mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-30 18:30:34 +08:00
Added TI PGA460 driver functionality to PX4.
This commit is contained in:
Jake Dahl
@@ -398,6 +398,12 @@ then
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ll40ls start i2c
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fi
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# pga460 sonar sensor
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if param greater SENS_EN_PGA460 0
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then
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pga460 start
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fi
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# Lightware serial lidar sensor
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if param greater SENS_EN_SF0X 0
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then
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||||
@@ -42,3 +42,4 @@ add_subdirectory(tfmini)
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add_subdirectory(ulanding)
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add_subdirectory(leddar_one)
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add_subdirectory(vl53lxx)
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add_subdirectory(pga460)
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@@ -0,0 +1,43 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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||||
# 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.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__pga460
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MAIN pga460
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COMPILE_FLAGS
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-Os
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SRCS
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pga460.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,42 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* 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
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* PGA460 Ultrasonic driver (PGA460)
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*
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* @reboot_required true
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*
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* @boolean
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* @group Sensors
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*/
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PARAM_DEFINE_INT32(SENS_EN_PGA460, 0);
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@@ -0,0 +1,851 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* 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.
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*
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****************************************************************************/
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/**
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* @file pga460.cpp
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* @author Jacob Dahl <jacob.dahl@tealdrones.com>
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*
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* Driver for the TI PGA460 Ultrasonic Signal Processor and Transducer Driver
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*/
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#include "pga460.h"
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extern "C" __EXPORT int pga460_main(int argc, char *argv[]);
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PGA460::PGA460(const char *port)
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{
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// Store port name.
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strncpy(_port, port, sizeof(_port));
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// Enforce null termination.
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_port[sizeof(_port) - 1] = '\0';
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}
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PGA460::~PGA460()
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{
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orb_unadvertise(_distance_sensor_topic);
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}
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uint8_t PGA460::calc_checksum(uint8_t *data, const uint8_t size)
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{
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uint8_t checksum_input[size];
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for (size_t i = 0; i < size; i++) {
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checksum_input[i] = *data;
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data++;
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}
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uint16_t carry = 0;
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for (uint8_t j = 0; j < size; j++) {
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if ((checksum_input[j] + carry) < carry) {
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carry = carry + checksum_input[j] + 1;
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} else {
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carry = carry + checksum_input[j];
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}
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if (carry > 0xFF) {
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carry = carry - 255;
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}
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}
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carry = (~carry & 0x00FF);
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return carry;
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}
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int PGA460::close_serial()
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{
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int ret = px4_close(_fd);
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if (ret != 0) {
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PX4_WARN("Could not close serial port");
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}
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return ret;
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}
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int PGA460::custom_command(int argc, char *argv[])
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{
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return print_usage("Unrecognized command.");
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}
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PGA460 *PGA460::instantiate(int argc, char *argv[])
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{
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PGA460 *pga460 = new PGA460(PGA460_DEFAULT_PORT);
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return pga460;
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}
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int PGA460::initialize_device_settings()
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{
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if (initialize_thresholds() != PX4_OK) {
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PX4_WARN("Thresholds not initialized");
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return PX4_ERROR;
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}
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usleep(10000);
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// Read to see if eeprom saved data matches desired data, otherwise overwrite eeprom.
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if (read_eeprom() != PX4_OK) {
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write_eeprom();
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}
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// Allow sufficient time for the device to complete writing to registers.
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usleep(10000);
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// Verify the device is alive.
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if (read_register(0x00) != USER_DATA1) {
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close_serial();
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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int PGA460::initialize_thresholds()
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{
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const uint8_t array_size = 35;
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uint8_t settings_buf[array_size] = {SYNCBYTE, BC_THRBW,
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P1_THR_0, P1_THR_1, P1_THR_2, P1_THR_3, P1_THR_4, P1_THR_5,
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P1_THR_6, P1_THR_7, P1_THR_8, P1_THR_9, P1_THR_10,
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P1_THR_11, P1_THR_12, P1_THR_13, P1_THR_14, P1_THR_15,
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P2_THR_0, P2_THR_1, P2_THR_2, P2_THR_3, P2_THR_4, P2_THR_5,
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P2_THR_6, P2_THR_7, P2_THR_8, P2_THR_9, P2_THR_10,
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P2_THR_11, P2_THR_12, P2_THR_13, P2_THR_14, P2_THR_15, 0xFF
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};
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uint8_t checksum = calc_checksum(&settings_buf[1], sizeof(settings_buf) - 2);
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settings_buf[array_size - 1] = checksum;
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px4_write(_fd, &settings_buf[0], sizeof(settings_buf));
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// Must wait >50us per datasheet.
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usleep(100);
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if (read_threshold_registers()) {
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return 1;
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} else {
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print_device_status();
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return 0;
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}
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}
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uint32_t PGA460::collect_results()
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{
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px4_pollfd_struct_t fds[1];
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fds[0].fd = _fd;
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fds[0].events = POLLIN;
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int timeout = 10;
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uint8_t buf_rx[6] = {0};
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int ret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), timeout);
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// Waiting for a maximum of 10ms.
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if (ret > 0) {
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usleep(10000);
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px4_read(_fd, buf_rx, sizeof(buf_rx));
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} else {
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PX4_WARN("px4_poll() failed");
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}
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uint16_t time_of_flight = (buf_rx[1] << 8) + buf_rx[2];
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uint8_t Width = buf_rx[3];
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uint8_t Amplitude = buf_rx[4];
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float object_distance = calculate_object_distance(time_of_flight);
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uORB_publish_results(object_distance);
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// B1,2: time_of_flight B3: Width B4: Amplitude
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||||
uint32_t results = (time_of_flight << 16) | (Width << 8) | (Amplitude << 0);
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return results;
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||||
}
|
||||
|
||||
float PGA460::calculate_object_distance(uint16_t time_of_flight)
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||||
{
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float temperature = get_temperature();
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||||
// Default temperature if no temperature measurement can be obtained.
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if (temperature > MAX_DETECTABLE_TEMPERATURE ||
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||||
temperature < MIN_DETECTABLE_TEMPERATURE) {
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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 <device_path>");
|
||||
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);
|
||||
}
|
||||
@@ -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 <jacob.dahl@tealdrones.com>
|
||||
*
|
||||
* Driver for the TI PGA460 Ultrasonic Signal Processor and Transducer Driver
|
||||
*/
|
||||
|
||||
#ifndef _PGA460_H
|
||||
#define _PGA460_H
|
||||
|
||||
#include <cstring>
|
||||
#include <termios.h>
|
||||
|
||||
#include <drivers/device/device.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include <uORB/topics/distance_sensor.h>
|
||||
|
||||
#include <px4_module.h>
|
||||
#include <px4_module_params.h>
|
||||
#include <px4_tasks.h>
|
||||
|
||||
|
||||
#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<PGA460>
|
||||
{
|
||||
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
|
||||
Reference in New Issue
Block a user