27 lines
1.0 KiB
C
27 lines
1.0 KiB
C
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/* TFLunaCommon.c
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* Jonathan Valvano
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* Date: 10/23/2025
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Initialization commands for TF Luna TOF distance sensor
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*/
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#include <stdint.h>
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/**
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* Sampling rate in Hz
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* @warning only 100 tested
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*/
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#define TFLunaRate 100
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const uint8_t ObtainFirmware[4]={0x5A,0x04,0x01,0x5F};
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// expected response is 0x5A,0x07,0x01,a,b,c,SU version c.b.a
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const uint8_t System_Reset[4]={0x5A,0x04,0x02,0x60};
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// expected response is 0x5A,0x05,0x02,0x00, 0x60 for success
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// expected response is 0x5A,0x05,0x02,0x01, 0x61 for failed
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#define SU1 ((0x54+0x06+0x3+TFLunaRate)&0xFF)
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const uint8_t Frame_Rate[6]={0x5A,0x06,0x03,TFLunaRate,0,SU1};
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const uint8_t Trigger[4]={0x5A,0x04,0x04,0x62};
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const uint8_t Format_Standard_cm[5]={0x5A,0x05,0x05,0x01,0x66};
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const uint8_t Format_Pixhawk[5]={0x5A,0x05,0x05,0x02,0x67};
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const uint8_t Format_Standard_mm[5]={0x5A,0x05,0x05,0x06,0x6A};
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const uint8_t Output_Enable[5]={0x5A,0x05,0x07,0x00,0x66};
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const uint8_t Output_Disable[5]={0x5A,0x05,0x07,0x01,0x67};
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const uint8_t SaveSettings[4]={0x5A,0x04,0x11,0x6F};
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