添加北醒TFminiPlus激光测距传感器支持

GSRL/Device/inc/dvc_rangefinder.hpp

@@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ * @file           : dvc_rangefinder.hpp
+ * @brief          : header file for dvc_rangefinder.cpp
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2026 GMaster
+ * All rights reserved.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#pragma once
+
+/* Includes ------------------------------------------------------------------*/
+#include "gsrl_common.h"
+
+/* Exported types ------------------------------------------------------------*/
+
+/**
+ * @brief 测距传感器基类
+ * @note 该类不可实例化，仅定义数据获取接口，与通信协议无关
+ * @details 该类的派生类需实现以下方法：
+ * - getDistance  获取距离值(cm)
+ * - getStrength  获取信号强度
+ * - isConnected  获取连接状态
+ */
+class Rangefinder
+{
+public:
+    virtual ~Rangefinder() = default;
+
+    virtual int16_t getDistance()  = 0; // cm，数据无效时返回0
+    virtual uint16_t getStrength() = 0;
+    virtual bool isConnected()     = 0;
+
+protected:
+    Rangefinder() = default;
+};
+
+/**
+ * @brief 北醒 TFmini Plus 激光测距传感器类
+ * @note 使用UART通信，波特率115200，8N1
+ * @note 使用前需确保receiveRxDataFromISR方法在对应UART接收中断服务函数中被调用
+ * @note 数据帧格式: [0x59][0x59][Dist_L][Dist_H][Str_L][Str_H][Temp_L][Temp_H][Checksum]
+ */
+class TFMiniPlus : public Rangefinder
+{
+public:
+    static constexpr uint8_t FRAME_HEADER = 0x59;
+    static constexpr uint8_t FRAME_LENGTH = 9;
+
+private:
+    static constexpr uint32_t RX_TIMEOUT_MS = 100;
+
+    const uint8_t *m_rxDataPointer; // 指向UART DMA缓冲区的指针
+    uint16_t m_rxDataLength;
+    uint32_t m_lastDecodeTimestamp;
+
+    int16_t m_distance;  // 距离值(cm)，信号无效时为0
+    uint16_t m_strength; // 信号强度
+    fp32 m_temperature;  // 芯片内部温度(℃)
+    bool m_isConnected;
+    bool m_isDataValid;  // 数据有效性: Strength >= 100 且 Strength != 65535
+
+    void decodeRxData();
+
+public:
+    TFMiniPlus();
+
+    void receiveRxDataFromISR(const uint8_t *data, uint16_t length);
+
+    int16_t getDistance() override;  // cm，数据无效时返回0
+    uint16_t getStrength() override;
+    bool isConnected() override;
+    fp32 getTemperature();           // ℃
+    fp32 getDistanceM();             // 米
+    bool isDataValid();
+};
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported macro ------------------------------------------------------------*/
+
+/* Exported functions prototypes ---------------------------------------------*/
+
+/* Defines -------------------------------------------------------------------*/

GSRL/Device/src/dvc_rangefinder.cpp

@@ -0,0 +1,161 @@
+/**
+ ******************************************************************************
+ * @file           : dvc_rangefinder.cpp
+ * @brief          : 测距传感器
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2026 GMaster
+ * All rights reserved.
+ *
+ ******************************************************************************
+ */
+/* Includes ------------------------------------------------------------------*/
+#include "dvc_rangefinder.hpp"
+
+/* Typedef -------------------------------------------------------------------*/
+
+/* Define --------------------------------------------------------------------*/
+
+/* Macro ---------------------------------------------------------------------*/
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Function prototypes -------------------------------------------------------*/
+
+/* User code -----------------------------------------------------------------*/
+
+/******************************************************************************
+ *                          RangefinderTFMiniPlus实现
+ ******************************************************************************/
+
+/**
+ * @brief 构造函数，初始化成员变量
+ */
+TFMiniPlus::TFMiniPlus()
+    : m_rxDataPointer(nullptr),
+      m_rxDataLength(0),
+      m_lastDecodeTimestamp(0),
+      m_distance(0),
+      m_strength(0),
+      m_temperature(0.0f),
+      m_isConnected(false),
+      m_isDataValid(false) {}
+
+/**
+ * @brief 在UART接收中断中调用，解码接收到的数据
+ * @param data   DMA缓冲区指针
+ * @param length 本次接收到的字节数
+ */
+void TFMiniPlus::receiveRxDataFromISR(const uint8_t *data, uint16_t length)
+{
+    m_rxDataPointer = data;
+    m_rxDataLength  = length;
+    decodeRxData();
+}
+
+/**
+ * @brief 解析原始数据帧，更新距离、信号强度及传感器温度
+ * @note 扫描缓冲区中最后一个合法帧；找到有效帧时更新时间戳和数据，否则直接返回
+ */
+void TFMiniPlus::decodeRxData()
+{
+    const uint8_t *pFrame = nullptr;
+    if (m_rxDataPointer != nullptr && m_rxDataLength >= FRAME_LENGTH) {
+        for (uint16_t i = 0; i <= m_rxDataLength - FRAME_LENGTH; i++) {
+            // 帧头校验
+            if (m_rxDataPointer[i] != FRAME_HEADER || m_rxDataPointer[i + 1] != FRAME_HEADER) {
+                continue;
+            }
+
+            // 校验和校验: 前8字节累加和的低8位
+            uint8_t checksum = 0;
+            for (uint8_t j = 0; j < FRAME_LENGTH - 1; j++) {
+                checksum += m_rxDataPointer[i + j];
+            }
+            if (checksum == m_rxDataPointer[i + FRAME_LENGTH - 1]) {
+                pFrame = m_rxDataPointer + i;
+            }
+        }
+    }
+
+    if (pFrame == nullptr) { return; }
+
+    // 解析数据
+    m_distance       = (int16_t)((uint16_t)pFrame[2] | ((uint16_t)pFrame[3] << 8));
+    m_strength       = (uint16_t)((uint16_t)pFrame[4] | ((uint16_t)pFrame[5] << 8));
+    uint16_t tempRaw = (uint16_t)((uint16_t)pFrame[6] | ((uint16_t)pFrame[7] << 8));
+    m_temperature    = static_cast<fp32>(tempRaw) / 8.0f - 256.0f;
+
+    // 数据有效性判断: 信号强度 >= 100 且不等于 65535(过曝)
+    m_isDataValid = (m_strength >= 100 && m_strength != 65535);
+
+    // 更新连接状态和时间戳
+    m_lastDecodeTimestamp = HAL_GetTick();
+    m_isConnected         = true;
+}
+
+/**
+ * @brief 获取测距结果
+ * @return int16_t 距离值(cm)，数据无效时返回0
+ */
+int16_t TFMiniPlus::getDistance()
+{
+    isConnected();
+    return m_isDataValid ? m_distance : 0;
+}
+
+/**
+ * @brief 获取信号强度
+ * @return uint16_t 信号强度，范围0~65535
+ */
+uint16_t TFMiniPlus::getStrength()
+{
+    isConnected();
+    return m_strength;
+}
+
+/**
+ * @brief 获取传感器连接状态，超时未收到数据则认为断开连接
+ * @return bool 连接状态
+ */
+bool TFMiniPlus::isConnected()
+{
+    if (HAL_GetTick() - m_lastDecodeTimestamp > RX_TIMEOUT_MS) {
+        m_distance    = 0;
+        m_strength    = 0;
+        m_temperature = 0.0f;
+        m_isConnected = false;
+        m_isDataValid = false;
+    }
+    return m_isConnected;
+}
+
+/**
+ * @brief 获取芯片内部温度
+ * @return fp32 温度值(℃)
+ */
+fp32 TFMiniPlus::getTemperature()
+{
+    isConnected();
+    return m_temperature;
+}
+
+/**
+ * @brief 获取以米为单位的测距结果
+ * @return fp32 距离值(m)，数据无效时返回0
+ */
+fp32 TFMiniPlus::getDistanceM()
+{
+    return static_cast<fp32>(getDistance()) / 100.0f;
+}
+
+/**
+ * @brief 获取数据有效性，信号强度不足或过曝时数据不可信
+ * @return bool 数据有效性，Strength >= 100 且 Strength != 65535 时为true
+ */
+bool TFMiniPlus::isDataValid()
+{
+    isConnected();
+    return m_isDataValid;
+}