Added support for TFmini-LiDAR

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -59,6 +59,7 @@ set(config_module_list
 	#drivers/ulanding
 	drivers/vmount
 	modules/sensors
+	drivers/tfmini
 
 	#
 	# System commands

src/drivers/tfmini/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   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_parser.cpp

@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   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

@@ -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

@@ -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);