move all distance sensor drivers to the same folder

2026-11-09 12:11:35 +08:00 · 2018-01-15 14:34:02 -05:00
parent 576b42fea3
commit 67f89f51ff
49 changed files with 175 additions and 217 deletions
@@ -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;
+}