/*
xsns_86_tfminiplus.ino - TFmini Plus interface for Tasmota
Copyright (C) 2021 Raphael Breiting and Theo Arends
This program 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.
This program 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 this program. If not, see .
*/
#ifdef USE_TFMINIPLUS
/*****************************************************************************\
* TFmini, TFmini Plus, TFmini Plus (Indoor Version), TFmini-S - LiDAR Module
* Manufacturer: Benewake (Beijing) Co. Ltd.
*
* Code for Time-Of-Flight (TOF) family single-point short-range LiDAR sensor
* modules with UART interface.
*
* Connection Description for GH1.25-4P (Molex51021-0400) connector:
* No Color Corresponding PIN Function Comment
* 1 RED PIN-1 +5V Power Supply
* 2 WHITE PIN-2 RxD/SDA Receiving/Data
* 3 GREEN PIN-3 TxD/SCL Transmitting/Clock
* 4 BLACK PIN-4 GND Ground
*
* Before connecting module to Tasmota, please prepare module with
* the following sequence through terminal program (e.g. Termite):
* 1. Connect sensor to USB-to-UART (TTL 3.3V)
* 2. Set terminal to 115200bps and 8N1
* 3. Set frame rate to 0 (zero):
* send -->: 5A0603000000
* receive <-- (OK): 5A0603000000
* 4. Set baud rate to 9600bps
* send -->: 5A0806802500000D
* receive <-- (OK): 5A0806802500000D
* 5. Set terminal to 9600bps and 8N1
* 6. Save settings
* send -->: 5A04116F
* receive <-- (OK): 5A05110070
* receive <-- (FAIL): 5A05110071
* 7. When point 6 returned OK, than ready to connect to Tasmota! :)
* When point 6 returned FAIL, start with item 1 and
* - check connection of RX and TX pin are not exchanged
* - check power supply
* - 5V +-0,5V
* - 110mA average
* - 140mA max peak
*
* References:
* - http://en.benewake.com/product
* - https://de.aliexpress.com/item/32852024277.html?spm=a2g0s.9042311.0.0.27424c4d5Edizk
* - https://de.aliexpress.com/item/4001076614996.html?spm=a2g0s.9042311.0.0.27424c4d5Edizk
\*****************************************************************************/
#define XSNS_86 86
// Default baudrate
#define TFMP_SPEED 9600
// Serial buffer length for incoming data
#define TFMP_MAX_DATA_LEN 9
#include
char Tfmp_buffer[TFMP_MAX_DATA_LEN + 1];
struct xsns_86_tfminiplus
{
bool ready = false;
uint16_t distance = 0;
uint16_t sigstrength = 0;
uint16_t chiptemp = 0;
} tfminiplus_sensor;
// Software and hardware serial pointers
TasmotaSerial *TfmpSerial = nullptr;
void TfmpInit(void)
{
if (!tfminiplus_sensor.ready)
{
if (PinUsed(GPIO_TFMINIPLUS_RX) && PinUsed(GPIO_TFMINIPLUS_TX))
{
TfmpSerial = new TasmotaSerial(Pin(GPIO_TFMINIPLUS_RX), Pin(GPIO_TFMINIPLUS_TX), 1);
if (TfmpSerial->begin(TFMP_SPEED))
{
if (TfmpSerial->hardwareSerial())
{
ClaimSerial();
}
tfminiplus_sensor.ready = true;
TfmpSerial->flush();
}
}
}
}
void TfmpTrigger(void)
{
if (TfmpSerial && tfminiplus_sensor.ready)
{
TfmpSerial->write(0x5A);
TfmpSerial->write(0x04);
TfmpSerial->write(0x04);
TfmpSerial->write(0x62);
}
}
void TfmpProcessData(void) {
// check crc sum
uint16_t crc = 0;
for (int i = 0; i < TFMP_MAX_DATA_LEN - 1; ++i) {
crc += (uint16_t)Tfmp_buffer[i];
}
if ((char)(crc & 0xff) == Tfmp_buffer[TFMP_MAX_DATA_LEN-1]) {
// distance to object (default in cm)
tfminiplus_sensor.distance = (Tfmp_buffer[3] << 8) + Tfmp_buffer[2];
// signal strength (between 100 and 65535 fine, otherwise 0 due to out of range of non-reflective surface)
tfminiplus_sensor.sigstrength = (Tfmp_buffer[5] << 8) + Tfmp_buffer[4];
// chip temperature
tfminiplus_sensor.chiptemp = (((Tfmp_buffer[7] << 8) + Tfmp_buffer[6]) >> 3) - 256;
DEBUG_SENSOR_LOG(PSTR("TFmini Plus: Distance: %d"), tfminiplus_sensor.distance);
DEBUG_SENSOR_LOG(PSTR("TFmini Plus: Signal: %d"), tfminiplus_sensor.sigstrength);
DEBUG_SENSOR_LOG(PSTR("TFmini Plus: Chip Temp: %d"), tfminiplus_sensor.chiptemp);
} else {
DEBUG_SENSOR_LOG(PSTR("TFmini Plus: crc error"));
}
TfmpSerial->flush();
}
void TfmpProcessSerialData (void)
{
uint8_t data;
bool dataReady;
if (TfmpSerial && tfminiplus_sensor.ready)
{
while (TfmpSerial->available() > 0)
{
data = TfmpSerial->read();
dataReady = TfmpAddData((char)data);
if (dataReady)
{
TfmpProcessData();
}
}
}
}
bool TfmpAddData(char nextChar)
{
// Buffer position
static uint8_t currentIndex = 0;
// Store data into buffer at position
if ((currentIndex >0) && (0x59 == Tfmp_buffer[currentIndex-1]) && (0x59 == nextChar))
{
currentIndex = 1;
}
Tfmp_buffer[currentIndex] = nextChar;
currentIndex++;
// Check for too many data
if (currentIndex > TFMP_MAX_DATA_LEN)
{
// Terminate buffer and reset position
Tfmp_buffer[TFMP_MAX_DATA_LEN] = '\0';
currentIndex = 0;
return true;
}
return false;
}
#ifdef USE_WEBSERVER
// {s} = | , {m} = | , {e} = |
|---|
const char HTTP_SNS_SIGNALSTRENGTH[] PROGMEM = "{s}%s " D_SIGNALSTRENGTH "{m}%d{e}";
const char HTTP_SNS_CHIPTEMPERATURE[] PROGMEM = "{s}%s " D_CHIPTEMPERATURE "{m}%d " D_UNIT_DEGREE "%c{e}";
#endif // USE_WEBSERVER
void TfmpShow(bool json)
{
char sensor_name[12];
strcpy_P(sensor_name, "TFminiPlus");
char distance_chr[FLOATSZ];
dtostrfd(tfminiplus_sensor.distance, 3, distance_chr);
if (json) {
ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_DISTANCE "\":\"%s\",\"" D_JSON_SIGNALSTRENGTH "\":\"%d\",\"" D_JSON_CHIPTEMPERATURE "\":%d}"),
sensor_name, distance_chr, tfminiplus_sensor.sigstrength, tfminiplus_sensor.chiptemp);
#ifdef USE_DOMOTICZ
if (0 == TasmotaGlobal.tele_period) {
DomoticzSensor(DZ_COUNT, distance_chr);
}
#endif // USE_DOMOTICZ
#ifdef USE_WEBSERVER
} else {
WSContentSend_P(HTTP_SNS_DISTANCE_CM, sensor_name, distance_chr);
WSContentSend_P(HTTP_SNS_SIGNALSTRENGTH, sensor_name, tfminiplus_sensor.sigstrength);
WSContentSend_P(HTTP_SNS_CHIPTEMPERATURE, sensor_name, tfminiplus_sensor.chiptemp, TempUnit());
#endif // USE_WEBSERVER
}
}
/*********************************************************************************************\
* Interface
\*********************************************************************************************/
bool Xsns86(byte callback_id)
{
bool result = false;
if (FUNC_INIT == callback_id)
{
TfmpInit();
}
else if (TfmpSerial && tfminiplus_sensor.ready)
{
switch (callback_id) {
case FUNC_EVERY_SECOND:
TfmpTrigger();
TfmpProcessSerialData();
result = true;
break;
case FUNC_JSON_APPEND:
TfmpShow(1);
break;
#ifdef USE_WEBSERVER
case FUNC_WEB_SENSOR:
TfmpShow(0);
break;
#endif // USE_WEBSERVER
case FUNC_SAVE_BEFORE_RESTART:
break;
case FUNC_COMMAND:
break;
}
}
return result;
}
#endif // USE_TFMINIPLUS