TF-luna

www.switch-science.com

www.seeedstudio.com

上記リンクよりPC Software

https://s3-us-west-2.amazonaws.com/files.seeedstudio.com/products/101990656/res/TF-Luna+PC+Software.rar

Arduinoサンプル

https://cdn.webshopapp.com/shops/304271/files/333438293/develop-routine-of-tf-luna-in-arduino.pdf

Document PDF

https://doc.switch-science.com/media/files/d09860e5-0ea3-4681-bda1-e62a08b5e4f9.pdf#page28

ドキュメントをみて付属のUSB To TTLにTX, RXを繋げたが動作せず、逆にしたら青のLEDも点灯しUnity上での受信もできた。

M5Atom

// https://cdn.webshopapp.com/shops/304271/files/333438293/develop-routine-of-tf-luna-in-arduino.pdf
/*
 This program is the interpretation routine of standard output protocol of TFmini-Plus product on Arduino.
 For details, refer to Product Specifications.
 For Arduino boards with only one serial port like UNO board, the function of software visual serial port is to be used.
*/
#include <SoftwareSerial.h> //header file of software serial port
//define software serial port name as Serial1 and define pin2 as RX and pin3 as TX
//SoftwareSerial Serial1(2,3); // Atomだとエラーがでるので変更
/* For Arduinoboards with multiple serial ports like DUEboard, interpret above two pieces of code and
directly use Serial1 serial port*/
int dist; //actual distance measurements of LiDAR
int strength; //signal strength of LiDAR
float temprature;
int check; //save check value
int i;
int uart[9]; //save data measured by LiDAR
const int HEADER=0x59; //frame header of data package
void setup() {
  Serial.begin(9600); //set bit rate of serial port connecting Arduino with computer
  Serial1.begin(115200, SERIAL_8N1, 32, 26); // Atomだとこの記述
}

void loop() {
  
  if (Serial1.available()) { //check if serial port has data input
    if (Serial1.read() == HEADER) { //assess data package frame header 0x59
      uart[0]=HEADER;
      if (Serial1.read() == HEADER) { //assess data package frame header 0x59
          uart[1] = HEADER;
          for (i = 2; i < 9; i++) { //save data in array
            uart[i] = Serial1.read();
          }
          check = uart[0] + uart[1] + uart[2] + uart[3] + uart[4] + uart[5] + uart[6] + uart[7];
          
          if (uart[8] == (check & 0xff)){ //verify the received data as per protocol
            dist = uart[2] + uart[3] * 256; //calculate distance value
            strength = uart[4] + uart[5] * 256; //calculate signal strength value
            temprature = uart[6] + uart[7] *256;//calculate chip temprature
            temprature = temprature/8 - 256;
            Serial.print("dist = ");
            Serial.print(dist); //output measure distance value of LiDAR
//            Serial.print('\t');
//            Serial.print("strength = ");
//            Serial.print(strength); //output signal strength value
//            Serial.print("\t Chip Temprature = ");
//            Serial.print(temprature);
//            Serial.println(" celcius degree"); //output chip temperature of Lidar
              Serial.println("");
          }
      }
    }
  }
}