Add HY-SRF05 ultrasonic sensor driver

* nxp_fmuk66-e: Use srf05 distance sensor
 * nxp_fmuk66-v3: Use srf05 distance sensor

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -71,6 +71,13 @@ then
 	lightware_laser_i2c start -X
 fi
 
+# Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
+if param compare -s SENS_EN_SR05 1
+then
+	srf05 start
+fi
+
+
 # Heater driver for temperature regulated IMUs.
 if param compare -s SENS_EN_THERMAL 1
 then

boards/nxp/fmuk66-e/default.cmake

@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers

boards/nxp/fmuk66-e/src/board_config.h

@@ -269,8 +269,11 @@ __END_DECLS
  */
 // todo:Design this!
 
-#define DIRECT_PWM_OUTPUT_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
-#define DIRECT_INPUT_TIMER_CHANNELS 10
+#define DIRECT_INPUT_TIMER_CHANNELS 8
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
 
 /* Power supply control and monitoring GPIOs */
 // None

boards/nxp/fmuk66-e/src/init.c

@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}

boards/nxp/fmuk66-e/src/timer_config.cpp

@@ -66,8 +66,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel7}, {GPIO::PortD, GPIO::Pin7}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

boards/nxp/fmuk66-v3/default.cmake

@@ -22,6 +22,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
 		#heater
 		#imu # all available imu drivers

boards/nxp/fmuk66-v3/src/board_config.h

@@ -273,8 +273,11 @@ __END_DECLS
  */
 // todo:Design this!
 
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
+#define DIRECT_PWM_OUTPUT_CHANNELS  6
-#define DIRECT_INPUT_TIMER_CHANNELS 8
+#define DIRECT_INPUT_TIMER_CHANNELS 6
+
+#define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
+#define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)
 
 /* Power supply control and monitoring GPIOs */
 // None

boards/nxp/fmuk66-v3/src/init.c

@@ -120,9 +120,6 @@ void board_on_reset(int status)
 		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
 	}
 
-	px4_arch_configgpio(io_timer_channel_get_gpio_output(6)); // Echo trigger pin
-	px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(7)));
-
 	if (status >= 0) {
 		up_mdelay(6);
 	}

boards/nxp/fmuk66-v3/src/timer_config.cpp

@@ -64,8 +64,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::FTM0, Timer::Channel5}, {GPIO::PortD, GPIO::Pin5}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel6}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel7}, {GPIO::PortE, GPIO::Pin12}),
-	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
+//	initIOTimerChannel(io_timers, {Timer::FTM3, Timer::Channel0}, {GPIO::PortD, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
+//	initIOTimerChannel(io_timers, {Timer::FTM2, Timer::Channel0}, {GPIO::PortA, GPIO::Pin10}),
 };
 
 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =

src/drivers/distance_sensor/srf05/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2020 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__srf05
+	MAIN srf05
+	COMPILE_FLAGS
+	SRCS
+		SRF05.cpp
+	DEPENDS
+		drivers_rangefinder
+	)

src/drivers/distance_sensor/srf05/SR05.hpp

@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 SR05.hpp
+ * @author David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Interface for the HY-SRF05 / HC-SR05 and HC-SR04.
+ * Precise Ultrasonic Range Sensor Module
+ */
+#pragma once
+
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#include <uORB/Subscription.hpp>
+#include <board_config.h>
+#include <drivers/device/device.h>
+#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
+#include <perf/perf_counter.h>
+
+#if defined(GPIO_ULTRASOUND_TRIGGER) && defined(GPIO_ULTRASOUND_ECHO)
+#  define HAVE_ULTRASOUND
+#endif
+
+using namespace time_literals;
+
+// Device limits
+static constexpr float HXSRX0X_MIN_DISTANCE{0.02f};
+static constexpr float HXSRX0X_MAX_DISTANCE{4.5f};
+
+// Normal conversion wait time.
+static constexpr uint32_t HXSRX0X_CONVERSION_INTERVAL{50_ms};
+
+// Maximum time to wait for a conversion to complete.
+static constexpr uint32_t HXSRX0X_CONVERSION_TIMEOUT{30_ms};
+
+class SRF05 : public ModuleBase<SRF05>, public px4::ScheduledWorkItem
+{
+public:
+	SRF05(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	virtual ~SRF05() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	int init();
+
+	int print_status() override;
+
+protected:
+	void stop();
+	int collect();
+	int measure();
+
+	void Run() override;
+
+private:
+	uint32_t get_measure_interval() const { return HXSRX0X_CONVERSION_INTERVAL; };
+
+	static int EchoInterruptCallback(int irq, void *context, void *arg);
+	void OnEdge(bool state);
+
+	hrt_abstime _rising_edge_time{0};
+	hrt_abstime _falling_edge_time{0};
+
+	enum class STATE : uint8_t {
+		TRIGGER,
+		WAIT_FOR_RISING,
+		WAIT_FOR_FALLING,
+		SAMPLE,
+		MEASURE,
+		EXIT,
+	};
+
+	STATE _state{STATE::TRIGGER};
+
+
+
+	PX4Rangefinder	_px4_rangefinder;
+
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME" comms errors")};
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME" read")};
+	perf_counter_t _sensor_resets{perf_alloc(PC_COUNT, MODULE_NAME" resets")};
+};

src/drivers/distance_sensor/srf05/SRF05.cpp

@@ -0,0 +1,256 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 SRF05.c
+ * @author David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Interface for the HY-SRF05 / HC-SR05 and HC-SR04.
+ * Precise Ultrasonic Range Sensor Module
+ */
+
+#include "SR05.hpp"
+
+#if defined(HAVE_ULTRASOUND)
+
+#include <px4_arch/micro_hal.h>
+
+SRF05::SRF05(const uint8_t rotation) :
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	_px4_rangefinder(0 /* device id not yet used */, rotation)
+{
+	_px4_rangefinder.set_min_distance(HXSRX0X_MIN_DISTANCE);
+	_px4_rangefinder.set_max_distance(HXSRX0X_MAX_DISTANCE);
+	_px4_rangefinder.set_fov(0.261799); // 15 degree FOV
+}
+
+SRF05::~SRF05()
+{
+	stop();
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_sensor_resets);
+}
+
+void SRF05::OnEdge(bool state)
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	if (_state == STATE::WAIT_FOR_RISING || _state == STATE::WAIT_FOR_FALLING) {
+		if (state) {
+			px4_arch_gpiowrite(GPIO_ULTRASOUND_TRIGGER, 1);
+			_rising_edge_time = now;
+			_state = STATE::WAIT_FOR_FALLING;
+
+		} else {
+			_falling_edge_time = now;
+			_state = STATE::SAMPLE;
+			ScheduleNow();
+		}
+	}
+}
+
+int SRF05::EchoInterruptCallback(int irq, void *context, void *arg)
+{
+	static_cast<SRF05 *>(arg)->OnEdge(px4_arch_gpioread(GPIO_ULTRASOUND_ECHO));
+	return 0;
+}
+
+int
+SRF05::init()
+{
+	px4_arch_configgpio(GPIO_ULTRASOUND_TRIGGER);
+	px4_arch_configgpio(GPIO_ULTRASOUND_ECHO);
+	px4_arch_gpiowrite(GPIO_ULTRASOUND_TRIGGER, 1);
+	px4_arch_gpiosetevent(GPIO_ULTRASOUND_ECHO, true, true, false, &EchoInterruptCallback, this);
+	_state = STATE::TRIGGER;
+	ScheduleOnInterval(get_measure_interval());
+	return PX4_OK;
+}
+
+void SRF05::stop()
+{
+	_state = STATE::EXIT;
+	px4_arch_gpiosetevent(GPIO_ULTRASOUND_ECHO, false, false, false, nullptr, nullptr);
+	px4_arch_gpiowrite(GPIO_ULTRASOUND_TRIGGER, 1);
+	ScheduleClear();
+}
+
+void
+SRF05::Run()
+{
+	if (should_exit()) {
+		ScheduleClear();
+		exit_and_cleanup();
+		return;
+	}
+
+	switch (_state) {
+
+	case STATE::TRIGGER:
+		_state = STATE::WAIT_FOR_RISING;
+		px4_arch_gpiowrite(GPIO_ULTRASOUND_TRIGGER, 0); // ya ya I know they're wrong! It triggers on the falling edge.
+		break;
+
+	case STATE::WAIT_FOR_RISING:
+	case STATE::WAIT_FOR_FALLING:
+		_state = STATE::TRIGGER;
+		perf_count(_sensor_resets);
+		px4_arch_gpiowrite(GPIO_ULTRASOUND_TRIGGER, 1);
+		break;
+
+	case STATE::SAMPLE:
+		_state = STATE::MEASURE;
+		measure();
+		_state = STATE::TRIGGER;
+		break;
+
+	case STATE::EXIT:
+	default:
+		break;
+	}
+}
+
+int
+SRF05::measure()
+{
+	perf_begin(_sample_perf);
+
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+	const hrt_abstime dt = _falling_edge_time - _rising_edge_time;
+
+	const float current_distance = dt *  343.0f / 10e6f / 2.0f;
+
+	if (dt > HXSRX0X_CONVERSION_TIMEOUT) {
+		perf_count(_comms_errors);
+
+	} else {
+		_px4_rangefinder.update(timestamp_sample, current_distance);
+	}
+
+	perf_end(_sample_perf);
+	return PX4_OK;
+}
+
+int SRF05::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+
+int SRF05::task_spawn(int argc, char *argv[])
+{
+
+	int ch = 0;
+	int myoptind = 1;
+	const char *myoptarg = nullptr;
+
+	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
+
+	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'R':
+			rotation = (uint8_t)atoi(myoptarg);
+			PX4_INFO("Setting sr05 orientation to %d", (int)rotation);
+			break;
+
+		default:
+			return print_usage();
+		}
+	}
+
+	SRF05 *instance = new SRF05(rotation);
+
+	if (instance) {
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
+
+		if (instance->init() == PX4_OK) {
+			return PX4_OK;
+		}
+
+	} else {
+		PX4_ERR("alloc failed");
+	}
+
+	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;
+
+	return PX4_ERROR;
+}
+
+int SRF05::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+  ### Description
+
+  Driver for HY-SRF05 / HC-SR05 and HC-SR04 rangefinders.
+
+  The sensor/driver must be enabled using the parameter SENS_EN_HXSRX0X.
+
+  )DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("srf05", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
+	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print driver status information");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+	return PX4_OK;
+}
+
+int
+SRF05::print_status()
+{
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_sensor_resets);
+	printf("poll interval:  %u \n", get_measure_interval());
+	return 0;
+}
+
+extern "C" __EXPORT int srf05_main(int argc, char *argv[])
+{
+	return SRF05::main(argc, argv);
+}
+#else
+# error ("GPIO_ULTRASOUND_xxx not defined. Driver not supported.");
+#endif

src/drivers/distance_sensor/srf05/parameters.c

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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.
+ *
+ ****************************************************************************/
+
+/**
+ * HY-SRF05 / HC-SR05
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @boolean
+ */
+PARAM_DEFINE_INT32(SENS_EN_SR05, 0);