signalstrength1);
+				fflush(stdout);
+				i = -1;
+
+				distance1 = 0;
+				signalstrength1 = 0;
+			}
+
+
+
+        }
+    }
+}
+
+
+/*
+ * ================================================================
+ * The set of instructions below illustrates one method of setting
+ * an alternate I2C device address in the LIDAR-Lite v3. See the
+ * operator manual and C++ libraries for further details.
+ * ================================================================
+ */
+
+/*
+#define i2cSecondaryAddr 0x44  // Set I2C address of LIDAR-Lite v3 to 0x44
+
+int main()
+{
+    __u16 distance;
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Set an alternate i2c address in the LIDAR-Lite
+    // The 2nd argument, if non-zero, disables the default addr 0x62
+    myLidarLite.setI2Caddr(i2cSecondaryAddr, true);
+
+    while(1)
+    {
+        myLidarLite.waitForBusy(i2cSecondaryAddr);
+        myLidarLite.takeRange(i2cSecondaryAddr);
+        distance      = myLidarLite.readDistance(i2cSecondaryAddr);
+
+        printf("%4d\n", distance);
+    }
+}
+*/

examples/llv3_stream_all.cpp

@@ -0,0 +1,59 @@
+/*------------------------------------------------------------------------------
+  This example illustrates how to use the LIDAR-Lite library to gain quick
+  access to the basic functions of LIDAR-Lite via the Raspberry Pi interface.
+  Additionally, it provides users of any platform with a template for their
+  own application code.
+
+  Copyright (c) 2019 Garmin Ltd. or its subsidiaries.
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+  http://www.apache.org/licenses/LICENSE-2.0
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+------------------------------------------------------------------------------*/
+
+#include <linux/types.h>
+#include <cstdio>
+
+#include <include/lidarlite_v3.h>
+
+LIDARLite_v3 myLidarLite;
+
+int main()
+{
+    __u16 distance;
+	__u16 signalstrength;
+    __u8  busyFlag;
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Optionally configure LIDAR-Lite
+    myLidarLite.configure(0);
+
+
+    while(1)
+    {
+        // Each time through the loop, check BUSY
+        busyFlag = myLidarLite.getBusyFlag();
+
+        if (busyFlag == 0x00)
+        {
+            // When no longer busy, immediately initialize another measurement
+            // and then read the distance data from the last measurement.
+            // This method will result in faster I2C rep rates.
+            myLidarLite.takeRange();
+            distance = myLidarLite.readDistance();
+			signalstrength = myLidarLite.readsignalstrength();
+
+			printf("%d,%d\n", distance, signalstrength);
+			fflush(stdout);
+        }
+    }
+}
+
+

include/lidarlite_v3.h

@@ -28,6 +28,7 @@
 #define LLv3_STATUS        0x01
 #define LLv3_SIG_CNT_VAL   0x02
 #define LLv3_ACQ_CONFIG    0x04
+#define LLv3_SIGNAL_STR    0x0e
 #define LLv3_DISTANCE      0x0f
 #define LLv3_REF_CNT_VAL   0x12
 #define LLv3_UNIT_ID_HIGH  0x16
@@ -50,6 +51,7 @@ class LIDARLite_v3
         void      configure   (__u8 configuration = 0, __u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
         void      setI2Caddr  (__u8 newAddress, __u8 disableDefault, __u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
         __u16     readDistance(__u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
+		__u16     readsignalstrength(__u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
         void      waitForBusy (__u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
         __u8      getBusyFlag (__u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);
         void      takeRange   (__u8 lidarliteAddress = LIDARLITE_ADDR_DEFAULT);

src/lidarlite_v3.cpp

@@ -275,6 +275,27 @@ __u16 LIDARLite_v3::readDistance(__u8 lidarliteAddress)
     return ((distBytes[0] << 8) | distBytes[1]);
 } /* LIDARLite_v3::readDistance */
 
+/*------------------------------------------------------------------------------
+  Read Signal Strength
+  Read and return result of signal strength measurement.
+
+  Parameters
+  ------------------------------------------------------------------------------
+  lidarliteAddress: Default 0x62. Fill in new address here if changed. See
+    operating manual for instructions.
+------------------------------------------------------------------------------*/
+__u16 LIDARLite_v3::readsignalstrength(__u8 lidarliteAddress)
+{
+    __u8  strengthBytes[2] = {0};
+
+    // Read two bytes from register 0x0f and 0x10 (autoincrement)
+    i2cRead((LLv3_SIGNAL_STR | 0x80), strengthBytes, 2, lidarliteAddress);
+
+    // Shift high byte and OR in low byte
+    return ((strengthBytes[0] << 8) | strengthBytes[1]);
+} /* LIDARLite_v3::readsignalstrength */
+
+
 /*------------------------------------------------------------------------------
   Write
   Perform I2C write to device.