SR05.hpp
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/****************************************************************************
*
* 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")};
};