From 0afd58fb993a4a492d46f31412ebbe5cf348dc19 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.de.marchi@gmail.com>
Date: Thu, 2 May 2019 00:09:24 -0700
Subject: [PATCH] Tools: add helper script for TFMini Plus

This allows to easily change the sensor back and forth between I2C and
UART modes.
---
 Tools/scripts/tfminiplus.py | 78 +++++++++++++++++++++++++++++++++++++
 1 file changed, 78 insertions(+)
 create mode 100755 Tools/scripts/tfminiplus.py

diff --git a/Tools/scripts/tfminiplus.py b/Tools/scripts/tfminiplus.py
new file mode 100755
index 0000000000..efb0837eb5
--- /dev/null
+++ b/Tools/scripts/tfminiplus.py
@@ -0,0 +1,78 @@
+#!/usr/bin/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, 0x01, 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)
+
+    p = subparsers.add_parser('switch-to-uart', help="Switch sensor to I2C 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', 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:])