Tom N
This is a class which contains function to interface with the MLX75320
Diff: LidarSpi.h
- Revision:
- 0:dfe498e03679
- Child:
- 3:9ed1d493c235
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarSpi.h Thu Feb 25 08:02:11 2016 +0000
@@ -0,0 +1,203 @@
+#ifndef LIDARSPI_H
+#define LIDARSPI_H
+
+#include "mbed.h"
+#include "typeDef.h"
+#include "FunctionPointer.h"
+
+
+class LidarSpi
+{
+ public:
+
+ // Type used to read/write register values. Here, it is 16 bits
+ typedef uint16_t REGTYPE;
+ typedef unsigned char uchar;
+
+ static const uint16_t CRC_SZ = 2; // Bytes in SPI CRC field
+ static const uint16_t SHORT_SZ = 8; // Bytes in short SPI packet
+ static const uint16_t LONG_SZ = 300; // Bytes in long SPI packet
+ static const uint16_t HDR_SZ = 2; // Bytes in SPI header field
+
+ static const uint16_t MAXCH = 16; // Number of channels
+ static const uint16_t MAXSET = 2; // Number of acquisition sets
+ static const uint16_t MAXPTCNT = 64; // Max number of base points
+ static const uint16_t MAXECH = 64 ; // Max echo count
+ static const uint16_t MAXACCLOG = 10; // Max accumulation log2
+ static const uint16_t MAXOVRLOG = 3; // Max oversampling log2
+ static const uint16_t MAXLED = 16; // Max LED power
+ static const uint16_t MAXACC = 1<<MAXACCLOG;
+ static const uint16_t MAXOVR = 1<<MAXOVRLOG;
+ static const uint16_t MAXTRCLEN = 74*8*MAXCH*2; // Max length of a trace in bytes (samples * MAXOVR * MAXCH * 2bytes)
+ static const uint16_t BYTES_PER_ECH = 24; // Nb of bytes per echo
+ static const uint16_t START_DELAY =10;
+
+ // Used on header ADDR field to request all channels and as idx argument of GetTrace function
+ static const uint16_t ADDR_ALLCH= 0x1F;
+
+ struct Echo
+ {
+ uint32_t mDistance;
+ uint32_t mAmplitude;
+ uint32_t mBase;
+ uint16_t mMaxIndex;
+ uint8_t mChannelIndex;
+ uint8_t mValid;
+ uint32_t mAmplitudeLowScale;
+ uint32_t mSaturationWidth;
+ };
+
+ /// \enum eASICREG
+ /// \brief Lists all registers. Enum value is directly the register address.
+ /// Naming convention: REG_ + <name> + <L/H> + <#>
+ /// <name> = name of register
+ /// <L/H> = optional low or high register part
+ /// <#> = optional number, either for acquisition source 0/1 or index
+ typedef enum
+ {
+ REG_MEACL = 0x00,
+ REG_MEACH,
+ REG_CONTROL,
+ REG_ACQCTL0,
+ REG_ACQCTL1,
+ REG_PTCNT,
+ REG_SCANCTL,
+ REG_TRIGCTL,
+ REG_DELAY,
+ REG_TMPSET,
+ REG_TMPSHUT,
+ REG_TMPIC,
+ REG_TMPSRC,
+ REG_GAIN0,
+ REG_GAIN1,
+ REG_GAIN2,
+ REG_GAIN3,
+ REG_CHANNEL,
+ REG_PWMPERIOD0,
+ REG_PWMPERIOD1,
+ REG_PWMCOUNT,
+ REG_PWMWIDTH0,
+ REG_PWMWIDTH1 = REG_PWMWIDTH0 + 8,
+ REG_FILTER0 = REG_PWMWIDTH1 + 8,
+ REG_FILTER1 = REG_FILTER0 + 16,
+ REG_THRNEARL0 = REG_FILTER1 + 16,
+ REG_THRNEARH0,
+ REG_THRMEDL0,
+ REG_THRMEDH0,
+ REG_THRFARL0,
+ REG_THRFARH0,
+ REG_THRNEARL1,
+ REG_THRNEARH1,
+ REG_THRMEDL1,
+ REG_THRMEDH1,
+ REG_THRFARL1,
+ REG_THRFARH1,
+ REG_NOISE0,
+ REG_NOISE1,
+ REG_OFFSETL0,
+ REG_OFFSETH0 = REG_OFFSETL0 + 16,
+ REG_OFFSETL1 = REG_OFFSETH0 + 16,
+ REG_OFFSETH1 = REG_OFFSETL1 + 16,
+ REG_SCALEL0 = REG_OFFSETH1 + 16,
+ REG_SCALEH0,
+ REG_SCALEL1,
+ REG_SCALEH1,
+ REG_FACTORY,
+ REG_ASIL,
+ REG_OTP0,
+ REG_OTP1,
+ REG_OTP2,
+ REG_OTP3,
+ REG_OTP4,
+ REG_OTP5,
+ REG_OTP6,
+ REG_OTP7,
+ REG_SOFTVER,
+ REG_ASICVER,
+ REG_WATCHDOGL,
+ REG_WATCHDOGH,
+ // Wai: Changed from REG_MAX
+ REG_MAX = 0xFFFF // Number of registers
+ } eASICREG;
+
+ enum PackType
+ {
+ PACK_RREG = 0, ///< Read register request
+ PACK_WREG, ///< Write register request
+ PACK_RFIRM, ///< Read firmware request
+ PACK_WFIRM, ///< Write firmware request
+ PACK_STATUS_S, ///< Status short
+ PACK_STATUS_L, ///< Status long
+ PACK_RDATA_RESP_S, ///< Read data response short
+ PACK_RDATA_RESP_L, ///< Read data response long
+ PACK_WDATA_L, ///< Write data long
+ };
+
+ enum StatusType
+ {
+ STAT_OK = 0,
+ STAT_BUSY,
+ STAT_CRC,
+ STAT_INVALID_REQ,
+ STAT_SEQ_NB,
+ STAT_TIMEOUT,
+ };
+
+ enum FirmType
+ {
+ FW_OTP = 0,
+ FW_PROCESSED,
+ FW_RAW,
+ FW_PATCH,
+ FW_PRELOAD,
+ FW_TEST,
+ };
+
+
+ LidarSpi(PinName mosi, PinName miso, PinName clk, PinName chipSelect, PinName dr, PinName rs, PinName tr);
+ int SpiSetting(long freq, int mode, Serial* pc);
+ 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 ( uint16_t address, uint8_t *buf, uint16_t nBytes);
+ int PrintAllReg (uint16_t * regs, uint32_t * val, uint16_t size);
+
+ 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);
+ //int GetFrame ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t nFrm);
+
+
+
+
+ private:
+ SPI device;
+ DigitalOut chipS;
+ DigitalIn dataReady;
+ DigitalIn resetPin;
+ DigitalOut trigger;
+
+
+
+
+};
+
+
+
+
+#endif
\ No newline at end of file