Commit 44fb2e17 authored by Richard Gerhard Reinfeld's avatar Richard Gerhard Reinfeld
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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
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* 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_QUALITY,
TFMINI_PARSE_STATE5_GOT_CHECKSUM
};
int tfmini_parse(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist);
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