Common: add JAE JRE-30 radar

common/source/docs/common-master-features.rst

@@ -13,21 +13,23 @@ This lists features or changes merged in master and build in the "latest" firmwa
 .. toctree::
     :maxdepth: 1
 
-    Xacti Camera Gimbals <common-xacti-gimbal>
+    JAE JRE-30 <common-rangefinder-jae-jre-30>
     Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
     Nooploop TOF-Sense F <common-rangefinder-nooploop-tofsense-f>
     Nanoradar NRA24 <common-rangefinder-nra24>
+    Xacti Camera Gimbals <common-xacti-gimbal>
     Other wiki changes <common-future-wiki-changes>
 [/site]
 [site wiki="rover"]
 
 .. toctree::
     :maxdepth: 1
 
-    Xacti Camera Gimbals <common-xacti-gimbal>
+    JAE JRE-30 <common-rangefinder-jae-jre-30>
     Nooploop TOF-Sense P <common-rangefinder-nooploop-tofsense-p>
     Nooploop TOF-Sense F <common-rangefinder-nooploop-tofsense-f>
     Nanoradar NRA24 <common-rangefinder-nra24>
+    Xacti Camera Gimbals <common-xacti-gimbal>
     Other wiki changes <common-future-wiki-changes>
     New Circle Mode <circle-mode>
 [/site]

common/source/docs/common-rangefinder-jae-jre-30.rst

@@ -0,0 +1,62 @@
+.. _common-rangefinder-jae-jre-30:
+
+================
+JAE JRE-30 Radar
+================
+
+The JAE (Japan Aviation Electronics Industry) JRE-30 radar is a light weight (70g) radar with a maximum range of 30m.  The relatively wide beam width (10 deg) and reliable ranging even in difficult environments can make it a better choice than lidar for some applications.
+
+Where to Buy
+============
+
+The JAE JRE-30 radar can be purchased directly from `JAE <https://www.jae.com/en/>`__.  Note that it is only certified for use in Japan.
+
+Specifications
+==============
+
+- Size: 50mm x 82mm x 28.8mm
+- Weight: 70g
+- Power consumption: under 500mA
+- Input voltage: 4.5V ~ 5.5V
+- Range: 0.1m ~ 30m
+- Accuracy: +- 10cm
+- Update rate: 30hz
+- Transmitter antenna: 10deg
+- Receiving antenna: 20deg
+- Frequency: 24.05 ~ 24.25 Ghz (190Mhz)
+
+Connection to Autopilot
+=======================
+
+The radar has an 8-pin BB8B-PH-K-S JST connector with the following pinout
+
++--------+------------+------------------+
+|Pin No  |Name        | Details          |
++========+============+==================+
+|1       |VCC 5V      |5V input          |
++--------+------------+------------------+
+|2       |GND         |                  |
++--------+------------+------------------+
+|3       |TxD         |UART Tx           |
++--------+------------+------------------+
+|4       |RxD         |UART Rx           |
++--------+------------+------------------+
+|5 ~ 8   |NC          |Not connected     |
++--------+------------+------------------+
+
+If you choose to build a custom cable BPH-002T-PO.5S socket connectors should be used.
+
+.. image:: ../../../images/jae-jre-30-autopilot.png
+    :target: ../_images/jae-jre-30-autopilot.png
+    :width: 450px
+
+Setup
+=====
+
+Set the following parameters which assume the radar is connected to the autopilot's Serial1 port
+
+- Set :ref:`SERIAL1_PROTOCOL<SERIAL1_PROTOCOL>` =  9 (Rangefinders)
+- Set :ref:`SERIAL1_BAUD<SERIAL1_BAUD>` = 460 (460800 Baud)
+- Set :ref:`RNGFND1_TYPE<RNGFND1_TYPE>` = 41 (JRE Serial)
+- Set :ref:`RNGFND1_MIN_CM<RNGFND1_MIN_CM>` = 10 (cm)
+- Set :ref:`RNGFND1_MAX_CM<RNGFND1_MAX_CM>` = 3000 (cm)