tfmini_parser.h

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/**
 * @file modified from sf0x_parser.cpp
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Chuong Nguyen <chnguye7@asu.edu>
 * @author Ayush Gaud <ayush.gaud@gmail.com>
 *
 * Declarations of parser for the Benewake TFmini laser rangefinder series
 */

#pragma once

// Data Format for Benewake TFmini
// ===============================
// 9 bytes total per message:
// 1) 0x59
// 2) 0x59
// 3) Dist_L (low 8bit)
// 4) Dist_H (high 8bit)
// 5) Strength_L (low 8bit)
// 6) Strength_H (high 8bit)
// 7) Reserved bytes
// 8) Original signal quality degree
// 9) Checksum parity bit (low 8bit), Checksum = Byte1 + Byte2 +...+Byte8. This is only a low 8bit though


enum class TFMINI_PARSE_STATE {
    STATE0_UNSYNC = 0,
    STATE1_SYNC_1,
    STATE1_SYNC_2,
    STATE2_GOT_DIST_L,
    STATE2_GOT_DIST_H,
    STATE3_GOT_STRENGTH_L,
    STATE3_GOT_STRENGTH_H,
    STATE4_GOT_RESERVED,
    STATE5_GOT_QUALITY,
    STATE6_GOT_CHECKSUM
};

int tfmini_parse(char c, char *parserbuf, unsigned *parserbuf_index, TFMINI_PARSE_STATE *state, float *dist);