lidar_tfmini module

TFMini Lidar driver with separate implementations for:

• Real hardware using a single UART for communication (ap target)
• NPS simulator (nps target)

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="lidar_tfmini">
  b'<configure name="TFMINI_PORT" value="UART3" />\n    '
  b'<configure name="TFMINI_BAUD" value="B115200" />\n    '
  b'<configure name="USE_TFMINI_AGL" value="true" />\n    '
  b'<configure name="TFMINI_COMPENSATE_ROTATION" value="0" />\n    '
  b'<configure name="TFMINI_ROVER" value="0" />\n    '
  b'<configure name="LIDAR_OFFSET" value="0.0" />\n    '
  b'<configure name="LIDAR_HEIGHT" value="0.0" />\n    '
  b'<configure name="LIDAR_MIN_RANGE" value="0.1" />\n    '
  b'<configure name="LIDAR_MAX_RANGE" value="12.0" />\n  '
</module>

Module configuration options

Configure Options

• name: TFMINI_PORT value: UART3
  Description: UART device to use for lidar
• name: TFMINI_BAUD value: B115200
  Description: baudrate of the TFMini UART port
• name: USE_TFMINI_AGL value: true
  Description: use this lidar for AGL measurements
• name: TFMINI_COMPENSATE_ROTATION value: 0
  Description: compensate AGL measurements for body rotation
• name: TFMINI_ROVER value: 0
  Description: is this lidar mounted on a rover? Change the way to calculate the compensation
• name: LIDAR_OFFSET value: 0.0
  Description: Horizontal offset from vehicle center to LIDAR [m]
• name: LIDAR_HEIGHT value: 0.0
  Description: Vertical height from ground to LIDAR [m]
• name: LIDAR_MIN_RANGE value: 0.1
  Description: minimum range of the lidar in meters (see datasheet)
• name: LIDAR_MAX_RANGE value: 12.0
  Description: maximum range of the lidar in meters (see datasheet)

Module functions

Init Functions

These initialization functions are called once on startup.

• tfmini_init()

Event Functions

These event functions are called in each cycle of the module event loop.

• tfmini_event()

Files

Header Files

The following headers are automatically included in modules.h

• tfmini.h

Source Files

• modules/lidar/tfmini.c
• modules/lidar/tfmini_nps.c

Raw lidar_tfmini.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="lidar_tfmini" dir="lidar">
  <doc>
    <description>
      TFMini Lidar driver with separate implementations for:
      - Real hardware using a single UART for communication (ap target)
      - NPS simulator (nps target)
    </description>
    <configure name="TFMINI_PORT" value="UART3" description="UART device to use for lidar"/>
    <configure name="TFMINI_BAUD" value="B115200" description="baudrate of the TFMini UART port"/>
    <configure name="USE_TFMINI_AGL" value="true" description="use this lidar for AGL measurements"/>
    <configure name="TFMINI_COMPENSATE_ROTATION" value="0" description="compensate AGL measurements for body rotation"/>
    <configure name="TFMINI_ROVER" value="0" description="is this lidar mounted on a rover? Change the way to calculate the compensation"/>
    <configure name="LIDAR_OFFSET" value="0.0" description="Horizontal offset from vehicle center to LIDAR [m]"/>
    <configure name="LIDAR_HEIGHT" value="0.0" description="Vertical height from ground to LIDAR [m]"/>
    <configure name="LIDAR_MIN_RANGE" value="0.1" description="minimum range of the lidar in meters (see datasheet)"/>
    <configure name="LIDAR_MAX_RANGE" value="12.0" description="maximum range of the lidar in meters (see datasheet)"/>
  </doc>
 
  <settings>
    <dl_settings NAME="Lidar TFMini">
      <dl_settings NAME="Lidar">
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.compensate_rotation" shortname="compensate_rotation"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="tfmini.update_agl" shortname="update_agl"/> 
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <depends>uart</depends>
    <provides>sonar</provides>
  </dep>
 
  <header>
    <file name="tfmini.h"/>
  </header>
  <init fun="tfmini_init()"/>
  <event fun="tfmini_event()"/>
 
 
  <makefile target="ap">
    <!-- Configure default UART port and baudrate -->
    <configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
    <configure name="TFMINI_BAUD" default="B115200"/>
 
    <!-- Enable UART and set baudrate -->
    <define name="USE_$(TFMINI_PORT_UPPER)"/>
    <define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
    <define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
 
    <!-- Compensation constants -->
    <configure name="LIDAR_OFFSET" default="0.0"/>
    <configure name="LIDAR_HEIGHT" default="0.0"/>
    <define name="LIDAR_OFFSET" value="$(LIDAR_OFFSET)"/>
    <define name="LIDAR_HEIGHT" value="$(LIDAR_HEIGHT)"/>
 
    <configure name="USE_TFMINI_AGL" default="true"/>
    <configure name="TFMINI_COMPENSATE_ROTATION" default="0"/>
    <configure name="TFMINI_ROVER" default="0"/>
    <define name="USE_TFMINI_AGL" value="$(USE_TFMINI_AGL)"/>
    <define name="TFMINI_COMPENSATE_ROTATION" value="$(TFMINI_COMPENSATE_ROTATION)"/>
    <define name="TFMINI_ROVER" value="$(TFMINI_ROVER)"/>
    <file name="tfmini.c"/>
  </makefile>
 
  <makefile target="nps">
    <!-- Configure default UART port and baudrate -->
    <configure name="TFMINI_PORT" default="UART3" case="upper|lower"/>
    <configure name="TFMINI_BAUD" default="B115200"/>
 
    <!-- Enable UART and set baudrate -->
    <define name="USE_$(TFMINI_PORT_UPPER)"/>
    <define name="$(TFMINI_PORT_UPPER)_BAUD" value="$(TFMINI_BAUD)"/>
    <define name="TFMINI_PORT" value="$(TFMINI_PORT_LOWER)"/>
    
    <configure name="LIDAR_MIN_RANGE" default="0.1"/>
    <configure name="LIDAR_MAX_RANGE" default="12.0"/>
    <define name="LIDAR_MIN_RANGE" value="$(LIDAR_MIN_RANGE)"/>
    <define name="LIDAR_MAX_RANGE" value="$(LIDAR_MAX_RANGE)"/>
    <file name="tfmini_nps.c"/>
  </makefile>
</module>