RSLK

RSLK sensors and Actuators. More...

Files
file	BNO085.h
	Interfacing the BNO085 IMU.
file	Bump.h
	RSLK Bumper switches.
file	Motor.h
	RSLK dual H-bridge driver.
file	MotorControl.h
	RSLK PI motor controller.
file	Tachometer.h
	RSLK tachometer.
file	TFLuna1.h
	Initialize TFLuna1, interrupt synchronization.
file	TFLuna2.h
	Initialize TFLuna2, interrupt synchronization.
file	TFLuna3.h
	Initialize TFLuna3, interrupt synchronization.

Macros
#define	MOTOR_PERIOD   10000
#define	MOTORMIN   2
#define	MOTORMAX   (MOTOR_PERIOD-2)
#define	DUMPSIZE   200
	DUMPSIZE is the size of the dump buffer.

Functions
void	BNO085_Reset (uint32_t time)
	Reset the BNO085. More...
void	BNO085_Init (void(*function)(int16_t data[6]))
	Initialize 9-DOF BNO085 IMU. More...
void	Bump_Init (void)
	Initialize bump switches. More...
uint32_t	Bump_In (void)
	Read bump switches. More...
void	Motor_Init (void)
	Initialize motors. More...
void	Motor_Forward (uint32_t dutyLeft, uint32_t dutyRight)
	Go forward. More...
void	Motor_Backward (uint32_t dutyLeft, uint32_t dutyRight)
	Go backward. More...
void	Motor_Right (uint32_t dutyLeft, uint32_t dutyRight)
	Turn right. More...
void	Motor_Left (uint32_t dutyLeft, uint32_t dutyRight)
	Turn left. More...
void	MC_Init (void)
	Initialize tach input and motor outputs. More...
void	MC_PIControlLoop (void)
	PI controller. More...
void	MC_SetDesiredSpeed (uint32_t newSpeed)
	Set desired speed. More...
uint32_t	MC_GetDesiredSpeed (void)
	Get desired speed. More...
void	MC_SetKp1 (int32_t kp1)
	Set numerator for proportial control. More...
void	MC_SetKp2 (int32_t kp2)
	Set denominator for proportial control. More...
void	MC_SetKi1 (int32_t ki1)
	Set numerator for integral control. More...
void	MC_SetKi2 (int32_t ki2)
	Set denominator for integral control. More...
int32_t	MC_GetKp1 (void)
	Get numerator for proportial control. More...
int32_t	MC_GetKp2 (void)
	Get denominator for proportial control. More...
int32_t	MC_GetKi1 (void)
	Get numerator for integral control. More...
int32_t	MC_GetKi2 (void)
	Get denominator for integral control. More...
int32_t	MC_GetLeftE (void)
	Get controller error on left. More...
int32_t	MC_GetRightE (void)
	Get controller error on right. More...
int32_t	MC_GetLeftU (void)
	Get controller actuator output on left. More...
int32_t	MC_GetRightU (void)
	Get controller actuator output on right. More...
uint32_t	MC_Time (void)
	Get controller time. More...
uint32_t *	MC_DumpRight (void)
	Get right speed log. More...
uint32_t *	MC_DumpLeft (void)
	Get left speed log. More...
void	Tachometer_CheckForStopped (void)
	Check for stopped motors. More...
void	Tachometer_Init (void)
	Initialize motors. More...
uint32_t	Tachometer_GetRightrpm (void)
	Right motor speed. More...
uint32_t	Tachometer_GetLeftrpm (void)
	Left motor speed. More...
void	TFLuna1_Init (void(*function)(uint32_t))
	Initialize TFLuna1. More...
void	TFLuna1_Format_Standard_mm (void)
	mm units More...
void	TFLuna1_Format_Standard_cm (void)
	cm units More...
void	TFLuna1_Format_Pixhawk (void)
	Pixhawk. More...
void	TFLuna1_Frame_Rate (void)
	sampling rate More...
void	TFLuna1_SaveSettings (void)
	save format and rate More...
void	TFLuna1_System_Reset (void)
	start measurements More...
void	TFLuna1_Output_Enable (void)
	enable More...
void	TFLuna1_Output_Disable (void)
	disable More...
void	TFLuna1_SendMessage (const uint8_t msg[])
	output message to TFLuna More...
uint8_t	TFLuna1_InChar (void)
uint32_t	TFLuna1_InStatus (void)
uint32_t	TFLuna1_OutStatus (void)
void	TFLuna1_OutString (uint8_t *pt)
	output string to TFLuna More...
void	TFLuna1_OutChar (uint8_t data)
	output character to TFLuna More...
void	TFLuna2_Init (void(*function)(uint32_t))
	Initialize TFLuna2. More...
void	TFLuna2_Format_Standard_mm (void)
	mm units More...
void	TFLuna2_Format_Standard_cm (void)
	cm units More...
void	TFLuna2_Format_Pixhawk (void)
	Pixhawk. More...
void	TFLuna2_Frame_Rate (void)
	sampling rate More...
void	TFLuna2_SaveSettings (void)
	save format and rate More...
void	TFLuna2_System_Reset (void)
	start measurements More...
void	TFLuna2_Output_Enable (void)
	enable More...
void	TFLuna2_Output_Disable (void)
	disable More...
void	TFLuna2_SendMessage (const uint8_t msg[])
	output message to TFLuna2 More...
uint8_t	TFLuna2_InChar (void)
uint32_t	TFLuna2_InStatus (void)
uint32_t	TFLuna2_OutStatus (void)
void	TFLuna2_OutString (uint8_t *pt)
	output string to TFLuna2 More...
void	TFLuna2_OutChar (uint8_t data)
	output character to TFLuna2 More...
void	TFLuna3_Init (void(*function)(uint32_t))
	Initialize TFLuna3. More...
void	TFLuna3_Format_Standard_mm (void)
	mm units More...
void	TFLuna3_Format_Standard_cm (void)
	cm units More...
void	TFLuna3_Format_Pixhawk (void)
	Pixhawk. More...
void	TFLuna3_Frame_Rate (void)
	sampling rate More...
void	TFLuna3_SaveSettings (void)
	save format and rate More...
void	TFLuna3_System_Reset (void)
	start measurements More...
void	TFLuna3_Output_Enable (void)
	enable More...
void	TFLuna3_Output_Disable (void)
	disable More...
void	TFLuna3_SendMessage (const uint8_t msg[])
	output message to TFLuna3 More...
uint8_t	TFLuna3_InChar (void)
uint32_t	TFLuna3_InStatus (void)
uint32_t	TFLuna3_OutStatus (void)
void	TFLuna3_OutString (uint8_t *pt)
	output string to TFLuna3 More...
void	TFLuna3_OutChar (uint8_t data)
	output character to TFLuna3 More...

Detailed Description

RSLK sensors and Actuators.

BNO085 pins on the MSPM0G3507

BNO085	MSPM0
Vcc	3.3V Power
GND	GND
SCL	left not connected
SDA	PB13 RxD: is UART3 Rx (BNO085 to MSPM0) baud=115200 bps
AD0	left not connected
CS	left not connected
INT	left not connected
RST	PB12 GPIO output (drive low to reset)
PS1	left not connected (pulled low)
PS0	3.3V to select UART-RVC mode (there is a solder jumper on back)

RSLK Bumper switches

TM4C	MSPM0	Description
PA5	PA27	Left, Bump 0,
PF0	PB15	Center Left, Bump 1,
PB3	PA28	Center Right, Bump 2
PC4	PA31	Right, Bump 3

RSLK RSLK motor pins

TM4C	MSPM0	Description
PF2	PB4	Motor_PWML, ML+, IN3, PB.4/TIMA1_C0;
PF3	PB1	Motor_PWMR, MR+, IN1, PB.1/TIMA1_C1;
PA3	PB0	Motor_DIR_L,ML-, IN4, 1 means forward, 0 means backward
PA2	PB16	Motor_DIR_R,MR-, IN2

RSLK RSLK motor pins

TM4C	MSPM0	Description
PB7	PB8	ELA TA0_C0
PB2	PB12	ERA TA0_C1
		ERB GPIO input (not connected)
		ELB GPIO input (not connected)

RSLK motor pins

TM4C	MSPM0	Description
PF2	PB4	Motor_PWML, ML+, IN3, PB.4/TIMA1_C0;
PF3	PB1	Motor_PWMR, MR+, IN1, PB.1/TIMA1_C1;
PA3	PB0	Motor_DIR_L,ML-, IN4, 1 means forward, 0 means backward
PA2	PB16	Motor_DIR_R,MR-, IN2

RSLK RSLK motor pins

TM4C	MSPM0	Description
PB7	PB8	ELA TA0_C0
PB2	PB12	ERA TA0_C1
		ERB GPIO input (not connected)
		ELB GPIO input (not connected)

SJ-PM-TF-Luna+A01 interface

TFLuna Pin	Description
1	Red 5V
2	Serial TxD: PA8/PA17/PB4/PB6 is UART1 Tx (MSPM0 to TFLuna1)
3	Serial RxD: PA9/PA18/PB5/PB7 is UART1 Rx (TFLuna1 to MSPM0)
4	black ground

SJ-PM-TF-Luna+A01 interface

TFLuna Pin	Description
1	Red 5V
2	Serial TxD: PA21/PA23/PB15/PB17 is UART2 Tx (MSPM0 to TFLuna2)
3	Serial RxD: PA22/PA24/PB16/PB18 is UART2 Rx (TFLuna2 to MSPM0)
4	black ground

SJ-PM-TF-Luna+A01 interface

TFLuna Pin	Description
1	Red 5V
2	Serial TxD: PA14/PA26/PB2/PB12 is UART3 Tx (MSPM0 to TFLuna3)
3	Serial RxD: PA13/PA25/PB3/PB13 is UART3 Rx (TFLuna3 to MSPM0)
4	black ground

Function Documentation

BNO085_Init()

void BNO085_Init

(

void(*)(int16_t data[6])

function

)

Initialize 9-DOF BNO085 IMU.

Initialize the UART3 for 115,200 baud rate
8 bit word length, no parity bits, one stop bit, FIFO enabled
Callback function will be called at 100 Hz
data[0] Yaw 0.01 deg
data[1] Pitch 0.01 deg
data[2] Roll 0.01 deg
data[3] X-acceleration 0.001g
data[4] Y-acceleration 0.001g
data[5] Z-acceleration 0.001g

Parameters

function

pointer to callback function to which is passed an 6-element array

Returns

none

Note

Assumes BNO085 is configured for UART-RVC mode

BNO085_Reset()

void BNO085_Reset

(

uint32_t

time

)

Reset the BNO085.

Reset the 9-DOF BNO085 IMU
RST =0
wait time bus cycles
RST =1

Parameters

time	number of bus cycles to hold RST low

Returns

none

Note

only 100us (time=8000) was tested

Bump_In()

uint32_t Bump_In

(

void

)

Read bump switches.

Input RSLK bump switches
bit 0 is left
bit 1 is left center
bit 2 is right center
bit 3 is right

Parameters

none

Returns

0 to 15 in positive logic

Bump_Init()

void Bump_Init

(

void

)

Initialize bump switches.

Initialize RSLK bump switches

Parameters

none

Returns

none

MC_DumpLeft()

uint32_t* MC_DumpLeft

(

void

)

Get left speed log.

Get buffer to dumped left speed

Parameters

none

Returns

pointer to left speed log

Note

left and right speeds are dumped after each change in desired speed

MC_DumpRight()

uint32_t* MC_DumpRight

(

void

)

Get right speed log.

Get buffer to dumped Right speed

Parameters

none

Returns

pointer to right speed log

Note

left and right speeds are dumped after each change in desired speed

MC_GetDesiredSpeed()

uint32_t MC_GetDesiredSpeed

(

void

)

Get desired speed.

Get desired speed in 0.1 rpm.

Parameters

newSpeed

Returns

desiredSpeed

MC_GetKi1()

int32_t MC_GetKi1

(

void

)

Get numerator for integral control.

Get Ki1

Parameters

none

Returns

Ki1

MC_GetKi2()

int32_t MC_GetKi2

(

void

)

Get denominator for integral control.

Get Ki2

Parameters

none

Returns

Ki2

MC_GetKp1()

int32_t MC_GetKp1

(

void

)

Get numerator for proportial control.

Get Kp1

Parameters

none

Returns

Kp1

MC_GetKp2()

int32_t MC_GetKp2

(

void

)

Get denominator for proportial control.

Get Kp2

Parameters

none

Returns

Kp2

MC_GetLeftE()

int32_t MC_GetLeftE

(

void

)

Get controller error on left.

Get LeftE

Parameters

none

Returns

LeftE

MC_GetLeftU()

int32_t MC_GetLeftU

(

void

)

Get controller actuator output on left.

Get LeftU

Parameters

none

Returns

LeftU

MC_GetRightE()

int32_t MC_GetRightE

(

void

)

Get controller error on right.

Get RightE

Parameters

none

Returns

RightE

MC_GetRightU()

int32_t MC_GetRightU

(

void

)

Get controller actuator output on right.

Get RightU

Parameters

none

Returns

RightU

MC_Init()

void MC_Init

(

void

)

Initialize tach input and motor outputs.

Initialize RSLK Controller

Parameters

none

Returns

none

MC_PIControlLoop()

void MC_PIControlLoop

(

void

)

PI controller.

Run RSLK PI Controller

Parameters

none

Returns

none

Note

should run at 100Hz

MC_SetDesiredSpeed()

void MC_SetDesiredSpeed

(

uint32_t

newSpeed

)

Set desired speed.

Set desired speed in 0.1 rpm. Robot should move in a straight line

Parameters

newSpeed

Returns

none

MC_SetKi1()

void MC_SetKi1

(

int32_t

ki1

)

Set numerator for integral control.

Set Ki1

Parameters

ki1

Returns

none

MC_SetKi2()

void MC_SetKi2

(

int32_t

ki2

)

Set denominator for integral control.

Set Ki2

Parameters

ki2

Returns

none

MC_SetKp1()

void MC_SetKp1

(

int32_t

kp1

)

Set numerator for proportial control.

Set Kp1

Parameters

kp1

Returns

none

MC_SetKp2()

void MC_SetKp2

(

int32_t

kp2

)

Set denominator for proportial control.

Set Kp2

Parameters

kp2

Returns

none

MC_Time()

uint32_t MC_Time

(

void

)

Get controller time.

Get Time since last change in desired speed, 10 ms

Parameters

none

Returns

Time

Note

Controller runs at 100Hz

Motor_Backward()

void Motor_Backward	(	uint32_t	dutyLeft,
		uint32_t	dutyRight
	)

Go backward.

Set RSLK motor power backward

Parameters

dutyLeft	2 to 99998 us
dutyRight	2 to 99998 us

Returns

none

Note

period is 10000 us

Motor_Forward()

void Motor_Forward	(	uint32_t	dutyLeft,
		uint32_t	dutyRight
	)

Go forward.

Set RSLK motor power forward

Parameters

dutyLeft	2 to 99998 us
dutyRight	2 to 99998 us

Returns

none

Note

period is 10000 us

Motor_Init()

void Motor_Init

(

void

)

Initialize motors.

Initialize RSLK motors

Parameters

none

Returns

none

Note

PWM period is 10000 us

Motor_Left()

void Motor_Left	(	uint32_t	dutyLeft,
		uint32_t	dutyRight
	)

Turn left.

Set RSLK motor power left turn
Activate right motor forward and left motor backward (pivot)

Parameters

dutyLeft	2 to 99998 us
dutyRight	2 to 99998 us

Returns

none

Note

period is 10000 us

Motor_Right()

void Motor_Right	(	uint32_t	dutyLeft,
		uint32_t	dutyRight
	)

Turn right.

Set RSLK motor power right turn
Activate left motor forward and right motor backward (pivot)

Parameters

dutyLeft	2 to 99998 us
dutyRight	2 to 99998 us

Returns

none

Note

period is 10000 us

Tachometer_CheckForStopped()

void Tachometer_CheckForStopped

(

void

)

Check for stopped motors.

Check for stopped motors Higher level software must run this every 10ms

Parameters

none

Returns

none

Note

If the wheel is not spinning there will be no input capture interrupts

Tachometer_GetLeftrpm()

uint32_t Tachometer_GetLeftrpm

(

void

)

Left motor speed.

Left motor speed in 0.1 RPM. Does not wait for next measurement, returns with last measurement

Parameters

none

Returns

Leftrpm

Note

Uses input capture on ELA

Since ELB is not connected, RSLK2 cannot measure direction

Tachometer_GetRightrpm()

uint32_t Tachometer_GetRightrpm

(

void

)

Right motor speed.

Right motor speed in 0.1 RPM. Does not wait for next measurement, returns with last measurement

Parameters

none

Returns

Rightrpm

Note

Uses input capture on ERA

Since ERB is not connected, RSLK2 cannot measure direction

Tachometer_Init()

void Tachometer_Init

(

void

)

Initialize motors.

Initialize RSLK tachometers, 16-bit, 1us resolution

Parameters

none

Returns

none

Note

Uses input capture on ELA and ERA

TFLuna1_Format_Pixhawk()

void TFLuna1_Format_Pixhawk

(

void

)

Pixhawk.

Configure TFLuna for Pixhawk

Parameters

none

Returns

none

Warning

see datasheet, never tested

TFLuna1_Format_Standard_cm()

void TFLuna1_Format_Standard_cm

(

void

)

cm units

Configure TFLuna for measuring distance in cm

Parameters

none

Returns

none

TFLuna1_Format_Standard_mm()

void TFLuna1_Format_Standard_mm

(

void

)

mm units

Configure TFLuna for measuring distance in mm

Parameters

none

Returns

none

TFLuna1_Frame_Rate()

void TFLuna1_Frame_Rate

(

void

)

sampling rate

Configure TFLuna sampling rate
rate defined in #define TFLunaRate

Parameters

none

Returns

none

Warning

only 100 Hz was tested

TFLuna1_InChar()

uint8_t TFLuna1_InChar

(

void

)

Wait for new serial port input
Uses interrupt synchronization
This function waits if the receive software FIFO is empty

Parameters

Input

none

Returns

8-bit code from TF Luna

TFLuna1_Init()

void TFLuna1_Init

(

void(*)(uint32_t)

function

)

Initialize TFLuna1.

initialize UART1 for 115200 bps baud rate.
to use PA9/PA18/PB5/PB7, for PA9 set jumper J14
interrupt synchronization, priority=1

Parameters

function

pointer to a callback function

Returns

none

TFLuna1_InStatus()

uint32_t TFLuna1_InStatus

(

void

)

Returns how much data available for reading

Parameters

none

Returns

number of elements in receive software FIFO

TFLuna1_OutChar()

void TFLuna1_OutChar

(

uint8_t

data

)

output character to TFLuna

Output 8-bit to serial port TFLuna
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

data	is an 8-bit ASCII character to be transferred

Returns

none

TFLuna1_Output_Disable()

void TFLuna1_Output_Disable

(

void

)

disable

Disable TFLuna output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna1_Output_Enable()

void TFLuna1_Output_Enable

(

void

)

enable

Enable TFLuna output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna1_OutStatus()

uint32_t TFLuna1_OutStatus

(

void

)

Returns how many bytes are in the transmission software FIFO

Parameters

none

Returns

number of elements in transmission software FIFO

TFLuna1_OutString()

void TFLuna1_OutString

(

uint8_t *

pt

)

output string to TFLuna

Output string to serial port TFLuna
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

pt	pointer to a NULL-terminated string to be transferred

Returns

none

TFLuna1_SaveSettings()

void TFLuna1_SaveSettings

(

void

)

save format and rate

execute TFLuna_SaveSettings to activate changes to Format and Frame_Rate

Parameters

none

Returns

none

TFLuna1_SendMessage()

void TFLuna1_SendMessage

(

const uint8_t

msg[]

)

output message to TFLuna

Output message to serial port TFLuna
Uses interrupt synchronization
msg[0] is 0x5A for command type
msg[1] is length=n
msg[2] is command
msg[3]-msg[n-2] is optional payload
msg[n-1] is 8-bit checksum
E.g., 0x5A,0x05,0x05,0x06,0x6A sets format to mm
This function waits if the transmit software FIFO is full

Parameters

msg	pointer to a message to be transferred

Returns

none

TFLuna1_System_Reset()

void TFLuna1_System_Reset

(

void

)

start measurements

execute TFLuna_System_Reset to start measurements

Parameters

none

Returns

none

TFLuna2_Format_Pixhawk()

void TFLuna2_Format_Pixhawk

(

void

)

Pixhawk.

Configure TFLuna2 for Pixhawk

Parameters

none

Returns

none

Warning

see datasheet, never tested

TFLuna2_Format_Standard_cm()

void TFLuna2_Format_Standard_cm

(

void

)

cm units

Configure TFLuna2 for measuring distance in cm

Parameters

none

Returns

none

TFLuna2_Format_Standard_mm()

void TFLuna2_Format_Standard_mm

(

void

)

mm units

Configure TFLuna2 for measuring distance in mm

Parameters

none

Returns

none

TFLuna2_Frame_Rate()

void TFLuna2_Frame_Rate

(

void

)

sampling rate

Configure TFLuna2 sampling rate
rate defined in #define TFLunaRate

Parameters

none

Returns

none

Warning

only 100 Hz was tested

TFLuna2_InChar()

uint8_t TFLuna2_InChar

(

void

)

Wait for new serial port input
Uses interrupt synchronization
This function waits if the receive software FIFO is empty

Parameters

Input

none

Returns

8-bit code from TFLuna2

TFLuna2_Init()

void TFLuna2_Init

(

void(*)(uint32_t)

function

)

Initialize TFLuna2.

initialize UART2 for 115200 bps baud rate.
interrupt synchronization, priority=1

Parameters

function

pointer to a callback function

Returns

none

TFLuna2_InStatus()

uint32_t TFLuna2_InStatus

(

void

)

Returns how much data available for reading

Parameters

none

Returns

number of elements in receive software FIFO

TFLuna2_OutChar()

void TFLuna2_OutChar

(

uint8_t

data

)

output character to TFLuna2

Output 8-bit to serial port TFLuna2
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

data	is an 8-bit ASCII character to be transferred

Returns

none

TFLuna2_Output_Disable()

void TFLuna2_Output_Disable

(

void

)

disable

Disable TFLuna output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna2_Output_Enable()

void TFLuna2_Output_Enable

(

void

)

enable

Enable TFLuna output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna2_OutStatus()

uint32_t TFLuna2_OutStatus

(

void

)

Returns how many bytes are in the transmission software FIFO

Parameters

none

Returns

number of elements in transmission software FIFO

TFLuna2_OutString()

void TFLuna2_OutString

(

uint8_t *

pt

)

output string to TFLuna2

Output string to serial port TFLuna2
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

pt	pointer to a NULL-terminated string to be transferred

Returns

none

TFLuna2_SaveSettings()

void TFLuna2_SaveSettings

(

void

)

save format and rate

execute TFLuna2_SaveSettings to activate changes to Format and Frame_Rate

Parameters

none

Returns

none

TFLuna2_SendMessage()

void TFLuna2_SendMessage

(

const uint8_t

msg[]

)

output message to TFLuna2

Output message to serial port TFLuna2
Uses interrupt synchronization
msg[0] is 0x5A for command type
msg[1] is length=n
msg[2] is command
msg[3]-msg[n-2] is optional payload
msg[n-1] is 8-bit checksum
E.g., 0x5A,0x05,0x05,0x06,0x6A sets format to mm
This function waits if the transmit software FIFO is full

Parameters

msg	pointer to a message to be transferred

Returns

none

TFLuna2_System_Reset()

void TFLuna2_System_Reset

(

void

)

start measurements

execute TFLuna2_System_Reset to start measurements

Parameters

none

Returns

none

TFLuna3_Format_Pixhawk()

void TFLuna3_Format_Pixhawk

(

void

)

Pixhawk.

Configure TFLuna3 for Pixhawk

Parameters

none

Returns

none

Warning

see datasheet, never tested

TFLuna3_Format_Standard_cm()

void TFLuna3_Format_Standard_cm

(

void

)

cm units

Configure TFLuna3 for measuring distance in cm

Parameters

none

Returns

none

TFLuna3_Format_Standard_mm()

void TFLuna3_Format_Standard_mm

(

void

)

mm units

Configure TFLuna3 for measuring distance in mm

Parameters

none

Returns

none

TFLuna3_Frame_Rate()

void TFLuna3_Frame_Rate

(

void

)

sampling rate

Configure TFLuna3 sampling rate
rate defined in #define TFLunaRate

Parameters

none

Returns

none

Warning

only 100 Hz was tested

TFLuna3_InChar()

uint8_t TFLuna3_InChar

(

void

)

Wait for new serial port input
Uses interrupt synchronization
This function waits if the receive software FIFO is empty

Parameters

Input

none

Returns

8-bit code from TFLuna3

TFLuna3_Init()

void TFLuna3_Init

(

void(*)(uint32_t)

function

)

Initialize TFLuna3.

initialize UART3 for 115200 bps baud rate.
interrupt synchronization, priority=1

Parameters

function

pointer to a callback function

Returns

none

TFLuna3_InStatus()

uint32_t TFLuna3_InStatus

(

void

)

Returns how much data available for reading

Parameters

none

Returns

number of elements in receive software FIFO

TFLuna3_OutChar()

void TFLuna3_OutChar

(

uint8_t

data

)

output character to TFLuna3

Output 8-bit to serial port TFLuna3
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

data	is an 8-bit ASCII character to be transferred

Returns

none

TFLuna3_Output_Disable()

void TFLuna3_Output_Disable

(

void

)

disable

Disable TFLuna3 output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna3_Output_Enable()

void TFLuna3_Output_Enable

(

void

)

enable

Enable TFLuna3 output

Parameters

none

Returns

none

Warning

I didn't use these because output enabled was default

TFLuna3_OutStatus()

uint32_t TFLuna3_OutStatus

(

void

)

Returns how many bytes are in the transmission software FIFO

Parameters

none

Returns

number of elements in transmission software FIFO

TFLuna3_OutString()

void TFLuna3_OutString

(

uint8_t *

pt

)

output string to TFLuna3

Output string to serial port TFLuna3
Uses interrupt synchronization
This function waits if the transmit software FIFO is full

Parameters

pt	pointer to a NULL-terminated string to be transferred

Returns

none

TFLuna3_SaveSettings()

void TFLuna3_SaveSettings

(

void

)

save format and rate

execute TFLuna3_SaveSettings to activate changes to Format and Frame_Rate

Parameters

none

Returns

none

TFLuna3_SendMessage()

void TFLuna3_SendMessage

(

const uint8_t

msg[]

)

output message to TFLuna3

Output message to serial port TFLuna
Uses interrupt synchronization
msg[0] is 0x5A for command type
msg[1] is length=n
msg[2] is command
msg[3]-msg[n-2] is optional payload
msg[n-1] is 8-bit checksum
E.g., 0x5A,0x05,0x05,0x06,0x6A sets format to mm
This function waits if the transmit software FIFO is full

Parameters

msg	pointer to a message to be transferred

Returns

none

TFLuna3_System_Reset()

void TFLuna3_System_Reset

(

void

)

start measurements

execute TFLuna3_System_Reset to start measurements

Parameters

none

Returns

none