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created driver for pmw3901 optical flow module
This commit is contained in:
Daniele Pettenuzzo
committed by
Beat Küng
Beat Küng
parent
4348852363
commit
10fc3b8763
@@ -0,0 +1,11 @@
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px4_add_module(
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MODULE drivers__pmw3901
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MAIN pmw3901
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COMPILE_FLAGS
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-Wno-sign-compare
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SRCS
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pmw3901.cpp
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,930 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pmw3901.cpp
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* @author Daniele Pettenuzzo
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*
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* Driver for the pmw3901 optical flow sensor connected via SPI.
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_workqueue.h>
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#include <drivers/device/spi.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/distance_sensor.h>
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#include <board_config.h>
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/* Configuration Constants */
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#ifdef PX4_SPI_BUS_EXT
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#define PMW3901_BUS PX4_SPI_BUS_EXT
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#else
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#define PMW3901_BUS 0
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#endif
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#define PMW3901_SPI_BUS_SPEED 2*1000*1000 // 2MHz
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#define DIR_READ(a) ((a) | (1 << 7))
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#define DIR_WRITE(a) ((a) & 0x7f)
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#define PMW3901_BASEADDR 0b0101001 // set camera address
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#define PMW3901_DEVICE_PATH "/dev/pmw3901"
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/* VL53LXX Registers addresses */
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#define VL53LXX_CONVERSION_INTERVAL 1000 /* 1ms */
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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class PMW3901 : public device::SPI
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{
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public:
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PMW3901(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING,
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int bus = PMW3901_BUS, int address = PMW3901_BASEADDR);
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virtual ~PMW3901();
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virtual int init();
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//virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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private:
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uint8_t _rotation;
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float _min_distance;
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float _max_distance;
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work_s _work;
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ringbuffer::RingBuffer *_reports;
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bool _sensor_ok;
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uint8_t _valid;
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int _measure_ticks;
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bool _collect_phase;
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int _class_instance;
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int _orb_class_instance;
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orb_advert_t _distance_sensor_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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uint8_t stop_variable_;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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int measure();
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int collect();
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int write(unsigned reg, uint8_t *data, unsigned count);
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int read(unsigned reg, uint8_t *data, unsigned count);
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int writeRegister(unsigned reg, uint8_t data);
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int sensorInit();
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void readMotionCount(uint16_t &deltaX, uint16_t &deltaY);
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
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PMW3901::PMW3901(uint8_t rotation, int bus, int address) :
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SPI("PMW3901", PMW3901_DEVICE_PATH, bus, address, SPIDEV_MODE3, PMW3901_SPI_BUS_SPEED),
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_rotation(rotation),
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_min_distance(-1.0f),
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_max_distance(-1.0f),
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_reports(nullptr),
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_sensor_ok(false),
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_valid(0),
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_measure_ticks(0),
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_collect_phase(false),
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_class_instance(-1),
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_orb_class_instance(-1),
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_distance_sensor_topic(nullptr),
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_sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")),
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_comms_errors(perf_alloc(PC_COUNT, "tr1_com_err"))
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{
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// up the retries since the device misses the first measure attempts
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//I2C::_retries = 3;
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// enable debug() calls
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_debug_enabled = false;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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PMW3901::~PMW3901()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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if (_class_instance != -1) {
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unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance);
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int
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PMW3901::sensorInit()
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{
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//uint8_t val = 0;
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int ret;
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uint8_t data[5];
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// initialize pmw3901 flow sensor
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// Power on reset
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writeRegister(0x3A, 0x5A);
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usleep(5000);
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// Test the SPI communication, checking chipId and inverse chipId
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read(0x00, &data[0], 1); // chip id
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read(0x5F, &data[1], 1); // inverse chip id
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if (data[0] != 0x49 && data[1] != 0xB8) return false;
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// Reading the motion registers one time
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read(0x02, &data[0], 1);
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read(0x03, &data[1], 1);
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read(0x04, &data[2], 1);
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read(0x05, &data[3], 1);
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read(0x06, &data[4], 1);
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usleep(1000);
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// set performance optimization registers
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writeRegister(0x7F, 0x00);
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writeRegister(0x61, 0xAD);
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writeRegister(0x7F, 0x03);
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writeRegister(0x40, 0x00);
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writeRegister(0x7F, 0x05);
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writeRegister(0x41, 0xB3);
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writeRegister(0x43, 0xF1);
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writeRegister(0x45, 0x14);
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writeRegister(0x5B, 0x32);
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writeRegister(0x5F, 0x34);
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writeRegister(0x7B, 0x08);
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writeRegister(0x7F, 0x06);
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writeRegister(0x44, 0x1B);
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writeRegister(0x40, 0xBF);
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writeRegister(0x4E, 0x3F);
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writeRegister(0x7F, 0x08);
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writeRegister(0x65, 0x20);
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writeRegister(0x6A, 0x18);
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writeRegister(0x7F, 0x09);
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writeRegister(0x4F, 0xAF);
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writeRegister(0x5F, 0x40);
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writeRegister(0x48, 0x80);
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writeRegister(0x49, 0x80);
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writeRegister(0x57, 0x77);
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writeRegister(0x60, 0x78);
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writeRegister(0x61, 0x78);
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writeRegister(0x62, 0x08);
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writeRegister(0x63, 0x50);
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writeRegister(0x7F, 0x0A);
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writeRegister(0x45, 0x60);
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writeRegister(0x7F, 0x00);
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writeRegister(0x4D, 0x11);
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writeRegister(0x55, 0x80);
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writeRegister(0x74, 0x1F);
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writeRegister(0x75, 0x1F);
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writeRegister(0x4A, 0x78);
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writeRegister(0x4B, 0x78);
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writeRegister(0x44, 0x08);
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writeRegister(0x45, 0x50);
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writeRegister(0x64, 0xFF);
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writeRegister(0x65, 0x1F);
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writeRegister(0x7F, 0x14);
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writeRegister(0x65, 0x60);
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writeRegister(0x66, 0x08);
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writeRegister(0x63, 0x78);
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writeRegister(0x7F, 0x15);
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writeRegister(0x48, 0x58);
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writeRegister(0x7F, 0x07);
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writeRegister(0x41, 0x0D);
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writeRegister(0x43, 0x14);
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writeRegister(0x4B, 0x0E);
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writeRegister(0x45, 0x0F);
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writeRegister(0x44, 0x42);
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writeRegister(0x4C, 0x80);
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writeRegister(0x7F, 0x10);
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writeRegister(0x5B, 0x02);
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writeRegister(0x7F, 0x07);
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writeRegister(0x40, 0x41);
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writeRegister(0x70, 0x00);
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usleep(100000);
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writeRegister(0x32, 0x44);
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writeRegister(0x7F, 0x07);
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writeRegister(0x40, 0x40);
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writeRegister(0x7F, 0x06);
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writeRegister(0x62, 0xf0);
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writeRegister(0x63, 0x00);
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writeRegister(0x7F, 0x0D);
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writeRegister(0x48, 0xC0);
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writeRegister(0x6F, 0xd5);
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writeRegister(0x7F, 0x00);
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writeRegister(0x5B, 0xa0);
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writeRegister(0x4E, 0xA8);
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writeRegister(0x5A, 0x50);
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writeRegister(0x40, 0x80);
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ret = OK;
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return ret;
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}
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int
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PMW3901::init()
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{
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int ret = PX4_ERROR;
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set_device_address(PMW3901_BASEADDR);
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/* do I2C init (and probe) first */
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if (SPI::init() != OK) {
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goto out;
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}
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set_frequency(PMW3901_SPI_BUS_SPEED);
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sensorInit();
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
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if (_reports == nullptr) {
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goto out;
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}
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_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
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if (_class_instance == CLASS_DEVICE_PRIMARY) { // change to optical flow topic
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/* get a publish handle on the range finder topic */
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struct distance_sensor_s ds_report;
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//measure();
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_reports->get(&ds_report);
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_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
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&_orb_class_instance, ORB_PRIO_LOW);
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if (_distance_sensor_topic == nullptr) {
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DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
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}
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}
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ret = OK;
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_sensor_ok = true;
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out:
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return ret;
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}
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int
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PMW3901::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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printf("ioctl\n");
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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//bool want_start = (_measure_ticks == 0);
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/* set interval for next measurement to minimum legal value */
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_measure_ticks = USEC2TICK(VL53LXX_CONVERSION_INTERVAL);
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/* if we need to start the poll state machine, do it */
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// if (want_start) {
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// start();
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// }
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start();
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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//bool want_start = (_measure_ticks == 0);
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/* convert hz to tick interval via microseconds */
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unsigned ticks = USEC2TICK(1000000 / arg);
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/* update interval for next measurement */
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_measure_ticks = ticks;
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/* if we need to start the poll state machine, do it */
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//if (want_start) {
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start();
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//}
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return OK;
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}
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}
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}
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default:
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/* give it to the superclass */
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return SPI::ioctl(filp, cmd, arg);
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}
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}
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// ssize_t
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// VL53LXX::read(device::file_t *filp, char *buffer, size_t buflen)
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// {
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// unsigned count = buflen / sizeof(struct distance_sensor_s);
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// struct distance_sensor_s *rbuf = reinterpret_cast<struct distance_sensor_s *>(buffer);
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// int ret = 0;
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// /* buffer must be large enough */
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// if (count < 1) {
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// return -ENOSPC;
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// }
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// /* if automatic measurement is enabled */
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// if (_measure_ticks > 0) {
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// /*
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// * While there is space in the caller's buffer, and reports, copy them.
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// * Note that we may be pre-empted by the workq thread while we are doing this;
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// * we are careful to avoid racing with them.
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// */
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// while (count--) {
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// if (_reports->get(rbuf)) {
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// ret += sizeof(*rbuf);
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// rbuf++;
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// }
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// }
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// /* if there was no data, warn the caller */
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// return ret ? ret : -EAGAIN;
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// }
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// /* manual measurement - run one conversion */
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// do {
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// _reports->flush();
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// /* trigger a measurement */
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// if (OK != measure()) {
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// ret = -EIO;
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// break;
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// }
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// /* wait for it to complete */
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// usleep(VL53LXX_CONVERSION_INTERVAL);
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// /* run the collection phase */
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// if (OK != collect()) {
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// ret = -EIO;
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// break;
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// }
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// /* state machine will have generated a report, copy it out */
|
||||
// if (_reports->get(rbuf)) {
|
||||
// ret = sizeof(*rbuf);
|
||||
// }
|
||||
|
||||
// } while (0);
|
||||
|
||||
// return ret;
|
||||
// }
|
||||
|
||||
|
||||
int
|
||||
PMW3901::read(unsigned reg, uint8_t *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[5]; // read up to 4 bytes
|
||||
int ret;
|
||||
|
||||
cmd[0] = DIR_READ(reg);
|
||||
//cmd[1] = 0;
|
||||
|
||||
transfer(cmd, cmd, count+1);
|
||||
memcpy(&data[0], &cmd[1], count);
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
PMW3901::write(unsigned reg, uint8_t *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[5]; // write up to 4 bytes
|
||||
int ret;
|
||||
|
||||
if (sizeof(cmd) < (count + 1)) {
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
//cmd[1] = *(uint8_t *)data;
|
||||
memcpy(&cmd[1], &data[0], count);
|
||||
|
||||
transfer(&cmd[0], nullptr, count + 1);
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
PMW3901::writeRegister(unsigned reg, uint8_t data)
|
||||
{
|
||||
uint8_t cmd[2]; // write up to 4 bytes
|
||||
int ret;
|
||||
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
|
||||
cmd[1] = data;
|
||||
|
||||
transfer(&cmd[0], nullptr, 2);
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
PMW3901::measure()
|
||||
{
|
||||
int ret;
|
||||
uint16_t deltaX, deltaY;
|
||||
|
||||
readMotionCount(deltaX, deltaY);
|
||||
|
||||
printf("deltaX= %u, deltaY= %u", deltaX, deltaY);
|
||||
|
||||
ret = OK;
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
void PMW3901::readMotionCount(uint16_t &deltaX, uint16_t &deltaY)
|
||||
{
|
||||
uint8_t tmp;
|
||||
uint8_t dX[2];
|
||||
uint8_t dY[2];
|
||||
|
||||
read(0x02, &tmp, 1);
|
||||
|
||||
read(0x03, &dX[0], 1);
|
||||
read(0x04, &dX[1], 1);
|
||||
deltaX = ((int16_t)dX[1] << 8) | dX[0];
|
||||
|
||||
read(0x05, &dY[0], 1);
|
||||
read(0x06, &dY[1], 1);
|
||||
deltaY = ((int16_t)dY[1] << 8) | dY[0];
|
||||
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
|
||||
int
|
||||
PMW3901::collect()
|
||||
{
|
||||
int ret = -EIO;
|
||||
|
||||
/* read from the sensor */
|
||||
//uint8_t val[2] = {0, 0};
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
|
||||
// ret = transfer(nullptr, 0, &val[0], 2); // change to spi transfer
|
||||
//
|
||||
// if (ret < 0) {
|
||||
// DEVICE_LOG("error reading from sensor: %d", ret);
|
||||
// perf_count(_comms_errors);
|
||||
// perf_end(_sample_perf);
|
||||
// return ret;
|
||||
// }
|
||||
//
|
||||
// uint16_t distance_mm = (val[0] << 8) | val[1];
|
||||
// float distance_m = float(distance_mm) * 1e-3f;
|
||||
// struct distance_sensor_s report;
|
||||
//
|
||||
// report.timestamp = hrt_absolute_time(); // change to flow topic
|
||||
// report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
|
||||
// report.orientation = _rotation;
|
||||
// report.current_distance = distance_m;
|
||||
// report.min_distance = 0.0f;
|
||||
// report.max_distance = 2.0f;
|
||||
// report.covariance = 0.0f;
|
||||
// /* TODO: set proper ID */
|
||||
// report.id = 0;
|
||||
//
|
||||
// /* publish it, if we are the primary */
|
||||
// if (_distance_sensor_topic != nullptr) {
|
||||
// orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &report);
|
||||
// }
|
||||
//
|
||||
// _reports->force(&report);
|
||||
//
|
||||
// /* notify anyone waiting for data */
|
||||
// poll_notify(POLLIN);
|
||||
|
||||
ret = OK;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
return ret;
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::start()
|
||||
{
|
||||
/* reset the report ring and state machine */
|
||||
_collect_phase = false;
|
||||
_reports->flush();
|
||||
|
||||
/* schedule a cycle to start things */
|
||||
work_queue(HPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, 1000);
|
||||
|
||||
/* notify about state change */
|
||||
struct subsystem_info_s info = {};
|
||||
info.present = true;
|
||||
info.enabled = true;
|
||||
info.ok = true;
|
||||
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_RANGEFINDER;
|
||||
|
||||
static orb_advert_t pub = nullptr;
|
||||
|
||||
if (pub != nullptr) {
|
||||
orb_publish(ORB_ID(subsystem_info), pub, &info);
|
||||
|
||||
} else {
|
||||
pub = orb_advertise(ORB_ID(subsystem_info), &info);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::stop()
|
||||
{
|
||||
work_cancel(HPWORK, &_work);
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::cycle_trampoline(void *arg)
|
||||
{
|
||||
PMW3901 *dev = (PMW3901 *)arg;
|
||||
|
||||
dev->cycle();
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::cycle()
|
||||
{
|
||||
measure();
|
||||
//collect();
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(HPWORK,
|
||||
&_work,
|
||||
(worker_t)&PMW3901::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(20000));
|
||||
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
printf("poll interval: %u ticks\n", _measure_ticks);
|
||||
_reports->print_info("report queue");
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace pmw3901
|
||||
{
|
||||
|
||||
PMW3901 *g_dev;
|
||||
|
||||
void start(uint8_t rotation);
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start(uint8_t rotation)
|
||||
{
|
||||
int fd;
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new PMW3901(rotation, PMW3901_BUS);
|
||||
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
/* set the poll rate to default, starts automatic data collection */
|
||||
fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
//struct distance_sensor_s report; // change report type
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new PMW3901(0, PMW3901_BUS);
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
}
|
||||
|
||||
int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "%s open failed (try 'vl53lxx start' if the driver is not running", PMW3901_DEVICE_PATH);
|
||||
}
|
||||
|
||||
// warnx("single read");
|
||||
// warnx("measurement: %0.2f m", (double)report.current_distance);
|
||||
// warnx("time: %llu", report.timestamp);
|
||||
|
||||
/* start the sensor polling at 2Hz */
|
||||
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
|
||||
errx(1, "failed to set 2Hz poll rate");
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
|
||||
err(1, "driver reset failed");
|
||||
}
|
||||
|
||||
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
|
||||
err(1, "driver poll restart failed");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
pmw3901_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
|
||||
|
||||
while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
rotation = (uint8_t)atoi(myoptarg);
|
||||
PX4_INFO("Setting sensor orientation to %d", (int)rotation);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_WARN("Unknown option!");
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "start")) {
|
||||
pmw3901::start(rotation);
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "stop")) {
|
||||
pmw3901::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "test")) {
|
||||
pmw3901::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "reset")) {
|
||||
pmw3901::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[1], "status")) {
|
||||
pmw3901::info();
|
||||
}
|
||||
|
||||
PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
|
||||
return PX4_ERROR;
|
||||
}
|
||||
Reference in New Issue
Block a user