RTOS robot sensors. More...

Files
file	BNO085.h
	Interfacing the BNO085 IMU.

file	TFLuna1.h
	Initialize TFLuna1, interrupt synchronization.

file	TFLuna2.h
	Initialize TFLuna2, interrupt synchronization.

file	TFLuna3.h
	Initialize TFLuna3, interrupt synchronization.

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	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

RTOS robot sensors.

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)

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

◆ 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

Files

Functions

Detailed Description

Function Documentation

◆ BNO085_Init()

◆ BNO085_Reset()

◆ TFLuna1_Format_Pixhawk()

◆ TFLuna1_Format_Standard_cm()

◆ TFLuna1_Format_Standard_mm()

◆ TFLuna1_Frame_Rate()

◆ TFLuna1_InChar()

◆ TFLuna1_Init()

◆ TFLuna1_InStatus()

◆ TFLuna1_OutChar()

◆ TFLuna1_Output_Disable()

◆ TFLuna1_Output_Enable()

◆ TFLuna1_OutStatus()

◆ TFLuna1_OutString()

◆ TFLuna1_SaveSettings()

◆ TFLuna1_SendMessage()

◆ TFLuna1_System_Reset()

◆ TFLuna2_Format_Pixhawk()

◆ TFLuna2_Format_Standard_cm()

◆ TFLuna2_Format_Standard_mm()

◆ TFLuna2_Frame_Rate()

◆ TFLuna2_InChar()

◆ TFLuna2_Init()

◆ TFLuna2_InStatus()

◆ TFLuna2_OutChar()

◆ TFLuna2_Output_Disable()

◆ TFLuna2_Output_Enable()

◆ TFLuna2_OutStatus()

◆ TFLuna2_OutString()

◆ TFLuna2_SaveSettings()

◆ TFLuna2_SendMessage()

◆ TFLuna2_System_Reset()

◆ TFLuna3_Format_Pixhawk()

◆ TFLuna3_Format_Standard_cm()

◆ TFLuna3_Format_Standard_mm()

◆ TFLuna3_Frame_Rate()

◆ TFLuna3_InChar()

◆ TFLuna3_Init()

◆ TFLuna3_InStatus()

◆ TFLuna3_OutChar()

◆ TFLuna3_Output_Disable()

◆ TFLuna3_Output_Enable()

◆ TFLuna3_OutStatus()

◆ TFLuna3_OutString()

◆ TFLuna3_SaveSettings()

◆ TFLuna3_SendMessage()

◆ TFLuna3_System_Reset()