diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 2413933c69..08375f0186 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -398,6 +398,12 @@ then ll40ls start i2c fi +# pga460 sonar sensor +if param greater SENS_EN_PGA460 0 +then + pga460 start +fi + # Lightware serial lidar sensor if param greater SENS_EN_SF0X 0 then diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt index 3f42ce09b1..11e14117fd 100644 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ b/src/drivers/distance_sensor/CMakeLists.txt @@ -42,3 +42,4 @@ add_subdirectory(tfmini) add_subdirectory(ulanding) add_subdirectory(leddar_one) add_subdirectory(vl53lxx) +add_subdirectory(pga460) diff --git a/src/drivers/distance_sensor/pga460/CMakeLists.txt b/src/drivers/distance_sensor/pga460/CMakeLists.txt new file mode 100644 index 0000000000..556ab58479 --- /dev/null +++ b/src/drivers/distance_sensor/pga460/CMakeLists.txt @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2016 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ +px4_add_module( + MODULE drivers__pga460 + MAIN pga460 + COMPILE_FLAGS + -Os + SRCS + pga460.cpp + DEPENDS + platforms__common + ) +# vim: set noet ft=cmake fenc=utf-8 ff=unix : diff --git a/src/drivers/distance_sensor/pga460/parameters.c b/src/drivers/distance_sensor/pga460/parameters.c new file mode 100644 index 0000000000..99eec12af8 --- /dev/null +++ b/src/drivers/distance_sensor/pga460/parameters.c @@ -0,0 +1,42 @@ +/**************************************************************************** + * + * Copyright (c) 2017 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * PGA460 Ultrasonic driver (PGA460) + * + * @reboot_required true + * + * @boolean + * @group Sensors + */ +PARAM_DEFINE_INT32(SENS_EN_PGA460, 0); diff --git a/src/drivers/distance_sensor/pga460/pga460.cpp b/src/drivers/distance_sensor/pga460/pga460.cpp new file mode 100644 index 0000000000..10284ae89f --- /dev/null +++ b/src/drivers/distance_sensor/pga460/pga460.cpp @@ -0,0 +1,851 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file pga460.cpp + * @author Jacob Dahl + * + * Driver for the TI PGA460 Ultrasonic Signal Processor and Transducer Driver + */ + +#include "pga460.h" + + +extern "C" __EXPORT int pga460_main(int argc, char *argv[]); + +PGA460::PGA460(const char *port) +{ + // Store port name. + strncpy(_port, port, sizeof(_port)); + // Enforce null termination. + _port[sizeof(_port) - 1] = '\0'; +} + +PGA460::~PGA460() +{ + orb_unadvertise(_distance_sensor_topic); +} + +uint8_t PGA460::calc_checksum(uint8_t *data, const uint8_t size) +{ + uint8_t checksum_input[size]; + + for (size_t i = 0; i < size; i++) { + checksum_input[i] = *data; + data++; + } + + uint16_t carry = 0; + + for (uint8_t j = 0; j < size; j++) { + if ((checksum_input[j] + carry) < carry) { + carry = carry + checksum_input[j] + 1; + + } else { + carry = carry + checksum_input[j]; + } + + if (carry > 0xFF) { + carry = carry - 255; + } + } + + carry = (~carry & 0x00FF); + return carry; +} + +int PGA460::close_serial() +{ + int ret = px4_close(_fd); + + if (ret != 0) { + PX4_WARN("Could not close serial port"); + } + + return ret; +} + +int PGA460::custom_command(int argc, char *argv[]) +{ + return print_usage("Unrecognized command."); +} + +PGA460 *PGA460::instantiate(int argc, char *argv[]) +{ + PGA460 *pga460 = new PGA460(PGA460_DEFAULT_PORT); + return pga460; +} + +int PGA460::initialize_device_settings() +{ + if (initialize_thresholds() != PX4_OK) { + PX4_WARN("Thresholds not initialized"); + return PX4_ERROR; + } + + usleep(10000); + + // Read to see if eeprom saved data matches desired data, otherwise overwrite eeprom. + if (read_eeprom() != PX4_OK) { + write_eeprom(); + } + + // Allow sufficient time for the device to complete writing to registers. + usleep(10000); + + // Verify the device is alive. + if (read_register(0x00) != USER_DATA1) { + close_serial(); + return PX4_ERROR; + } + + return PX4_OK; +} + +int PGA460::initialize_thresholds() +{ + const uint8_t array_size = 35; + uint8_t settings_buf[array_size] = {SYNCBYTE, BC_THRBW, + P1_THR_0, P1_THR_1, P1_THR_2, P1_THR_3, P1_THR_4, P1_THR_5, + P1_THR_6, P1_THR_7, P1_THR_8, P1_THR_9, P1_THR_10, + P1_THR_11, P1_THR_12, P1_THR_13, P1_THR_14, P1_THR_15, + P2_THR_0, P2_THR_1, P2_THR_2, P2_THR_3, P2_THR_4, P2_THR_5, + P2_THR_6, P2_THR_7, P2_THR_8, P2_THR_9, P2_THR_10, + P2_THR_11, P2_THR_12, P2_THR_13, P2_THR_14, P2_THR_15, 0xFF + }; + + uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2); + settings_buf[array_size - 1] = checksum; + + px4_write(_fd, &settings_buf[0], sizeof(settings_buf)); + + // Must wait >50us per datasheet. + usleep(100); + + if (read_threshold_registers()) { + return 1; + + } else { + print_device_status(); + return 0; + } +} + +uint32_t PGA460::collect_results() +{ + px4_pollfd_struct_t fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + int timeout = 10; + uint8_t buf_rx[6] = {0}; + + int ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + + // Waiting for a maximum of 10ms. + if (ret > 0) { + usleep(10000); + px4_read(_fd, buf_rx, sizeof(buf_rx)); + + } else { + PX4_WARN("px4_poll() failed"); + } + + uint16_t time_of_flight = (buf_rx[1] << 8) + buf_rx[2]; + uint8_t Width = buf_rx[3]; + uint8_t Amplitude = buf_rx[4]; + + float object_distance = calculate_object_distance(time_of_flight); + + uORB_publish_results(object_distance); + + // B1,2: time_of_flight B3: Width B4: Amplitude + uint32_t results = (time_of_flight << 16) | (Width << 8) | (Amplitude << 0); + + return results; +} + +float PGA460::calculate_object_distance(uint16_t time_of_flight) +{ + float temperature = get_temperature(); + + // Default temperature if no temperature measurement can be obtained. + if (temperature > MAX_DETECTABLE_TEMPERATURE || + temperature < MIN_DETECTABLE_TEMPERATURE) { + temperature = 20.0f; + } + + // Formula for the speed of sound over temperature: v = 331m/s + 0.6m/s/C * T + float speed_of_sound = 331.0f + 0.6f * temperature; + float millseconds_to_meters = 0.000001f; + + // Calculate the object distance in meters. + float object_distance = (float)time_of_flight * millseconds_to_meters * (speed_of_sound / 2.0f); + + return object_distance; +} + +void PGA460::flash_eeprom() +{ + // Send same unlock code with prog bit set to 1. + uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST2, 0xFF}; + uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2); + eeprom_write_buf[4] = checksum; + px4_write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf)); +} + +float PGA460::get_temperature() +{ + uint8_t buf_tx[4] = {SYNCBYTE, TNLM, 0x00, 0xFF}; + uint8_t checksum = calc_checksum(&buf_tx[0], 3); + buf_tx[3] = checksum; + + px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); + + // The pga460 requires a 2ms delay per the datasheet. + usleep(2000); + + buf_tx[1] = TNLR; + px4_write(_fd, &buf_tx[0], sizeof(buf_tx) - 2); + + px4_pollfd_struct_t fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + int bytesread = 0; + int timeout = 10; // Wait up to 10ms inbetween bytes. + uint8_t buf_rx[4] = {0}; + + int ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + + while (ret) { + if (fds[0].revents & POLLIN) { + bytesread += px4_read(_fd, buf_rx + bytesread, sizeof(buf_rx) - bytesread); + + } else { break; } + + ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + } + + // These constants and equations are from the pga460 datasheet, page 50. + float juntion_to_ambient_thermal_resistance = 96.1; + float v_power = 16.5; + float supply_current_listening = 0.012; + float temperature = ((buf_rx[1] - 64) / 1.5f) - + (juntion_to_ambient_thermal_resistance * supply_current_listening * v_power); + + return temperature; +} + +int PGA460::open_serial() +{ + _fd = px4_open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (_fd < 0) { + PX4_WARN("Failed to open serial port"); + return PX4_ERROR; + } + + struct termios uart_config; + + int termios_state; + + // Fill the struct for the new configuration. + tcgetattr(_fd, &uart_config); + + // Input flags - Turn off input processing: + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | IGNCR | PARMRK | INPCK | ISTRIP | IXON | IXOFF); + + uart_config.c_iflag |= IGNPAR; + + // Output flags - Turn off output processing: + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + uart_config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST); + + // No line processing: + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + // No parity, one stop bit, disable flow control. + uart_config.c_cflag &= ~(CSIZE | PARENB | CSTOPB | CRTSCTS); + + uart_config.c_cflag |= (CS8 | CREAD | CLOCAL); + + uart_config.c_cc[VMIN] = 1; + + uart_config.c_cc[VTIME] = 0; + + unsigned speed = 115200; + + // Set the baud rate. + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_WARN("ERR CFG: %d ISPD", termios_state); + return PX4_ERROR; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_WARN("ERR CFG: %d OSPD\n", termios_state); + return PX4_ERROR; + } + + if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) { + PX4_WARN("ERR baud %d ATTR", termios_state); + return PX4_ERROR; + } + + return _fd; +} + +void PGA460::print_device_status() +{ + uint8_t status_flags1 = read_register(0x4C); + uint8_t status_flags2 = read_register(0x4D); + + if ((status_flags1 & 0x0F) || status_flags2) { + if (status_flags1 & 0x0F & 1) { + PX4_INFO("Trim EEPROM space data CRC error"); + } + + if (status_flags1 & 0x0F & 1 << 1) { + PX4_INFO("User EEPROM space data CRC error"); + } + + if (status_flags1 & 0x0F & 1 << 2) { + PX4_INFO("Threshold map configuration register data CRC error"); + } + + if (status_flags1 & 0x0F & 1 << 3) { + PX4_INFO("Wakeup Error"); + } + + if (status_flags2 & 1) { + PX4_INFO("VPWR pin under voltage"); + } + + if (status_flags2 & 1 << 1) { + PX4_INFO("VPWR pin over voltage"); + } + + if (status_flags2 & 1 << 2) { + PX4_INFO("AVDD pin under voltage"); + } + + if (status_flags2 & 1 << 3) { + PX4_INFO("AVDD pin over voltage"); + } + + if (status_flags2 & 1 << 4) { + PX4_INFO("IOREG pin under voltage"); + } + + if (status_flags2 & 1 << 5) { + PX4_INFO("IOREG pin over voltage"); + } + + if (status_flags2 & 1 << 6) { + PX4_INFO("Thermal shutdown has occured"); + } + } +} + +void PGA460::print_diagnostics(const uint8_t diagnostic_byte) +{ + // Check the diagnostics bit field. + if (diagnostic_byte & 1 << 6) { + if (diagnostic_byte & 1 << 0) { + PX4_INFO("Device busy"); + } + + if (diagnostic_byte & 1 << 1) { + PX4_INFO("Sync field bit rate too high/low"); + } + + if (diagnostic_byte & 1 << 2) { + PX4_INFO("Consecutive sync bit fields do not match"); + } + + if (diagnostic_byte & 1 << 3) { + PX4_INFO("Invalid checksum"); + } + + if (diagnostic_byte & 1 << 4) { + PX4_INFO("Invalid command"); + } + + if (diagnostic_byte & 1 << 5) { + PX4_INFO("General comm erorr"); + } + + } else if (diagnostic_byte & 1 << 7) { + if (diagnostic_byte & 1 << 0) { + PX4_INFO("Device busy"); + } + + if (diagnostic_byte & 1 << 1) { + PX4_INFO("Threshold settings CRC error"); + } + + if (diagnostic_byte & 1 << 2) { + PX4_INFO("Frequency diagnostics error"); + } + + if (diagnostic_byte & 1 << 3) { + PX4_INFO("Voltage diagnostics error"); + } + + if (diagnostic_byte & 1 << 4) { + PX4_INFO("Always zero...."); + } + + if (diagnostic_byte & 1 << 5) { + PX4_INFO("EEPROM CRC or TRIM CRC error"); + } + } +} + +int PGA460::print_status() +{ + PX4_INFO("Distance: %2.2f", (double)_previous_valid_report_distance); + return PX4_OK; +} + +int PGA460::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description +Ultrasonic range finder driver that handles the communication with the device and publishes the distance via uORB. + +### Implementation +This driver is implented as a NuttX task. This Implementation was chosen due to the need for polling on a message +via UART, which is not supported in the work_queue. This driver continuously takes range measurements while it is +running. A simple algorithm to detect false readings is implemented at the driver levelin an attemptto improve +the quality of data that is being published. The driver will not publish data at all if it deems the sensor data +to be invalid or unstable. +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("pga460", "driver"); + PRINT_MODULE_USAGE_COMMAND("start "); + PRINT_MODULE_USAGE_ARG("device_path", "The pga460 sensor device path, (e.g: /dev/ttyS6", true); + PRINT_MODULE_USAGE_COMMAND("status"); + PRINT_MODULE_USAGE_COMMAND("stop"); + PRINT_MODULE_USAGE_COMMAND("help"); + + return PX4_OK; +} + +int PGA460::read_eeprom() +{ + unlock_eeprom(); + + const int array_size = 43; + const uint8_t user_settings[array_size] = + {USER_DATA1, USER_DATA2, USER_DATA3, USER_DATA4, + USER_DATA5, USER_DATA6, USER_DATA7, USER_DATA8, USER_DATA9, USER_DATA10, + USER_DATA11, USER_DATA12, USER_DATA13, USER_DATA14, USER_DATA15, USER_DATA16, + USER_DATA17, USER_DATA18, USER_DATA19, USER_DATA20, + TVGAIN0, TVGAIN1, TVGAIN2, TVGAIN3, TVGAIN4, TVGAIN5, TVGAIN6, INIT_GAIN, FREQUENCY, DEADTIME, + PULSE_P1, PULSE_P2, CURR_LIM_P1, CURR_LIM_P2, REC_LENGTH, FREQ_DIAG, SAT_FDIAG_TH, FVOLT_DEC, DECPL_TEMP, + DSP_SCALE, TEMP_TRIM, P1_GAIN_CTRL, P2_GAIN_CTRL}; + + px4_pollfd_struct_t fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + int ret = -1; + int read_result = 0; + int timeout = 100; + + size_t bytes_read = 0; + + uint8_t cmd_buf[2] = {SYNCBYTE, EEBR}; + uint8_t buf_rx[array_size + 2] = {0}; + + // The pga460 responds to this write() call by reporting current eeprom values. + ret = px4_write(_fd, &cmd_buf[0], sizeof(cmd_buf)); + + if (ret < 0) { + PX4_WARN("px4_write() failed."); + } + + usleep(1000); // Sleep for 1ms to allow write to complete before polling. + ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + usleep(1000); // Sleep for 1ms to allow data to be received. + + if (ret < 0) { + PX4_WARN("px4_poll() failed."); + return PX4_ERROR; + } + + while (bytes_read < sizeof(buf_rx)) { + if (fds[0].revents & POLLIN) { + + read_result = px4_read(_fd, buf_rx + bytes_read, sizeof(buf_rx) - bytes_read); + + if (read_result >= 0) { + bytes_read += read_result; + } else { + return PX4_ERROR; + } + + } else { + break; + } + + ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + + if (ret < 0) { + PX4_WARN("px4_poll() failed."); + break; + } + } + + // Check the buffers to ensure they match. + int mismatched_bytes = memcmp(buf_rx + 1, user_settings, array_size); + + if (mismatched_bytes == 0) { + return PX4_OK; + } else { + print_diagnostics(buf_rx[0]); + return PX4_ERROR; + } +} + +uint8_t PGA460::read_register(const uint8_t reg) +{ + // must unlock the eeprom registers before you can read or write to them + if (reg < 0x40) { + unlock_eeprom(); + } + + uint8_t buf_tx[4] = {SYNCBYTE, SRR, reg, 0xFF}; + uint8_t checksum = calc_checksum(&buf_tx[1], 2); + buf_tx[3] = checksum; + + px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); + + px4_pollfd_struct_t fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + int timeout = 100; + int bytesread = 0; + uint8_t buf_rx[3] = {0}; + + int ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + while (ret) { + if (fds[0].revents & POLLIN) { + bytesread += px4_read(_fd, buf_rx + bytesread, sizeof(buf_rx) - bytesread); + + } else { break; } + + ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + } + + // Prints errors if there are any. + print_diagnostics(buf_rx[0]); + + return buf_rx[1]; +} + +int PGA460::read_threshold_registers() +{ + const int array_size = 32; + uint8_t user_settings[array_size] = {P1_THR_0, P1_THR_1, P1_THR_2, P1_THR_3, P1_THR_4, + P1_THR_5, P1_THR_6, P1_THR_7, P1_THR_8, P1_THR_9, P1_THR_10, P1_THR_11, + P1_THR_12, P1_THR_13, P1_THR_14, P1_THR_15, + P2_THR_0, P2_THR_1, P2_THR_2, P2_THR_3, P2_THR_4, P2_THR_5, P2_THR_6, + P2_THR_7, P2_THR_8, P2_THR_9, P2_THR_10, P2_THR_11, P2_THR_12, P2_THR_13, + P2_THR_14, P2_THR_15 + }; + + uint8_t buf_tx[2] = {SYNCBYTE, THRBR}; + + px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); + + px4_pollfd_struct_t fds[1]; + fds[0].fd = _fd; + fds[0].events = POLLIN; + + int timeout = 100; + int bytesread = 0; + uint8_t buf_rx[array_size + 2] = {0}; + + int ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + while (ret) { + if (fds[0].revents & POLLIN) { + bytesread += px4_read(_fd, buf_rx + bytesread, sizeof(buf_rx) - bytesread); + + } else { break; } + + ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout); + } + + // Check to ensure the buffers match. + int mismatch = memcmp(buf_rx + 1, user_settings, sizeof(buf_rx) - 2); + + if (mismatch == 0) { + PX4_INFO("Threshold registers have program settings"); + return PX4_OK; + + } else { + PX4_WARN("Threshold registers do not have program settings"); + print_diagnostics(buf_rx[0]); + return PX4_ERROR; + } +} + +void PGA460::request_results() +{ + uint8_t buf_tx[2] = {SYNCBYTE, UMR}; + px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); +} + +void PGA460::run() +{ + open_serial(); + initialize_device_settings(); + + struct distance_sensor_s report = {}; + _distance_sensor_topic = orb_advertise(ORB_ID(distance_sensor), &report); + + if (_distance_sensor_topic == nullptr) { + PX4_WARN("Failed to advertise distance_sensor topic. Did you start uORB?"); + return; + } + + _start_loop = hrt_absolute_time(); + + while (!should_exit()) { + // Check last report to determine if we need to switch range modes. + uint8_t mode = set_range_mode(); + take_measurement(mode); + + // Control rate. + uint64_t loop_time = hrt_absolute_time() - _start_loop; + uint32_t sleep_time = (loop_time > POLL_RATE_US) ? 0 : POLL_RATE_US - loop_time; + usleep(sleep_time); + + _start_loop = hrt_absolute_time(); + request_results(); + collect_results(); + } + + PX4_INFO("Exiting."); + close_serial(); +} + +uint8_t PGA460::set_range_mode() +{ + // Set the ASICs settings depening on the distance read from our last report. + if (_previous_valid_report_distance > (MODE_SET_THRESH + MODE_SET_HYST)) { + _ranging_mode = MODE_LONG_RANGE; + + } else if (_previous_valid_report_distance < (MODE_SET_THRESH - MODE_SET_HYST)) { + _ranging_mode = MODE_SHORT_RANGE; + + } + + return _ranging_mode; +} + +void PGA460::take_measurement(const uint8_t mode) +{ + // Issue a measurement command to detect one object using Preset 1 Burst/Listen. + uint8_t buf_tx[4] = {SYNCBYTE, mode, 0x01, 0xFF}; + uint8_t checksum = calc_checksum(&buf_tx[1], 2); + buf_tx[3] = checksum; + + px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); +} + +int PGA460::task_spawn(int argc, char *argv[]) +{ + px4_main_t entry_point = (px4_main_t)&run_trampoline; + int stack_size = 1256; + + int task_id = px4_task_spawn_cmd("pga460", SCHED_DEFAULT, + SCHED_PRIORITY_SLOW_DRIVER, stack_size, + entry_point, (char *const *)argv); + + if (task_id < 0) { + task_id = -1; + return -errno; + } + + _task_id = task_id; + + return PX4_OK; +} + +void PGA460::uORB_publish_results(const float object_distance) +{ + struct distance_sensor_s report = {}; + report.timestamp = hrt_absolute_time(); + report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND; + report.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; + report.current_distance = object_distance; + report.min_distance = MIN_DETECTABLE_DISTANCE; + report.max_distance = MAX_DETECTABLE_DISTANCE; + report.signal_quality = 0; + + bool data_is_valid = false; + static uint8_t good_data_counter = 0; + + // If we are within our MIN and MAX thresholds, continue. + if (object_distance > MIN_DETECTABLE_DISTANCE && object_distance < MAX_DETECTABLE_DISTANCE) { + + // Height cannot change by more than MAX_SAMPLE_DEVIATION between measurements. + bool sample_deviation_valid = (report.current_distance < _previous_valid_report_distance + MAX_SAMPLE_DEVIATION) + && (report.current_distance > _previous_valid_report_distance - MAX_SAMPLE_DEVIATION); + + // Must have NUM_SAMPLES_CONSISTENT valid samples to be publishing. + if (sample_deviation_valid) { + good_data_counter++; + + if (good_data_counter > NUM_SAMPLES_CONSISTENT - 1) { + good_data_counter = NUM_SAMPLES_CONSISTENT; + data_is_valid = true; + + } else { + // Have not gotten NUM_SAMPLES_CONSISTENT consistently valid samples. + data_is_valid = false; + } + + } else if (good_data_counter > 0) { + good_data_counter--; + + } else { + // Reset our quality of data estimate after NUM_SAMPLES_CONSISTENT invalid samples. + _previous_valid_report_distance = _previous_report_distance; + } + + _previous_report_distance = report.current_distance; + } + + if (data_is_valid) { + report.signal_quality = 1; + _previous_valid_report_distance = report.current_distance; + orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report); + } +} + +void PGA460::unlock_eeprom() +{ + // Two step EEPROM unlock -- send unlock code w/ prog bit set to 0. + // This might actually be wrapped into command 11 (ee bulk write) but I am not sure. + uint8_t eeprom_write_buf[5] = {SYNCBYTE, SRW, EE_CNTRL_ADDR, EE_UNLOCK_ST1, 0xFF}; + uint8_t checksum = calc_checksum(&eeprom_write_buf[1], sizeof(eeprom_write_buf) - 2); + eeprom_write_buf[4] = checksum; + px4_write(_fd, &eeprom_write_buf[0], sizeof(eeprom_write_buf)); +} + +int PGA460::write_eeprom() +{ + uint8_t settings_buf[46] = {SYNCBYTE, EEBW, USER_DATA1, USER_DATA2, USER_DATA3, USER_DATA4, + USER_DATA5, USER_DATA6, USER_DATA7, USER_DATA8, USER_DATA9, USER_DATA10, + USER_DATA11, USER_DATA12, USER_DATA13, USER_DATA14, USER_DATA15, USER_DATA16, + USER_DATA17, USER_DATA18, USER_DATA19, USER_DATA20, + TVGAIN0, TVGAIN1, TVGAIN2, TVGAIN3, TVGAIN4, TVGAIN5, TVGAIN6, INIT_GAIN, FREQUENCY, DEADTIME, + PULSE_P1, PULSE_P2, CURR_LIM_P1, CURR_LIM_P2, REC_LENGTH, FREQ_DIAG, SAT_FDIAG_TH, FVOLT_DEC, DECPL_TEMP, + DSP_SCALE, TEMP_TRIM, P1_GAIN_CTRL, P2_GAIN_CTRL, 0xFF + }; + + uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2); + settings_buf[45] = checksum; + + px4_write(_fd, &settings_buf[0], sizeof(settings_buf)); + + // Needs time, see datasheet timing requirements. + usleep(5000); + unlock_eeprom(); + flash_eeprom(); + usleep(5000); + + uint8_t result = 0; + + // Give up to 100ms for ee_cntrl register to reflect a successful eeprom write. + for (int i = 0; i < 100; i++) { + result = read_register(EE_CNTRL_ADDR); + usleep(1000); + + if (result & 1 << 2) { + PX4_INFO("EEPROM write successful"); + return PX4_OK; + } + } + + PX4_WARN("Failed to write to EEPROM"); + print_diagnostics(result); + return PX4_ERROR; +} + +int PGA460::write_register(const uint8_t reg, const uint8_t val) +{ + // Must unlock the eeprom registers before you can read or write to them. + if (reg < 0x40) { + unlock_eeprom(); + } + + uint8_t buf_tx[5] = {SYNCBYTE, SRW, reg, val, 0xFF}; + uint8_t checksum = calc_checksum(&buf_tx[1], sizeof(buf_tx) - 2); + buf_tx[4] = checksum; + + uint8_t ret = px4_write(_fd, &buf_tx[0], sizeof(buf_tx)); + + if (ret != sizeof(buf_tx)) { + return PX4_OK; + } else { + return PX4_ERROR; + } +} + +int pga460_main(int argc, char *argv[]) +{ + return PGA460::main(argc, argv); +} \ No newline at end of file diff --git a/src/drivers/distance_sensor/pga460/pga460.h b/src/drivers/distance_sensor/pga460/pga460.h new file mode 100644 index 0000000000..60a329705b --- /dev/null +++ b/src/drivers/distance_sensor/pga460/pga460.h @@ -0,0 +1,412 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2016 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file pga460.h + * @author Jacob Dahl + * + * Driver for the TI PGA460 Ultrasonic Signal Processor and Transducer Driver + */ + +#ifndef _PGA460_H +#define _PGA460_H + +#include +#include + +#include +#include + +#include + +#include +#include +#include + + +#define PGA460_DEFAULT_PORT "/dev/ttyS6" +#define MAX_DETECTABLE_DISTANCE 3.0f +#define MIN_DETECTABLE_DISTANCE 0.05f +#define MAX_DETECTABLE_TEMPERATURE 100.0f +#define MIN_DETECTABLE_TEMPERATURE -20.0f +#define MODE_SET_THRESH 0.6f +#define MODE_SET_HYST 0.0f +#define MAX_SAMPLE_DEVIATION 0.15f +#define NUM_SAMPLES_CONSISTENT 5 +// #define POLL_RATE_US 50000ULL +#define POLL_RATE_US 0ULL + +#define MODE_SHORT_RANGE P1BL +#define MODE_LONG_RANGE P2BL + +#define SYNCBYTE 0x55 + +// Define UART commands by name + +// Single Address +#define P1BL 0x00 // Burst and Listen (Preset 1) +#define P2BL 0x01 // Burst and Listen (Preset 2) +#define P1LO 0x02 // Listen Only (Preset 1) +#define P2LO 0x03 // Listen Only (Preset 2) +#define TNLM 0x04 // Temperature and Noise-level measurement +#define UMR 0x05 // Ultrasonic Measurement Result +#define TNLR 0x06 // Temperature and noise level result +#define TEDD 0x07 // Transducer echo data dump +#define SD 0x08 // System diagnostics +#define SRR 0x09 // Register read +#define SRW 0x0A // Register write +#define EEBR 0x0B // EEPROM bulk read +#define EEBW 0x0C // EEPROM bulk write +#define TVGBR 0x0D // Time-varying-gain bulk read +#define TVGBW 0x0E // Time-varying-gain bulk write +#define THRBR 0x0F // Threshold bulk read +#define THRBW 0x10 // Threshold bulk write + +// Broadcast -- device will execute command irrespecive of UART address field +#define BC_P1BL 0x11 // Burst and listen (Preset 1) +#define BC_P2BL 0x12 // Burst and listen (Preset 2) +#define BC_P1LO 0x13 // Listen only (Preset 1) +#define BC_P2LO 0x14 // Listen only (Preset 2) +#define BC_TNLM 0x15 // Temperature and noise-level measurement +#define BC_SRW 0x16 // Register write +#define BC_EEBW 0x17 // EEPROM bulk write +#define BC_TVGBW 0x18 // Time varying-gain bulk write +#define BC_THRBW 0x19 // Threshold bulk write + +// Addresses and Settings +#define EE_CNTRL_ADDR 0x40 +#define EE_UNLOCK_ST1 0x68 +#define EE_UNLOCK_ST2 0x69 + +// EEPROM -- non-volatile +#define USER_DATA1 0xAA //reg addr 0x0 +#define USER_DATA2 0x0 //reg addr 0x1 +#define USER_DATA3 0x0 //reg addr 0x2 +#define USER_DATA4 0x0 //reg addr 0x3 +#define USER_DATA5 0x0 //reg addr 0x4 +#define USER_DATA6 0x0 //reg addr 0x5 +#define USER_DATA7 0x0 //reg addr 0x6 +#define USER_DATA8 0x0 //reg addr 0x7 +#define USER_DATA9 0x0 //reg addr 0x8 +#define USER_DATA10 0x0 //reg addr 0x9 +#define USER_DATA11 0x0 //reg addr 0x0A +#define USER_DATA12 0x0 //reg addr 0x0B +#define USER_DATA13 0x0 //reg addr 0x0C +#define USER_DATA14 0x0 //reg addr 0x0D +#define USER_DATA15 0x0 //reg addr 0x0E +#define USER_DATA16 0x0 //reg addr 0x0F +#define USER_DATA17 0x0 //reg addr 0x10 +#define USER_DATA18 0x0 //reg addr 0x11 +#define USER_DATA19 0x0 //reg addr 0x12 +#define USER_DATA20 0x0 //reg addr 0x13 +#define TVGAIN0 0x9D //reg addr 0x14 +#define TVGAIN1 0xBD //reg addr 0x15 +#define TVGAIN2 0xEF //reg addr 0x16 +#define TVGAIN3 0x31 //reg addr 0x17 +#define TVGAIN4 0x48 //reg addr 0x18 +#define TVGAIN5 0x67 //reg addr 0x19 +#define TVGAIN6 0xAC //reg addr 0x1A +#define INIT_GAIN 0x40 //reg addr 0x1B +#define FREQUENCY (uint8_t)(5*(_resonant_frequency - 30.0f)) //reg addr 0x1C +#define DEADTIME 0xF0 //reg addr 0x1D +#define PULSE_P1 0x0C //reg addr 0x1E +#define PULSE_P2 0x1F //reg addr 0x1F +#define CURR_LIM_P1 0x7F //reg addr 0x20 +#define CURR_LIM_P2 0x7F //reg addr 0x21 +#define REC_LENGTH 0x44 //reg addr 0x22 +#define FREQ_DIAG 0x1B //reg addr 0x23 +#define SAT_FDIAG_TH 0x2C //reg addr 0x24 +#define FVOLT_DEC 0x7C //reg addr 0x25 +#define DECPL_TEMP 0xDF //reg addr 0x26 +#define DSP_SCALE 0x0 //reg addr 0x27 +#define TEMP_TRIM 0x0 //reg addr 0x28 +#define P1_GAIN_CTRL 0x0 //reg addr 0x29 +#define P2_GAIN_CTRL 0x8 //reg addr 0x2A +#define EE_CRC 0x29 //reg addr 0x2B + +// Register-based -- volatile +#define EE_CNTRL 0x0 //reg addr 0x40 + +#define BPF_A2_MSB 0x85 //reg addr 0x41 +#define BPF_A2_LSB 0xEA //reg addr 0x42 +#define BPF_A3_MSB 0xF9 //reg addr 0x43 +#define BPF_A3_LSB 0xA5 //reg addr 0x44 +#define BPF_B1_MSB 0x3 //reg addr 0x45 +#define BPF_B1_LSB 0x2D //reg addr 0x46 +#define LPF_A2_MSB 0x7E //reg addr 0x47 +#define LPF_A2_LSB 0x67 //reg addr 0x48 +#define LPF_B1_MSB 0x0 //reg addr 0x49 +#define LPF_B1_LSB 0xCD //reg addr 0x4A + +#define TEST_MUX 0x0 //reg addr 0x4B +#define DEV_STAT0 0x80 //reg addr 0x4C +#define DEV_STAT1 0x0 //reg addr 0x4D + +// Register-based -- volatile +#define P1_THR_0 0x54 //reg addr 0x5F +#define P1_THR_1 0x5C //reg addr 0x60 +#define P1_THR_2 0xBD //reg addr 0x61 +#define P1_THR_3 0xE0 //reg addr 0x62 +#define P1_THR_4 0x6 //reg addr 0x63 +#define P1_THR_5 0xCF //reg addr 0x64 +#define P1_THR_6 0xEE //reg addr 0x65 +#define P1_THR_7 0x8E //reg addr 0x66 +#define P1_THR_8 0x84 //reg addr 0x67 +#define P1_THR_9 0xB6 //reg addr 0x68 +#define P1_THR_10 0x5A //reg addr 0x69 +#define P1_THR_11 0xFF //reg addr 0x6A +#define P1_THR_12 0xFF //reg addr 0x6B +#define P1_THR_13 0xFF //reg addr 0x6C +#define P1_THR_14 0xFF //reg addr 0x6D +#define P1_THR_15 0x0 //reg addr 0x6E +#define P2_THR_0 0xBA //reg addr 0x6F +#define P2_THR_1 0xCF //reg addr 0x70 +#define P2_THR_2 0xFF //reg addr 0x71 +#define P2_THR_3 0xF5 //reg addr 0x72 +#define P2_THR_4 0x1A //reg addr 0x73 +#define P2_THR_5 0x5F //reg addr 0x74 +#define P2_THR_6 0xFA //reg addr 0x75 +#define P2_THR_7 0xD6 //reg addr 0x76 +#define P2_THR_8 0xB6 //reg addr 0x77 +#define P2_THR_9 0x35 //reg addr 0x78 +#define P2_THR_10 0xDF //reg addr 0x79 +#define P2_THR_11 0xFF //reg addr 0x7A +#define P2_THR_12 0xFF //reg addr 0x7B +#define P2_THR_13 0xFF //reg addr 0x7C +#define P2_THR_14 0xFF //reg addr 0x7D +#define P2_THR_15 0x0 //reg addr 0x7E +#define THR_CRC 0x1D //reg addr 0x7F + +class PGA460 : public ModuleBase +{ +public: + + PGA460(const char *port = PGA460_DEFAULT_PORT); + + virtual ~PGA460(); + + /** + * @see ModuleBase::custom_command(). + * @brief main Main entry point to the module that should be + * called directly from the module's main method. + * @param argc The input argument count. + * @param argv Pointer to the input argument array. + * @return Returns 0 iff successful, -1 otherwise. + */ + static int custom_command(int argc, char *argv[]); + + /** + * @see ModuleBase::instantiate(). + * @brief Instantiates the pga460 object. + * @param argc The input argument count. + * @param argv Pointer to the input argument array. + */ + static PGA460 *instantiate(int argc, char *argv[]); + + /** + * @see ModuleBase::print_usage(). + * @brief Prints the module usage to the nuttshell console. + * @param reason The requested reason for printing to console. + */ + static int print_usage(const char *reason = nullptr); + + /** + * @see ModuleBase::task_spawn(). + */ + static int task_spawn(int argc, char *argv[]); + + /** + * @brief Closes the serial port. + * @return Returns 0 if success or ERRNO. + */ + int close_serial(); + + /** + * @brief Opens the serial port. + * @return Returns true if the open was successful or ERRNO. + */ + int open_serial(); + + /** + * @brief Reports the diagnostic data from device status registers 1 and 2 if there is anything to report. + */ + void print_device_status(); + /** + * @brief Reports the diagnostic data the diagnostic byte (first byte from slave). + * @param diagnostic_byte The diagnostic byte that contains the bitflags. + */ + void print_diagnostics(const uint8_t diagnostic_byte); + + /** + * Diagnostics - print some basic information about the driver. + */ + int print_status() override; + + /** + * @brief Reads the threshold registers. + * @return Returns true if the threshold registers are set to default + */ + int read_threshold_registers(); + + /** + * @see ModuleBase::run(). + */ + void run() override; + + /** + * @brief Reads the EEPROM and checks to see if it matches the default parameters. + * @note This method is only called once at boot. + * @return Returns PX4_OK if the EEPROM has default values, PX4_ERROR otherwise. + */ + int read_eeprom(); + + /** + * @brief Writes the user defined paramaters to device EEPROM. + * @return Returns true if the EEPROM was successfully written to. + */ + int write_eeprom(); + + /** + * @brief Reads a register. + * @param reg The register to read from. + * @return Returns the value of the register at the specified address. + */ + uint8_t read_register(const uint8_t reg); + + /** + * @brief Writes a value to a register. + * @param reg The register address to write to. + * @param val The value to write. + * @return Returns true for success or false for fail. + */ + int write_register(const uint8_t reg, const uint8_t val); + +private: + + /** + * @brief Calculates the checksum of the transmitted commmand + data. + * @param data Pointer to the data a checksum will be calculated for. + * @param size The size of the data (bytes) the checksum will be calculated for. + * @return Returns the single byte checksum. + */ + uint8_t calc_checksum(uint8_t *data, const uint8_t size); + + /** + * @brief Calculates the distance from the measurement time of flight (time_of_flight) and current temperature. + * @param time_of_flight The reported time of flight in ms from the device. + * @return Returns the distance measurement in meters. + */ + float calculate_object_distance(uint16_t time_of_flight); + + /** + * @brief Collects the data in the serial port rx buffer, does math, and publishes the value to uORB + * @return Returns the measurment results in format: (u16)time_of_flight, (u8)width, (u8)amplitude + */ + uint32_t collect_results(); + + /** + * @brief Send the program command to the EEPROM to start the flash process. + */ + void flash_eeprom(); + + /** + * @brief Writes program defined threshold defaults to the register map and checks/writes the EEPROM. + * @return Returns PX4_OK upon success or PX4_ERROR on fail. + */ + int initialize_device_settings(); + + /** + * @brief Writes the user defined paramaters to device register map. + * @return Returns true if the thresholds were successfully written. + */ + int initialize_thresholds(); + + /** + * @brief Measurement is read from UART RX buffer and published to the uORB distance sensor topic. + */ + void request_results(); + + /** + * @brief Checks the measurement from last report and sets the range distance mode (long range , short range). + * @return Returns the either P1Bl or P1B2. Preset 1 (P1BL) is short range mode and preset two (P2BL) is long range mode. + */ + uint8_t set_range_mode(); + + /** + * @brief Commands the device to perform an ultrasonic measurement. + */ + void take_measurement(const uint8_t mode); + + /* + * @brief Gets a temperature measurement in degrees C. + * @return Returns the temperature measurement in degrees C. + */ + float get_temperature(); + + /** + * @brief Send the unlock command to the EEPROM to enable reading and writing -- not needed w/ bulk write + */ + void unlock_eeprom(); + + /** + * @brief Commands the device to publish the measurement results to uORB. + * @param dist The calculated distance to the object. + */ + void uORB_publish_results(const float dist); + + /** @orb_advert_t orb_advert_t uORB advertisement topic. */ + orb_advert_t _distance_sensor_topic = nullptr; + + /** @param _fd Returns the file descriptor from px4_open(). */ + int _fd = -1; + + /** @param _port Stores the port name. */ + char _port[20]; + + /** @param _previous_report_distance The previous reported sensor distance. */ + float _previous_report_distance = 0; + + /** @param _previous_valid_report_distance The previous valid reported sensor distance. */ + float _previous_valid_report_distance = 0; + + /** @param _resonant_frequency The sensor resonant (transmit) frequency. */ + float _resonant_frequency = 41.0f; + + /** @param _mode_long_range Flag for long range mode. If false, sensor is in short range mode. */ + uint8_t _ranging_mode = MODE_SHORT_RANGE; + + /** @param _start_loop The starting value for the loop time of the main loop. */ + uint64_t _start_loop = 0; +}; + +#endif