Add Benewake TFmini/TF02 support

make/source.mk

@@ -144,6 +144,7 @@ FC_SRC = \
             drivers/display_ug2864hsweg01.c \
             drivers/light_ws2811strip.c \
             drivers/rangefinder/rangefinder_hcsr04.c \
+            drivers/rangefinder/rangefinder_lidartf.c \
             drivers/serial_escserial.c \
             drivers/vtx_common.c \
             flight/navigation.c \

src/main/build/debug.c

@@ -58,4 +58,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "FPORT",
     "RANGEFINDER",
     "RANGEFINDER_QUALITY",
+    "LIDAR_TF",
 };

src/main/build/debug.h

@@ -76,6 +76,7 @@ typedef enum {
     DEBUG_FPORT,
     DEBUG_RANGEFINDER,
     DEBUG_RANGEFINDER_QUALITY,
+    DEBUG_LIDAR_TF,
     DEBUG_COUNT
 } debugType_e;
 

src/main/drivers/rangefinder/rangefinder_lidartf.c

@@ -0,0 +1,276 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_RANGEFINDER_TF
+
+#include "build/debug.h"
+#include "build/build_config.h"
+
+#include "io/serial.h"
+
+#include "drivers/time.h"
+#include "drivers/rangefinder/rangefinder.h"
+#include "drivers/rangefinder/rangefinder_lidartf.h"
+
+#define TF_DEVTYPE_NONE 0
+#define TF_DEVTYPE_MINI 1
+#define TF_DEVTYPE_02   2
+
+static uint8_t tfDevtype = TF_DEVTYPE_NONE;
+
+#define TF_FRAME_LENGTH    6             // Exclusing 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.
+//
+// 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)
+//
+// Credibility
+// 1. If SIG is less than 7, unreliable
+// 2. If distance is 22m (2200cm), then OoR.
+//
+#define TF_02_FRAME_SIG 4
+#define TF_02_RANGE_MIN 40
+#define TF_02_RANGE_MAX 2200
+#define TF_02_DETECTION_CONE_DECIDEGREES 45
+
+static serialPort_t *tfSerialPort = NULL;
+
+typedef enum {
+    TF_FRAME_STATE_WAIT_START1,
+    TF_FRAME_STATE_WAIT_START2,
+    TF_FRAME_STATE_READING_PAYLOAD,
+    TF_FRAME_STATE_WAIT_CKSUM,
+} tfFrameState_e;
+
+static tfFrameState_e tfFrameState;
+static uint8_t tfFrame[TF_FRAME_LENGTH];
+static uint8_t tfReceivePosition;
+
+// TFmini
+// Command for 100Hz sampling (10msec interval)
+// At 100Hz scheduling, skew will cause 10msec delay at the most.
+static uint8_t tfCmdTFmini[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
+
+// TF02
+// Same as TFmini for now..
+static uint8_t tfCmdTF02[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
+
+static int32_t lidarTFValue;
+static uint16_t lidarTFerrors = 0;
+
+static void lidarTFSendCommand(void)
+{
+    switch (tfDevtype) {
+    case TF_DEVTYPE_MINI:
+        serialWriteBuf(tfSerialPort, tfCmdTFmini, ARRAYLEN(tfCmdTFmini));
+        break;
+    case TF_DEVTYPE_02:
+        serialWriteBuf(tfSerialPort, tfCmdTF02, ARRAYLEN(tfCmdTF02));
+        break;
+    }
+}
+
+void lidarTFInit(rangefinderDev_t *dev)
+{
+    UNUSED(dev);
+
+    tfFrameState = TF_FRAME_STATE_WAIT_START1;
+    tfReceivePosition = 0;
+}
+
+void lidarTFUpdate(rangefinderDev_t *dev)
+{
+    UNUSED(dev);
+    static timeMs_t lastFrameReceivedMs = 0;
+    const timeMs_t timeNowMs = millis();
+
+    if (tfSerialPort == NULL) {
+        return;
+    }
+
+    while (serialRxBytesWaiting(tfSerialPort)) {
+        uint8_t c = serialRead(tfSerialPort);
+        switch (tfFrameState) {
+        case TF_FRAME_STATE_WAIT_START1:
+            if (c == TF_FRAME_SYNC_BYTE) {
+                tfFrameState = TF_FRAME_STATE_WAIT_START2;
+            }
+            break;
+
+        case TF_FRAME_STATE_WAIT_START2:
+            if (c == TF_FRAME_SYNC_BYTE) {
+                tfFrameState = TF_FRAME_STATE_READING_PAYLOAD;
+            } else {
+                tfFrameState = TF_FRAME_STATE_WAIT_START1;
+            }
+            break;
+
+        case TF_FRAME_STATE_READING_PAYLOAD:
+            tfFrame[tfReceivePosition++] = c;
+            if (tfReceivePosition == TF_FRAME_LENGTH) {
+                tfFrameState = TF_FRAME_STATE_WAIT_CKSUM;
+            }
+            break;
+
+        case TF_FRAME_STATE_WAIT_CKSUM:
+            {
+                uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE;
+                for (int i = 0 ; i < TF_FRAME_LENGTH ; i++) {
+                    cksum += tfFrame[i];
+                }
+
+                if (c == cksum) {
+
+                    uint16_t distance = tfFrame[0] | (tfFrame[1] << 8);
+                    uint16_t strength = tfFrame[2] | (tfFrame[3] << 8);
+
+                    DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);
+                    DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);
+                    DEBUG_SET(DEBUG_LIDAR_TF, 2, tfFrame[4]);
+                    DEBUG_SET(DEBUG_LIDAR_TF, 3, tfFrame[5]);
+
+                    switch (tfDevtype) {
+                    case TF_DEVTYPE_MINI:
+                        if (distance >= TF_MINI_RANGE_MIN && distance < TF_MINI_RANGE_MAX) {
+                            lidarTFValue = distance;
+                            if (tfFrame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
+                                // When integral time is long (7), measured distance tends to be longer by 12~13.
+                                lidarTFValue -= 13;
+                            }
+                        } else {
+                            lidarTFValue = -1;
+                        }
+                        break;
+
+                    case TF_DEVTYPE_02:
+                        if (distance >= TF_02_RANGE_MIN && distance < TF_02_RANGE_MAX && tfFrame[TF_02_FRAME_SIG] >= 7) {
+                            lidarTFValue = distance;
+                        } else {
+                            lidarTFValue = -1;
+                        }
+                        break;
+                    }
+                    lastFrameReceivedMs = timeNowMs;
+                } else {
+                    // Checksum error. Simply discard the current frame.
+                    ++lidarTFerrors;
+                    //DEBUG_SET(DEBUG_LIDAR_TF, 3, lidarTFerrors);
+                }
+            }
+
+            tfFrameState = TF_FRAME_STATE_WAIT_START1;
+            tfReceivePosition = 0;
+
+            break;
+        }
+    }
+
+    // If valid frame hasn't been received for more than a timeout, resend command.
+
+    if (timeNowMs - lastFrameReceivedMs > TF_TIMEOUT_MS) {
+        lidarTFSendCommand();
+    }
+}
+
+// Return most recent device output in cm
+
+int32_t lidarTFGetDistance(rangefinderDev_t *dev)
+{
+    UNUSED(dev);
+
+    return lidarTFValue;
+}
+
+static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
+{
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
+
+    if (!portConfig) {
+        return false;
+    }
+
+    tfSerialPort = openSerialPort(portConfig->identifier, FUNCTION_LIDAR_TF, NULL, NULL, 115200, MODE_RXTX, 0);
+
+    if (tfSerialPort == NULL) {
+        return false;
+    }
+
+    tfDevtype = devtype;
+
+    dev->delayMs = 10;
+    dev->maxRangeCm = (devtype == TF_DEVTYPE_MINI) ? TF_MINI_RANGE_MAX : TF_02_RANGE_MAX;
+    dev->detectionConeDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
+    dev->detectionConeExtendedDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
+
+    dev->init = &lidarTFInit;
+    dev->update = &lidarTFUpdate;
+    dev->read = &lidarTFGetDistance;
+
+    return true;
+}
+
+bool lidarTFminiDetect(rangefinderDev_t *dev)
+{
+    return lidarTFDetect(dev, TF_DEVTYPE_MINI);
+}
+
+bool lidarTF02Detect(rangefinderDev_t *dev)
+{
+    return lidarTFDetect(dev, TF_DEVTYPE_02);
+}
+#endif

src/main/drivers/rangefinder/rangefinder_lidartf.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "common/time.h"
+
+#define RANGEFINDER_TF_TASK_PERIOD_MS 10
+
+bool lidarTFminiDetect(rangefinderDev_t *dev);
+bool lidarTF02Detect(rangefinderDev_t *dev);

src/main/interface/settings.c

@@ -112,7 +112,7 @@ const char * const lookupTableMagHardware[] = {
 #endif
 #if defined(USE_SENSOR_NAMES) || defined(USE_RANGEFINDER)
 const char * const lookupTableRangefinderHardware[] = {
-    "NONE", "HCSR04"
+    "NONE", "HCSR04", "TFMINI", "TF02"
 };
 #endif
 

src/main/io/serial.h

@@ -45,6 +45,7 @@ typedef enum {
     FUNCTION_TELEMETRY_IBUS      = (1 << 12), // 4096
     FUNCTION_VTX_TRAMP           = (1 << 13), // 8192
     FUNCTION_RCDEVICE            = (1 << 14), // 16384
+    FUNCTION_LIDAR_TF            = (1 << 15), // 32768
 } serialPortFunction_e;
 
 typedef enum {

src/main/sensors/rangefinder.c

@@ -37,8 +37,9 @@
 
 #include "drivers/io.h"
 #include "drivers/time.h"
-#include "drivers/rangefinder/rangefinder_hcsr04.h"
 #include "drivers/rangefinder/rangefinder.h"
+#include "drivers/rangefinder/rangefinder_hcsr04.h"
+#include "drivers/rangefinder/rangefinder_lidartf.h"
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
@@ -143,6 +144,24 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+        case RANGEFINDER_TFMINI:
+#if defined(USE_RANGEFINDER_TF)
+            if (lidarTFminiDetect(dev)) {
+                rangefinderHardware = RANGEFINDER_TFMINI;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
+            }
+#endif
+            break;
+
+        case RANGEFINDER_TF02:
+#if defined(USE_RANGEFINDER_TF)
+            if (lidarTF02Detect(dev)) {
+                rangefinderHardware = RANGEFINDER_TF02;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
+            }
+#endif
+            break;
+
         case RANGEFINDER_NONE:
             rangefinderHardware = RANGEFINDER_NONE;
             break;

src/main/sensors/rangefinder.h

@@ -24,10 +24,13 @@
 typedef enum {
     RANGEFINDER_NONE        = 0,
     RANGEFINDER_HCSR04      = 1,
-    RANGEFINDER_SRF10       = 2,
+    RANGEFINDER_TFMINI      = 2,
-    RANGEFINDER_HCSR04I2C   = 3,
+    RANGEFINDER_TF02        = 3,
-    RANGEFINDER_VL53L0X     = 4,
+    // Following sensors are to be ported from iNav
-    RANGEFINDER_UIB         = 5,
+    RANGEFINDER_SRF10       = 4,
+    RANGEFINDER_HCSR04I2C   = 5,
+    RANGEFINDER_VL53L0X     = 6,
+    RANGEFINDER_UIB         = 7,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {

src/main/target/OMNIBUSF4/target.h

@@ -247,6 +247,7 @@
 #define USE_RANGEFINDER_HCSR04
 #define RANGEFINDER_HCSR04_TRIGGER_PIN     PA1
 #define RANGEFINDER_HCSR04_ECHO_PIN        PA8
+#define USE_RANGEFINDER_TF
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL