M2D-Laser-Scanner with Ethernet-Interface
Manual
HB-M2D-Ethernet-E
Page 31 of 39
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// DataToInt
// helper function to make integer from sensor status
// dat: array with status info
// cnt: array size
// return: calculated number
long DatToInt(int *dat,int cnt)
{
int i;
long res;
res=0;
for(i=0;i<cnt;i++){
res = res | ((long)dat[i] << i*7);
}
return res;
}
// M2DStatus
// select status by num and return value
// Hint: avoid trigger mode
// return:
// 0 = ok, -1 = fail
// inf -> sync [3] = status
int M2DStatus (M2DInfo *inf, int num)
{
int i,res,result; //
int res = M2DStatus(sens,3)
result=-1;
M2DWrite(inf,0x11,num,1); // select status register
M2DWrite(inf,0x1C,0,0); // clear FIFO
for(i=0;i<5;i++){
res = M2DSync(inf);
if(res>=0 && (((inf->sync[1]>>1) & 0x3F) == num)){
result=0;
break;
}
}
// M2DStatusInt
// select count status bytes by num and make integer
// Hint: avoid trigger mode
// return:
// 0 = ok, -1 = fail
// value
int M2DStatusInt(M2DInfo *inf, int start, int count, long *value)
{
int i, res;
int dat[8];
res=-1 ;
if(count>8) count=8;
for(i=0;i<count;i++){
res= M2DStatus(inf,i+start);
if(res<0)
break;
dat[i] = inf->sync[3];
}
*value = DatToInt(dat,count);
return res;
}
