ardupilot/Tools/scripts/tfminiplus.py

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#!/usr/bin/env python3
# SPDX-License-Identifier: GPL-3
import argparse
import fcntl
import os
import serial
import struct
import sys
import time
try:
import argcomplete
except:
pass
SYSTEM_RESET = struct.pack('B' * 4, 0x5A, 0x04, 0x02, 0x60)
MODE_I2C = struct.pack('B' * 5, 0x5A, 0x05, 0x0A, 0x01, 0x6A)
MODE_UART = struct.pack('B' * 5, 0x5A, 0x05, 0x0A, 0x00, 0x69)
SAVE_SETTINGS = struct.pack('B' * 4, 0x5A, 0x04, 0x11, 0x6F)
def cmd_switch_to_i2c(args):
with serial.Serial(args.uart, 115200, timeout=1) as ser:
ser.write(MODE_I2C)
time.sleep(0.1)
ser.write(SAVE_SETTINGS)
def cmd_switch_to_uart(args):
I2C_SLAVE = 0x703
with open(args.i2c_dev, "wb") as f:
fcntl.ioctl(f.fileno(), I2C_SLAVE, args.addr)
f.write(MODE_UART)
time.sleep(0.1)
f.write(SAVE_SETTINGS)
def parse_args(proc_args):
parser = argparse.ArgumentParser(description="Configure TFMini Plus Lidar")
subparsers = parser.add_subparsers(title="Commands", dest="command")
p = subparsers.add_parser('switch-to-i2c', help="Switch sensor to I2C mode")
p.add_argument('uart', help="UART device the sensor is currently using (e.g. /dev/ttyUSB0, /dev/ttyS1, etc)")
p.set_defaults(func=cmd_switch_to_i2c)
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p = subparsers.add_parser('switch-to-uart', help="Switch sensor to UART mode")
p.add_argument('i2c_dev', help="I2C device the sensor is currently using (e.g. /dev/i2c-1, /dev/i2c-2, etc)")
p.add_argument('addr', type=lambda x: int(x, 0), help="I2C device's address the sensor is currently using (e.g. 0x10, 0x11, etc)")
p.set_defaults(func=cmd_switch_to_uart)
try:
argcomplete.autocomplete(parser)
except NameError:
pass
args = parser.parse_args(proc_args)
if not hasattr(args, "func"):
parser.print_help()
return None
return args
def main(*proc_args):
args = parse_args(proc_args)
if not args:
return 1
try:
return args.func(args)
except KeyboardInterrupt:
return 130
return 1
if __name__ == "__main__":
main(*sys.argv[1:])