GY_US42.cpp
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/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
#include "GY_US42.hpp"
GY_US42::GY_US42(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) :
I2C(DRV_DIST_DEVTYPE_GY_US42, MODULE_NAME, bus, address, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_rangefinder(get_device_id(), rotation)
{
_px4_rangefinder.set_max_distance(GY_US42_MAX_DISTANCE);
_px4_rangefinder.set_min_distance(GY_US42_MIN_DISTANCE);
}
GY_US42::~GY_US42()
{
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int GY_US42::init()
{
// I2C init (and probe) first.
if (I2C::init() != OK) {
return PX4_ERROR;
}
_state = STATE::POWERON_WAIT;
ScheduleDelayed(2000);
return OK;
}
int GY_US42::collect()
{
// Read from the sensor.
uint8_t val[2] = {};
perf_begin(_sample_perf);
const hrt_abstime timestamp_sample = hrt_absolute_time();
int ret = transfer(nullptr, 0, val, 2);
if (ret < 0) {
PX4_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
uint16_t distance_cm = val[0] << 8 | val[1];
float distance_m = float(distance_cm) * 1e-2f;
_px4_rangefinder.update(timestamp_sample, distance_m);
perf_end(_sample_perf);
return PX4_OK;
}
int GY_US42::measure()
{
uint8_t cmd[1] = {GY_US42_TAKE_RANGE_REG};
// Send the command to begin a measurement.
int ret = transfer(cmd, 1, nullptr, 0);
if (ret != PX4_OK) {
perf_count(_comms_errors);
PX4_DEBUG("i2c::transfer returned %d", ret);
return ret;
}
return PX4_OK;
}
void GY_US42::RunImpl()
{
switch (_state) {
case STATE::INIT:
// do nothing
break;
case STATE::POWERON_WAIT:
measure();
_state = STATE::MEASURE_WAIT;
ScheduleOnInterval(GY_US42_CONVERSION_INTERVAL, GY_US42_CONVERSION_INTERVAL);
break;
case STATE::MEASURE_WAIT:
collect();
measure();
// forever loop
break;
case STATE::MODIFYADDR_WAIT:
break;
}
}
void GY_US42::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
}