From 9d04784af7de39e82810eaa41eec0c6f2b01c0b0 Mon Sep 17 00:00:00 2001
From: Mikhail Grushinskiy <mgrouch@users.noreply.github.com>
Date: Tue, 12 Nov 2024 12:15:06 -0500
Subject: [PATCH] Create bbn_m5atomS3_lite_TFminiS_range_lidar.ino

---
 .../bbn_m5atomS3_lite_TFminiS_range_lidar.ino | 108 ++++++++++++++++++
 1 file changed, 108 insertions(+)
 create mode 100644 bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino

diff --git a/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino b/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino
new file mode 100644
index 0000000..5c5cd8a
--- /dev/null
+++ b/bbn_m5atomS3_lite_TFminiS_range_lidar/bbn_m5atomS3_lite_TFminiS_range_lidar.ino
@@ -0,0 +1,108 @@
+#include <M5AtomS3.h>
+#include "NmeaXDR.h"
+
+/*
+  Benewake TFmini-S UART LiDAR to NMEA-0183 XDR
+*/
+
+// UART pins when Lidar is plugged into port C of ATOMIC PortABC Extension Base
+#define RXD2 G6     // Green on the Lidar
+#define TXD2 G5     // White on the Lidar
+
+// UART pins when Lidar is plugged directly into grove port of M5 AtomS3-lite
+//#define RXD2 G1   // Green on the Lidar
+//#define TXD2 G2   // White on the Lidar
+
+// Other esp32 Lidar wiring pins
+//#define RXD2 G16  // Green on the Lidar
+//#define TXD2 G17  // White on the Lidar
+
+const int HEADER_TFminiS = 0x59;     // frame header of data package
+
+struct TFminiS {
+  unsigned char check;
+  int dist;                    // actual distance measurements of LiDAR
+  unsigned char uart[9];       // save data measured by LiDAR
+  int rec_debug_state = 0x01;  // receive state for frame
+};
+
+TFminiS lidar;
+
+const long report_interval = 500;  // interval at which to update (milliseconds)
+unsigned long previousMillis = 0UL;
+
+void setup() {
+  auto cfg = M5.config();
+  AtomS3.begin(cfg);
+  Serial.begin(4800);
+  Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);
+}
+
+void loop() {
+  unsigned long currentMillis = millis();
+  if (currentMillis - previousMillis >= report_interval) {
+    previousMillis = currentMillis;
+    Get_Lidar_data();
+  }
+}
+
+void Get_Lidar_data() {
+  if (Serial2.available()) {
+    if (lidar.rec_debug_state == 0x01) {
+      lidar.uart[0] = Serial2.read();
+      if (lidar.uart[0] == HEADER_TFminiS) {
+        lidar.check = lidar.uart[0];
+        lidar.rec_debug_state = 0x02;
+      }
+    } else if (lidar.rec_debug_state == 0x02) {
+      lidar.uart[1] = Serial2.read();
+      if (lidar.uart[1] == 0x59) {
+        lidar.check += lidar.uart[1];
+        lidar.rec_debug_state = 0x03;
+      } else {
+        lidar.rec_debug_state = 0x01;
+      }
+    } else if (lidar.rec_debug_state == 0x03) {
+      lidar.uart[2] = Serial2.read();
+      lidar.check += lidar.uart[2];
+      lidar.rec_debug_state = 0x04;
+    } else if (lidar.rec_debug_state == 0x04) {
+      lidar.uart[3] = Serial2.read();
+      lidar.check += lidar.uart[3];
+      lidar.rec_debug_state = 0x05;
+    } else if (lidar.rec_debug_state == 0x05) {
+      lidar.uart[4] = Serial2.read();
+      lidar.check += lidar.uart[4];
+      lidar.rec_debug_state = 0x06;
+    } else if (lidar.rec_debug_state == 0x06) {
+      lidar.uart[5] = Serial2.read();
+      lidar.check += lidar.uart[5];
+      lidar.rec_debug_state = 0x07;
+    } else if (lidar.rec_debug_state == 0x07) {
+      lidar.uart[6] = Serial2.read();
+      lidar.check += lidar.uart[6];
+      lidar.rec_debug_state = 0x08;
+    } else if (lidar.rec_debug_state == 0x08) {
+      lidar.uart[7] = Serial2.read();
+      lidar.check += lidar.uart[7];
+      lidar.rec_debug_state = 0x09;
+    } else if (lidar.rec_debug_state == 0x09) {
+      lidar.uart[8] = Serial2.read();
+      if (lidar.uart[8] == lidar.check) {
+        lidar.dist = lidar.uart[2] + lidar.uart[3] * 256;       // the distance in cm
+        int percent = 0;
+        if (lidar.dist <= 200) {                   // dist in cm, so 200 cm = 2 meters
+          percent = (200 - lidar.dist) * 100 / 200;      // calculate percentage
+        }
+
+        gen_nmea0183_xdr("$BBXDR,D,%.2f,M,RANGE_TFminiS", lidar.dist / 100.0);
+
+        while (Serial2.available()) {
+          Serial2.read();
+        } // Clear serial buffer
+        delay(100);
+      }
+      lidar.rec_debug_state = 0x01;
+    }
+  }
+}