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drivers/optical_flow: new PixArt PAA3905 optical flow driver
This commit is contained in:
alexklimaj
@@ -130,12 +130,14 @@
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#define DRV_GYR_DEVTYPE_BMI088 0x66
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#define DRV_BARO_DEVTYPE_BMP388 0x67
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#define DRV_BARO_DEVTYPE_DPS310 0x68
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#define DRV_PWM_DEVTYPE_PCA9685 0x69
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#define DRV_ACC_DEVTYPE_BMI088 0x6a
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#define DRV_OSD_DEVTYPE_ATXXXX 0x6b
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#define DRV_FLOW_DEVTYPE_PMW3901 0x6c
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#define DRV_FLOW_DEVTYPE_PAW3902 0x6d
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#define DRV_FLOW_DEVTYPE_PX4FLOW 0x6e
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#define DRV_PWM_DEVTYPE_PCA9685 0x6f
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#define DRV_FLOW_DEVTYPE_PAA3905 0x6f
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#define DRV_DIST_DEVTYPE_LL40LS 0x70
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#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
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@@ -2,6 +2,7 @@ menu "Optical flow"
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menuconfig COMMON_OPTICAL_FLOW
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bool "Common Optical flow"
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default n
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select DRIVERS_OPTICAL_FLOW_PAA3905
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select DRIVERS_OPTICAL_FLOW_PAW3902
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select DRIVERS_OPTICAL_FLOW_PMW3901
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select DRIVERS_OPTICAL_FLOW_PX4FLOW
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@@ -0,0 +1,46 @@
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############################################################################
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#
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# Copyright (c) 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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# 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
|
||||
# the documentation and/or other materials provided with the
|
||||
# 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
|
||||
# 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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px4_add_module(
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MODULE drivers__optical_flow__paa3905
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MAIN paa3905
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SRCS
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paa3905_main.cpp
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PAA3905.cpp
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PAA3905.hpp
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PixArt_PAA3905_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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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_OPTICAL_FLOW_PAA3905
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bool "paa3905"
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default n
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---help---
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Enable support for paa3905
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@@ -0,0 +1,609 @@
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/****************************************************************************
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*
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* Copyright (c) 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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* 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
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* 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
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
* 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
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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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#include "PAA3905.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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PAA3905::PAA3905(const I2CSPIDriverConfig &config) :
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SPI(config),
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I2CSPIDriver(config),
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_drdy_gpio(config.drdy_gpio)
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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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// otherwise use the parameter SENS_FLOW_ROT
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param_t rot = param_find("SENS_FLOW_ROT");
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int32_t val = 0;
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if (param_get(rot, &val) == PX4_OK) {
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_rotation = get_rot_matrix((enum Rotation)val);
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} else {
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_rotation.identity();
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}
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}
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}
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PAA3905::~PAA3905()
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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(_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(_register_write_fail_perf);
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}
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int PAA3905::init()
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{
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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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Configure();
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_previous_collect_timestamp = hrt_absolute_time();
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return PX4_OK;
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}
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int PAA3905::probe()
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{
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const uint8_t Product_ID = RegisterRead(Register::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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return PX4_ERROR;
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}
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const uint8_t Revision_ID = RegisterRead(Register::Revision_ID);
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if (Revision_ID != REVISION_ID) {
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PX4_ERR("Revision_ID: %X", Revision_ID);
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return PX4_ERROR;
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}
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const uint8_t Inverse_Product_ID = RegisterRead(Register::Inverse_Product_ID);
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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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return PX4_ERROR;
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}
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return PX4_OK;
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}
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int PAA3905::DataReadyInterruptCallback(int irq, void *context, void *arg)
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{
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static_cast<PAA3905 *>(arg)->DataReady();
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return 0;
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}
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void PAA3905::DataReady()
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{
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ScheduleNow();
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}
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bool PAA3905::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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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 PAA3905::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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_data_ready_interrupt_enabled = false;
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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 PAA3905::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 PAA3905::Configure()
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{
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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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StandardDetectionSetting();
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ModeAuto012();
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CheckMode();
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switch (_mode) {
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case Mode::Bright:
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_0;
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break;
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case Mode::LowLight:
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_1;
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break;
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case Mode::SuperLowLight:
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_2;
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break;
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}
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EnableLed();
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_discard_reading = 3;
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_valid_count = 0;
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if (DataReadyInterruptConfigure()) {
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// backup schedule as a watchdog timeout
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ScheduleDelayed(_scheduled_interval_us * 2);
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} else {
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ScheduleOnInterval(_scheduled_interval_us);
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}
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}
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void PAA3905::CheckMode()
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{
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// Read Register 0x15. Check Bit [7:6] for AMS mode and store it into a variable.
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const uint8_t Observation = RegisterRead(Register::Observation);
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// Bit [7:6] AMS mode
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const uint8_t ams_mode = (Observation & (Bit7 | Bit6)) >> 5;
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if (ams_mode == 0x0) {
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// Mode 0
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_mode = Mode::SuperLowLight;
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} else if (ams_mode == 0x1) {
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// Mode 1
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_mode = Mode::LowLight;
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} else if (ams_mode == 0x2) {
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// Mode 2
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_mode = Mode::SuperLowLight;
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}
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}
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void PAA3905::StandardDetectionSetting()
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{
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RegisterWriteVerified(0x7F, 0x00);
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RegisterWriteVerified(0x51, 0xFF);
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RegisterWriteVerified(0x4E, 0x2A);
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RegisterWriteVerified(0x66, 0x3E);
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RegisterWriteVerified(0x7F, 0x14);
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RegisterWriteVerified(0x7E, 0x71);
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RegisterWriteVerified(0x55, 0x00);
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RegisterWriteVerified(0x59, 0x00);
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RegisterWriteVerified(0x6F, 0x2C);
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RegisterWriteVerified(0x7F, 0x05);
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RegisterWriteVerified(0x4D, 0xAC);
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RegisterWriteVerified(0x4E, 0x32);
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RegisterWriteVerified(0x7F, 0x09);
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RegisterWriteVerified(0x5C, 0xAF);
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RegisterWriteVerified(0x5F, 0xAF);
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RegisterWriteVerified(0x70, 0x08);
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RegisterWriteVerified(0x71, 0x04);
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RegisterWriteVerified(0x72, 0x06);
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RegisterWriteVerified(0x74, 0x3C);
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RegisterWriteVerified(0x75, 0x28);
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RegisterWriteVerified(0x76, 0x20);
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RegisterWriteVerified(0x4E, 0xBF);
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RegisterWriteVerified(0x7F, 0x03);
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RegisterWriteVerified(0x64, 0x14);
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RegisterWriteVerified(0x65, 0x0A);
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RegisterWriteVerified(0x66, 0x10);
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RegisterWriteVerified(0x55, 0x3C);
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RegisterWriteVerified(0x56, 0x28);
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RegisterWriteVerified(0x57, 0x20);
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RegisterWriteVerified(0x4A, 0x2D);
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RegisterWriteVerified(0x4B, 0x2D);
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RegisterWriteVerified(0x4E, 0x4B);
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RegisterWriteVerified(0x69, 0xFA);
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RegisterWriteVerified(0x7F, 0x05);
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RegisterWriteVerified(0x69, 0x1F);
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RegisterWriteVerified(0x47, 0x1F);
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RegisterWriteVerified(0x48, 0x0C);
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RegisterWriteVerified(0x5A, 0x20);
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RegisterWriteVerified(0x75, 0x0F);
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RegisterWriteVerified(0x4A, 0x0F);
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RegisterWriteVerified(0x42, 0x02);
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RegisterWriteVerified(0x45, 0x03);
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RegisterWriteVerified(0x65, 0x00);
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RegisterWriteVerified(0x67, 0x76);
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RegisterWriteVerified(0x68, 0x76);
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RegisterWriteVerified(0x6A, 0xC5);
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RegisterWriteVerified(0x43, 0x00);
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RegisterWriteVerified(0x7F, 0x06);
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RegisterWriteVerified(0x4A, 0x18);
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RegisterWriteVerified(0x4B, 0x0C);
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RegisterWriteVerified(0x4C, 0x0C);
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RegisterWriteVerified(0x4D, 0x0C);
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RegisterWriteVerified(0x46, 0x0A);
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RegisterWriteVerified(0x59, 0xCD);
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RegisterWriteVerified(0x7F, 0x0A);
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RegisterWriteVerified(0x4A, 0x2A);
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RegisterWriteVerified(0x48, 0x96);
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RegisterWriteVerified(0x52, 0xB4);
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RegisterWriteVerified(0x7F, 0x00);
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RegisterWriteVerified(0x5B, 0xA0);
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}
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|
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void PAA3905::EnhancedDetectionMode()
|
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{
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RegisterWriteVerified(0x7F, 0x00);
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RegisterWriteVerified(0x51, 0xFF);
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RegisterWriteVerified(0x4E, 0x2A);
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RegisterWriteVerified(0x66, 0x26);
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RegisterWriteVerified(0x7F, 0x14);
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RegisterWriteVerified(0x7E, 0x71);
|
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RegisterWriteVerified(0x55, 0x00);
|
||||
RegisterWriteVerified(0x59, 0x00);
|
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RegisterWriteVerified(0x6F, 0x2C);
|
||||
RegisterWriteVerified(0x7F, 0x05);
|
||||
RegisterWriteVerified(0x4D, 0xAC);
|
||||
RegisterWriteVerified(0x4E, 0x65);
|
||||
RegisterWriteVerified(0x7F, 0x09);
|
||||
RegisterWriteVerified(0x5C, 0xAF);
|
||||
RegisterWriteVerified(0x5F, 0xAF);
|
||||
RegisterWriteVerified(0x70, 0x00);
|
||||
RegisterWriteVerified(0x71, 0x00);
|
||||
RegisterWriteVerified(0x72, 0x00);
|
||||
RegisterWriteVerified(0x74, 0x14);
|
||||
RegisterWriteVerified(0x75, 0x14);
|
||||
RegisterWriteVerified(0x76, 0x06);
|
||||
RegisterWriteVerified(0x4E, 0x8F);
|
||||
RegisterWriteVerified(0x7F, 0x03);
|
||||
RegisterWriteVerified(0x64, 0x00);
|
||||
RegisterWriteVerified(0x65, 0x00);
|
||||
RegisterWriteVerified(0x66, 0x00);
|
||||
RegisterWriteVerified(0x55, 0x14);
|
||||
RegisterWriteVerified(0x56, 0x14);
|
||||
RegisterWriteVerified(0x57, 0x06);
|
||||
RegisterWriteVerified(0x4A, 0x20);
|
||||
|
||||
RegisterWriteVerified(0x4B, 0x20);
|
||||
RegisterWriteVerified(0x4E, 0x32);
|
||||
RegisterWriteVerified(0x69, 0xFE);
|
||||
RegisterWriteVerified(0x7F, 0x05);
|
||||
RegisterWriteVerified(0x69, 0x14);
|
||||
RegisterWriteVerified(0x47, 0x14);
|
||||
RegisterWriteVerified(0x48, 0x1C);
|
||||
RegisterWriteVerified(0x5A, 0x20);
|
||||
RegisterWriteVerified(0x75, 0xE5);
|
||||
RegisterWriteVerified(0x4A, 0x05);
|
||||
RegisterWriteVerified(0x42, 0x04);
|
||||
RegisterWriteVerified(0x45, 0x03);
|
||||
RegisterWriteVerified(0x65, 0x00);
|
||||
RegisterWriteVerified(0x67, 0x50);
|
||||
RegisterWriteVerified(0x68, 0x50);
|
||||
RegisterWriteVerified(0x6A, 0xC5);
|
||||
RegisterWriteVerified(0x43, 0x00);
|
||||
RegisterWriteVerified(0x7F, 0x06);
|
||||
RegisterWriteVerified(0x4A, 0x1E);
|
||||
RegisterWriteVerified(0x4B, 0x1E);
|
||||
RegisterWriteVerified(0x4C, 0x34);
|
||||
RegisterWriteVerified(0x4D, 0x34);
|
||||
RegisterWriteVerified(0x46, 0x32);
|
||||
RegisterWriteVerified(0x59, 0x0D);
|
||||
RegisterWriteVerified(0x7F, 0x0A);
|
||||
RegisterWriteVerified(0x4A, 0x2A);
|
||||
RegisterWriteVerified(0x48, 0x96);
|
||||
RegisterWriteVerified(0x52, 0xB4);
|
||||
RegisterWriteVerified(0x7F, 0x00);
|
||||
RegisterWriteVerified(0x5B, 0xA0);
|
||||
}
|
||||
|
||||
void PAA3905::ModeAuto012()
|
||||
{
|
||||
// Automatic switching between Mode 0, 1 and 2:
|
||||
RegisterWriteVerified(0x7F, 0x08);
|
||||
RegisterWriteVerified(0x68, 0x02);
|
||||
RegisterWriteVerified(0x7F, 0x00);
|
||||
}
|
||||
|
||||
void PAA3905::EnableLed()
|
||||
{
|
||||
// Enable LED_N controls
|
||||
RegisterWriteVerified(0x7F, 0x14);
|
||||
RegisterWriteVerified(0x6F, 0x0C);
|
||||
RegisterWriteVerified(0x7F, 0x00);
|
||||
}
|
||||
|
||||
uint8_t PAA3905::RegisterRead(uint8_t reg, int retries)
|
||||
{
|
||||
for (int i = 0; i < retries; i++) {
|
||||
px4_udelay(TIME_us_TSRAD);
|
||||
uint8_t cmd[2] {reg, 0};
|
||||
|
||||
if (transfer(&cmd[0], &cmd[0], sizeof(cmd)) == 0) {
|
||||
return cmd[1];
|
||||
}
|
||||
}
|
||||
|
||||
perf_count(_comms_errors);
|
||||
return 0;
|
||||
}
|
||||
|
||||
void PAA3905::RegisterWrite(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
cmd[1] = data;
|
||||
|
||||
if (transfer(&cmd[0], nullptr, sizeof(cmd)) != 0) {
|
||||
perf_count(_comms_errors);
|
||||
}
|
||||
}
|
||||
|
||||
bool PAA3905::RegisterWriteVerified(uint8_t reg, uint8_t data, int retries)
|
||||
{
|
||||
for (int i = 0; i < retries; i++) {
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
cmd[1] = data;
|
||||
transfer(&cmd[0], nullptr, sizeof(cmd));
|
||||
px4_udelay(TIME_us_TSWW);
|
||||
|
||||
// read back to verify
|
||||
uint8_t data_read = RegisterRead(reg);
|
||||
|
||||
if (data_read == data) {
|
||||
return true;
|
||||
}
|
||||
|
||||
PX4_DEBUG("Register write failed 0x%02hhX: 0x%02hhX (actual value 0x%02hhX)", reg, data, data_read);
|
||||
}
|
||||
|
||||
perf_count(_register_write_fail_perf);
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
void PAA3905::RunImpl()
|
||||
{
|
||||
// backup schedule
|
||||
if (_data_ready_interrupt_enabled) {
|
||||
ScheduleDelayed(_scheduled_interval_us * 2);
|
||||
}
|
||||
|
||||
// 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;
|
||||
|
||||
if ((hrt_elapsed_time(&_last_good_publish) > RESET_TIMEOUT_US) && (hrt_elapsed_time(&_last_reset) > RESET_TIMEOUT_US)) {
|
||||
Configure();
|
||||
return;
|
||||
}
|
||||
|
||||
perf_begin(_sample_perf);
|
||||
perf_count(_interval_perf);
|
||||
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd = Register::Motion_Burst;
|
||||
BURST_TRANSFER data{};
|
||||
} buf{};
|
||||
static_assert(sizeof(buf) == (14 + 1));
|
||||
|
||||
const hrt_abstime timestamp_sample = hrt_absolute_time();
|
||||
|
||||
if (transfer((uint8_t *)&buf, (uint8_t *)&buf, sizeof(buf)) != PX4_OK) {
|
||||
perf_count(_comms_errors);
|
||||
perf_end(_sample_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
const uint64_t dt_flow = timestamp_sample - _previous_collect_timestamp;
|
||||
|
||||
// update for next iteration
|
||||
_previous_collect_timestamp = timestamp_sample;
|
||||
|
||||
if (_discard_reading > 0) {
|
||||
_discard_reading--;
|
||||
ResetAccumulatedData();
|
||||
_valid_count = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
CheckMode(); // update _mode variable
|
||||
|
||||
// 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
|
||||
// Bright Mode, SQUAL < 0x19, Shutter ≥ 0x00FF80
|
||||
// Low Light Mode, SQUAL < 0x46, Shutter ≥ 0x00FF80
|
||||
// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x025998
|
||||
const uint32_t shutter = (buf.data.Shutter_Upper << 16) | (buf.data.Shutter_Middle << 8) | buf.data.Shutter_Lower;
|
||||
|
||||
bool data_valid = (buf.data.SQUAL > 0);
|
||||
|
||||
switch (_mode) {
|
||||
case Mode::Bright:
|
||||
|
||||
// quality < 25 (0x19) and shutter >= 0x00FF80
|
||||
if ((buf.data.SQUAL < 0x19) && (shutter >= 0x00FF80)) {
|
||||
// false motion report, discarding
|
||||
perf_count(_false_motion_perf);
|
||||
data_valid = false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case Mode::LowLight:
|
||||
|
||||
// quality < 70 (0x46) and shutter >= 0x00FF80
|
||||
if ((buf.data.SQUAL < 0x46) && (shutter >= 0x00FF80)) {
|
||||
// false motion report, discarding
|
||||
perf_count(_false_motion_perf);
|
||||
data_valid = false;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case Mode::SuperLowLight:
|
||||
|
||||
// quality < 85 (0x55) and shutter >= 0x025998
|
||||
if ((buf.data.SQUAL < 0x55) && (shutter >= 0x025998)) {
|
||||
// false motion report, discarding
|
||||
perf_count(_false_motion_perf);
|
||||
data_valid = false;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
if (data_valid) {
|
||||
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);
|
||||
|
||||
_flow_dt_sum_usec += dt_flow;
|
||||
_flow_sum_x += delta_x_raw;
|
||||
_flow_sum_y += delta_y_raw;
|
||||
_flow_sample_counter++;
|
||||
_flow_quality_sum += buf.data.SQUAL;
|
||||
|
||||
_valid_count++;
|
||||
|
||||
} else {
|
||||
_valid_count = 0;
|
||||
ResetAccumulatedData();
|
||||
return;
|
||||
}
|
||||
|
||||
// returns if the collect time has not been reached
|
||||
if (_flow_dt_sum_usec < COLLECT_TIME) {
|
||||
return;
|
||||
}
|
||||
|
||||
optical_flow_s report{};
|
||||
report.timestamp = timestamp_sample;
|
||||
//report.device_id = get_device_id();
|
||||
|
||||
float pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
|
||||
float pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
|
||||
|
||||
// rotate measurements in yaw from sensor frame to body frame
|
||||
const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{pixel_flow_x_integral, pixel_flow_y_integral, 0.f};
|
||||
report.pixel_flow_x_integral = pixel_flow_rotated(0);
|
||||
report.pixel_flow_y_integral = pixel_flow_rotated(1);
|
||||
|
||||
report.frame_count_since_last_readout = _flow_sample_counter; // number of frames
|
||||
report.integration_timespan = _flow_dt_sum_usec; // microseconds
|
||||
|
||||
report.quality = _flow_quality_sum / _flow_sample_counter;
|
||||
|
||||
// No gyro on this board
|
||||
report.gyro_x_rate_integral = NAN;
|
||||
report.gyro_y_rate_integral = NAN;
|
||||
report.gyro_z_rate_integral = NAN;
|
||||
|
||||
// set (conservative) 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 = 30.0f; // Datasheet: infinity
|
||||
|
||||
|
||||
switch (_mode) {
|
||||
case Mode::Bright:
|
||||
report.mode = optical_flow_s::MODE_BRIGHT;
|
||||
break;
|
||||
|
||||
case Mode::LowLight:
|
||||
report.mode = optical_flow_s::MODE_LOWLIGHT;
|
||||
break;
|
||||
|
||||
case Mode::SuperLowLight:
|
||||
report.mode = optical_flow_s::MODE_SUPER_LOWLIGHT;
|
||||
break;
|
||||
}
|
||||
|
||||
report.timestamp = hrt_absolute_time();
|
||||
_optical_flow_pub.publish(report);
|
||||
|
||||
if (report.quality > 10) {
|
||||
_last_good_publish = report.timestamp;
|
||||
}
|
||||
|
||||
ResetAccumulatedData();
|
||||
}
|
||||
|
||||
void PAA3905::ResetAccumulatedData()
|
||||
{
|
||||
// reset
|
||||
_flow_dt_sum_usec = 0;
|
||||
_flow_sum_x = 0;
|
||||
_flow_sum_y = 0;
|
||||
_flow_sample_counter = 0;
|
||||
_flow_quality_sum = 0;
|
||||
}
|
||||
|
||||
void PAA3905::print_status()
|
||||
{
|
||||
I2CSPIDriverBase::print_status();
|
||||
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_interval_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_false_motion_perf);
|
||||
perf_print_counter(_register_write_fail_perf);
|
||||
}
|
||||
@@ -0,0 +1,136 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file paa3905.hpp
|
||||
*
|
||||
* Driver for the Pixart paa3905 optical flow sensors connected via SPI.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "PixArt_PAA3905_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/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/optical_flow.h>
|
||||
|
||||
using namespace time_literals;
|
||||
using namespace PixArt_PAA3905;
|
||||
|
||||
#define DIR_WRITE(a) ((a) | (1 << 7))
|
||||
#define DIR_READ(a) ((a) & 0x7f)
|
||||
|
||||
class PAA3905 : public device::SPI, public I2CSPIDriver<PAA3905>
|
||||
{
|
||||
public:
|
||||
PAA3905(const I2CSPIDriverConfig &config);
|
||||
virtual ~PAA3905();
|
||||
|
||||
static void print_usage();
|
||||
|
||||
int init() override;
|
||||
|
||||
void print_status() override;
|
||||
|
||||
void RunImpl();
|
||||
|
||||
private:
|
||||
void exit_and_cleanup() override;
|
||||
|
||||
int probe() override;
|
||||
|
||||
static int DataReadyInterruptCallback(int irq, void *context, void *arg);
|
||||
void DataReady();
|
||||
bool DataReadyInterruptConfigure();
|
||||
bool DataReadyInterruptDisable();
|
||||
|
||||
uint8_t RegisterRead(uint8_t reg, int retries = 2);
|
||||
void RegisterWrite(uint8_t reg, uint8_t data);
|
||||
bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 1);
|
||||
|
||||
void EnableLed();
|
||||
|
||||
void StandardDetectionSetting();
|
||||
void EnhancedDetectionMode();
|
||||
void ModeAuto012();
|
||||
|
||||
void CheckMode();
|
||||
|
||||
void Configure();
|
||||
|
||||
void ResetAccumulatedData();
|
||||
|
||||
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
|
||||
|
||||
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
|
||||
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 _register_write_fail_perf{perf_alloc(PC_COUNT, MODULE_NAME": verified register write failed")};
|
||||
|
||||
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};
|
||||
uint16_t _flow_quality_sum{0};
|
||||
|
||||
matrix::Dcmf _rotation;
|
||||
|
||||
int _discard_reading{3};
|
||||
|
||||
int _flow_sum_x{0};
|
||||
int _flow_sum_y{0};
|
||||
|
||||
Mode _mode{Mode::LowLight};
|
||||
|
||||
uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_1};
|
||||
|
||||
int _valid_count{0};
|
||||
|
||||
bool _data_ready_interrupt_enabled{false};
|
||||
|
||||
hrt_abstime _last_good_publish{0};
|
||||
hrt_abstime _last_reset{0};
|
||||
};
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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
|
||||
|
||||
namespace PixArt_PAA3905
|
||||
{
|
||||
// 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);
|
||||
|
||||
static constexpr uint8_t PRODUCT_ID = 0xA2;
|
||||
static constexpr uint8_t REVISION_ID = 0x00;
|
||||
static constexpr uint8_t PRODUCT_ID_INVERSE = 0x5D;
|
||||
|
||||
static constexpr uint32_t SAMPLE_INTERVAL_MODE_0{1000000 / 126}; // 126 fps
|
||||
static constexpr uint32_t SAMPLE_INTERVAL_MODE_1{1000000 / 126}; // 126 fps
|
||||
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 paa3905
|
||||
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,
|
||||
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_Middle = 0x0C,
|
||||
Shutter_Upper = 0x0D,
|
||||
|
||||
Observation = 0x15,
|
||||
Motion_Burst = 0x16,
|
||||
|
||||
Power_Up_Reset = 0x3A,
|
||||
Shutdown = 0x3B,
|
||||
|
||||
Resolution = 0x4E,
|
||||
|
||||
Inverse_Product_ID = 0x5F,
|
||||
};
|
||||
|
||||
// Observation
|
||||
enum Observation_Bit : uint8_t {
|
||||
Reset = 0x5A,
|
||||
};
|
||||
|
||||
enum class Mode {
|
||||
Bright = 0,
|
||||
LowLight = 1,
|
||||
SuperLowLight = 2,
|
||||
};
|
||||
|
||||
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 Reserved;
|
||||
uint8_t SQUAL;
|
||||
uint8_t RawData_Sum;
|
||||
uint8_t Maximum_RawData;
|
||||
uint8_t Minimum_RawData;
|
||||
uint8_t Shutter_Upper;
|
||||
uint8_t Shutter_Middle;
|
||||
uint8_t Shutter_Lower;
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "PAA3905.hpp"
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void PAA3905::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("paa3905", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('Y', 0, 0, 359, "custom yaw rotation (degrees)", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int paa3905_main(int argc, char *argv[])
|
||||
{
|
||||
int ch = 0;
|
||||
using ThisDriver = PAA3905;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.custom1 = -1;
|
||||
cli.spi_mode = SPIDEV_MODE0;
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "Y:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'Y':
|
||||
cli.custom1 = atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PAA3905);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* paa3905 Optical Flow
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PAA3905, 0);
|
||||
Reference in New Issue
Block a user