Diff: LidarSpi.cpp

Revision:

3:9ed1d493c235

Parent:

1:e3ace426cee5

Child:

5:87e211a23654

--- a/LidarSpi.cpp	Thu Feb 25 08:14:59 2016 +0000
+++ b/LidarSpi.cpp	Fri Mar 04 11:53:52 2016 +0000
@@ -6,7 +6,7 @@
 #include "LidarSpi.h"
 #include "MLX_BaseSPI.h"
 #define SPIFREQ 8000
-LidarSpi::LidarSpi(PinName mosi, PinName miso, PinName clk, PinName chipSelect, PinName dr, PinName rs, PinName tr):device(mosi, miso, clk), chipS(chipSelect), dataReady(dr),resetPin(rs), trigger(tr)
+LidarSpi::LidarSpi(PinName mosi, PinName miso, PinName clk, PinName chipSelect, PinName dr, PinName rs, PinName tr, PinName smpl):device(mosi, miso, clk), chipS(chipSelect), dataReady(dr),resetPin(rs), trigger(tr), sampling(smpl)
 {
     //resetPin.write(1);
     chipS.write(1);
@@ -657,6 +657,7 @@
 
 
 int LidarSpi::GetTrace  ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx, Serial* pc){
+    trigger.write(0);
     int res, a, b, i;
     uint32_t cnt;
     uint16_t rSz;
@@ -697,9 +698,10 @@
             cnt++;
         val >>= 1;
     }
+    
     nPack *= cnt;
     nPack /= 16;
-
+    
     res = ReadReg(332, &val);    // PORT_OVR_ACCUM_ACQ_OVR
 //  pc->printf("PORT_OVR  = %d\n", (val >> 16));
     val = (val >> 16) & 3;               // Get bits 0 and 1
@@ -724,26 +726,39 @@
         pc->printf("GetTrace: bad value\n");
     }
 
-
+    
     // Write 1 to PORT_ACQU register and then wait
     res = ReadReg(0x146, &val);    // PORT_ACQU
     if (res < 0){
         pc->printf("ReadReg Error2\n\r");
         goto END;}
     val = (val>>16) | 1;
+    trigger.write(1);
     res = WriteReg(0x146, val);     // PORT_ACQU
     if (res < 0){
         pc->printf("WriteReg Error3\n\r");
         goto END;}
 
     // Wait till PORT_READY bit is set.
+
+
     res = ReadReg(470, &val);     // PORT_READY 
     cnt = 0;
+    /*
     while (((val & 0x10000) >> 16 != 1) && (cnt < 500)) {
         wait_us(50);
         res = ReadReg(470, &val);     // PORT_READY
         cnt++;
+    }*/
+    
+    while((!dataReady.read())&& (cnt<500)){
+        wait_us(50);
+        cnt++;
     }
+    
+    
+    trigger.write(0);
+    pc-printf("Count: %d\n\r", cnt);
 
     // Encode the request and send it
     res = MLX_ReqReadTrc(tx);
@@ -769,7 +784,7 @@
     // Temporary pointer to uint16 data, for simplicity purpose
     u16ptr = (uint16_t*)rxL.data;
     //device.format(16,1);
-    trigger.write(1);
+    //trigger.write(1);
     for (a = 0; a < nPack; ++a)
     {
         res = MLX_EncodeStatusL1(&txL, 0, 0);