Tom N
API to interface sensor with host PC
Dependencies: LidarSpi USBDevice mbed
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