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Added support for TFmini-LiDAR

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This commit is contained in:
Ayush
2017-12-31 23:20:37 +05:30
committed by Lorenz Meier
parent ad532d0510
commit 9f2bb6c7f9
6 changed files with 1293 additions and 0 deletions
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cmake/configs/nuttx_px4fmu-v2_default.cmake
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@@ -59,6 +59,7 @@ set(config_module_list
#drivers/ulanding
drivers/vmount
modules/sensors
drivers/tfmini
#
# System commands
src/drivers/tfmini/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2017 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
px4_add_module(
MODULE drivers__tfmini
MAIN tfmini
COMPILE_FLAGS
-Wno-sign-compare
SRCS
tfmini.cpp
tfmini_parser.cpp
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
src/drivers/tfmini/tfmini.cpp
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src/drivers/tfmini/tfmini_parser.cpp
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/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file modified from sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Chuong Nguyen <chnguye7@asu.edu>
* @author Ayush Gaud <ayush.gaud@gmail.com>
*
* Declarations of parser for the Benewake TFmini laser rangefinder series
*/
#include "tfmini_parser.h"
#include <string.h>
#include <stdlib.h>
// #define TFMINI_DEBUG
#ifdef TFMINI_DEBUG
#include <stdio.h>
const char *parser_state[] = {
"0_UNSYNC",
"1_SYNC_1",
"2_SYNC_2",
"3_GOT_DIST_L",
"4_GOT_DIST_H",
"5_GOT_STRENGTH_L",
"6_GOT_STRENGTH_H",
"7_GOT_PRESERVED",
"8_GOT_QUALITY"
"9_GOT_CHECKSUM"
};
#endif
int tfmini_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist)
{
int ret = -1;
//char *end;
switch (*state) {
case TFMINI_PARSE_STATE6_GOT_CHECKSUM:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
}
break;
case TFMINI_PARSE_STATE0_UNSYNC:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_1;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
}
break;
case TFMINI_PARSE_STATE1_SYNC_1:
if (c == 'Y') {
*state = TFMINI_PARSE_STATE1_SYNC_2;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
*parserbuf_index = 0;
}
break;
case TFMINI_PARSE_STATE1_SYNC_2:
*state = TFMINI_PARSE_STATE2_GOT_DIST_L;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE2_GOT_DIST_L:
*state = TFMINI_PARSE_STATE2_GOT_DIST_H;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE2_GOT_DIST_H:
*state = TFMINI_PARSE_STATE3_GOT_STRENGTH_L;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE3_GOT_STRENGTH_L:
*state = TFMINI_PARSE_STATE3_GOT_STRENGTH_H;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE3_GOT_STRENGTH_H:
*state = TFMINI_PARSE_STATE4_GOT_RESERVED;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE4_GOT_RESERVED:
*state = TFMINI_PARSE_STATE5_GOT_QUALITY;
parserbuf[*parserbuf_index] = c;
(*parserbuf_index)++;
break;
case TFMINI_PARSE_STATE5_GOT_QUALITY:
// Find the checksum
unsigned char cksm = 0;
for (int i = 0; i < 8; i++) {
cksm += parserbuf[i];
}
if (c == cksm) {
parserbuf[*parserbuf_index] = '\0';
unsigned int t1 = parserbuf[2];
unsigned int t2 = parserbuf[3];
t2 <<= 8;
t2 += t1;
*dist = ((float)t2) / 100;
*state = TFMINI_PARSE_STATE6_GOT_CHECKSUM;
*parserbuf_index = 0;
ret = 0;
} else {
*state = TFMINI_PARSE_STATE0_UNSYNC;
*parserbuf_index = 0;
}
break;
}
#ifdef TFMINI_DEBUG
printf("state: TFMINI_PARSE_STATE%s\n", parser_state[*state]);
#endif
return ret;
}
src/drivers/tfmini/tfmini_parser.h
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@@ -0,0 +1,72 @@
/****************************************************************************
*
* Copyright (c) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file modified from sf0x_parser.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Chuong Nguyen <chnguye7@asu.edu>
* @author Ayush Gaud <ayush.gaud@gmail.com>
*
* Declarations of parser for the Benewake TFmini laser rangefinder series
*/
#pragma once
// Data Format for Benewake TFmini
// ===============================
// 9 bytes total per message:
// 1) 0x59
// 2) 0x59
// 3) Dist_L (low 8bit)
// 4) Dist_H (high 8bit)
// 5) Strength_L (low 8bit)
// 6) Strength_H (high 8bit)
// 7) Reserved bytes
// 8) Original signal quality degree
// 9) Checksum parity bit (low 8bit), Checksum = Byte1 + Byte2 +...+Byte8. This is only a low 8bit though
enum TFMINI_PARSE_STATE {
TFMINI_PARSE_STATE0_UNSYNC = 0,
TFMINI_PARSE_STATE1_SYNC_1,
TFMINI_PARSE_STATE1_SYNC_2,
TFMINI_PARSE_STATE2_GOT_DIST_L,
TFMINI_PARSE_STATE2_GOT_DIST_H,
TFMINI_PARSE_STATE3_GOT_STRENGTH_L,
TFMINI_PARSE_STATE3_GOT_STRENGTH_H,
TFMINI_PARSE_STATE4_GOT_RESERVED,
TFMINI_PARSE_STATE5_GOT_QUALITY,
TFMINI_PARSE_STATE6_GOT_CHECKSUM
};
int tfmini_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist);
src/modules/sensors/sensor_params.c
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@@ -315,3 +315,13 @@ PARAM_DEFINE_FLOAT(IMU_GYRO_CUTOFF, 30.0f);
* @group Sensors
*/
PARAM_DEFINE_FLOAT(IMU_ACCEL_CUTOFF, 30.0f);
/**
* Benewake TFmini laser rangefinder
*
* @reboot_required true
*
* @boolean
* @group Sensors
*/
PARAM_DEFINE_INT32(SENS_EN_TFMINI, 0);