Revision 0:10bd8964965a, committed 2016-04-05

Comitter:

TNU

Date:

Tue Apr 05 08:16:30 2016 +0000

Commit message:

Fixed tests.cpp;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarSpi.lib	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/TNU/code/LidarSpi/#d49102c10940

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/USBDevice/#d17693b10ae6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,152 @@
+#include "mbed.h"
+#include "LidarSpi.h"
+#include "LidarFunc.h"
+#include "USBSerial.h"
+#include "tests.h"
+//DigitalOut myled(LED1);
+
+/*Protocol:
+SEND: 
+    "CMD PAR1 PAR2\n"
+RETURN
+    status(S) nrOfResponseBytes(L) Response(R)
+    SLLLLR..R
+*/
+
+Serial pc(USBTX, USBRX);
+USBSerial serial;
+
+LocalFileSystem local("local"); 
+
+int main() {
+
+    LidarSpi lidar(p5, p6, p7, p8, p15, p21, p22, p23);
+    LidarFunc sens(&lidar);
+    
+    char cmd[10];
+    char msg[50];
+    uint32_t par1=0;
+    uint32_t par2=0;
+    int res;
+    int cnt=0;
+    int n;
+    uint32_t size;
+    uint32_t val;
+    uint8_t * pntrS;
+    uint8_t * pntrV;
+    pc.baud(115200);
+    while(1){
+      
+        pc.printf("Awaiting commands...\n\r");
+
+        do{
+            msg[cnt]=serial.getc();
+            cnt++;
+            msg[cnt]='\0';
+            //pc.printf("getc:  %s", msg);
+        } while (msg[cnt-1]!='\n' && cnt<50);
+        cnt=0;
+        pc.printf("getc:  %s\n\r", msg);
+        n = sscanf(msg,
+                           "%9[^' '] %x %x\n", 
+                           cmd,
+                           &par1,
+                           &par2
+                        );
+        
+    
+        
+        if((strcmp(cmd, "RREG")==0) && n==2){  //ReadRegister Address
+            pc.printf("ReadRegister, address: %x", par1);
+            
+            res=lidar.ReadReg(par1, &val);
+            val=(val>>16)&0xffff;
+            
+            
+            if(res<0){
+                size=0x0000;
+                pntrS=(uint8_t *)&size;
+                serial.putc(1);
+                for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]);
+                pc.printf("Read Error\n\r");
+            }
+            else{
+                size=sizeof(val);
+                pntrS=(uint8_t *) &size;
+                pntrV=(uint8_t *) &val;
+                pc.printf("size: %d\n\r", *pntrS);
+                serial.putc(0);
+                for(int i=0;i<sizeof(size);i++) serial.putc(*(pntrS+i));
+                for(int i=0;i<sizeof(size);i++) pc.printf("putc Val: [%d] %d\n\r",i,pntrV[i]);
+                for(int i=0;i<sizeof(val);i++) serial.putc(*(pntrV+i));
+                pc.printf("Address Value: %x  ,   sizeof(val)= %d\n\r", *pntrV, sizeof(val));
+                
+            }
+            
+    
+        }
+        else if((strcmp(cmd, "WREG")==0) && n==3){  //WriteRegister Address Value
+            pc.printf("WriteRegister, address: %x, value:%x", par1, par2);
+            
+            res=lidar.WriteReg(par1, par2);
+            if(res<0){
+
+                size=0;
+                pntrS=(uint8_t *)&size;
+                serial.putc(1);
+                for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]);
+            }
+            else{
+  
+                size=0;
+                pntrS=(uint8_t *)&size;
+                serial.putc(0);
+                for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]);
+            }
+    
+        }
+        else if((strcmp(cmd, "PTCH")==0) && n==1){  //WriteRegister Address Value
+            pc.printf("LoadPatch\n\r");
+            
+            res=lidar.LoadPatch("/local/patch.hex", &pc);
+            if(res<0){
+
+                size=0;
+                pntrS=(uint8_t *)&size;
+                serial.putc(1);
+                for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]);
+                pc.printf("Patch load failed\n\r");
+            }
+            else{
+  
+                size=0;
+                pntrS=(uint8_t *)&size;
+                serial.putc(0);
+                for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]);
+                pc.printf("Patch load Success\n\r");
+            }
+    
+        }
+        else if((strcmp(cmd, "TRCE")==0) && n==2){  //WriteRegister Address Value
+            pc.printf("getTrace\n\r");
+            bool isEnabled;
+            if (par1>0) isEnabled=true;
+            else isEnabled=false;
+            res=sens.setLed(isEnabled);
+            res=lidar.setTrace();
+            res=traceTest(&lidar, &pc, &serial);
+        }
+        else
+        {
+            pc.printf("INVALID COMMAND\n\r");
+            size=0;
+            pntrS=(uint8_t *)&size;
+            serial.putc(1);
+            for(int i=0;i<sizeof(size);i++) serial.putc(pntrS[i]); 
+        }
+    }
+    
+    
+    
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/4336505e4b1c
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests.cpp	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,55 @@
+
+#include "tests.h"
+int traceTest(LidarSpi* lidar, Serial * pc, USBSerial * serial)
+{
+    int res=0;
+    uint16_t buf[9473]; 
+    uint32_t nBytes; 
+    res=lidar->setTrace();
+    pc->printf("Set trace result: %d\n\r");
+    memset(buf, 0, sizeof(buf[0])*9472);
+    //for(int i=0;i<64;i++) res=lidar.GetTraceOne( buf, 9472*2, 0, 0, i, &pc);
+    //res=lidar.GetTraceOne( buf, 9472*2, 0, 0, 0, &pc);
+    res=lidar->GetTrace( buf, 9472*2, 0, 0, pc);
+    pc->printf("============\n\r============\n\r==================\n\r");
+    pc->printf("Result: %d \tTrace values after Patch:\n\r", res);
+    
+    //"%d \n", ((buf[i] & 0x00ff) << 8) | ((buf[i] & 0xff00) >> 8)
+    //for (int i =0; i<(74*8*16);i++) pc->printf("%d ",((buf[i] & 0x00ff) << 8) | ((buf[i] & 0xff00) >> 8));
+    /*
+    for(int i =0;i<16;i++) serial->printf("CH%d;",i);
+    serial->printf("\n");
+    for (int i =0; i<(592);i++) {
+        for(int j=0;j<16;j++) serial->printf("%d;",((buf[i+(j*74*8)] & 0x00ff) << 8) | ((buf[i+(j*74*8)] & 0xff00) >> 8));
+        serial->printf("\n");
+    }
+    
+    serial->printf("\n");*/
+    
+    if(res<0) {
+        serial->putc(1);
+        for(int i=0;i<4;i++) serial->putc(0);
+        return 0;
+    }
+    else nBytes=res*2;
+
+    uint8_t * pntrS=(uint8_t *) &nBytes;
+    pc->printf("size: %d\n\r", *pntrS);
+    serial->putc(0);
+    for(int i=0;i<sizeof(nBytes);i++) serial->putc(*(pntrS+i));
+    uint8_t * pnt;
+    pnt=(uint8_t *)buf;
+    pc->printf("Shows some values of trace, nBytes: %d\n\r", nBytes*2);
+    
+    for(int i=0;i<(nBytes);i=i+100) pc->printf("Value= %d\n\r", pnt[i]);
+    pc->printf("Transmit trace\n\r");
+    for(int i=0;i<(nBytes);i++) {
+        serial->putc(pnt[i]);
+        if(i<50)pc->printf("Char [%d] -> %x \n\r", i, pnt[i]);
+        if(((i % 2)==0)&&i<50 )pc->printf("Transmit [%d] -> %x \n\r",i, ((pnt[i])<<8)|(pnt[i+1]));
+    }
+    pc->printf("Trace transmitted\n\r");
+    //delete buf;
+    wait_us(4);
+    return res;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests.h	Tue Apr 05 08:16:30 2016 +0000
@@ -0,0 +1,11 @@
+#ifndef TESTS_H
+#define TESTS_H
+
+#include "mbed.h"
+#include "LidarSpi.h"
+#include "USBSerial.h"
+
+int traceTest(LidarSpi* lidar,Serial * pc, USBSerial * sensor);
+
+
+#endif
\ No newline at end of file