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RTOS_Labs_common/LD19.h

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+/*!
+ * @defgroup LD19
+ * @brief Asynchronous serial communication to LiDAR Sensor LD19 distance sensor
+<table>
+<caption id="LD19pins0">LiDAR Sensor LD19 distance sensor interface</caption>
+<tr><th>Pin <th>LD19 <th>MSPM0
+<tr><td>1   <td>Tx   <td>PB13 RxD:  is UART3 Rx (LD19 to MSPM0)
+<tr><td>2   <td>PWM  <td>PB12 GPIO write a 0 to run fastest (MSPM0 to LD19)
+<tr><td>3   <td>GND  <td>ground
+<tr><td>4   <td>P5V  <td>5V
+</table>
+ * @{*/
+/**
+ * @file      LD19.h
+ * @brief     Initialize LD19, interrupt synchronization
+ * @details   LD19 initialization. UART3 230400 bps baud,
+ * 1 start, 8 data bits, 1 stop, no parity.<br>
+
+ * @version   RTOS
+ * @author    Jonathan Valvano 
+ * @copyright Valvano 2025
+ * @warning   AS-IS
+ * @note      For more information see  http://users.ece.utexas.edu/~valvano/
+ * @date      Nov 5, 2025 
+<table>
+<caption id="LD19pins1">LiDAR Sensor LD19 distance sensor interface</caption>
+<tr><th>Pin <th>LD19 <th>MSPM0
+<tr><td>1   <td>Tx   <td>PB13 RxD:  is UART3 Rx (LD19 to MSPM0)
+<tr><td>2   <td>PWM  <td>PB12 GPIO write a 0 to run fastest (MSPM0 to LD19)
+<tr><td>3   <td>GND  <td>ground
+<tr><td>4   <td>P5V  <td>5V
+</table>
+UART3 is shared between LD19 and TFLuna3 (can have either but not both)
+
+  ******************************************************************************/
+#ifndef __LD19_H__
+#define __LD19_H__
+
+
+/**
+ * initializeLiDAR Sensor LD19 distance sensor 230400 bps baud rate.<br>
+ * interrupt synchronization
+ * @param d 0 for debug, pointer to array of 540 elements for read time
+ * @return none
+ * @brief  Initialize LD19
+*/
+void LD19_Init(uint16_t *d);
+
+
+// the following functions only needed for low-level debugging
+
+
+/**
+ * Wait for new serial port input<br>
+ * Uses interrupt synchronization<br>
+ * This function waits if the receive software FIFO is empty
+ * @param Input: none
+ * @return 8-bit code from TF Luna
+ */
+uint8_t LD19_InChar(void);
+
+/**
+ * Returns how much data available for reading
+ * @param none
+ * @return number of elements in receive software FIFO
+ */
+uint32_t LD19_InStatus(void);
+
+
+#endif // __LD19_H__
+
+/** @}*/