lrf_serial_comm.h

/***
 * Noptel LRF rangefinder sampler for the Flipper Zero
 * Version: 2.0
 *
 * LRF Serial communication app
***/

#pragma once

/*** Defines ***/
#define UART_RX_BUF_SIZE 256
#define DIAG_PROGRESS_UPDATE_EVERY 250 /*ms*/



/*** Types ***/

/** LRF command **/
typedef enum {

  /* Trigger one SMM measurement */
  smm = 0,

  /* Start continuous measurement at 1 Hz */
  cmm_1hz = 1,

  /* Start continuous measurement at 4 Hz */
  cmm_4hz = 2,

  /* Start continuous measurement at 10 Hz */
  cmm_10hz = 3,

  /* Start continuous measurement at 20 Hz */
  cmm_20hz = 4,

  /* Start continuous measurement at 100 Hz */
  cmm_100hz = 5,

  /* Start continuous measurement at 200 Hz */
  cmm_200hz = 6,

  /* Stop continuous measurement */
  cmm_break = 7,

  /* Turn the pointer on */
  pointer_on = 8,

  /* Turn the pointer off */
  pointer_off = 9,

  /* Send identification frame */
  send_ident = 10,

  /* Send information frame */
  send_info = 11,

  /* Read diagnostic data */
  read_diag = 12,

} LRFCommand;



/** LRF sample **/
typedef struct {

  /* Distances */
  float dist1;
  float dist2;
  float dist3;

  /* Amplitudes */
  uint16_t ampl1;
  uint16_t ampl2;
  uint16_t ampl3;

  /* Reception timestamp */
  uint32_t tstamp_ms;

} LRFSample;



/** LRF identification **/
typedef struct {

  /* Device ID */
  char id[16];

  /* Additional information */
  char addinfo[16];

  /* Serial number */
  char serial[16];

  /* Firmware version */
  char fwversion[16];

  /* Whether the firmware is newer than x.4.x */
  bool is_fw_newer_than_x4;

  /* Electronics type */
  char electronics[4];

  /* Optics type */
  char optics[4];

  /* Build date */
  char builddate[32];

} LRFIdent;



/** LRF information **/
typedef struct {

  /* Transmission retries */
  uint8_t txretries;

  /* Laser pump time */
  uint16_t txpumptime;

  /* Number of pulses used for the last measurement */
  uint16_t pulsesused;

  /* Transmitter temperature */
  uint8_t txtemp;

  /* APD at first burst */
  uint8_t apdatfirstburst;

  /* Target distances */
  uint16_t targetdist1;
  uint16_t targetdist2;
  uint16_t targetdist3;

  /* Target magnitudes */
  uint8_t targetmagnitude1;
  uint8_t targetmagnitude2;
  uint8_t targetmagnitude3;

  /* Battery voltage */
  float battvoltage;

  /* I/O voltage */
  float iovoltage;

  /* Receiver voltage */
  float rxvoltage;

  /* Transmitter voltage */
  float txvoltage;

  /* Receiver temperature */
  float rxtemp;

  /* Status bytes */
  uint8_t statusbyte1;
  uint8_t statusbyte2;
  uint8_t statusbyte3;

  /* Pulse counter */
  uint64_t pulsectr;

  /* Serial error counter */
  uint8_t rserrorctr;

} LRFInfo;



/** LRF diagnostic data **/
typedef struct {

  /* Diagnostic data values */
  uint16_t *vals;

  /* Number of values currently read */
  uint16_t nb_vals;

  /* Total number of values */
  uint16_t total_vals;

} LRFDiag;



/** App structure **/
struct _LRFSerialCommApp;
typedef struct _LRFSerialCommApp LRFSerialCommApp;



/*** Routines ***/

/** Set the callback to handle raw data received from the LRF **/
void set_lrf_raw_data_handler(LRFSerialCommApp *,
				void (*)(uint8_t *, uint16_t, void *), void *);

/** Set the callback to handle one received LRF sample **/
void set_lrf_sample_handler(LRFSerialCommApp *, void (*)(LRFSample *, void *),
				void *);

/** Set the callback to handle one received LRF identification frame **/
void set_lrf_ident_handler(LRFSerialCommApp *, void (*)(LRFIdent *, void *),
				void *);

/** Set the callback to handle one received LRF information frame **/
void set_lrf_info_handler(LRFSerialCommApp *, void (*)(LRFInfo *, void *),
				void *);

/** Set the callback to handle received diagnostic data **/
void set_diag_data_handler(LRFSerialCommApp *, void (*)(LRFDiag *, void *),
				void *);

/** Enable or disable the use of the shared storage space as LRF frame decode
    buffer **/
void enable_shared_storage_dec_buf(LRFSerialCommApp *, bool);

/** UART send function **/
void uart_tx(LRFSerialCommApp *, uint8_t *, uint16_t);

/** Send a command to the LRF **/
void send_lrf_command(LRFSerialCommApp *, LRFCommand);

/** Initialize the LRF serial communication app **/
LRFSerialCommApp *lrf_serial_comm_app_init(uint16_t, uint16_t,
						uint8_t *, uint16_t);

/** Start the UART **/
void start_uart(LRFSerialCommApp *, uint32_t);

/** Stop the UART **/
void stop_uart(LRFSerialCommApp *);

/** Set the UART's baudrate **/
void set_uart_baudrate(LRFSerialCommApp *, uint32_t);

/** Stop the UART receive thread and free up the space allocated for the LRF
    communication app **/
void lrf_serial_comm_app_free(LRFSerialCommApp *);