M2D-Laser-Scanner with Ethernet-Interface
Manual
HB-M2D-Ethernet-E
Page 28 of 39
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// read one byte from sensor
// try until some data found, return -1 if operation times out (error)
int ByteFromM2(M2Dinfo *inf)
{
int val, emptyCnt=0;
do{
e+;
if(emptyCnt == 32767){
return -1;
}
val=ByteFromM2FF(inf);
} while(val == 0xFF);
return val;
}
// low level write used by M2Dwrite
void M2Dwait(M2Dinfo *inf, int cnt)
{
outp(inf->ioPort,value);
}
// low level wait used by M2DWrite
void M2Dwait(M2Dinfo *inf, int cnt)
{
while(cnt--)
inp(inf->2);
}
// M2DWrite
// write to M2D-Register
// anz:
0 -> registerNr == command e.g. 0x1C – reset FIFO; value not used
// 1 -> write value to registerNr
//
2 -> write value to registerNR & reg1, shift value to fit
//
low & high register; e.g. INTENSITY
void M2DWrite (M2DInfo * inf, int registerNr,int value, int anz)
{
switch(anz){
case 2:
//first register
ByteToM2 (inf, registerNr);
M2DWait (inf,fio_Wait);
ByteToM2(inf, (value & 0x7F) | 0x80);
M2DWait(inf,fio_Wait),
//r1
ByteToM2(inf,reg1);
M2DWait(inf,fio_Wait);
ByteToM2(inf,((value >> 7)& 0x7F | 0x80);
M2DWait(inf,fio_Wait);
break;
case 1:
ByteToM2 (inf, registerNr);
M2DWait (inf,fio_Wait);
ByteToM2(inf, (value & 0x7F) | 0x80);
M2DWait(inf,fio_Wait),
break;
case 0:
ByteToM2 (inf, registerNr);
M2DWait (inf,fio_Wait);
break;
}
}
