TFmini(Micro LiDAR Module) library tested on mbedos5.x

Dependents:   2018NHK_gakugaku_robo 2018NHK_gaku_ver2 2019NHK_A_sensor

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Show/hide line numbers TFmini.h Source File

TFmini.h

00001 #ifndef TFMINI_H
00002 #define TFMINI_H
00003 
00004 #include "mbed.h"
00005 
00006 #define TF_SERIAL_BUFFER_SIZE 9
00007 #define TF_HEADER_FIRST_BYTE 0x59
00008 #define TF_HEADER_SECOND_BYTE 0x59
00009 #define TF_DEFAULT_BAUD 115200
00010 
00011 class TFmini : public RawSerial
00012 {
00013 public :
00014     TFmini(PinName serialTX, PinName serialRX);
00015 
00016     int getDistance();
00017     int getStrength();
00018 
00019 private :    
00020     void receiveByte();
00021     void checkData();
00022     void assemble();
00023     
00024     int distance;
00025     int strength;
00026     uint8_t reserved;
00027     uint8_t rawQual;
00028 
00029     uint8_t buffer[TF_SERIAL_BUFFER_SIZE];
00030     uint8_t data[TF_SERIAL_BUFFER_SIZE - 3];
00031     //uint8_t mask;
00032     uint8_t bufferPoint;
00033     uint8_t receivedBytes;
00034     
00035 };
00036 
00037 #endif