73 lines
2.1 KiB
C
73 lines
2.1 KiB
C
/*!
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* @defgroup LD19
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* @brief Asynchronous serial communication to LiDAR Sensor LD19 distance sensor
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<table>
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<caption id="LD19pins0">LiDAR Sensor LD19 distance sensor interface</caption>
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<tr><th>Pin <th>LD19 <th>MSPM0
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<tr><td>1 <td>Tx <td>PB13 RxD: is UART3 Rx (LD19 to MSPM0)
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<tr><td>2 <td>PWM <td>PB12 GPIO write a 0 to run fastest (MSPM0 to LD19)
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<tr><td>3 <td>GND <td>ground
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<tr><td>4 <td>P5V <td>5V
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</table>
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* @{*/
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/**
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* @file LD19.h
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* @brief Initialize LD19, interrupt synchronization
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* @details LD19 initialization. UART3 230400 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 Nov 5, 2025
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<table>
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<caption id="LD19pins1">LiDAR Sensor LD19 distance sensor interface</caption>
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<tr><th>Pin <th>LD19 <th>MSPM0
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<tr><td>1 <td>Tx <td>PB13 RxD: is UART3 Rx (LD19 to MSPM0)
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<tr><td>2 <td>PWM <td>PB12 GPIO write a 0 to run fastest (MSPM0 to LD19)
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<tr><td>3 <td>GND <td>ground
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<tr><td>4 <td>P5V <td>5V
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</table>
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UART3 is shared between LD19 and TFLuna3 (can have either but not both)
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******************************************************************************/
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#ifndef __LD19_H__
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#define __LD19_H__
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/**
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* initializeLiDAR Sensor LD19 distance sensor 230400 bps baud rate.<br>
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* interrupt synchronization
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* @param d 0 for debug, pointer to array of 540 elements for read time
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* @return none
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* @brief Initialize LD19
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*/
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void LD19_Init(uint16_t *d);
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// the following functions only needed for low-level debugging
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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 LD19_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 LD19_InStatus(void);
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#endif // __LD19_H__
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/** @}*/
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