tf_mini

Benewake TFmini / TF-Luna driver

This driver is intended to be used for Benewake TFmini and TF-Luna UART single-point short distance sensors based on the TOF (Time of Flight) principle.

These lidars mainly used for stable, accurate and high-frame-rate range detection.

The supported list of sensors are:

Sensor	Image	All supported protocols	Distance
TFmini-S / TFmini Plus		UART, I2C, I/O	0.1 - 12 meters
TF-Luna		UART, I2C, I/O	0.2 - 8 meters

The driver for the sensors is the same, except head byte.

Details

Reference	TF-Luna datasheet TFmini datasheet
Requred periphery	UART
Unit tests	test_tf_mini.cpp

Usage

Installation:

1. Include the header file tf_mini.h and source file tf_mini.c in your C/C++ code.
2. Ensure that the required dependencies are installed, such as the STM32 HAL library or any other libraries specific to your STM32 development environment.

Usage:

1. Call tfMiniInit(Benewake_tf_lidar_t lidar) in the beginning of your program
2. Obtain data from UART/serial.
3. Call tfParseRange to parse the raw data.

Additional info

• Sensor connection with Ardupilot based autopilots: https://ardupilot.org/copter/docs/common-benewake-tf02-lidar.html
• Sensor connection with PX4 based autopilots: https://docs.px4.io/main/en/sensor/tfmini.html