From 79e084a154c3b4d945fb00d85fc2307667f9ae2f Mon Sep 17 00:00:00 2001
From: TSC21 <n.marques21@hotmail.com>
Date: Tue, 26 May 2015 18:05:26 +0100
Subject: [PATCH] drivers: added validity check

---
 src/drivers/ll40ls/ll40ls.cpp |  2 ++
 src/drivers/mb12xx/mb12xx.cpp |  4 ++++
 src/drivers/trone/trone.cpp   | 10 ++++++++--
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
index 8984220625..d806638788 100644
--- a/src/drivers/ll40ls/ll40ls.cpp
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -295,6 +295,8 @@ test(const bool use_i2c, const int bus)
 		}
 
 		warnx("periodic read %u", i);
+		warnx("valid %u", (float)report.current_distance > report.min_distance
+			&& (float)report.current_distance < report.max_distance ? 1 : 0);
 		warnx("measurement: %0.3f m", (double)report.current_distance);
 		warnx("time:        %lld", report.timestamp);
 	}
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index afeb8e5545..ec07399f54 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -832,6 +832,7 @@ test()
 	}
 
 	warnx("single read");
+	warnx("measurement: %0.2f m", (double)report.current_distance);
 	warnx("time:        %llu", report.timestamp);
 
 	/* start the sensor polling at 2Hz */
@@ -860,6 +861,9 @@ test()
 		}
 
 		warnx("periodic read %u", i);
+		warnx("valid %u", (float)report.current_distance > report.min_distance
+			&& (float)report.current_distance < report.max_distance ? 1 : 0);
+		warnx("measurement: %0.3f", (double)report.current_distance);
 		warnx("time:        %llu", report.timestamp);
 	}
 
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
index 23e52547a1..6150cc90e2 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -125,6 +125,7 @@ private:
 	work_s				_work;
 	ringbuffer::RingBuffer		*_reports;
 	bool				_sensor_ok;
+	uint8_t				_valid;
 	int					_measure_ticks;
 	bool				_collect_phase;
 	int				_class_instance;
@@ -211,7 +212,7 @@ static const uint8_t crc_table[] = {
 	0xfa, 0xfd, 0xf4, 0xf3
 };
 
-/* static uint8_t crc8(uint8_t *p, uint8_t len) {
+ static uint8_t crc8(uint8_t *p, uint8_t len) {
 	uint16_t i;
 	uint16_t crc = 0x0;
 
@@ -221,7 +222,7 @@ static const uint8_t crc_table[] = {
 	}
 
 	return crc & 0xFF;
-}*/
+}
 
 /*
  * Driver 'main' command.
@@ -234,6 +235,7 @@ TRONE::TRONE(int bus, int address) :
 	_max_distance(TRONE_MAX_DISTANCE),
 	_reports(nullptr),
 	_sensor_ok(false),
+	_valid(0),
 	_measure_ticks(0),
 	_collect_phase(false),
 	_class_instance(-1),
@@ -586,6 +588,10 @@ TRONE::collect()
 	/* TODO: set proper ID */
 	report.id = 0;
 
+	// This validation check can be used later
+	_valid = crc8(val, 2) == val[2] && (float)report.current_distance > report.min_distance
+		&& (float)report.current_distance < report.max_distance ? 1 : 0;
+
 	/* publish it, if we are the primary */
 	if (_distance_sensor_topic >= 0) {
 		orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);