Revision 13:ccf4ab73c33d, committed 2016-05-17

Comitter:

TNU

Date:

Tue May 17 18:54:04 2016 +0000

Parent:

12:d1767e2bd3a8

Commit message:

Added documentation

Changed in this revision

--- a/LidarSpi.cpp	Fri Apr 29 13:39:19 2016 +0000
+++ b/LidarSpi.cpp	Tue May 17 18:54:04 2016 +0000
@@ -8,7 +8,7 @@
 #include <inttypes.h>
 #define SPIFREQ 8000
 
-
+//Set DEBUG to 1 to enable debug printf over Serial interface
 #ifndef DEBUG
 #define DEBUG 0
 #define debug_print(pntPc, ...) \
@@ -348,7 +348,7 @@
 
     return 0;
 }
-int LidarSpi::GetEchoes(Echo *ech, uint16_t maxN, uint16_t mode)
+int LidarSpi::GetEchoes(Echo *ech, uint16_t maxN)
 {
     trigger.write(0);
     int res, a, b;
@@ -489,7 +489,7 @@
 }
 
 
-int LidarSpi::GetEchoes(Echo *ech, uint16_t maxN, uint16_t mode, Serial* pc)
+int LidarSpi::GetEchoes(Echo *ech, uint16_t maxN, Serial* pc)
 {
     trigger.write(0);
     int res, a, b;
@@ -700,7 +700,7 @@
 
 
 
-int LidarSpi::GetTrace  ( uint16_t *buf, uint16_t maxN, uint16_t nSam, uint16_t idx, Serial* pc){
+int LidarSpi::GetTrace  ( uint16_t *buf, uint16_t maxN,Serial* pc){
     trigger.write(0);
     int res, a, b;
     uint32_t cnt;

--- 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);