move all distance sensor drivers to the same folder

2026-10-28 20:53:37 +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 +1,72 @@
+/****************************************************************************
+ *
+ *   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);