PGA460命令处理过程在PGA460 Array of Ultrasonic Transducers for Triangulation and Tracking应用报告里有详细的解释。 www.ti.com/.../slaa783.pdf
下面是一些主要的步骤。
1. Send broadcast burst-and-listen command (CMD17/18).
2. Wait until the preset record length time expires. In this case, the customer will need to wait the equivalent of 10m (~62ms), since S1 will be configured for a 10m range maximum.
3. Send an ultrasonic measurement result command (CMD5) to read back the time-of-flight data from each device. It is possible to read back the data from S2 after ~20ms since its max range is only 3m while S1 is still recording up to 10m.
4. Convert time-of-flight data to one-way distance.
