Benewake(北醒) 单点TF系列雷达在Arduino上的运用

TF-UART-9 与 Arduino

硬件接线图

适配产品：TF-Luna\TFmini-S\TFmini Plus\TF02-Pro

注：线条颜色对应雷达线定义如下表

例程代码

TFmini-UART-9

#include<SoftwareSerial.h>/* 软串口头文件 */
SoftwareSerial Serial1(2,3); /* 定义软串口名称为Serial1，并把pin2定为RX，pin3定为TX */
int dist;/* 雷达实测距离值 */
int strength;/* 雷达信号强度 */
int check;/* 校验数值存放 */
int i;
int uart[9];/* 存放雷达测量的数据 */
const int HEADER=0x59;/* 数据包帧头 */
void setup() 
{
  Serial.begin(115200);/* 设置arduino与电脑连接串口的波特率 */
  Serial1.begin(115200);/* 设置雷达与arduino连接串口的波特率 */
}
void loop() 
{
  if (Serial1.available())/* 查看串口是否有数据输入 */
  {
    if(Serial1.read()==HEADER)/* 判断数据包帧头0x59 */ 
    { 
      uart[0]=HEADER;
      if(Serial1.read()==HEADER)/* 判断数据包帧头0x59 */
      {
        uart[1]=HEADER;
        for(i=2;i<9;i++)/* 存储数据到数组 */
        {
          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))/* 按照协议对收到的数据进行校验 */
        {
          dist=uart[2]+uart[3]*256;/* 计算距离值 */
          strength=uart[4]+uart[5]*256;/* 计算信号强度值  */
          Serial.print("dist = ");
          Serial.print(dist);/* 输出雷达测试距离值 */
          Serial.print('\t'); 
          Serial.print("strength = ");
          Serial.print(strength);//输出信号强度值 */
          Serial.print('\n');
         }
      }
    }
  }
}

TF IIC 和 TFmini Plus IIC在Arduino上的运用

接线图

带IIC接口的TF系列产品 TF-luna\TFmini-s\TFmini-plus\TF02-Pro
注：如何切换成IIC模式，请查看使用说明书

注：线条颜色对应雷达线定义如下表

TFmini IIC、TFmini Plus IIC、TF Luna IIC例程代码

TFmini IIC

#include <Wire.h>
void setup() {
  Wire.begin();        /* join i2c bus (address optional for master) */
  Serial.begin(115200);  /* start serial for output */
  pinMode(LED_BUILTIN, OUTPUT);/* LED */
}
void loop() {
  Get_LidarDatafromIIC(0x10);
  delay(1);
  digitalWrite(LED_BUILTIN, HIGH);   /* turn the LED on (HIGH is the voltage level) */
  delay(1);
  digitalWrite(LED_BUILTIN, LOW);    /* turn the LED off by making the voltage LOW */
}
void Get_LidarDatafromIIC(byte address) {
  char i = 0;
  byte rx_buf[7] = {0};
  Wire.beginTransmission(address); /* Begin a transmission to the I2C Slave device with the given address. */
  Wire.write(1); /* Reg's Address_H */
  Wire.write(2); /* Reg's Address_L */
  Wire.write(7); /* Data Length */
  Wire.endTransmission(0);  /* Send a START Sign */
  Wire.requestFrom(address, 7); /* request 7 bytes from slave device address */
  /* print the result via serial */
  Serial.print("Address=0x");
  Serial.print(address, HEX);
  Serial.print(":   ");
  while ( Wire.available())
  {
    rx_buf[i] = Wire.read(); /* received one byte */
    Serial.print("0x");
    Serial.print(rx_buf[i], HEX);
    Serial.print(";");
    i++;
    if (i >= 7)
    {
      i = 0;
      Serial.print("---------->");
      Serial.print("Distance=");
      Serial.print(rx_buf[3] * 256 + rx_buf[2]);
      Serial.print(";");
      Serial.print("Strength=");
      Serial.print(rx_buf[5] * 256 + rx_buf[4]);
    }
  }
  Serial.print("\r\n");
}

Tfmini Plus IIC

#include <Wire.h>
u8 cmd[5] = {0x5a, 0x05, 0x00, 0x01, 0x60};
void setup() {
  Wire.begin();        /* join i2c bus (address optional for master) */
  Serial.begin(115200);  /* start serial for output */
  pinMode(LED_BUILTIN, OUTPUT);/* LED */
}
void loop() {
  Get_LidarDatafromIIC(0x10);
  delay(100);
}
void Get_LidarDatafromIIC(byte address) {
  char i = 0;
  char j = 0;
  byte rx_buf[9] = {0};
  Wire.beginTransmission(address); /* Begin a transmission to the I2C Slave device with the given address. */
  for (j = 0; j < 5; j++)
  {
    Wire.write(cmd[j]);
  }
  Wire.endTransmission(0);  /* Send a START Sign */
  Wire.requestFrom(address, 9); /* request 7 bytes from slave device address */
  //print the result via serial
  Serial.print("Address=0x");
  Serial.print(address, HEX);
  Serial.print(":   ");
  while ( Wire.available())
  {
    rx_buf[i] = Wire.read(); /* received one byte */
    Serial.print("0x");
    Serial.print(rx_buf[i], HEX);
    Serial.print(";");
    i++;
    if (i >= 9)
    {
      i = 0;
      Serial.print("---------->");
      Serial.print("Distance=");
      Serial.print(rx_buf[3] * 256 + rx_buf[2]);
      Serial.print(";");
      Serial.print("Strength=");
      Serial.print(rx_buf[5] * 256 + rx_buf[4]);
    }
  }
  Serial.print("\r\n");
}

Tf_luna IIC

/******************************************************************************
     @file    benewake_luna_iic.ino
     @author  zoran.wu
     @version V0.0.1
     @date    2021-02-02
     @brief   This file contains all the main functions.
******************************************************************************
     @attention  For use only on Benewake TF-Luna
******************************************************************************
     Change List
     2021-02-02 : First Version
******************************************************************************/

/* Includes ------------------------------------------------------------------*/

#include <Wire.h>

#define REG_DIST_L_00H 0x00     
#define REG_DIST_H_01H 0x01     
#define REG_AMP_L_02H  0x02     
#define REG_AMP_H_03H  0x03     
#define REG_TEMP_L_04H 0x04
#define REG_TEMP_L_05H 0x05

typedef struct {
  u16 u16Distance;
  u16 u16Amp;
  u16 u16Temp;
  int u8Address;
} TF;

TF Lidar1 = {0, 0, 0, 0x10};


void setup() {
  Wire.begin();          /* join i2c bus (address optional for master)*/
  Serial.begin(115200);  /* start serial for output*/
}

void loop() {
  GetLidarData(&Lidar1);
  Serial.print("Lidar1: ");
  Serial.print("Distance = ");
  Serial.print(Lidar1.u16Distance);
  Serial.print(";");
  Serial.print("AMP = ");
  Serial.print(Lidar1.u16Amp);
  Serial.print(";");
  Serial.print("Temp = ");
  Serial.print(float(Lidar1.u16Temp)/100);
  Serial.println("℃;");
  delay(100);
}

void GetLidarData(TF* lidar) {
  char i = 0;
  byte rx_buf[6] = {0};
  
  Wire.beginTransmission(lidar->u8Address); /*Begin a transmission to the I2C Slave device with the given address.*/
  Wire.write(REG_DIST_L_00H);
  Wire.endTransmission();      /*Send a START Sign*/
  Wire.requestFrom(lidar->u8Address, 6); /* request 7 bytes from slave device address*/

  while ( Wire.available())
  {
    for (i = 0; i < 6; i++)
      rx_buf[i] = Wire.read(); /*received one byte*/
  }
  lidar->u16Distance  = rx_buf[1] * 256 + rx_buf[0];
  lidar->u16Amp       = rx_buf[3] * 256 + rx_buf[2];
  lidar->u16Temp      = rx_buf[5] * 256 + rx_buf[4];
}

IIC接口运行过程中可能出现的问题：

输出数据均显示为0

可能原因：雷达启动时5号引脚未接地，导致雷达未进入IIC模式；设备ID设置错误。

多台TFLidar以IIC方式连接Arduino使用的参考方案：

以4台雷达为例，通过一组IIC总线在Arduino UNO开发板进行接收数据。
IIC通讯采用主从模式，Arduino开发板作为主机，TFLidar作为从机。每一台TFLidar配置为独立的地址，主机查询对应地址的TFLidar的数据并等待数据返回。

连接测试方案：

1、设置从机地址

串口状态下从机地址修改指令：5A 05 0B ADDR SUM
本方案中将4台TFLidar的从机地址分别设置为0x10、0x11、0x12和0x13.

2、接线

注意：因为电脑USB接口输出电流有限，接多台TFmini同时使用需要外接5V供电。同时雷达与Arduino开发板需要共地。

参考代码

/*This is a reference code about Arduino UNO receive TFmini-I²C Data from I²C bus
 * Arduino is Master, TFmini-I²C is slave. Master send check 
 * Author:zhaomingxin@Benewake
 * Update date:2019.4.28
 */
#include <Wire.h>
void setup() {
  Wire.begin();        // join i2c bus (address optional for master)
  Serial.begin(115200);  // start serial for output
  pinMode(LED_BUILTIN, OUTPUT);//LED
}
void loop() {
  Get_LidarDatafromIIC(0x10);
  Get_LidarDatafromIIC(0x11);
  Get_LidarDatafromIIC(0x12);
  Get_LidarDatafromIIC(0x13);
  delay(250);
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(250); 
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
}
void Get_LidarDatafromIIC(byte address){
  char i = 0; 
  byte rx_buf[7] = {0}; 
  Wire.beginTransmission(address); // Begin a transmission to the I2C Slave device with the given address. 
  Wire.write(1); // Reg's Address_H 
  Wire.write(2); // Reg's Address_L 
  Wire.write(7); // Data Length 
  Wire.endTransmission(0);  // Send a START Sign 
  Wire.requestFrom(address, 7); // request 7 bytes from slave device address
  //print the result via serial
  Serial.print("Address=0x");
  Serial.print(address,HEX);
  Serial.print(":   ");
   while ( Wire.available()) 
  { 
    rx_buf[i] = Wire.read(); // received one byte 
    Serial.print("0x");
    Serial.print(rx_buf[i],HEX);
    Serial.print(";");
    i++; 
    if(i>=7)
    {
      i=0;
      Serial.print("---------->");
      Serial.print("Distance=");
      Serial.print(rx_buf[3]*256+rx_buf[2]);
      Serial.print(";");
      Serial.print("Strength=");
      Serial.print(rx_buf[5]*256+rx_buf[4]);
    }
  }
  Serial.print("\r\n"); 
}

测试结果：

Arduino通过IIC总线查询雷达数据，再通过串口将数据打印出来。