SRF02.hpp
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/****************************************************************************
*
* Copyright (c) 2013-2020 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 srf02.cpp
*
* Driver for the SRF02 sonar range finder adapted from the Maxbotix sonar range finder driver (srf02).
*/
#pragma once
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
#include <drivers/device/i2c.h>
#include <drivers/drv_hrt.h>
#include <lib/perf/perf_counter.h>
/* Configuration Constants */
#define SRF02_BASEADDR 0x70 // 7-bit address. 8-bit address is 0xE0.
/* SRF02 Registers addresses */
#define SRF02_TAKE_RANGE_REG 0x51 // Measure range Register.
#define SRF02_SET_ADDRESS_0 0xA0 // Change address 0 Register.
#define SRF02_SET_ADDRESS_1 0xAA // Change address 1 Register.
#define SRF02_SET_ADDRESS_2 0xA5 // Change address 2 Register.
/* Device limits */
#define SRF02_MIN_DISTANCE (0.20f)
#define SRF02_MAX_DISTANCE (7.65f)
#define SRF02_CONVERSION_INTERVAL 100000 // 60ms for one sonar.
#define SRF02_INTERVAL_BETWEEN_SUCCESIVE_FIRES 100000 // 30ms between each sonar measurement (watch out for interference!).
class SRF02 : public device::I2C, public I2CSPIDriver<SRF02>
{
public:
SRF02(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
int address = SRF02_BASEADDR);
~SRF02() override;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init() override;
void print_status() override;
void RunImpl();
private:
void start();
int collect();
int measure();
/**
* Test whether the device supported by the driver is present at a
* specific address.
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
PX4Rangefinder _px4_rangefinder;
int _interval{SRF02_CONVERSION_INTERVAL};
bool _collect_phase{false};
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
};