Diff: Xtra_Sensors/TFmini.h

Revision:

2:e7874762cc25

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Xtra_Sensors/TFmini.h	Mon Oct 21 17:16:11 2019 +0000
@@ -0,0 +1,43 @@
+#ifndef TFMINI_H
+#define TFMINI_H
+
+#include <mbed.h>
+
+/**
+ * This is a device driver class for the TFmini LiDAR.
+ */
+class TFmini
+{
+    public:
+
+        TFmini(RawSerial& serial);
+
+        /** Return the distance to the nearest object, or -1.0 if not valid.
+        */
+        float operator()() {
+            return readDistance();
+        }
+        
+        virtual     ~TFmini();
+        
+        float readDistance();
+        float readStrength();
+        
+    private:
+    
+        RawSerial&  serial;     // reference to serial interface for communication
+    
+        int16_t  dist;          // actual distance measurements of LiDAR
+        int16_t  strength;      // signal strength of LiDAR
+        uint16_t checksum;      // save check value
+        
+        uint8_t  uartData[9];   // buffer for seriel uart LiDar data
+        uint8_t  cnt;           // dataCounter
+        
+        static const uint8_t  HEADER = 0x59;     //frame header of data package
+    
+        void     receive();
+        
+};
+
+#endif
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