├── .gitignore ├── Firmware ├── README.md ├── lidar4_main_code │ ├── EWARM │ │ ├── Output │ │ │ └── Exe │ │ │ │ └── lidar4_main_code.hex │ │ ├── Project.dep │ │ ├── Project.ewd │ │ ├── Project.ewp │ │ ├── Project.ewt │ │ ├── Project.eww │ │ ├── settings │ │ │ ├── Project.STM32F030.driver.xcl │ │ │ ├── Project.STM32F030.general.xcl │ │ │ ├── Project.STM32F051.driver.xcl │ │ │ ├── Project.STM32F051.general.xcl │ │ │ ├── Project.crun │ │ │ ├── Project.dbgdt │ │ │ ├── Project.dni │ │ │ ├── Project.wsdt │ │ │ └── Project.wspos │ │ └── stm32f030F4P6.icf │ ├── StdPeriphLib │ │ ├── inc │ │ │ ├── stm32f0xx.h │ │ │ ├── stm32f0xx_adc.h │ │ │ ├── stm32f0xx_can.h │ │ │ ├── stm32f0xx_cec.h │ │ │ ├── stm32f0xx_comp.h │ │ │ ├── stm32f0xx_crc.h │ │ │ ├── stm32f0xx_crs.h │ │ │ ├── stm32f0xx_dac.h │ │ │ ├── stm32f0xx_dbgmcu.h │ │ │ ├── stm32f0xx_dma.h │ │ │ ├── stm32f0xx_exti.h │ │ │ ├── stm32f0xx_flash.h │ │ │ ├── stm32f0xx_gpio.h │ │ │ ├── stm32f0xx_i2c.h │ │ │ ├── stm32f0xx_iwdg.h │ │ │ ├── stm32f0xx_misc.h │ │ │ ├── stm32f0xx_pwr.h │ │ │ ├── stm32f0xx_rcc.h │ │ │ ├── stm32f0xx_rtc.h │ │ │ ├── stm32f0xx_spi.h │ │ │ ├── stm32f0xx_syscfg.h │ │ │ ├── stm32f0xx_tim.h │ │ │ ├── stm32f0xx_usart.h │ │ │ └── stm32f0xx_wwdg.h │ │ └── src │ │ │ ├── stm32f0xx_adc.c │ │ │ ├── stm32f0xx_can.c │ │ │ ├── stm32f0xx_cec.c │ │ │ ├── stm32f0xx_comp.c │ │ │ ├── stm32f0xx_crc.c │ │ │ ├── stm32f0xx_crs.c │ │ │ ├── stm32f0xx_dac.c │ │ │ ├── stm32f0xx_dbgmcu.c │ │ │ ├── stm32f0xx_dma.c │ │ │ ├── stm32f0xx_exti.c │ │ │ ├── stm32f0xx_flash.c │ │ │ ├── stm32f0xx_gpio.c │ │ │ ├── stm32f0xx_i2c.c │ │ │ ├── stm32f0xx_iwdg.c │ │ │ ├── stm32f0xx_misc.c │ │ │ ├── stm32f0xx_pwr.c │ │ │ ├── stm32f0xx_rcc.c │ │ │ ├── stm32f0xx_rtc.c │ │ │ ├── stm32f0xx_spi.c │ │ │ ├── stm32f0xx_syscfg.c │ │ │ ├── stm32f0xx_tim.c │ │ │ ├── stm32f0xx_usart.c │ │ │ └── stm32f0xx_wwdg.c │ ├── encoder_handler.c │ ├── encoder_handler.h │ ├── image_processing.c │ ├── image_processing.h │ ├── init_periph.c │ ├── init_periph.h │ ├── laser_handler.c │ ├── laser_handler.h │ ├── main.c │ ├── main.h │ ├── startup_stm32f030.s │ ├── stm32f0xx_conf.h │ ├── stm32f0xx_it.c │ ├── stm32f0xx_it.h │ ├── system_stm32f0xx.c │ ├── system_stm32f0xx.h │ ├── uart_handler.c │ └── uart_handler.h ├── test1_capture_image │ ├── EWARM │ │ ├── Project.dep │ │ ├── Project.ewd │ │ ├── Project.ewp │ │ ├── Project.ewt │ │ ├── Project.eww │ │ ├── settings │ │ │ ├── Project.STM32F030.driver.xcl │ │ │ ├── Project.STM32F030.general.xcl │ │ │ ├── Project.STM32F051.driver.xcl │ │ │ ├── Project.STM32F051.general.xcl │ │ │ ├── Project.crun │ │ │ ├── Project.dbgdt │ │ │ ├── Project.dni │ │ │ ├── Project.wsdt │ │ │ └── Project.wspos │ │ └── stm32f030F4P6.icf │ ├── StdPeriphLib │ │ ├── inc │ │ │ ├── stm32f0xx.h │ │ │ ├── stm32f0xx_adc.h │ │ │ ├── stm32f0xx_can.h │ │ │ ├── stm32f0xx_cec.h │ │ │ ├── stm32f0xx_comp.h │ │ │ ├── stm32f0xx_crc.h │ │ │ ├── stm32f0xx_crs.h │ │ │ ├── stm32f0xx_dac.h │ │ │ ├── stm32f0xx_dbgmcu.h │ │ │ ├── stm32f0xx_dma.h │ │ │ ├── stm32f0xx_exti.h │ │ │ ├── stm32f0xx_flash.h │ │ │ ├── stm32f0xx_gpio.h │ │ │ ├── stm32f0xx_i2c.h │ │ │ ├── stm32f0xx_iwdg.h │ │ │ ├── stm32f0xx_misc.h │ │ │ ├── stm32f0xx_pwr.h │ │ │ ├── stm32f0xx_rcc.h │ │ │ ├── stm32f0xx_rtc.h │ │ │ ├── stm32f0xx_spi.h │ │ │ ├── stm32f0xx_syscfg.h │ │ │ ├── stm32f0xx_tim.h │ │ │ ├── stm32f0xx_usart.h │ │ │ └── stm32f0xx_wwdg.h │ │ └── src │ │ │ ├── stm32f0xx_adc.c │ │ │ ├── stm32f0xx_can.c │ │ │ ├── stm32f0xx_cec.c │ │ │ ├── stm32f0xx_comp.c │ │ │ ├── stm32f0xx_crc.c │ │ │ ├── stm32f0xx_crs.c │ │ │ ├── stm32f0xx_dac.c │ │ │ ├── stm32f0xx_dbgmcu.c │ │ │ ├── stm32f0xx_dma.c │ │ │ ├── stm32f0xx_exti.c │ │ │ ├── stm32f0xx_flash.c │ │ │ ├── stm32f0xx_gpio.c │ │ │ ├── stm32f0xx_i2c.c │ │ │ ├── stm32f0xx_iwdg.c │ │ │ ├── stm32f0xx_misc.c │ │ │ ├── stm32f0xx_pwr.c │ │ │ ├── stm32f0xx_rcc.c │ │ │ ├── stm32f0xx_rtc.c │ │ │ ├── stm32f0xx_spi.c │ │ │ ├── stm32f0xx_syscfg.c │ │ │ ├── stm32f0xx_tim.c │ │ │ ├── stm32f0xx_usart.c │ │ │ └── stm32f0xx_wwdg.c │ ├── init_periph.c │ ├── init_periph.h │ ├── main.c │ ├── main.h │ ├── startup_stm32f030.s │ ├── stm32f0xx_conf.h │ ├── stm32f0xx_it.c │ ├── stm32f0xx_it.h │ ├── system_stm32f0xx.c │ ├── system_stm32f0xx.h │ ├── uart_handler.c │ └── uart_handler.h ├── test2_capture_image │ ├── EWARM │ │ ├── Project.dep │ │ ├── Project.ewd │ │ ├── Project.ewp │ │ ├── Project.ewt │ │ ├── Project.eww │ │ └── stm32f030F4P6.icf │ ├── README.md │ ├── init_periph.c │ ├── init_periph.h │ ├── main.c │ ├── main.h │ ├── startup_stm32f030.s │ ├── stm32f0xx_conf.h │ ├── stm32f0xx_it.c │ ├── stm32f0xx_it.h │ ├── system_stm32f0xx.c │ ├── system_stm32f0xx.h │ ├── uart_handler.c │ └── uart_handler.h └── test_encoder_blinking │ ├── EWARM │ ├── Output │ │ ├── Exe │ │ │ └── test_encoder_blinking.hex │ │ └── Obj │ │ │ └── Project.pbd │ ├── Project.dep │ ├── Project.ewd │ ├── Project.ewp │ ├── Project.ewt │ ├── Project.eww │ ├── settings │ │ ├── Project.STM32F030.driver.xcl │ │ ├── Project.STM32F030.general.xcl │ │ ├── Project.STM32F051.driver.xcl │ │ ├── Project.STM32F051.general.xcl │ │ ├── Project.crun │ │ ├── Project.dbgdt │ │ ├── Project.dni │ │ ├── Project.wsdt │ │ └── Project.wspos │ └── stm32f030F4P6.icf │ ├── StdPeriphLib │ ├── inc │ │ ├── stm32f0xx.h │ │ ├── stm32f0xx_adc.h │ │ ├── stm32f0xx_can.h │ │ ├── stm32f0xx_cec.h │ │ ├── stm32f0xx_comp.h │ │ ├── stm32f0xx_crc.h │ │ ├── stm32f0xx_crs.h │ │ ├── stm32f0xx_dac.h │ │ ├── stm32f0xx_dbgmcu.h │ │ ├── stm32f0xx_dma.h │ │ ├── stm32f0xx_exti.h │ │ ├── stm32f0xx_flash.h │ │ ├── stm32f0xx_gpio.h │ │ ├── stm32f0xx_i2c.h │ │ ├── stm32f0xx_iwdg.h │ │ ├── stm32f0xx_misc.h │ │ ├── stm32f0xx_pwr.h │ │ ├── stm32f0xx_rcc.h │ │ ├── stm32f0xx_rtc.h │ │ ├── stm32f0xx_spi.h │ │ ├── stm32f0xx_syscfg.h │ │ ├── stm32f0xx_tim.h │ │ ├── stm32f0xx_usart.h │ │ └── stm32f0xx_wwdg.h │ └── src │ │ ├── stm32f0xx_adc.c │ │ ├── stm32f0xx_can.c │ │ ├── stm32f0xx_cec.c │ │ ├── stm32f0xx_comp.c │ │ ├── stm32f0xx_crc.c │ │ ├── stm32f0xx_crs.c │ │ ├── stm32f0xx_dac.c │ │ ├── stm32f0xx_dbgmcu.c │ │ ├── stm32f0xx_dma.c │ │ ├── stm32f0xx_exti.c │ │ ├── stm32f0xx_flash.c │ │ ├── stm32f0xx_gpio.c │ │ ├── stm32f0xx_i2c.c │ │ ├── stm32f0xx_iwdg.c │ │ ├── stm32f0xx_misc.c │ │ ├── stm32f0xx_pwr.c │ │ ├── stm32f0xx_rcc.c │ │ ├── stm32f0xx_rtc.c │ │ ├── stm32f0xx_spi.c │ │ ├── stm32f0xx_syscfg.c │ │ ├── stm32f0xx_tim.c │ │ ├── stm32f0xx_usart.c │ │ └── stm32f0xx_wwdg.c │ ├── init_periph.c │ ├── init_periph.h │ ├── main.c │ ├── main.h │ ├── startup_stm32f030.s │ ├── stm32f0xx_conf.h │ ├── stm32f0xx_it.c │ ├── stm32f0xx_it.h │ ├── system_stm32f0xx.c │ └── system_stm32f0xx.h ├── LICENSE ├── Mechanics ├── 3D_models │ ├── holder_v1.0.stl │ ├── holder_v1.0.stp │ ├── laser_holder1_step.stp │ ├── laser_holder_v1.0.stl │ ├── plate_for_cut.stp │ ├── plate_for_cut_v1.0.stl │ ├── plate_for_printing.stp │ └── plate_for_printing_v1.0.stl ├── Base_plate │ ├── base_plate.dxf │ └── base_plate.png ├── Encoder_ring │ ├── Encoder_ring.dxf │ └── Encoder_ring.png └── laser_angle.png ├── Misc ├── Laser_alignment.png ├── Photo_of_LIDAR1.jpg ├── Pictures │ ├── installing_sensor.jpg │ ├── installing_slip_ring.jpg │ ├── laser.jpg │ ├── laser_holder.jpg │ ├── laser_holder_installed.jpg │ ├── laser_installed.jpg │ ├── lens_installed.jpg │ ├── pcb_assembled.JPG │ ├── pcb_electronics.jpg │ ├── pcb_holder1.jpg │ ├── pcb_holder2.JPG │ ├── pcb_holder_and_encoder.jpg │ ├── pic1.png │ ├── pic2.png │ └── pic3.png ├── RobotStructure.png ├── filter_photo.jpg ├── finding_sensor_active_zone.png ├── hector_slam_map_test1.png ├── interference_filter.png ├── optics1.png └── test_laser_on.jpg ├── PCB ├── CommonPCB_v1.1M │ ├── Gerber_files_v1.1M │ │ ├── PCB1.GBL │ │ ├── PCB1.GBO │ │ ├── PCB1.GBS │ │ ├── PCB1.GKO │ │ ├── PCB1.GTL │ │ ├── PCB1.GTO │ │ ├── PCB1.GTS │ │ ├── PCB1.TXT │ │ └── PCB1.apr │ ├── PCB_BOM.xlsx │ ├── PCB_assembly_bottom_v1.1M.png │ ├── PCB_assembly_top_v1.1M.png │ ├── Project │ │ ├── Lidar_PCB_Project.PrjPcb │ │ ├── Lidar_PCB_Project.PrjPcbStructure │ │ ├── PCB1.PcbDoc │ │ ├── Readme.txt │ │ ├── lidar4_sch.SchDoc │ │ └── motor_sch.SchDoc │ ├── Schematic_main_v1_1M.png │ └── Schematic_motor_v1.1M.png ├── CommonPCB_v1.2 │ ├── Gerber_files_v1.2 │ │ ├── PCB1.GBL │ │ ├── PCB1.GBO │ │ ├── PCB1.GBS │ │ ├── PCB1.GKO │ │ ├── PCB1.GTL │ │ ├── PCB1.GTO │ │ ├── PCB1.GTS │ │ └── PCB1.TXT │ ├── PCB_BOM.xlsx │ ├── PCB_assembly_bottom_v1.2.png │ ├── PCB_assembly_top_v1.2.png │ ├── Project │ │ ├── Lidar_PCB_Project.PrjPcb │ │ ├── Lidar_PCB_Project.PrjPcbStructure │ │ ├── PCB1.PcbDoc │ │ ├── Readme.txt │ │ ├── lidar4_sch.SchDoc │ │ └── motor_sch.SchDoc │ ├── Schematic_main_v1_2.png │ └── Schematic_motor_v1.2.png ├── CommonPCB_v1.2M │ ├── Gerber_files_v1.2M │ │ ├── PCB1.GBL │ │ ├── PCB1.GBO │ │ ├── PCB1.GBS │ │ ├── PCB1.GKO │ │ ├── PCB1.GTL │ │ ├── PCB1.GTO │ │ ├── PCB1.GTS │ │ └── PCB1.TXT │ ├── PCB_BOM.xlsx │ ├── PCB_top_v1.2M.png │ ├── Project │ │ ├── Lidar_PCB_Project.PrjPcb │ │ ├── Lidar_PCB_Project.PrjPcbStructure │ │ ├── PCB1.PcbDoc │ │ ├── lidar4_sch.SchDoc │ │ └── motor_sch.SchDoc │ ├── Readme.txt │ ├── Schematic_main_v1_2.png │ └── Schematic_motor_v1.2.png ├── README.md └── SplittedPCB_v1.0_and_v1.1 │ ├── MainPCB │ ├── Gerber_files_v1.0 │ │ ├── PCB1.GBL │ │ ├── PCB1.GBO │ │ ├── PCB1.GBS │ │ ├── PCB1.GKO │ │ ├── PCB1.GTL │ │ ├── PCB1.GTO │ │ ├── PCB1.GTS │ │ └── PCB1_drill.TXT │ ├── Gerber_files_v1.1 │ │ ├── PCB1.GBL │ │ ├── PCB1.GBO │ │ ├── PCB1.GBS │ │ ├── PCB1.GKO │ │ ├── PCB1.GTL │ │ ├── PCB1.GTO │ │ ├── PCB1.GTS │ │ └── PCB1_drill.TXT │ ├── PCB_BOM.xlsx │ ├── PCB_assemply__bottom_v1.1.png │ ├── PCB_assemply_top_v1.1.png │ ├── README.txt │ ├── Schematic_v1.png │ └── Schematic_v1_1.png │ └── MotorPCB_v1.0 │ ├── BottomView.png │ ├── PCB │ ├── motor_pcb2_copper_bottom.gbr │ ├── motor_pcb2_silkscreen_bottom.gbr │ ├── motor_pcb2_smdmask_bottom.gbr │ └── motor_pcb2_soldermask_bottom.gbr │ └── PCB_Connections.png ├── PC_utility ├── LidarRawDataCapture.exe ├── LidarRawDataCapture.png ├── LidarScanningTest │ ├── LidarScanningTest1 │ │ ├── App.config │ │ ├── DataAnalyseClass.cs │ │ ├── Form1.Designer.cs │ │ ├── Form1.cs │ │ ├── Form1.resx │ │ ├── LidarScanningTest1.csproj │ │ ├── LidarScanningTest1.sln │ │ ├── Program.cs │ │ ├── Properties │ │ │ ├── AssemblyInfo.cs │ │ │ ├── Resources.Designer.cs │ │ │ ├── Resources.resx │ │ │ ├── Settings.Designer.cs │ │ │ └── Settings.settings │ │ ├── RadarPlotComponent.Designer.cs │ │ ├── RadarPlotComponent.cs │ │ ├── RadarPlotComponent.resx │ │ ├── bin │ │ │ └── Debug │ │ │ │ ├── LidarScanningTest1.exe │ │ │ │ └── config.ini │ │ ├── settings_handling.cs │ │ └── uart_packets_parser.cs │ └── scanning_screenshot.png └── README.md ├── README.md ├── ROS ├── Readme.txt ├── lidar_num4.launch └── roomba_lidar │ ├── CMakeLists.txt │ ├── Makefile │ ├── include │ └── lidar_parser.h │ ├── mainpage.dox │ ├── manifest.xml │ ├── other │ └── CMakeLists.txt │ └── src │ ├── lidar_parser.cpp │ └── lidar_publisher.cpp └── TotalBOM.xlsx /.gitignore: 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