hard_uart_miniS_esp32.ino

// This code is wrriten to read data from Benewake mini-S LiDAR through UART physical interface.
// The code is tested with ESP32. It can also be used with ESP8266 by making slight modifications
// by Ibrahim Technical Support Engineer: ibrahim@benewake.com


// Note the format for setting a serial port is as follows: Serial2.begin(baud-rate, protocol, RX pin, TX pin);
#define RXD2 16
#define TXD2 17
int dist; /*----actual distance measurements of LiDAR---*/
int strength; /*----signal strength of LiDAR----------------*/
float temprature;
unsigned char check;        /*----save check value------------------------*/
int i;
unsigned char uart[9];  /*----save data measured by LiDAR-------------*/
const int HEADER=0x59; /*----frame header of data package------------*/
int rec_debug_state = 0x01;//receive state for frame


void setup() {
	delay(2000);
	Serial.begin(115200);
	Serial.println("\nBenewake TFmini-S UART LiDAR Program");
	Serial2.begin(115200);
}

void loop() {
	Get_Lidar_data();
}

void Get_Lidar_data(){
if (Serial2.available()) //check if serial port has data input
    {
    if(rec_debug_state == 0x01)
        {  //the first byte
          uart[0]=Serial2.read();
          if(uart[0] == 0x59)
              {
                check = uart[0];
                rec_debug_state = 0x02;
              }
        }
else if(rec_debug_state == 0x02)
     {//the second byte
      uart[1]=Serial2.read();
      if(uart[1] == 0x59)
          {
            check += uart[1];
            rec_debug_state = 0x03;
          }
      else{
            rec_debug_state = 0x01;
          }
      }

else if(rec_debug_state == 0x03)
        {
          uart[2]=Serial2.read();
          check += uart[2];
          rec_debug_state = 0x04;
        }
else if(rec_debug_state == 0x04)
        {
          uart[3]=Serial2.read();
          check += uart[3];
          rec_debug_state = 0x05;
        }
else if(rec_debug_state == 0x05)
        {
          uart[4]=Serial2.read();
          check += uart[4];
          rec_debug_state = 0x06;
        }
else if(rec_debug_state == 0x06)
        {
          uart[5]=Serial2.read();
          check += uart[5];
          rec_debug_state = 0x07;
        }
else if(rec_debug_state == 0x07)
        {
          uart[6]=Serial2.read();
          check += uart[6];
          rec_debug_state = 0x08;
        }
else if(rec_debug_state == 0x08)
        {
          uart[7]=Serial2.read();
          check += uart[7];
          rec_debug_state = 0x09;
        }
else if(rec_debug_state == 0x09)
        {
          uart[8]=Serial2.read();
          if(uart[8] == check)
            {
              
              dist = uart[2] + uart[3]*256;//the distance
              strength = uart[4] + uart[5]*256;//the strength
              temprature = uart[6] + uart[7] *256;//calculate chip temprature
              temprature = temprature/8 - 256;                              
              Serial.print("dist = ");
              Serial.print(dist); //output measure distance value of LiDAR
              Serial.print('\n');
              Serial.print("strength = ");
              Serial.print(strength); //output signal strength value
              Serial.print('\n');
              Serial.print("\t Chip Temprature = ");
              Serial.print(temprature);
              Serial.println(" celcius degree"); //output chip temperature of Lidar                                                       
              while(Serial2.available()){Serial2.read();} // This part is added becuase some previous packets are there in the buffer so to clear serial buffer and get fresh data.
              delay(100);
              


             }
          rec_debug_state = 0x01;
        }
    }
}