tests.cpp

00001 
00002 #include "tests.h"
00003 int traceTest(LidarSpi* lidar, Serial * pc, USBSerial * serial)
00004 {
00005     int res=0;
00006     uint16_t buf[9473]; 
00007     uint32_t nBytes; 
00008     res=lidar->setTrace();
00009     pc->printf("Set trace result: %d\n\r");
00010     memset(buf, 0, sizeof(buf[0])*9472);
00011     //for(int i=0;i<64;i++) res=lidar.GetTraceOne( buf, 9472*2, 0, 0, i, &pc);
00012     //res=lidar.GetTraceOne( buf, 9472*2, 0, 0, 0, &pc);
00013     res=lidar->GetTrace( buf, 9472*2, 0, 0, pc);
00014     pc->printf("============\n\r============\n\r==================\n\r");
00015     pc->printf("Result: %d \tTrace values after Patch:\n\r", res);
00016     
00017     //"%d \n", ((buf[i] & 0x00ff) << 8) | ((buf[i] & 0xff00) >> 8)
00018     //for (int i =0; i<(74*8*16);i++) pc->printf("%d ",((buf[i] & 0x00ff) << 8) | ((buf[i] & 0xff00) >> 8));
00019     /*
00020     for(int i =0;i<16;i++) serial->printf("CH%d;",i);
00021     serial->printf("\n");
00022     for (int i =0; i<(592);i++) {
00023         for(int j=0;j<16;j++) serial->printf("%d;",((buf[i+(j*74*8)] & 0x00ff) << 8) | ((buf[i+(j*74*8)] & 0xff00) >> 8));
00024         serial->printf("\n");
00025     }
00026     
00027     serial->printf("\n");*/
00028     
00029     if(res<0) {
00030         serial->putc(1);
00031         for(int i=0;i<4;i++) serial->putc(0);
00032         return 0;
00033     }
00034     else nBytes=res*2;
00035 
00036     uint8_t * pntrS=(uint8_t *) &nBytes;
00037     pc->printf("size: %d\n\r", *pntrS);
00038     serial->putc(0);
00039     for(int i=0;i<sizeof(nBytes);i++) serial->putc(*(pntrS+i));
00040     uint8_t * pnt;
00041     pnt=(uint8_t *)buf;
00042     pc->printf("Shows some values of trace, nBytes: %d\n\r", nBytes*2);
00043     
00044     for(int i=0;i<(nBytes);i=i+100) pc->printf("Value= %d\n\r", pnt[i]);
00045     pc->printf("Transmit trace\n\r");
00046     for(int i=0;i<(nBytes);i++) {
00047         serial->putc(pnt[i]);
00048         if(i<50)pc->printf("Char [%d] -> %x \n\r", i, pnt[i]);
00049         if(((i % 2)==0)&&i<50 )pc->printf("Transmit [%d] -> %x \n\r",i, ((pnt[i])<<8)|(pnt[i+1]));
00050     }
00051     pc->printf("Trace transmitted\n\r");
00052     //delete buf;
00053     wait_us(4);
00054     return res;
00055 }