[Feature] Adding I2C driver for the GRF250 and GRF500 models (#26425)

* Adding the GRF I2C driver

* I2C Driver Working

* Removing a lot of unnecessary code

* fixing names

* Changing the i2c Driver to be in the lightware laser

* remove the old driver

* formatting fix

* Adding Ligthware GRF to documentation

docs/en/sensor/sfxx_lidar.md

@@ -15,6 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder
+| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder
 
 ::: details Discontinued
 

src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp

@@ -107,6 +107,12 @@ private:
 		ZeroOffset = 116,
 	};
 
+	enum class RegisterGRF : uint8_t {
+		DistanceOutput = 27,
+		UpdateRate = 74,
+	};
+
+
 	static constexpr uint16_t output_data_config_sf20 = 0b110'1011'0100;
 	static constexpr uint8_t output_data_config_sf30 = 0b0111'1110;
 
@@ -123,6 +129,7 @@ private:
 		Generic = 0,
 		LW20c,
 		SF30d,
+		GRF,
 	};
 	enum class State {
 		Configuring,
@@ -242,6 +249,20 @@ int LightwareLaser::init()
 		_type = Type::SF30d;
 		break;
 
+	case 8:  /* GRF250 (250m 5Hz) */
+		_px4_rangefinder.set_min_distance(0.1f);
+		_px4_rangefinder.set_max_distance(250.0f);
+		_conversion_interval = 200000;
+		_type = Type::GRF;
+		break;
+
+	case 9:  /* GRF500 (500m 5Hz) */
+		_px4_rangefinder.set_min_distance(0.1f);
+		_px4_rangefinder.set_max_distance(500.0f);
+		_conversion_interval = 200000;
+		_type = Type::GRF;
+		break;
+
 	default:
 		PX4_ERR("invalid HW model %" PRId32 ".", hw_model);
 		return ret;
@@ -278,6 +299,9 @@ int LightwareLaser::probe()
 
 	case Type::SF30d:
 		return enableI2CBinaryProtocol("SF30", "LW30");
+
+	case  Type::GRF:
+		return enableI2CBinaryProtocol("GRF250", "GRF500");
 	}
 
 	return -1;
@@ -361,6 +385,17 @@ int LightwareLaser::configure()
 			return ret;
 		}
 		break;
+
+	case Type::GRF: {
+			int ret = enableI2CBinaryProtocol("GRF250", "GRF500");
+			const uint8_t cmd1[] = {(uint8_t) RegisterGRF::UpdateRate, 0, 0, 0, 50};
+			ret |= transfer(cmd1, sizeof(cmd1), nullptr, 0);
+			uint8_t cmd2[] = {(uint8_t)RegisterGRF::DistanceOutput, 0, 0, 1};
+			ret |= transfer(cmd2, sizeof(cmd2), nullptr, 0);
+
+			return ret;
+		}
+		break;
 	}
 
 	return -1;
@@ -390,6 +425,29 @@ int LightwareLaser::collect()
 			break;
 		}
 
+	case Type::GRF: {
+
+			/* read from the sensor */
+			perf_begin(_sample_perf);
+			uint8_t val[4] {};
+			const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+			if (readRegister((uint8_t)Register::DistanceData, &val[0], 4) < 0) {
+				perf_count(_comms_errors);
+				perf_end(_sample_perf);
+				PX4_INFO("Register Read Error");
+				return PX4_ERROR;
+			}
+
+			perf_end(_sample_perf);
+
+			uint16_t distance_cm = val[2] << 16 | val[1] << 8 | val[0];
+			float distance_m = float(distance_cm) * 1e-1f;
+
+			_px4_rangefinder.update(timestamp_sample, distance_m);
+			break;
+		}
+
 	case Type::LW20c:
 	case Type::SF30d:
 
@@ -416,6 +474,8 @@ int LightwareLaser::collect()
 
 		_px4_rangefinder.update(timestamp_sample, distance_m, quality);
 		break;
+
+
 	}
 
 	return PX4_OK;
@@ -498,6 +558,10 @@ int LightwareLaser::updateRestriction()
 				const uint8_t cmd[] = {(uint8_t)Register::LaserFiring, (uint8_t)(_restriction ? 0 : 1)};
 				return transfer(cmd, sizeof(cmd), nullptr, 0);
 			}
+
+		case Type::GRF: {
+				return 0;
+			}
 		}
 	}
 

src/drivers/distance_sensor/lightware_laser_i2c/parameters.c

@@ -36,7 +36,7 @@
  *
  * @reboot_required true
  * @min 0
- * @max 7
+ * @max 9
  * @group Sensors
  * @value 0 Disabled
  * @value 1 SF10/a
@@ -46,6 +46,8 @@
  * @value 5 SF/LW20/b
  * @value 6 SF/LW20/c
  * @value 7 SF/LW30/d
+ * @value 8 GRF250
+ * @value 9 GRF500
  */
 PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);