LidaRx driver for Scanse.IO Sweep
This device driver adds support for Scanse.IO’s Sweep scanner to LidaRx.
Features
- Compatible with Sweep Firmware 1.4 (as per datasheet)
- Strongly typed settings API for motor speed and sample rate
- Automatically pauses/resumes scan when changing parameters (sample rate and rotation frequency) during scan
Roadmap
- (Eventually) support upgrading the firmware
API
Constructor
| Constructor |
SweepScanner(string portName) |
| Parameter |
Description |
Default |
portName |
The OS device specifier for the Serial port / UART, ex. COM3 on Windows or /dev/ttyACM0 on Linux |
|
Device specific API
Motor speed adjustement
| Method |
void SetMotorSpeed(SweepMotorSpeed targetSpeed, bool smartInterleave) |
async Task SetMotorSpeedAsync(SweepMotorSpeed targetSpeed, bool smartInterleave) |
| Parameter |
Description |
Default |
targetSpeed |
A value from SweepMotorSpeed enum |
|
smartInterleave |
Whether or not the driver should pause scanning (if running) prior to setting the value. If set to false you have to ensure the scan is stopped. |
true |
Note: Sweep takes up to 10 seconds to stabilize it’s speed. The scanner’s status LED is blinking during this time. The two methods WaitForStabilizedMotorSpeed() (up to 30s) before returning.
If motor speed stabilization fails an exception is thrown.
| Method |
bool WaitForStabilizedMotorSpeed(TimeSpan timeout, bool throwOnFail) |
async Task<bool> WaitForStabilizedMotorSpeedAsync(TimeSpan timeout, bool throwOnFail) |
| Parameter |
Description |
Default |
timeout |
Wait for timeout to elapse before failing |
|
throwOnFail |
You can suppress the exception throwing by setting this to false |
true |
Note: datasheet states that Sweep takes up to 6s to stabilize. By experience 10 seconds is the least to wait in many cases.
Sample rate adjustement
| Method |
void SetSamplingRate(SweepSampleRate targetRate, bool smartInterleave) |
async Task SetSamplingRateAsync(SweepSampleRate targetRate, bool smartInterleave) |
| Parameter |
Description |
Default |
targetRate |
A value from SweepSampleRate enum |
|
smartInterleave |
Whether or not the driver should pause scanning (if running) prior to setting the value. If set to false you have to ensure the scan is stopped. |
true |
Helpers & device status
| Method |
void UpdateDeviceInfo() |
async Task UpdateDeviceInfoAsync() |
Retrieves the device information and version information from connected Sweep scanner.
Information can be access in the SweepScanner.Info property:
| Property |
Type |
Description |
| Model |
string |
Should read Sweep |
| Protocol |
string |
|
| FirmwareVersion |
string |
The firmware revision |
| HardwareVersion |
string |
The hardware revision |
| SerialNumber |
string |
The serial number of your scanner, ex 000002014 |
| BitRate |
int |
The bitrate of the serial connection, usually reads 115200 |
| LaserState |
char |
|
| Mode |
char |
|
| Diagnostic |
char |
|
| MotorSpeed |
SweepMotorSpeed |
The current motor speed (range is 1Hz to 10Hz) |
| SampleRate |
SweepSampleRate |
The current sample rate (500Hz, 750Hz or 1000Hz) |