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WIP: pmw3901 rewrite
This commit is contained in:
Daniel Agar
parent
0bed3b0a39
commit
13f77de208
@ -1,6 +1,6 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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# Copyright (c) 2018-2022 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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@ -38,4 +38,9 @@ px4_add_module(
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pmw3901_main.cpp
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PMW3901.cpp
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PMW3901.hpp
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PixArt_PMW3901_Registers.hpp
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DEPENDS
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conversion
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drivers__device
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px4_work_queue
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)
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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* Copyright (c) 2018-2022 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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@ -33,74 +33,200 @@
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#include "PMW3901.hpp"
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static constexpr uint32_t TIME_us_TSWW = 11; // - actually 10.5us
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
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{
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return (msb << 8u) | lsb;
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}
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PMW3901::PMW3901(const I2CSPIDriverConfig &config) :
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SPI(config),
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I2CSPIDriver(config),
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_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901: read")),
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_comms_errors(perf_alloc(PC_COUNT, "pmw3901: com err")),
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_yaw_rotation(config.rotation)
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_drdy_gpio(config.drdy_gpio)
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{
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if (_drdy_gpio != 0) {
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_no_motion_interrupt_perf = perf_alloc(PC_COUNT, MODULE_NAME": no motion interrupt");
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}
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float yaw_rotation_degrees = (float)config.custom1;
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if (yaw_rotation_degrees >= 0.f) {
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PX4_INFO("using yaw rotation %.3f degrees (%.3f radians)",
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(double)yaw_rotation_degrees, (double)math::radians(yaw_rotation_degrees));
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_rotation = matrix::Dcmf{matrix::Eulerf{0.f, 0.f, math::radians(yaw_rotation_degrees)}};
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} else {
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_rotation.identity();
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}
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}
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PMW3901::~PMW3901()
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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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perf_free(_cycle_perf);
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perf_free(_interval_perf);
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perf_free(_reset_perf);
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perf_free(_false_motion_perf);
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perf_free(_no_motion_interrupt_perf);
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}
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int
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PMW3901::sensorInit()
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int PMW3901::init()
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{
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uint8_t data[5] {};
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/* do SPI init (and probe) first */
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if (SPI::init() != OK) {
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return PX4_ERROR;
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}
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// Power on reset
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writeRegister(0x3A, 0x5A);
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usleep(5000);
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Configure();
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// Reading the motion registers one time
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readRegister(0x02, &data[0], 1);
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readRegister(0x03, &data[1], 1);
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readRegister(0x04, &data[2], 1);
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readRegister(0x05, &data[3], 1);
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readRegister(0x06, &data[4], 1);
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return PX4_OK;
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}
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usleep(1000);
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int PMW3901::probe()
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{
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for (int retry = 0; retry < 3; retry++) {
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const uint8_t Product_ID = RegisterRead(Register::Product_ID);
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const uint8_t Revision_ID = RegisterRead(Register::Revision_ID);
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const uint8_t Inverse_Product_ID = RegisterRead(Register::Inverse_Product_ID);
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if (Product_ID != PRODUCT_ID) {
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PX4_ERR("Product_ID: %X", Product_ID);
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break;
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}
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if (Revision_ID != REVISION_ID) {
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PX4_ERR("Revision_ID: %X", Revision_ID);
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break;
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}
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if (Inverse_Product_ID != PRODUCT_ID_INVERSE) {
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PX4_ERR("Inverse_Product_ID: %X", Inverse_Product_ID);
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break;
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}
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return PX4_OK;
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}
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return PX4_ERROR;
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}
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int PMW3901::DataReadyInterruptCallback(int irq, void *context, void *arg)
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{
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static_cast<PMW3901 *>(arg)->DataReady();
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return 0;
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}
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void PMW3901::DataReady()
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{
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_drdy_timestamp_sample.store(hrt_absolute_time());
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ScheduleNow();
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}
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bool PMW3901::DataReadyInterruptConfigure()
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{
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if (_drdy_gpio == 0) {
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_data_ready_interrupt_enabled = false;
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return false;
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}
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// Setup data ready on falling edge
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if (px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0) {
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_data_ready_interrupt_enabled = true;
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return true;
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}
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_data_ready_interrupt_enabled = false;
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return false;
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}
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bool PMW3901::DataReadyInterruptDisable()
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{
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_data_ready_interrupt_enabled = false;
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if (_drdy_gpio == 0) {
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return false;
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}
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return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
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}
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void PMW3901::exit_and_cleanup()
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{
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DataReadyInterruptDisable();
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I2CSPIDriverBase::exit_and_cleanup();
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}
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void PMW3901::Reset()
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{
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perf_count(_reset_perf);
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DataReadyInterruptDisable();
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ScheduleClear();
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// Issue a soft reset
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RegisterWrite(Register::Power_Up_Reset, 0x5A);
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px4_usleep(1000);
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_last_reset = hrt_absolute_time();
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_discard_reading = 3;
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// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion pin state.
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RegisterRead(0x02);
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RegisterRead(0x03);
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RegisterRead(0x04);
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RegisterRead(0x05);
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RegisterRead(0x06);
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}
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void PMW3901::Configure()
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{
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Reset();
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SetPerformanceOptimizationRegisters();
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if (DataReadyInterruptConfigure()) {
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// backup schedule
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ScheduleDelayed(500_ms);
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} else {
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ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us);
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}
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}
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void PMW3901::SetPerformanceOptimizationRegisters()
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{
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// set performance optimization registers
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// from PixArt PMW3901MB Optical Motion Tracking chip demo kit V3.20 (21 Aug 2018)
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unsigned char v = 0;
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unsigned char c1 = 0;
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unsigned char c2 = 0;
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writeRegister(0x7F, 0x00);
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writeRegister(0x55, 0x01);
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writeRegister(0x50, 0x07);
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writeRegister(0x7f, 0x0e);
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writeRegister(0x43, 0x10);
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RegisterWrite(0x7F, 0x00);
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RegisterWrite(0x55, 0x01);
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RegisterWrite(0x50, 0x07);
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RegisterWrite(0x7f, 0x0e);
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RegisterWrite(0x43, 0x10);
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readRegister(0x67, &v, 1);
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v = RegisterRead(0x67);
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// if bit7 is set
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if (v & (1 << 7)) {
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writeRegister(0x48, 0x04);
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RegisterWrite(0x48, 0x04);
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} else {
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writeRegister(0x48, 0x02);
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RegisterWrite(0x48, 0x02);
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}
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writeRegister(0x7F, 0x00);
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writeRegister(0x51, 0x7b);
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writeRegister(0x50, 0x00);
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writeRegister(0x55, 0x00);
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RegisterWrite(0x7F, 0x00);
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RegisterWrite(0x51, 0x7b);
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RegisterWrite(0x50, 0x00);
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RegisterWrite(0x55, 0x00);
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writeRegister(0x7F, 0x0e);
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readRegister(0x73, &v, 1);
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RegisterWrite(0x7F, 0x0e);
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v = RegisterRead(0x73);
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if (v == 0) {
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readRegister(0x70, &c1, 1);
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c1 = RegisterRead(0x70);
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if (c1 <= 28) {
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c1 = c1 + 14;
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@ -113,304 +239,257 @@ PMW3901::sensorInit()
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c1 = 0x3F;
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}
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readRegister(0x71, &c2, 1);
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c2 = RegisterRead(0x71);
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c2 = ((unsigned short)c2 * 45) / 100;
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writeRegister(0x7f, 0x00);
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writeRegister(0x61, 0xAD);
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writeRegister(0x51, 0x70);
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writeRegister(0x7f, 0x0e);
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writeRegister(0x70, c1);
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writeRegister(0x71, c2);
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RegisterWrite(0x7f, 0x00);
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RegisterWrite(0x61, 0xAD);
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RegisterWrite(0x51, 0x70);
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RegisterWrite(0x7f, 0x0e);
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RegisterWrite(0x70, c1);
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RegisterWrite(0x71, c2);
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}
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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, 0x21);
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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, 0x67);
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writeRegister(0x66, 0x08);
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writeRegister(0x63, 0x70);
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writeRegister(0x7F, 0x15);
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writeRegister(0x48, 0x48);
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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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RegisterWrite(0x7F, 0x00);
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RegisterWrite(0x61, 0xAD);
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RegisterWrite(0x7F, 0x03);
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RegisterWrite(0x40, 0x00);
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RegisterWrite(0x7F, 0x05);
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RegisterWrite(0x41, 0xB3);
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RegisterWrite(0x43, 0xF1);
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RegisterWrite(0x45, 0x14);
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RegisterWrite(0x5B, 0x32);
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RegisterWrite(0x5F, 0x34);
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RegisterWrite(0x7B, 0x08);
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RegisterWrite(0x7F, 0x06);
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RegisterWrite(0x44, 0x1B);
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RegisterWrite(0x40, 0xBF);
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RegisterWrite(0x4E, 0x3F);
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RegisterWrite(0x7F, 0x08);
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RegisterWrite(0x65, 0x20);
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RegisterWrite(0x6A, 0x18);
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RegisterWrite(0x7F, 0x09);
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RegisterWrite(0x4F, 0xAF);
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RegisterWrite(0x5F, 0x40);
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RegisterWrite(0x48, 0x80);
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RegisterWrite(0x49, 0x80);
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RegisterWrite(0x57, 0x77);
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RegisterWrite(0x60, 0x78);
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RegisterWrite(0x61, 0x78);
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RegisterWrite(0x62, 0x08);
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RegisterWrite(0x63, 0x50);
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RegisterWrite(0x7F, 0x0A);
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RegisterWrite(0x45, 0x60);
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RegisterWrite(0x7F, 0x00);
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RegisterWrite(0x4D, 0x11);
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RegisterWrite(0x55, 0x80);
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RegisterWrite(0x74, 0x21);
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RegisterWrite(0x75, 0x1F);
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RegisterWrite(0x4A, 0x78);
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RegisterWrite(0x4B, 0x78);
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RegisterWrite(0x44, 0x08);
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RegisterWrite(0x45, 0x50);
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RegisterWrite(0x64, 0xFF);
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RegisterWrite(0x65, 0x1F);
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RegisterWrite(0x7F, 0x14);
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RegisterWrite(0x65, 0x67);
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RegisterWrite(0x66, 0x08);
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RegisterWrite(0x63, 0x70);
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RegisterWrite(0x7F, 0x15);
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RegisterWrite(0x48, 0x48);
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RegisterWrite(0x7F, 0x07);
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RegisterWrite(0x41, 0x0D);
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RegisterWrite(0x43, 0x14);
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RegisterWrite(0x4B, 0x0E);
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RegisterWrite(0x45, 0x0F);
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RegisterWrite(0x44, 0x42);
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RegisterWrite(0x4C, 0x80);
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RegisterWrite(0x7F, 0x10);
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RegisterWrite(0x5B, 0x02);
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RegisterWrite(0x7F, 0x07);
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RegisterWrite(0x40, 0x41);
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RegisterWrite(0x70, 0x00);
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px4_usleep(10000); // delay 10ms
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px4_usleep(10'000); // delay 10ms
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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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return PX4_OK;
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RegisterWrite(0x32, 0x44);
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RegisterWrite(0x7F, 0x07);
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RegisterWrite(0x40, 0x40);
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RegisterWrite(0x7F, 0x06);
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RegisterWrite(0x62, 0xF0);
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RegisterWrite(0x63, 0x00);
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RegisterWrite(0x7F, 0x0D);
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RegisterWrite(0x48, 0xC0);
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RegisterWrite(0x6F, 0xD5);
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RegisterWrite(0x7F, 0x00);
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RegisterWrite(0x5B, 0xA0);
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RegisterWrite(0x4E, 0xA8);
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RegisterWrite(0x5A, 0x50);
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RegisterWrite(0x40, 0x80);
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}
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int
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PMW3901::init()
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uint8_t PMW3901::RegisterRead(uint8_t reg)
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{
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// get yaw rotation from sensor frame to body frame
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param_t rot = param_find("SENS_FLOW_ROT");
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// tSWR SPI Time Between Write And Read Commands
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const hrt_abstime elapsed_last_write = hrt_elapsed_time(&_last_write_time);
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if (rot != PARAM_INVALID) {
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int32_t val = 0;
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param_get(rot, &val);
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_yaw_rotation = (enum Rotation)val;
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if (elapsed_last_write < TIME_TSWR_us) {
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px4_udelay(TIME_TSWR_us - elapsed_last_write);
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}
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/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
|
||||
SPI::set_lockmode(LOCK_THREADS);
|
||||
// tSRW/tSRR SPI Time Between Read And Subsequent Commands
|
||||
const hrt_abstime elapsed_last_read = hrt_elapsed_time(&_last_read_time);
|
||||
|
||||
/* do SPI init (and probe) first */
|
||||
if (SPI::init() != OK) {
|
||||
return PX4_ERROR;
|
||||
if (elapsed_last_write < TIME_TSRW_TSRR_us) {
|
||||
px4_udelay(TIME_TSRW_TSRR_us - elapsed_last_read);
|
||||
}
|
||||
|
||||
sensorInit();
|
||||
|
||||
_previous_collect_timestamp = hrt_absolute_time();
|
||||
|
||||
start();
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
int
|
||||
PMW3901::probe()
|
||||
{
|
||||
uint8_t data[2] {};
|
||||
|
||||
readRegister(0x00, &data[0], 1); // chip id
|
||||
|
||||
// Test the SPI communication, checking chipId and inverse chipId
|
||||
if (data[0] == 0x49) {
|
||||
return OK;
|
||||
}
|
||||
|
||||
// not found on any address
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
int
|
||||
PMW3901::readRegister(unsigned reg, uint8_t *data, unsigned count)
|
||||
{
|
||||
uint8_t cmd[5]; // read up to 4 bytes
|
||||
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = DIR_READ(reg);
|
||||
cmd[1] = 0;
|
||||
transfer(&cmd[0], &cmd[0], sizeof(cmd));
|
||||
hrt_store_absolute_time(&_last_read_time);
|
||||
|
||||
int ret = transfer(&cmd[0], &cmd[0], count + 1);
|
||||
|
||||
if (OK != ret) {
|
||||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("spi::transfer returned %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
memcpy(&data[0], &cmd[1], count);
|
||||
|
||||
return ret;
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
int
|
||||
PMW3901::writeRegister(unsigned reg, uint8_t data)
|
||||
void PMW3901::RegisterWrite(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t cmd[2]; // write 1 byte
|
||||
int ret;
|
||||
// tSWW SPI Time Between Write Commands
|
||||
const hrt_abstime elapsed_last_write = hrt_elapsed_time(&_last_write_time);
|
||||
|
||||
if (elapsed_last_write < TIME_TSWW_us) {
|
||||
px4_udelay(TIME_TSWW_us - elapsed_last_write);
|
||||
}
|
||||
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
cmd[1] = data;
|
||||
|
||||
ret = transfer(&cmd[0], nullptr, 2);
|
||||
|
||||
if (OK != ret) {
|
||||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("spi::transfer returned %d", ret);
|
||||
return ret;
|
||||
}
|
||||
|
||||
px4_usleep(TIME_us_TSWW);
|
||||
|
||||
return ret;
|
||||
transfer(&cmd[0], nullptr, sizeof(cmd));
|
||||
hrt_store_absolute_time(&_last_write_time);
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::RunImpl()
|
||||
void PMW3901::RunImpl()
|
||||
{
|
||||
perf_begin(_sample_perf);
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
|
||||
int16_t delta_x_raw = 0;
|
||||
int16_t delta_y_raw = 0;
|
||||
uint8_t qual = 0;
|
||||
float delta_x = 0.0f;
|
||||
float delta_y = 0.0f;
|
||||
perf_begin(_cycle_perf);
|
||||
perf_count(_interval_perf);
|
||||
|
||||
uint64_t timestamp = hrt_absolute_time();
|
||||
uint64_t dt_flow = timestamp - _previous_collect_timestamp;
|
||||
_previous_collect_timestamp = timestamp;
|
||||
|
||||
_flow_dt_sum_usec += dt_flow;
|
||||
|
||||
readMotionCount(delta_x_raw, delta_y_raw, qual);
|
||||
|
||||
if (qual > 0) {
|
||||
_flow_sum_x += delta_x_raw;
|
||||
_flow_sum_y += delta_y_raw;
|
||||
_flow_sample_counter ++;
|
||||
_flow_quality_sum += qual;
|
||||
}
|
||||
|
||||
// returns if the collect time has not been reached
|
||||
if (_flow_dt_sum_usec < _collect_time) {
|
||||
// force reconfigure if we haven't received valid data for quite some time
|
||||
if ((now > _last_good_data + RESET_TIMEOUT_US) && (now > _last_reset + RESET_TIMEOUT_US)) {
|
||||
Configure();
|
||||
perf_end(_cycle_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
delta_x = (float)_flow_sum_x / 385.0f; // proportional factor + convert from pixels to radians
|
||||
delta_y = (float)_flow_sum_y / 385.0f; // proportional factor + convert from pixels to radians
|
||||
hrt_abstime timestamp_sample = 0;
|
||||
|
||||
sensor_optical_flow_s report{};
|
||||
report.timestamp_sample = timestamp;
|
||||
if (_data_ready_interrupt_enabled) {
|
||||
// scheduled from interrupt if _drdy_timestamp_sample was set as expected
|
||||
const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
|
||||
|
||||
report.pixel_flow[0] = static_cast<float>(delta_x);
|
||||
report.pixel_flow[1] = static_cast<float>(delta_y);
|
||||
if (now < drdy_timestamp_sample + _scheduled_interval_us) {
|
||||
timestamp_sample = drdy_timestamp_sample;
|
||||
|
||||
// rotate measurements in yaw from sensor frame to body frame according to parameter SENS_FLOW_ROT
|
||||
float zeroval = 0.0f;
|
||||
rotate_3f(_yaw_rotation, report.pixel_flow[0], report.pixel_flow[1], zeroval);
|
||||
} else {
|
||||
perf_count(_no_motion_interrupt_perf);
|
||||
}
|
||||
|
||||
report.integration_timespan_us = _flow_dt_sum_usec; // microseconds
|
||||
|
||||
report.quality = _flow_sample_counter > 0 ? _flow_quality_sum / _flow_sample_counter : 0;
|
||||
|
||||
/* No gyro on this board */
|
||||
report.delta_angle[0] = NAN;
|
||||
report.delta_angle[1] = NAN;
|
||||
report.delta_angle[2] = NAN;
|
||||
|
||||
// set (conservative) specs according to datasheet
|
||||
report.max_flow_rate = 5.0f; // Datasheet: 7.4 rad/s
|
||||
report.min_ground_distance = 0.1f; // Datasheet: 80mm
|
||||
report.max_ground_distance = 30.0f; // Datasheet: infinity
|
||||
|
||||
_flow_dt_sum_usec = 0;
|
||||
_flow_sum_x = 0;
|
||||
_flow_sum_y = 0;
|
||||
_flow_sample_counter = 0;
|
||||
_flow_quality_sum = 0;
|
||||
|
||||
report.timestamp = hrt_absolute_time();
|
||||
_sensor_optical_flow_pub.publish(report);
|
||||
|
||||
perf_end(_sample_perf);
|
||||
}
|
||||
|
||||
int
|
||||
PMW3901::readMotionCount(int16_t &deltaX, int16_t &deltaY, uint8_t &qual)
|
||||
{
|
||||
uint8_t data[12] = { DIR_READ(0x02), 0, DIR_READ(0x03), 0, DIR_READ(0x04), 0,
|
||||
DIR_READ(0x05), 0, DIR_READ(0x06), 0, DIR_READ(0x07), 0
|
||||
};
|
||||
|
||||
int ret = transfer(&data[0], &data[0], 12);
|
||||
|
||||
if (OK != ret) {
|
||||
qual = 0;
|
||||
perf_count(_comms_errors);
|
||||
DEVICE_LOG("spi::transfer returned %d", ret);
|
||||
return ret;
|
||||
// push backup schedule back
|
||||
ScheduleDelayed(500_ms);
|
||||
}
|
||||
|
||||
deltaX = ((int16_t)data[5] << 8) | data[3];
|
||||
deltaY = ((int16_t)data[9] << 8) | data[7];
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd = Register::Motion_Burst;
|
||||
BURST_TRANSFER data{};
|
||||
} buf{};
|
||||
static_assert(sizeof(buf) == (12 + 1));
|
||||
|
||||
// If the reported flow is impossibly large, we just got garbage from the SPI
|
||||
if (deltaX > 240 || deltaY > 240 || deltaX < -240 || deltaY < -240) {
|
||||
qual = 0;
|
||||
|
||||
} else {
|
||||
qual = data[11];
|
||||
if (timestamp_sample == 0) {
|
||||
timestamp_sample = hrt_absolute_time();
|
||||
}
|
||||
|
||||
ret = OK;
|
||||
if (transfer((uint8_t *)&buf, (uint8_t *)&buf, sizeof(buf)) != 0) {
|
||||
perf_end(_cycle_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
return ret;
|
||||
hrt_store_absolute_time(&_last_read_time);
|
||||
|
||||
if (_discard_reading > 0) {
|
||||
_discard_reading--;
|
||||
perf_end(_cycle_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
// check SQUAL & Shutter values
|
||||
// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
|
||||
// SQUAL < 25, Shutter ≥ 0x1F00
|
||||
|
||||
// 13-bit Shutter register
|
||||
const uint8_t Shutter_Upper = buf.data.Shutter_Upper & (Bit4 | Bit3 | Bit2 | Bit1 | Bit0);
|
||||
const uint8_t Shutter_Lower = buf.data.Shutter_Lower;
|
||||
|
||||
const uint16_t shutter = (Shutter_Upper << 8) | Shutter_Lower;
|
||||
|
||||
// Motion since last report and Surface quality non-zero
|
||||
const bool motion_detected = buf.data.Motion & Motion_Bit::MOT;
|
||||
|
||||
// Number of Features = SQUAL * 4
|
||||
bool data_valid = (buf.data.SQUAL > 0);
|
||||
|
||||
// quality < 25 (0x19) and shutter >= 7936 (0x1F00)
|
||||
if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1F00)) {
|
||||
// false motion report, discarding
|
||||
perf_count(_false_motion_perf);
|
||||
data_valid = false;
|
||||
}
|
||||
|
||||
if (data_valid) {
|
||||
// publish sensor_optical_flow
|
||||
sensor_optical_flow_s report{};
|
||||
report.timestamp_sample = timestamp_sample;
|
||||
report.device_id = get_device_id();
|
||||
|
||||
report.integration_timespan_us = _scheduled_interval_us;
|
||||
report.quality = buf.data.SQUAL;
|
||||
|
||||
// set specs according to datasheet
|
||||
report.max_flow_rate = 7.4f; // Datasheet: 7.4 rad/s
|
||||
report.min_ground_distance = 0.08f; // Datasheet: 80mm
|
||||
report.max_ground_distance = INFINITY; // Datasheet: infinity
|
||||
|
||||
if (motion_detected) {
|
||||
// only populate flow if data valid (motion and quality > 0)
|
||||
const int16_t delta_x_raw = combine(buf.data.Delta_X_H, buf.data.Delta_X_L);
|
||||
const int16_t delta_y_raw = combine(buf.data.Delta_Y_H, buf.data.Delta_Y_L);
|
||||
|
||||
// rotate measurements in yaw from sensor frame to body frame
|
||||
const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f};
|
||||
|
||||
report.pixel_flow[0] = pixel_flow_rotated(0) / 385.0f; // proportional factor + convert from pixels to radians
|
||||
report.pixel_flow[1] = pixel_flow_rotated(1) / 385.0f; // proportional factor + convert from pixels to radians
|
||||
}
|
||||
|
||||
report.timestamp = hrt_absolute_time();
|
||||
_sensor_optical_flow_pub.publish(report);
|
||||
|
||||
if (report.quality >= 1) {
|
||||
_last_good_data = report.timestamp_sample;
|
||||
}
|
||||
}
|
||||
|
||||
perf_end(_cycle_perf);
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::start()
|
||||
{
|
||||
// schedule a cycle to start things
|
||||
ScheduleOnInterval(PMW3901_SAMPLE_INTERVAL, PMW3901_US);
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::stop()
|
||||
{
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void
|
||||
PMW3901::print_status()
|
||||
void PMW3901::print_status()
|
||||
{
|
||||
I2CSPIDriverBase::print_status();
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
|
||||
perf_print_counter(_cycle_perf);
|
||||
perf_print_counter(_interval_perf);
|
||||
perf_print_counter(_reset_perf);
|
||||
perf_print_counter(_false_motion_perf);
|
||||
perf_print_counter(_no_motion_interrupt_perf);
|
||||
}
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2018-2022 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
|
||||
@ -33,89 +33,89 @@
|
||||
|
||||
/**
|
||||
* @file PMW3901.hpp
|
||||
* @author Daniele Pettenuzzo
|
||||
*
|
||||
* Driver for the pmw3901 optical flow sensor connected via SPI.
|
||||
* Driver for the PMW3901MB-TXQT: Optical Motion Tracking Chip
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "PixArt_PMW3901_Registers.hpp"
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
#include <px4_platform_common/defines.h>
|
||||
#include <px4_platform_common/getopt.h>
|
||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
#include <drivers/device/spi.h>
|
||||
#include <conversion/rotation.h>
|
||||
#include <lib/perf/perf_counter.h>
|
||||
#include <lib/parameters/param.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/PublicationMulti.hpp>
|
||||
#include <uORB/topics/sensor_optical_flow.h>
|
||||
#include <px4_platform_common/i2c_spi_buses.h>
|
||||
|
||||
/* Configuration Constants */
|
||||
using namespace time_literals;
|
||||
using namespace PixArt_PMW3901;
|
||||
|
||||
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
|
||||
|
||||
#define DIR_WRITE(a) ((a) | (1 << 7))
|
||||
#define DIR_READ(a) ((a) & 0x7f)
|
||||
|
||||
/* PMW3901 Registers addresses */
|
||||
#define PMW3901_US 1000 /* 1 ms */
|
||||
#define PMW3901_SAMPLE_INTERVAL 10000 /* 10 ms */
|
||||
#define DIR_WRITE(a) ((a) | Bit7)
|
||||
#define DIR_READ(a) ((a) & 0x7F)
|
||||
|
||||
class PMW3901 : public device::SPI, public I2CSPIDriver<PMW3901>
|
||||
{
|
||||
public:
|
||||
PMW3901(const I2CSPIDriverConfig &config);
|
||||
|
||||
virtual ~PMW3901();
|
||||
|
||||
static void print_usage();
|
||||
|
||||
virtual int init();
|
||||
int init() override;
|
||||
|
||||
void print_status();
|
||||
void print_status() override;
|
||||
|
||||
void RunImpl();
|
||||
|
||||
protected:
|
||||
virtual int probe();
|
||||
|
||||
private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
const uint64_t _collect_time{15000}; // usecs, ensures flow data is published every second iteration of Run() (100Hz -> 50Hz)
|
||||
int probe() override;
|
||||
|
||||
void Reset();
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
void DataReady();
|
||||
bool DataReadyInterruptConfigure();
|
||||
bool DataReadyInterruptDisable();
|
||||
|
||||
uint8_t RegisterRead(uint8_t reg);
|
||||
void RegisterWrite(uint8_t reg, uint8_t data);
|
||||
|
||||
void Configure();
|
||||
|
||||
void SetPerformanceOptimizationRegisters();
|
||||
|
||||
uORB::PublicationMulti<sensor_optical_flow_s> _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)};
|
||||
|
||||
perf_counter_t _sample_perf;
|
||||
perf_counter_t _comms_errors;
|
||||
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
|
||||
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
|
||||
perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
|
||||
perf_counter_t _false_motion_perf{perf_alloc(PC_COUNT, MODULE_NAME": false motion report")};
|
||||
perf_counter_t _no_motion_interrupt_perf{nullptr};
|
||||
|
||||
uint64_t _previous_collect_timestamp{0};
|
||||
const spi_drdy_gpio_t _drdy_gpio;
|
||||
|
||||
enum Rotation _yaw_rotation;
|
||||
matrix::Dcmf _rotation;
|
||||
|
||||
int _flow_sum_x{0};
|
||||
int _flow_sum_y{0};
|
||||
uint64_t _flow_dt_sum_usec{0};
|
||||
uint16_t _flow_quality_sum{0};
|
||||
uint8_t _flow_sample_counter{0};
|
||||
int _discard_reading{3};
|
||||
|
||||
/**
|
||||
* Initialise the automatic measurement state machine and start it.
|
||||
*
|
||||
* @note This function is called at open and error time. It might make sense
|
||||
* to make it more aggressive about resetting the bus in case of errors.
|
||||
*/
|
||||
void start();
|
||||
uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE};
|
||||
|
||||
/**
|
||||
* Stop the automatic measurement state machine.
|
||||
*/
|
||||
void stop();
|
||||
px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
hrt_abstime _last_write_time{0};
|
||||
hrt_abstime _last_read_time{0};
|
||||
|
||||
int readRegister(unsigned reg, uint8_t *data, unsigned count);
|
||||
int writeRegister(unsigned reg, uint8_t data);
|
||||
// force reset if there hasn't been valid data for an extended period (sensor could be in a bad state)
|
||||
static constexpr hrt_abstime RESET_TIMEOUT_US = 5_s;
|
||||
|
||||
int sensorInit();
|
||||
int readMotionCount(int16_t &deltaX, int16_t &deltaY, uint8_t &qual);
|
||||
hrt_abstime _last_good_data{0};
|
||||
hrt_abstime _last_reset{0};
|
||||
};
|
||||
|
||||
107
src/drivers/optical_flow/pmw3901/PixArt_PMW3901_Registers.hpp
Normal file
107
src/drivers/optical_flow/pmw3901/PixArt_PMW3901_Registers.hpp
Normal file
@ -0,0 +1,107 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018-2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
// TODO: move to a central header
|
||||
static constexpr uint8_t Bit0 = (1 << 0);
|
||||
static constexpr uint8_t Bit1 = (1 << 1);
|
||||
static constexpr uint8_t Bit2 = (1 << 2);
|
||||
static constexpr uint8_t Bit3 = (1 << 3);
|
||||
static constexpr uint8_t Bit4 = (1 << 4);
|
||||
static constexpr uint8_t Bit5 = (1 << 5);
|
||||
static constexpr uint8_t Bit6 = (1 << 6);
|
||||
static constexpr uint8_t Bit7 = (1 << 7);
|
||||
|
||||
namespace PixArt_PMW3901
|
||||
{
|
||||
|
||||
static constexpr uint8_t PRODUCT_ID = 0x49;
|
||||
static constexpr uint8_t REVISION_ID = 0x00;
|
||||
static constexpr uint8_t PRODUCT_ID_INVERSE = 0xB6;
|
||||
|
||||
static constexpr uint32_t SAMPLE_INTERVAL_MODE{1000000 / 126}; // 126 fps
|
||||
|
||||
static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2MHz SPI serial interface
|
||||
|
||||
// Various time delays
|
||||
static constexpr uint32_t TIME_TSWW_us = 45; // SPI Time Between Write Commands
|
||||
static constexpr uint32_t TIME_TSWR_us = 45; // SPI Time Between Write and Read Commands
|
||||
static constexpr uint32_t TIME_TSRW_TSRR_us = 20; // SPI Time Between Read And Subsequent Commands
|
||||
static constexpr uint32_t TIME_TSRAD_us = 35; // SPI Read Address-Data Delay
|
||||
|
||||
enum Register : uint8_t {
|
||||
Product_ID = 0x00,
|
||||
Revision_ID = 0x01,
|
||||
Motion = 0x02,
|
||||
Delta_X_L = 0x03,
|
||||
Delta_X_H = 0x04,
|
||||
Delta_Y_L = 0x05,
|
||||
Delta_Y_H = 0x06,
|
||||
Squal = 0x07,
|
||||
RawData_Sum = 0x08,
|
||||
Maximum_RawData = 0x09,
|
||||
Minimum_RawData = 0x0A,
|
||||
Shutter_Lower = 0x0B,
|
||||
Shutter_Upper = 0x0C,
|
||||
|
||||
Observation = 0x15,
|
||||
Motion_Burst = 0x16,
|
||||
|
||||
Power_Up_Reset = 0x3A,
|
||||
|
||||
Inverse_Product_ID = 0x5F,
|
||||
};
|
||||
|
||||
enum Motion_Bit : uint8_t {
|
||||
MOT = Bit7, // Motion since last report
|
||||
};
|
||||
|
||||
struct BURST_TRANSFER {
|
||||
uint8_t Motion;
|
||||
uint8_t Observation;
|
||||
uint8_t Delta_X_L;
|
||||
uint8_t Delta_X_H;
|
||||
uint8_t Delta_Y_L;
|
||||
uint8_t Delta_Y_H;
|
||||
uint8_t SQUAL;
|
||||
uint8_t RawData_Sum;
|
||||
uint8_t Maximum_RawData;
|
||||
uint8_t Minimum_RawData;
|
||||
uint8_t Shutter_Upper;
|
||||
uint8_t Shutter_Lower;
|
||||
};
|
||||
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2018-2022 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
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
|
||||
* Copyright (c) 2018-2022 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
|
||||
@ -34,31 +34,28 @@
|
||||
#include "PMW3901.hpp"
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
|
||||
|
||||
void
|
||||
PMW3901::print_usage()
|
||||
void PMW3901::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("pmw3901", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('Y', 0, 0, 359, "custom yaw rotation (degrees)", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
int
|
||||
pmw3901_main(int argc, char *argv[])
|
||||
extern "C" __EXPORT int pmw3901_main(int argc, char *argv[])
|
||||
{
|
||||
int ch;
|
||||
int ch = 0;
|
||||
using ThisDriver = PMW3901;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.custom1 = -1;
|
||||
cli.spi_mode = SPIDEV_MODE0;
|
||||
cli.default_spi_frequency = PMW3901_SPI_BUS_SPEED;
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
|
||||
while ((ch = cli.getOpt(argc, argv, "Y:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'R':
|
||||
cli.rotation = (enum Rotation)atoi(cli.optArg());
|
||||
case 'Y':
|
||||
cli.custom1 = atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -74,13 +71,11 @@ pmw3901_main(int argc, char *argv[])
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "stop")) {
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
}
|
||||
|
||||
if (!strcmp(verb, "status")) {
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user