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73 lines
2.8 KiB
C
73 lines
2.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file modified from sf0x_parser.cpp
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Chuong Nguyen <chnguye7@asu.edu>
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* @author Ayush Gaud <ayush.gaud@gmail.com>
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*
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* Declarations of parser for the Benewake TFmini laser rangefinder series
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*/
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#pragma once
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// Data Format for Benewake TFmini
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// ===============================
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// 9 bytes total per message:
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// 1) 0x59
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// 2) 0x59
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// 3) Dist_L (low 8bit)
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// 4) Dist_H (high 8bit)
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// 5) Strength_L (low 8bit)
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// 6) Strength_H (high 8bit)
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// 7) Reserved bytes
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// 8) Original signal quality degree
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// 9) Checksum parity bit (low 8bit), Checksum = Byte1 + Byte2 +...+Byte8. This is only a low 8bit though
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enum TFMINI_PARSE_STATE {
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TFMINI_PARSE_STATE0_UNSYNC = 0,
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TFMINI_PARSE_STATE1_SYNC_1,
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TFMINI_PARSE_STATE1_SYNC_2,
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TFMINI_PARSE_STATE2_GOT_DIST_L,
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TFMINI_PARSE_STATE2_GOT_DIST_H,
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TFMINI_PARSE_STATE3_GOT_STRENGTH_L,
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TFMINI_PARSE_STATE3_GOT_STRENGTH_H,
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TFMINI_PARSE_STATE4_GOT_RESERVED,
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TFMINI_PARSE_STATE5_GOT_QUALITY,
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TFMINI_PARSE_STATE6_GOT_CHECKSUM
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};
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int tfmini_parse(char c, char *parserbuf, unsigned *parserbuf_index, enum TFMINI_PARSE_STATE *state, float *dist);
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