#include <pga460.h>

Inheritance diagram for PGA460:

Collaboration diagram for PGA460:

Public Member Functions
	PGA460 (const char *port=PGA460_DEFAULT_PORT)

virtual	~PGA460 ()

int	close_serial ()
	Closes the serial port. More...

int	open_serial ()
	Opens the serial port. More...

void	print_device_status ()
	Reports the diagnostic data from device status registers 1 and 2 if there is anything to report. More...

void	print_diagnostics (const uint8_t diagnostic_byte)
	Reports the diagnostic data the diagnostic byte (first byte from slave). More...

int	print_status () override
	Diagnostics - print some basic information about the driver. More...

int	read_threshold_registers ()
	Reads the threshold registers. More...

void	run () override

int	read_eeprom ()
	Reads the EEPROM and checks to see if it matches the default parameters. More...

int	write_eeprom ()
	Writes the user defined paramaters to device EEPROM. More...

uint8_t	read_register (const uint8_t reg)
	Reads a register. More...

int	write_register (const uint8_t reg, const uint8_t val)
	Writes a value to a register. More...

Static Public Member Functions
static int	custom_command (int argc, char *argv[])
	main Main entry point to the module that should be called directly from the module's main method. More...

static PGA460 *	instantiate (int argc, char *argv[])
	Instantiates the pga460 object. More...

static int	print_usage (const char *reason=nullptr)
	Prints the module usage to the nuttshell console. More...

static int	task_spawn (int argc, char *argv[])

Private Member Functions
uint8_t	calc_checksum (uint8_t *data, const uint8_t size)
	Calculates the checksum of the transmitted commmand + data. More...

float	calculate_object_distance (uint16_t time_of_flight)
	Calculates the distance from the measurement time of flight (time_of_flight) and current temperature. More...

uint32_t	collect_results ()
	Collects the data in the serial port rx buffer, does math, and publishes the value to uORB. More...

int	flash_eeprom ()
	Send the program command to the EEPROM to start the flash process. More...

int	initialize_device_settings ()
	Writes program defined threshold defaults to the register map and checks/writes the EEPROM. More...

int	initialize_thresholds ()
	Writes the user defined paramaters to device register map. More...

int	request_results ()
	Measurement is read from UART RX buffer and published to the uORB distance sensor topic. More...

uint8_t	set_range_mode ()
	Checks the measurement from last report and sets the range distance mode (long range , short range). More...

int	take_measurement (const uint8_t mode)
	Commands the device to perform an ultrasonic measurement. More...

float	get_temperature ()

int	unlock_eeprom ()
	Send the unlock command to the EEPROM to enable reading and writing – not needed w/ bulk write. More...

void	uORB_publish_results (const float dist)
	Commands the device to publish the measurement results to uORB. More...

Private Attributes
orb_advert_t	_distance_sensor_topic {nullptr}
	orb_advert_t uORB advertisement topic. More...

int	_fd {-1}

char	_port [20] {}

float	_previous_report_distance {0}

float	_previous_valid_report_distance {0}

float	_resonant_frequency {41.0f}

uint8_t	_ranging_mode {MODE_SHORT_RANGE}

uint64_t	_start_loop {0}

Detailed Description

Definition at line 210 of file pga460.h.

Constructor & Destructor Documentation

◆ PGA460()

PGA460::PGA460 ( const char * port = PGA460_DEFAULT_PORT )

Definition at line 44 of file pga460.cpp.

References _port.

Referenced by instantiate().

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◆ ~PGA460()

PGA460::~PGA460 ( )

virtual

Definition at line 52 of file pga460.cpp.

References _distance_sensor_topic, and orb_unadvertise().

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Member Function Documentation

◆ calc_checksum()

uint8_t PGA460::calc_checksum	(	uint8_t *	data,
		const uint8_t	size
	)

private

Calculates the checksum of the transmitted commmand + data.

Parameters

data	Pointer to the data a checksum will be calculated for.
size	The size of the data (bytes) the checksum will be calculated for.

Returns: Returns the single byte checksum.

Definition at line 57 of file pga460.cpp.

References data.

Referenced by flash_eeprom(), get_temperature(), initialize_thresholds(), read_register(), take_measurement(), unlock_eeprom(), write_eeprom(), and write_register().

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◆ calculate_object_distance()

float PGA460::calculate_object_distance ( uint16_t time_of_flight )

private

Calculates the distance from the measurement time of flight (time_of_flight) and current temperature.

Parameters

time_of_flight The reported time of flight in ms from the device.

Returns: Returns the distance measurement in meters.

Definition at line 203 of file pga460.cpp.

References f(), get_temperature(), MAX_DETECTABLE_TEMPERATURE, and MIN_DETECTABLE_TEMPERATURE.

Referenced by collect_results().

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◆ close_serial()

int PGA460::close_serial ( )

Closes the serial port.

Returns: Returns 0 if success or ERRNO.

Definition at line 85 of file pga460.cpp.

References _fd, and px4_close().

Referenced by run().

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◆ collect_results()

uint32_t PGA460::collect_results ( )

private

Collects the data in the serial port rx buffer, does math, and publishes the value to uORB.

Returns: Returns the measurment results in format: (u16)time_of_flight, (u8)width, (u8)amplitude

Definition at line 164 of file pga460.cpp.

References _fd, calculate_object_distance(), read(), and uORB_publish_results().

Referenced by run().

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◆ custom_command()

int PGA460::custom_command	(	int	argc,
		char *	argv[]
	)

static

main Main entry point to the module that should be called directly from the module's main method.

See also: ModuleBase::custom_command().

Parameters

argc	The input argument count.
argv	Pointer to the input argument array.

Returns: Returns 0 iff successful, -1 otherwise.

Definition at line 96 of file pga460.cpp.

References print_usage().

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◆ flash_eeprom()

int PGA460::flash_eeprom ( )

private

Send the program command to the EEPROM to start the flash process.

Definition at line 223 of file pga460.cpp.

References _fd, calc_checksum(), EE_CNTRL_ADDR, EE_UNLOCK_ST2, SRW, SYNCBYTE, and write().

Referenced by write_eeprom().

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◆ get_temperature()

float PGA460::get_temperature ( )

private

Definition at line 238 of file pga460.cpp.

References _fd, calc_checksum(), f(), read(), SYNCBYTE, TNLM, TNLR, and write().

Referenced by calculate_object_distance().

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◆ initialize_device_settings()

int PGA460::initialize_device_settings ( )

private

Writes program defined threshold defaults to the register map and checks/writes the EEPROM.

Returns: Returns PX4_OK upon success or PX4_ERROR on fail.

Definition at line 107 of file pga460.cpp.

References initialize_thresholds(), read_eeprom(), read_register(), USER_DATA1, and write_eeprom().

Referenced by run().

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◆ initialize_thresholds()

int PGA460::initialize_thresholds ( )

private

Writes the user defined paramaters to device register map.

Returns: Returns true if the thresholds were successfully written.

Definition at line 131 of file pga460.cpp.

References _fd, BC_THRBW, calc_checksum(), P1_THR_0, P1_THR_1, P1_THR_10, P1_THR_11, P1_THR_12, P1_THR_13, P1_THR_14, P1_THR_15, P1_THR_2, P1_THR_3, P1_THR_4, P1_THR_5, P1_THR_6, P1_THR_7, P1_THR_8, P1_THR_9, P2_THR_0, P2_THR_1, P2_THR_10, P2_THR_11, P2_THR_12, P2_THR_13, P2_THR_14, P2_THR_15, P2_THR_2, P2_THR_3, P2_THR_4, P2_THR_5, P2_THR_6, P2_THR_7, P2_THR_8, P2_THR_9, print_device_status(), read_threshold_registers(), SYNCBYTE, and write().

Referenced by initialize_device_settings().

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◆ instantiate()

PGA460 * PGA460::instantiate	(	int	argc,
		char *	argv[]
	)

static

Instantiates the pga460 object.

See also: ModuleBase::instantiate().

Parameters

argc	The input argument count.
argv	Pointer to the input argument array.

Definition at line 101 of file pga460.cpp.

References PGA460(), and PGA460_DEFAULT_PORT.

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◆ open_serial()

int PGA460::open_serial ( )

Opens the serial port.

Returns: Returns true if the open was successful or ERRNO.

Definition at line 293 of file pga460.cpp.

References _fd, _port, and px4_open().

Referenced by run().

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◆ print_device_status()

void PGA460::print_device_status ( )

Reports the diagnostic data from device status registers 1 and 2 if there is anything to report.

Definition at line 360 of file pga460.cpp.

References read_register().

Referenced by initialize_thresholds().

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◆ print_diagnostics()

void PGA460::print_diagnostics ( const uint8_t diagnostic_byte )

Reports the diagnostic data the diagnostic byte (first byte from slave).

Parameters

diagnostic_byte The diagnostic byte that contains the bitflags.

Definition at line 412 of file pga460.cpp.

Referenced by read_eeprom(), read_register(), read_threshold_registers(), and write_eeprom().

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◆ print_status()

int PGA460::print_status ( )

override

Diagnostics - print some basic information about the driver.

Definition at line 467 of file pga460.cpp.

References _previous_valid_report_distance.

◆ print_usage()

int PGA460::print_usage ( const char * reason = nullptr )

static

Prints the module usage to the nuttshell console.

See also: ModuleBase::print_usage().

Parameters

reason The requested reason for printing to console.

Definition at line 473 of file pga460.cpp.

Referenced by custom_command().

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◆ read_eeprom()

int PGA460::read_eeprom ( )

Reads the EEPROM and checks to see if it matches the default parameters.

Note: This method is only called once at boot.

Returns: Returns PX4_OK if the EEPROM has default values, PX4_ERROR otherwise.

Definition at line 502 of file pga460.cpp.

References _fd, CURR_LIM_P1, CURR_LIM_P2, DEADTIME, DECPL_TEMP, DSP_SCALE, EEBR, FREQ_DIAG, FREQUENCY, FVOLT_DEC, INIT_GAIN, P1_GAIN_CTRL, P2_GAIN_CTRL, print_diagnostics(), PULSE_P1, PULSE_P2, read(), REC_LENGTH, SAT_FDIAG_TH, SYNCBYTE, TEMP_TRIM, TVGAIN0, TVGAIN1, TVGAIN2, TVGAIN3, TVGAIN4, TVGAIN5, TVGAIN6, unlock_eeprom(), USER_DATA1, USER_DATA10, USER_DATA11, USER_DATA12, USER_DATA13, USER_DATA14, USER_DATA15, USER_DATA16, USER_DATA17, USER_DATA18, USER_DATA19, USER_DATA2, USER_DATA20, USER_DATA3, USER_DATA4, USER_DATA5, USER_DATA6, USER_DATA7, USER_DATA8, USER_DATA9, and write().

Referenced by initialize_device_settings().

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◆ read_register()

uint8_t PGA460::read_register ( const uint8_t reg )

Reads a register.

Parameters

reg	The register to read from.

Returns: Returns the value of the register at the specified address.

Definition at line 563 of file pga460.cpp.

References _fd, calc_checksum(), print_diagnostics(), read(), SRR, SYNCBYTE, unlock_eeprom(), and write().

Referenced by initialize_device_settings(), print_device_status(), and write_eeprom().

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◆ read_threshold_registers()

int PGA460::read_threshold_registers ( )

Reads the threshold registers.

Returns: Returns true if the threshold registers are set to default

Definition at line 609 of file pga460.cpp.

References _fd, P1_THR_0, P1_THR_1, P1_THR_10, P1_THR_11, P1_THR_12, P1_THR_13, P1_THR_14, P1_THR_15, P1_THR_2, P1_THR_3, P1_THR_4, P1_THR_5, P1_THR_6, P1_THR_7, P1_THR_8, P1_THR_9, P2_THR_0, P2_THR_1, P2_THR_10, P2_THR_11, P2_THR_12, P2_THR_13, P2_THR_14, P2_THR_15, P2_THR_2, P2_THR_3, P2_THR_4, P2_THR_5, P2_THR_6, P2_THR_7, P2_THR_8, P2_THR_9, print_diagnostics(), read(), SYNCBYTE, THRBR, and write().

Referenced by initialize_thresholds().

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◆ request_results()

int PGA460::request_results ( )

private

Measurement is read from UART RX buffer and published to the uORB distance sensor topic.

Definition at line 665 of file pga460.cpp.

References _fd, SYNCBYTE, UMR, and write().

Referenced by run().

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◆ run()

void PGA460::run ( )

override

See also: ModuleBase::run().

Definition at line 678 of file pga460.cpp.

References _distance_sensor_topic, _start_loop, close_serial(), collect_results(), hrt_absolute_time(), initialize_device_settings(), open_serial(), orb_advertise(), ORB_ID, POLL_RATE_US, request_results(), set_range_mode(), and take_measurement().

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◆ set_range_mode()

uint8_t PGA460::set_range_mode ( )

private

Checks the measurement from last report and sets the range distance mode (long range , short range).

Returns: Returns the either P1Bl or P1B2. Preset 1 (P1BL) is short range mode and preset two (P2BL) is long range mode.

Definition at line 718 of file pga460.cpp.

References _previous_valid_report_distance, _ranging_mode, MODE_LONG_RANGE, MODE_SET_HYST, MODE_SET_THRESH, and MODE_SHORT_RANGE.

Referenced by run().

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◆ take_measurement()

int PGA460::take_measurement ( const uint8_t mode )

private

Commands the device to perform an ultrasonic measurement.

Definition at line 732 of file pga460.cpp.

References _fd, calc_checksum(), SYNCBYTE, and write().

Referenced by run().

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◆ task_spawn()

int PGA460::task_spawn	(	int	argc,
		char *	argv[]
	)

static

See also: ModuleBase::task_spawn().

Definition at line 748 of file pga460.cpp.

◆ unlock_eeprom()

int PGA460::unlock_eeprom ( )

private

Send the unlock command to the EEPROM to enable reading and writing – not needed w/ bulk write.

Definition at line 819 of file pga460.cpp.

References _fd, calc_checksum(), EE_CNTRL_ADDR, EE_UNLOCK_ST1, SRW, SYNCBYTE, and write().

Referenced by read_eeprom(), read_register(), write_eeprom(), and write_register().

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◆ uORB_publish_results()

void PGA460::uORB_publish_results ( const float dist )

private

Commands the device to publish the measurement results to uORB.

Parameters

dist	The calculated distance to the object.

Definition at line 767 of file pga460.cpp.

References _distance_sensor_topic, _previous_report_distance, _previous_valid_report_distance, distance_sensor_s::current_distance, hrt_absolute_time(), MAX_DETECTABLE_DISTANCE, distance_sensor_s::max_distance, MAX_SAMPLE_DEVIATION, MIN_DETECTABLE_DISTANCE, distance_sensor_s::min_distance, NUM_SAMPLES_CONSISTENT, ORB_ID, orb_publish(), distance_sensor_s::orientation, distance_sensor_s::signal_quality, distance_sensor_s::timestamp, and distance_sensor_s::type.

Referenced by collect_results().

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◆ write_eeprom()

int PGA460::write_eeprom ( )

Writes the user defined paramaters to device EEPROM.

Returns: Returns true if the EEPROM was successfully written to.

Definition at line 835 of file pga460.cpp.

References _fd, calc_checksum(), CURR_LIM_P1, CURR_LIM_P2, DEADTIME, DECPL_TEMP, DSP_SCALE, EE_CNTRL_ADDR, EEBW, flash_eeprom(), FREQ_DIAG, FREQUENCY, FVOLT_DEC, INIT_GAIN, P1_GAIN_CTRL, P2_GAIN_CTRL, print_diagnostics(), PULSE_P1, PULSE_P2, read_register(), REC_LENGTH, SAT_FDIAG_TH, SYNCBYTE, TEMP_TRIM, TVGAIN0, TVGAIN1, TVGAIN2, TVGAIN3, TVGAIN4, TVGAIN5, TVGAIN6, unlock_eeprom(), USER_DATA1, USER_DATA10, USER_DATA11, USER_DATA12, USER_DATA13, USER_DATA14, USER_DATA15, USER_DATA16, USER_DATA17, USER_DATA18, USER_DATA19, USER_DATA2, USER_DATA20, USER_DATA3, USER_DATA4, USER_DATA5, USER_DATA6, USER_DATA7, USER_DATA8, USER_DATA9, and write().

Referenced by initialize_device_settings().

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◆ write_register()

int PGA460::write_register	(	const uint8_t	reg,
		const uint8_t	val
	)

Writes a value to a register.

Parameters

reg	The register address to write to.
val	The value to write.

Returns: Returns true for success or false for fail.

Definition at line 879 of file pga460.cpp.

References _fd, calc_checksum(), SRW, SYNCBYTE, unlock_eeprom(), and write().

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Member Data Documentation

◆ _distance_sensor_topic

orb_advert_t PGA460::_distance_sensor_topic {nullptr}

private

orb_advert_t uORB advertisement topic.

Definition at line 388 of file pga460.h.

Referenced by run(), uORB_publish_results(), and ~PGA460().

◆ _fd

int PGA460::_fd {-1}

private

Parameters

_fd	Returns the file descriptor from px4_open().

Definition at line 391 of file pga460.h.

Referenced by close_serial(), collect_results(), flash_eeprom(), get_temperature(), initialize_thresholds(), open_serial(), read_eeprom(), read_register(), read_threshold_registers(), request_results(), take_measurement(), unlock_eeprom(), write_eeprom(), and write_register().

◆ _port

char PGA460::_port[20] {}

private

Parameters

_port Stores the port name.

Definition at line 394 of file pga460.h.

Referenced by open_serial(), and PGA460().

◆ _previous_report_distance

float PGA460::_previous_report_distance {0}

private

Parameters

_previous_report_distance The previous reported sensor distance.

Definition at line 397 of file pga460.h.

Referenced by uORB_publish_results().

◆ _previous_valid_report_distance

float PGA460::_previous_valid_report_distance {0}

private

Parameters

_previous_valid_report_distance The previous valid reported sensor distance.

Definition at line 400 of file pga460.h.

Referenced by print_status(), set_range_mode(), and uORB_publish_results().

◆ _ranging_mode

uint8_t PGA460::_ranging_mode {MODE_SHORT_RANGE}

private

Parameters

_mode_long_range Flag for long range mode. If false, sensor is in short range mode.

Definition at line 406 of file pga460.h.

Referenced by set_range_mode().

◆ _resonant_frequency

float PGA460::_resonant_frequency {41.0f}

private

Parameters

_resonant_frequency The sensor resonant (transmit) frequency.

Definition at line 403 of file pga460.h.

◆ _start_loop

uint64_t PGA460::_start_loop {0}

private

Parameters

_start_loop The starting value for the loop time of the main loop.

Definition at line 409 of file pga460.h.

Referenced by run().

The documentation for this class was generated from the following files:

src/drivers/distance_sensor/pga460/pga460.h
src/drivers/distance_sensor/pga460/pga460.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PGA460()

◆ ~PGA460()

Member Function Documentation

◆ calc_checksum()

◆ calculate_object_distance()

◆ close_serial()

◆ collect_results()

◆ custom_command()

◆ flash_eeprom()

◆ get_temperature()

◆ initialize_device_settings()

◆ initialize_thresholds()

◆ instantiate()

◆ open_serial()

◆ print_device_status()

◆ print_diagnostics()

◆ print_status()

◆ print_usage()

◆ read_eeprom()

◆ read_register()

◆ read_threshold_registers()

◆ request_results()

◆ run()

◆ set_range_mode()

◆ take_measurement()

◆ task_spawn()

◆ unlock_eeprom()

◆ uORB_publish_results()

◆ write_eeprom()

◆ write_register()

Member Data Documentation

◆ _distance_sensor_topic

◆ _fd

◆ _port

◆ _previous_report_distance

◆ _previous_valid_report_distance

◆ _ranging_mode

◆ _resonant_frequency

◆ _start_loop