185 lines
4.8 KiB
C
185 lines
4.8 KiB
C
/*!
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* @defgroup TFLuna
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* @brief Asynchronous serial communication to TFLuna1
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<table>
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<caption id="TFluna1pins0">SJ-PM-TF-Luna+A01 interface</caption>
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<tr><th>TFLuna <th>Pin <th>Description
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<tr><td>1 <td>Red 5V
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<tr><td>2 <td>Serial TxD: PA8/PA17/PB4/PB6 is UART1 Tx (MSPM0 to TFLuna1)
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<tr><td>3 <td>Serial RxD: PA9/PA18/PB5/PB7 is UART1 Rx (TFLuna1 to MSPM0)
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<tr><td>4 <td>black ground
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</table>
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* @{*/
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/**
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* @file TFLuna1.h
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* @brief Initialize TFLuna1, interrupt synchronization
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* @details TFLuna1 initialization. UART1 115200 bps baud,
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* 1 start, 8 data bits, 1 stop, no parity.<br>
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* @version RTOS
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* @author Jonathan Valvano
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* @copyright Valvano 2025
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* @warning AS-IS
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* @note For more information see http://users.ece.utexas.edu/~valvano/
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* @date Oct 23, 2025
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<table>
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<caption id="TFluna1pins1">SJ-PM-TF-Luna+A01 interface</caption>
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<tr><th>TFLuna <th>Pin <th>Description
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<tr><td>1 <td>Red 5V
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<tr><td>2 <td>Serial TxD: PA8/PA17/PB4/PB6 is UART1 Tx (MSPM0 to TFLuna1)
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<tr><td>3 <td>Serial RxD: PA9/PA18/PB5/PB7 is UART1 Rx (TFLuna1 to MSPM0)
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<tr><td>4 <td>black ground
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</table>
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******************************************************************************/
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#ifndef __TFLuna1_H__
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#define __TFLuna1_H__
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/**
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* initialize UART1 for 115200 bps baud rate.<br>
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* to use PA9, set jumper J14<br>
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* interrupt synchronization
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* @param function pointer to a callback function
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* @return none
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* @brief Initialize TFLuna1
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*/
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void TFLuna1_Init(void (*function)(uint32_t));
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/**
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* Configure TFLuna for measuring distance in mm<br>
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* @param none
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* @return none
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* @brief mm units
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*/
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void TFLuna1_Format_Standard_mm(void);
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/**
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* Configure TFLuna for measuring distance in cm<br>
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* @param none
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* @return none
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* @brief cm units
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*/
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void TFLuna1_Format_Standard_cm(void);
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/**
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* Configure TFLuna for Pixhawk<br>
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* @param none
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* @return none
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* @brief Pixhawk
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* @warning see datasheet, never tested
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*/
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void TFLuna1_Format_Pixhawk(void);
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/**
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* Configure TFLuna sampling rate<br>
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* rate defined in #define TFLunaRate
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* @param none
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* @return none
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* @brief sampling rate
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* @warning only 100 Hz was tested
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*/
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void TFLuna1_Frame_Rate(void);
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/**
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* execute TFLuna_SaveSettings to activate changes to Format and Frame_Rate
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* @param none
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* @return none
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* @brief save format and rate
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*/
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void TFLuna1_SaveSettings(void);
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/**
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* execute TFLuna_System_Reset to start measurements
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* @param none
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* @return none
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* @brief start measurements
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*/
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void TFLuna1_System_Reset(void);
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/**
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* Enable TFLuna output<br>
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* @param none
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* @return none
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* @brief enable
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* @warning I didn't use these because output enabled was default
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*/
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void TFLuna1_Output_Enable(void);
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/**
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* Disable TFLuna output<br>
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* @param none
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* @return none
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* @brief disable
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* @warning I didn't use these because output enabled was default
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*/
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void TFLuna1_Output_Disable(void);
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// the following functions only needed for low-level debugging
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/**
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* Output message to serial port TFLuna<br>
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* Uses interrupt synchronization<br>
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* msg[0] is 0x5A for command type<br>
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* msg[1] is length=n<br>
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* msg[2] is command<br>
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* msg[3]-msg[n-2] is optional payload<br>
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* msg[n-1] is 8-bit checksum<br>
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* E.g., 0x5A,0x05,0x05,0x06,0x6A sets format to mm<br>
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* This function waits if the transmit software FIFO is full
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* @param msg pointer to a message to be transferred
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* @return none
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* @brief output message to TFLuna
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*/
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void TFLuna1_SendMessage(const uint8_t msg[]);
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/**
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* Wait for new serial port input<br>
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* Uses interrupt synchronization<br>
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* This function waits if the receive software FIFO is empty
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* @param Input: none
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* @return 8-bit code from TF Luna
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*/
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uint8_t TFLuna1_InChar(void);
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/**
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* Returns how much data available for reading
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* @param none
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* @return number of elements in receive software FIFO
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*/
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uint32_t TFLuna1_InStatus(void);
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/**
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* Returns how many bytes are in the transmission software FIFO
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* @param none
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* @return number of elements in transmission software FIFO
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*/
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uint32_t TFLuna1_OutStatus(void);
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/**
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* Output string to serial port TFLuna<br>
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* Uses interrupt synchronization<br>
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* This function waits if the transmit software FIFO is full
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* @param pt pointer to a NULL-terminated string to be transferred
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* @return none
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* @brief output string to TFLuna
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*/
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void TFLuna1_OutString(uint8_t *pt);
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/**
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* Output 8-bit to serial port TFLuna<br>
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* Uses interrupt synchronization<br>
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* This function waits if the transmit software FIFO is full
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* @param data is an 8-bit ASCII character to be transferred
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* @return none
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* @brief output character to TFLuna
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*/
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void TFLuna1_OutChar(uint8_t data);
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#endif // __TFLuna1_H__
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/** @}*/
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