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Amended comment for frame format + cosmetic changes

This commit is contained in:
jflyper 2017-12-21 22:17:22 +09:00
parent a510091bf1
commit 59a7510488
1 changed files with 31 additions and 31 deletions
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62
src/main/drivers/rangefinder/rangefinder_lidartf.c
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@ -37,56 +37,56 @@
static uint8_t tfDevtype = TF_DEVTYPE_NONE;
#define TF_FRAME_LENGTH 6 // Exclusing sync bytes (0x59) x 2 and checksum
#define TF_FRAME_LENGTH 6 // Excluding sync bytes (0x59) x 2 and checksum
#define TF_FRAME_SYNC_BYTE 0x59
#define TF_TIMEOUT_MS (100 * 2)
//
// Benewake TFmini frame format
// Byte
// -: SYNC
// -: SYNC
// 0: Measured distance (LSB)
// 1: Measured distance (MSB)
// 2: Signal strength (LSB)
// 3: Signal strength (MSB)
// 4: Integral time
// 5: Reserved
// -: Checksum (Unsigned 8-bit sum of bytes 0~7)
//
// Note *1: TFmini product specification (Version A00) specifies byte 6 is
// reserved and byte 7 is quality, but it seems like byte 7 contains
// value of 7 for good measurement and 2 for bad measurement.
// Byte Off Description
// 1 - SYNC
// 2 - SYNC
// 3 0 Measured distance (LSB)
// 4 1 Measured distance (MSB)
// 5 2 Signal strength (LSB)
// 6 3 Signal strength (MSB)
// 7 4 Integral time
// 8 5 Reserved
// 9 - Checksum (Unsigned 8-bit sum of bytes 0~7)
//
// Credibility
// 1. If distance is 12m (1200cm), then OoR.
//
#define TF_MINI_FRAME_INTEGRAL_TIME 4
#define TF_MINI_RANGE_MIN 40
#define TF_MINI_RANGE_MAX 1200
#define TF_DETECTION_CONE_DECIDEGREES 900 // Very conservative.
//
// Benewake TF02 frame format (From SJ-GU-TF02-01 Version: A01)
// Byte
// -: SYNC
// -: SYNC
// 0: Measured distance (LSB)
// 1: Measured distance (MSB)
// 2: Signal strength (LSB)
// 3: Signal strength (MSB)
// 4: SIG (Reliability in 1~8, less than 7 is unreliable)
// 5: TIME (Exposure time, 3 or 6)
// -: Checksum (Unsigned 8-bit sum of bytes 0~7)
// Byte Off Description
// 1 - SYNC
// 2 - SYNC
// 3 0 Measured distance (LSB)
// 4 1 Measured distance (MSB)
// 5 2 Signal strength (LSB)
// 6 3 Signal strength (MSB)
// 7 4 SIG (Reliability in 1~8, less than 7 is unreliable)
// 8 5 TIME (Exposure time, 3 or 6)
// 9 - Checksum (Unsigned 8-bit sum of bytes 0~7)
//
// Credibility
// 1. If SIG is less than 7, unreliable
// 2. If distance is 22m (2200cm), then OoR.
//
#define TF_02_FRAME_SIG 4
// Maximum ratings
#define TF_MINI_RANGE_MIN 40
#define TF_MINI_RANGE_MAX 1200
#define TF_02_RANGE_MIN 40
#define TF_02_RANGE_MAX 2200
#define TF_02_DETECTION_CONE_DECIDEGREES 45
#define TF_DETECTION_CONE_DECIDEGREES 900
static serialPort_t *tfSerialPort = NULL;
@ -117,10 +117,10 @@ static void lidarTFSendCommand(void)
{
switch (tfDevtype) {
case TF_DEVTYPE_MINI:
serialWriteBuf(tfSerialPort, tfCmdTFmini, ARRAYLEN(tfCmdTFmini));
serialWriteBuf(tfSerialPort, tfCmdTFmini, sizeof(tfCmdTFmini));
break;
case TF_DEVTYPE_02:
serialWriteBuf(tfSerialPort, tfCmdTF02, ARRAYLEN(tfCmdTF02));
serialWriteBuf(tfSerialPort, tfCmdTF02, sizeof(tfCmdTF02));
break;
}
}