Tom N
This is a class which contains function to interface with the MLX75320
Diff: LidarSpi.h
- Revision:
- 13:ccf4ab73c33d
- Parent:
- 12:d1767e2bd3a8
--- a/LidarSpi.h Fri Apr 29 13:39:19 2016 +0000
+++ b/LidarSpi.h Tue May 17 18:54:04 2016 +0000
@@ -5,7 +5,10 @@
#include "typeDef.h"
#include "FunctionPointer.h"
-
+/** LidarSpi class
+ * This class defines methods and structs to interface with the MLX75320 lidar sensing product
+ *
+ */
class LidarSpi
{
@@ -36,6 +39,8 @@
// Used on header ADDR field to request all channels and as idx argument of GetTrace function
static const uint16_t ADDR_ALLCH= 0x1F;
+
+ // Structure for the processed data returned by the sensor
struct Echo
{
uint32_t mDistance;
@@ -121,6 +126,7 @@
REG_MAX = 0xFFFF // Number of registers
} eASICREG;
+ //Internal type used by low level functions: SPI packet type
enum PackType
{
PACK_RREG = 0, ///< Read register request
@@ -133,7 +139,7 @@
PACK_RDATA_RESP_L, ///< Read data response long
PACK_WDATA_L, ///< Write data long
};
-
+ //Internal type used by low level functions: SPI status status type
enum StatusType
{
STAT_OK = 0,
@@ -143,7 +149,7 @@
STAT_SEQ_NB,
STAT_TIMEOUT,
};
-
+ //Internal type used by low level functions: SPI firmware packet type
enum FirmType
{
FW_OTP = 0,
@@ -155,32 +161,133 @@
};
+
+/*=====================================================================================================================================
+//=====================================================================================================================================
+ _____ _ _ _ __ _ _
+ | __ \ | | | (_) / _| | | (_)
+ | |__) | _| |__ | |_ ___ | |_ _ _ _ __ ___| |_ _ ___ _ __ ___
+ | ___/ | | | '_ \| | |/ __| | _| | | | '_ \ / __| __| |/ _ \| '_ \/ __|
+ | | | |_| | |_) | | | (__ | | | |_| | | | | (__| |_| | (_) | | | \__ \
+ |_| \__,_|_.__/|_|_|\___| |_| \__,_|_| |_|\___|\__|_|\___/|_| |_|___/
+
+//=====================================================================================================================================
+//====================================================================================================================================*/
+
+
+ /** Constructor
+ * @param: pin names for mosi, miso, clk, chipselect, dataready, reset, trigger and sample*/
LidarSpi(PinName mosi, PinName miso, PinName clk, PinName chipSelect, PinName dr, PinName rs, PinName tr, PinName smpl);
+
+ /** SpiSetting
+ * Change frequency and SPI mode(clock phase and polarity)
+ * @param: frequency in Hz, mode ranging from 0 to 3, pointer to Serial interface for debugging
+ * @return: 0 on success */
int SpiSetting(long freq, int mode, Serial* pc);
+
+ /** ReadReg
+ * Read register at address
+ * @param: register address, pointer to variable to register valueresult
+ * @return: 0 on success */
+ int ReadReg ( uint32_t reg, uint32_t *val);
+
+ /** WriteReg
+ * Write register to address
+ * @param: register address, value to write
+ * @return: 0 on success */
+ int WriteReg ( uint32_t reg, uint32_t val);
+
+
+ /** GetEchoes
+ * Perform measurement and read processed data
+ * @param: pointer to Echo structure array to store measurement, structure array size (must be >=64)
+ * @return: 0 on success */
+ int GetEchoes ( Echo *ech, uint16_t maxN);
+
+ /** GetEchoes
+ * Perform measurement and read processed data
+ * @param: pointer to Echo structure array to store measurement, structure array size (must be >=64), pointer to serial interface for debugging
+ * @return: 0 on success */
+ int GetEchoes ( Echo *ech, uint16_t maxN, Serial* pc);
+
+ /** GetTrace
+ * Perform measurement and read raw trace buffer
+ * @param: pointer to int array to store trace buffer, structure array size (must be >=9472*2), pointer to serial interface for debugging
+ * @return: 0 on success */
+ int GetTrace ( uint16_t *buf, uint16_t maxN, Serial* pc);
+
+ /** LoadPatch
+ * Load patch stored on mbed Flash memory in MLX75320 and enable patch
+ * @param: path of patch.hex location, , pointer to serial interface for debugging
+ * @return: 0 on success */
+ int LoadPatch (const char *patch, Serial *pc);
+
+ /** SetTrace
+ * Set a variety of registers according to the preset values for a raw data measurement
+ * @return: 0 on success */
+ int setTrace(void);
+
+ /** SetTrace
+ * Set a variety of registers according to the preset values for a processed data measurement
+ * @return: 0 on success */
+ int setEcho(void);
+
+ /** SetLed
+ * Set a variety of registers according to the preset values to either fire or don't fire the LEDs during a measurement
+ * @param: True to enable LEDs, False to disable */
+ int setLed(bool state);
+
+
+/*=====================================================================================================================================
+//=====================================================================================================================================
+ _____ _ _ _ _ _ __ _ _
+ |_ _| | | | | | | | | (_) / _| | | (_)
+ | | _ __ | |_ ___ _ __ _ __ __ _| | ___ _ __ __| | ___| |__ _ _ __ _ __ _ _ _ __ __ _ | |_ _ _ _ __ ___| |_ _ ___ _ __ ___
+ | | | '_ \| __/ _ \ '__| '_ \ / _` | | / _ \| '__| / _` |/ _ \ '_ \| | | |/ _` |/ _` | | '_ \ / _` | | _| | | | '_ \ / __| __| |/ _ \| '_ \/ __|
+ _| |_| | | | || __/ | | | | | (_| | | | (_) | | | (_| | __/ |_) | |_| | (_| | (_| | | | | | (_| | | | | |_| | | | | (__| |_| | (_) | | | \__ \
+ |_____|_| |_|\__\___|_| |_| |_|\__,_|_| \___/|_| \__,_|\___|_.__/ \__,_|\__, |\__, |_|_| |_|\__, | |_| \__,_|_| |_|\___|\__|_|\___/|_| |_|___/
+ __/ | __/ | __/ |
+ |___/ |___/ |___/
+//=====================================================================================================================================
+//====================================================================================================================================*/
+
+
+
+ /** ReadReg (overloaded)
+ * Read register at address
+ * @param: register address, pointer to variable to register valueresult, pointer to serial interface for debugging
+ * @return: 0 on success */
+ int ReadReg(uint32_t reg, uint32_t *val, Serial* pc);
+
+ /** WriteReg
+ * Write register to address
+ * @param: register address, value to write, pointer to serial interface for debugging
+ * @return: 0 on success */
+ int WriteReg ( uint32_t reg, uint32_t val, Serial* pc);
+
+ /** GetTraceOne
+ * Perform measurement and read raw trace buffer, this method only reads back a single SPI packet
+ * @param: pointer to int array to store trace buffer, structure array size (must be >=9472*2), pointer to serial interface for debugging
+ * @return: 0 on success */
+ int GetTraceOne ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx,int index , Serial* pc);
+
+ /** Trigger
+ * Change pin to high or low to use as trigger point for oscilloscope
+ * @param: 1 or 0 to set voltage level */
+ void Trigger(int level);
+
+
+ int PrintAllReg (uint16_t * regs, uint32_t * val, uint16_t size);
+
int TxPacket(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz);
int TxPacketWord(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz);
int TxPacket(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz, Serial* pc);
int TxPacketSlow(uint8_t* rData, uint16_t *rSz, uint8_t *tData, uint16_t tSz, uint16_t usDelay);
int BasicRead();
int BasicTransfer(uint8_t* rData, uint16_t rSz, uint8_t *wData, uint16_t wSz, const event_callback_t callback);
-
- int ReadReg ( uint32_t reg, uint32_t *val);
- int ReadReg(uint32_t reg, uint32_t *val, Serial* pc);
- int WriteReg ( uint32_t reg, uint32_t val);
int WriteRegSpeed ( uint32_t reg, uint32_t val, uint16_t usDelay);
- int WriteReg ( uint32_t reg, uint32_t val, Serial* pc);
int WriteRegSpeed ( uint32_t reg, uint32_t val, uint16_t usDelay, Serial* pc);
- //int GetRegNfo ( uint16_t reg, const RegInfo **nfo);
- int GetEchoes ( Echo *ech, uint16_t maxN, uint16_t mode);
- int GetEchoes ( Echo *ech, uint16_t maxN, uint16_t mode, Serial* pc);
- int GetTrace ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx, Serial* pc);
- int GetTraceOne ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx,int index , Serial* pc);
- int LoadPatch (const char *patch, Serial *pc);
- int setTrace(void);
- int setEcho(void);
- int PrintAllReg (uint16_t * regs, uint32_t * val, uint16_t size);
- int setLed(bool state);
- void Trigger(int level);
+
//int SetConfig ( int configNum);
//int SetAcqCfg ( uint16_t set, uint16_t led, uint16_t accLog, uint16_t ovrLog);
//int Acquire ( uchar ab, uchar evGain, uchar evCh, uchar odGain, uchar odCh);