mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
paw3902: fixes and improvements
- fully respect datasheet quality and shutter metrics for mode changes - use MOTION pin for scheduling if available - log light mode - refactor common enable LED code - respect read and write time delays
This commit is contained in:
Daniel Agar
parent
34ea056bd2
commit
4092f87390
@ -19,3 +19,11 @@ uint8 quality # Average of quality of accumulated frames, 0: bad quality, 255: m
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float32 max_flow_rate # Magnitude of maximum angular which the optical flow sensor can measure reliably
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float32 min_ground_distance # Minimum distance from ground at which the optical flow sensor operates reliably
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float32 max_ground_distance # Maximum distance from ground at which the optical flow sensor operates reliably
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uint8 MODE_UNKNOWN = 0
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uint8 MODE_BRIGHT = 1
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uint8 MODE_LOWLIGHT = 2
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uint8 MODE_SUPER_LOWLIGHT = 3
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uint8 mode
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019-2021 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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@ -33,10 +33,16 @@
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#include "PAW3902.hpp"
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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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PAW3902::PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode,
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float yaw_rotation_degrees) :
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spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees) :
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SPI(DRV_FLOW_DEVTYPE_PAW3902, MODULE_NAME, bus, devid, spi_mode, bus_frequency),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
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_drdy_gpio(drdy_gpio)
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{
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if (PX4_ISFINITE(yaw_rotation_degrees)) {
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PX4_INFO("using yaw rotation %.3f degrees (%.3f radians)",
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@ -65,8 +71,10 @@ PAW3902::~PAW3902()
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perf_free(_interval_perf);
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perf_free(_comms_errors);
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perf_free(_false_motion_perf);
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perf_free(_mode_change_perf);
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perf_free(_register_write_fail_perf);
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perf_free(_mode_change_bright_perf);
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perf_free(_mode_change_low_light_perf);
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perf_free(_mode_change_super_low_light_perf);
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}
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int PAW3902::init()
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@ -78,14 +86,11 @@ int PAW3902::init()
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Reset();
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// default to low light mode (1)
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ModeLowLight();
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// force to low light mode (1) initially
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ChangeMode(Mode::LowLight, true);
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_previous_collect_timestamp = hrt_absolute_time();
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// schedule a cycle to start things
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1, SAMPLE_INTERVAL_MODE_1);
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return PX4_OK;
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}
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@ -115,8 +120,40 @@ int PAW3902::probe()
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return PX4_OK;
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}
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int PAW3902::DataReadyInterruptCallback(int irq, void *context, void *arg)
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{
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static_cast<PAW3902 *>(arg)->DataReady();
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return 0;
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}
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void PAW3902::DataReady()
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{
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ScheduleNow();
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}
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bool PAW3902::DataReadyInterruptConfigure()
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{
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if (_drdy_gpio == 0) {
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return false;
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}
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// Setup data ready on falling edge
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return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0;
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}
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bool PAW3902::DataReadyInterruptDisable()
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{
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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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bool PAW3902::Reset()
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{
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DataReadyInterruptDisable();
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// Power on reset
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RegisterWrite(Register::Power_Up_Reset, 0x5A);
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usleep(1000);
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@ -131,32 +168,52 @@ bool PAW3902::Reset()
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return true;
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}
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bool PAW3902::ChangeMode(Mode newMode)
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void PAW3902::exit_and_cleanup()
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{
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if (newMode != _mode) {
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DataReadyInterruptDisable();
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I2CSPIDriverBase::exit_and_cleanup();
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}
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bool PAW3902::ChangeMode(Mode newMode, bool force)
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{
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if (newMode != _mode || force) {
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PX4_DEBUG("changing from mode %d -> %d", static_cast<int>(_mode), static_cast<int>(newMode));
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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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uint32_t interval_us = 0;
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switch (newMode) {
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case Mode::Bright:
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ModeBright();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_0);
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interval_us = SAMPLE_INTERVAL_MODE_0;
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perf_count(_mode_change_bright_perf);
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break;
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case Mode::LowLight:
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ModeLowLight();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1);
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interval_us = SAMPLE_INTERVAL_MODE_1;
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perf_count(_mode_change_low_light_perf);
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break;
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case Mode::SuperLowLight:
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ModeSuperLowLight();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_2);
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interval_us = SAMPLE_INTERVAL_MODE_2;
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perf_count(_mode_change_super_low_light_perf);
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break;
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}
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if (DataReadyInterruptConfigure()) {
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// backup schedule as a watchdog timeout
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ScheduleDelayed(500_ms);
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} else {
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ScheduleOnInterval(interval_us);
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}
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// Discard the first three motion data.
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for (int i = 0; i < 3; i++) {
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RegisterRead(Register::Motion);
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@ -166,9 +223,9 @@ bool PAW3902::ChangeMode(Mode newMode)
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RegisterRead(Register::Delta_Y_H);
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}
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_mode = newMode;
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EnableLed();
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perf_count(_mode_change_perf);
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_mode = newMode;
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}
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_bright_to_low_counter = 0;
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@ -184,7 +241,7 @@ bool PAW3902::ChangeMode(Mode newMode)
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return true;
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}
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bool PAW3902::ModeBright()
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void PAW3902::ModeBright()
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{
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// Mode 0: Bright (126 fps) 60 Lux typical
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@ -293,17 +350,10 @@ bool PAW3902::ModeBright()
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usleep(10_ms); // delay 10ms
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RegisterWriteVerified(0x73, 0x00);
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// Enable LED_N controls
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RegisterWriteVerified(0x7F, 0x14);
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RegisterWriteVerified(0x6F, 0x1c);
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RegisterWriteVerified(0x7F, 0x00);
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return true;
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RegisterWrite(0x73, 0x00);
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}
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bool PAW3902::ModeLowLight()
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void PAW3902::ModeLowLight()
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{
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// Mode 1: Low Light (126 fps) 30 Lux typical
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// low light and low speed motion tracking
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@ -413,17 +463,10 @@ bool PAW3902::ModeLowLight()
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usleep(10_ms); // delay 10ms
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RegisterWriteVerified(0x73, 0x00);
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// Enable LED_N controls
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RegisterWriteVerified(0x7F, 0x14);
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RegisterWriteVerified(0x6F, 0x1c);
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RegisterWriteVerified(0x7F, 0x00);
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return true;
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RegisterWrite(0x73, 0x00);
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}
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bool PAW3902::ModeSuperLowLight()
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void PAW3902::ModeSuperLowLight()
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{
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// Mode 2: Super Low Light (50 fps) 9 Lux typical
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// super low light and low speed motion tracking
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@ -533,19 +576,21 @@ bool PAW3902::ModeSuperLowLight()
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usleep(25_ms); // delay 25ms
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RegisterWriteVerified(0x73, 0x00);
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RegisterWrite(0x73, 0x00);
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}
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void PAW3902::EnableLed()
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{
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// Enable LED_N controls
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RegisterWriteVerified(0x7F, 0x14);
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RegisterWriteVerified(0x6F, 0x1c);
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RegisterWriteVerified(0x7F, 0x00);
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return true;
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}
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uint8_t PAW3902::RegisterRead(uint8_t reg, int retries)
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{
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for (int i = 0; i < retries; i++) {
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px4_udelay(TIME_us_TSRAD);
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uint8_t cmd[2] {reg, 0};
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if (transfer(&cmd[0], &cmd[0], sizeof(cmd)) == 0) {
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@ -575,11 +620,16 @@ bool PAW3902::RegisterWriteVerified(uint8_t reg, uint8_t data, int retries)
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cmd[0] = DIR_WRITE(reg);
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cmd[1] = data;
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transfer(&cmd[0], nullptr, sizeof(cmd));
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px4_udelay(TIME_us_TSWW);
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// read back to verify
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if (RegisterRead(reg) == data) {
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uint8_t data_read = RegisterRead(reg);
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if (data_read == data) {
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return true;
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}
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PX4_DEBUG("Register write failed 0x%02hhX: 0x%02hhX (actual value 0x%02hhX)", reg, data, data_read);
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}
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perf_count(_register_write_fail_perf);
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@ -613,7 +663,6 @@ void PAW3902::RunImpl()
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// update for next iteration
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_previous_collect_timestamp = timestamp_sample;
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// check SQUAL & Shutter values
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// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
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// Bright Mode, SQUAL < 0x19, Shutter ≥ 0x1FF0
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@ -621,26 +670,17 @@ void PAW3902::RunImpl()
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// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
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const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;
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if ((buf.data.SQUAL < 0x19) && (shutter >= 0x0BC0)) {
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PX4_DEBUG("false motion report, discarding");
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perf_count(_false_motion_perf);
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perf_end(_sample_perf);
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// reset
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_flow_dt_sum_usec = 0;
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_flow_sum_x = 0;
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_flow_sum_y = 0;
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_flow_sample_counter = 0;
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_flow_quality_sum = 0;
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return;
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}
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const int16_t delta_x_raw = ((int16_t)buf.data.Delta_X_H << 8) | buf.data.Delta_X_L;
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const int16_t delta_y_raw = ((int16_t)buf.data.Delta_Y_H << 8) | buf.data.Delta_Y_L;
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bool data_valid = true;
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switch (_mode) {
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case Mode::Bright:
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if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) {
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// false motion report, discarding
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perf_count(_false_motion_perf);
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ResetAccumulatedData();
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data_valid = false;
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}
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if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x3C)) {
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// Bright -> LowLight
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_bright_to_low_counter++;
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@ -656,6 +696,13 @@ void PAW3902::RunImpl()
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break;
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case Mode::LowLight:
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if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) {
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// false motion report, discarding
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perf_count(_false_motion_perf);
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ResetAccumulatedData();
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data_valid = false;
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}
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if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x5A)) {
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// LowLight -> SuperLowLight
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_low_to_bright_counter = 0;
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@ -665,22 +712,32 @@ void PAW3902::RunImpl()
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ChangeMode(Mode::SuperLowLight);
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}
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} else if ((shutter < 0x0BB8)) {
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} else if (shutter < 0x0BB8) {
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// LowLight -> Bright
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_low_to_superlow_counter = 0;
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_low_to_bright_counter++;
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_low_to_superlow_counter = 0;
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if (_low_to_bright_counter >= 10) { // AND valid for 10 consecutive frames
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ChangeMode(Mode::Bright);
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}
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} else {
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_low_to_bright_counter = 0;
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_low_to_superlow_counter = 0;
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}
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break;
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case Mode::SuperLowLight:
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if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) {
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// false motion report, discarding
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perf_count(_false_motion_perf);
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ResetAccumulatedData();
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data_valid = false;
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}
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// SuperLowLight -> LowLight
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if ((shutter < 0x03E8)) {
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if (shutter < 0x03E8) {
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// SuperLowLight -> LowLight
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_superlow_to_low_counter++;
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if (_superlow_to_low_counter >= 10) { // AND valid for 10 consecutive frames
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@ -694,7 +751,10 @@ void PAW3902::RunImpl()
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break;
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}
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if (buf.data.SQUAL > 0) {
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if (data_valid && (buf.data.SQUAL > 0)) {
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const int16_t delta_x_raw = combine(buf.data.Delta_X_H, buf.data.Delta_X_L);
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const int16_t delta_y_raw = combine(buf.data.Delta_Y_H, buf.data.Delta_Y_L);
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_flow_dt_sum_usec += dt_flow;
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_flow_sum_x += delta_x_raw;
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_flow_sum_y += delta_y_raw;
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@ -702,12 +762,7 @@ void PAW3902::RunImpl()
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_flow_quality_sum += buf.data.SQUAL;
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} else {
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// reset
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_flow_dt_sum_usec = 0;
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_flow_sum_x = 0;
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_flow_sum_y = 0;
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_flow_sample_counter = 0;
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_flow_quality_sum = 0;
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ResetAccumulatedData();
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return;
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}
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@ -743,9 +798,29 @@ void PAW3902::RunImpl()
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report.min_ground_distance = 0.08f; // Datasheet: 80mm
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report.max_ground_distance = 30.0f; // Datasheet: infinity
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switch (_mode) {
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case Mode::Bright:
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report.mode = optical_flow_s::MODE_BRIGHT;
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break;
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case Mode::LowLight:
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report.mode = optical_flow_s::MODE_LOWLIGHT;
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break;
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case Mode::SuperLowLight:
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report.mode = optical_flow_s::MODE_SUPER_LOWLIGHT;
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break;
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}
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report.timestamp = hrt_absolute_time();
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_optical_flow_pub.publish(report);
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ResetAccumulatedData();
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}
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void PAW3902::ResetAccumulatedData()
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{
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// reset
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_flow_dt_sum_usec = 0;
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_flow_sum_x = 0;
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@ -762,6 +837,8 @@ void PAW3902::print_status()
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perf_print_counter(_interval_perf);
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perf_print_counter(_comms_errors);
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perf_print_counter(_false_motion_perf);
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perf_print_counter(_mode_change_perf);
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perf_print_counter(_register_write_fail_perf);
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perf_print_counter(_mode_change_bright_perf);
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perf_print_counter(_mode_change_low_light_perf);
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perf_print_counter(_mode_change_super_low_light_perf);
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}
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@ -63,7 +63,7 @@ class PAW3902 : public device::SPI, public I2CSPIDriver<PAW3902>
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{
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public:
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PAW3902(I2CSPIBusOption bus_option, int bus, int devid, int bus_frequency, spi_mode_e spi_mode,
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float yaw_rotation_degrees = NAN);
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spi_drdy_gpio_t drdy_gpio, float yaw_rotation_degrees = NAN);
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virtual ~PAW3902();
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static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
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@ -77,19 +77,30 @@ public:
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void RunImpl();
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private:
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void exit_and_cleanup() override;
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int probe() override;
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static int DataReadyInterruptCallback(int irq, void *context, void *arg);
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void DataReady();
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bool DataReadyInterruptConfigure();
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bool DataReadyInterruptDisable();
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uint8_t RegisterRead(uint8_t reg, int retries = 3);
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void RegisterWrite(uint8_t reg, uint8_t data);
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bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 5);
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bool Reset();
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bool ModeBright();
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bool ModeLowLight();
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bool ModeSuperLowLight();
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void EnableLed();
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bool ChangeMode(Mode newMode);
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void ModeBright();
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void ModeLowLight();
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void ModeSuperLowLight();
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||||
bool ChangeMode(Mode newMode, bool force = false);
|
||||
|
||||
void ResetAccumulatedData();
|
||||
|
||||
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
|
||||
|
||||
@ -97,11 +108,15 @@ private:
|
||||
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
|
||||
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
|
||||
perf_counter_t _false_motion_perf{perf_alloc(PC_COUNT, MODULE_NAME": false motion report")};
|
||||
perf_counter_t _mode_change_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change")};
|
||||
perf_counter_t _register_write_fail_perf{perf_alloc(PC_COUNT, MODULE_NAME": verified register write failed")};
|
||||
perf_counter_t _mode_change_bright_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change bright (0)")};
|
||||
perf_counter_t _mode_change_low_light_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change low light (1)")};
|
||||
perf_counter_t _mode_change_super_low_light_perf{perf_alloc(PC_COUNT, MODULE_NAME": mode change super low light (2)")};
|
||||
|
||||
static constexpr uint64_t COLLECT_TIME{15000}; // 15 milliseconds, optical flow data publish rate
|
||||
|
||||
const spi_drdy_gpio_t _drdy_gpio;
|
||||
|
||||
uint64_t _previous_collect_timestamp{0};
|
||||
uint64_t _flow_dt_sum_usec{0};
|
||||
uint8_t _flow_sample_counter{0};
|
||||
|
||||
@ -46,6 +46,10 @@ static constexpr uint32_t SAMPLE_INTERVAL_MODE_2{1000000 / 50}; // 50 fps
|
||||
|
||||
static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2MHz SPI serial interface
|
||||
|
||||
// Various time delay needed for PAW3902
|
||||
static constexpr uint32_t TIME_us_TSWW = 11; // actually 10.5us
|
||||
static constexpr uint32_t TIME_us_TSRAD = 2;
|
||||
|
||||
enum Register : uint8_t {
|
||||
Product_ID = 0x00,
|
||||
Revision_ID = 0x01,
|
||||
@ -76,8 +80,8 @@ enum Product_ID_Bit : uint8_t {
|
||||
};
|
||||
|
||||
enum class Mode {
|
||||
Bright = 0,
|
||||
LowLight = 1,
|
||||
Bright = 0,
|
||||
LowLight = 1,
|
||||
SuperLowLight = 2,
|
||||
};
|
||||
|
||||
|
||||
@ -47,7 +47,7 @@ I2CSPIDriverBase *PAW3902::instantiate(const BusCLIArguments &cli, const BusInst
|
||||
int runtime_instance)
|
||||
{
|
||||
PAW3902 *instance = new PAW3902(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.bus_frequency,
|
||||
cli.spi_mode, cli.custom1);
|
||||
cli.spi_mode, iterator.DRDYGPIO(), cli.custom1);
|
||||
|
||||
if (!instance) {
|
||||
PX4_ERR("alloc failed");
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user