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Move optical flow drivers to own subdirectory

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This commit is contained in:
Mohammed Kabir
2019-05-28 23:23:38 -04:00
committed by Daniel Agar
parent 6627c60e5b
commit b334b75886
32 changed files with 74 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/optical_flow/CMakeLists.txt
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############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
add_subdirectory(px4flow)
add_subdirectory(pmw3901)
src/drivers/optical_flow/pmw3901/CMakeLists.txt
+42
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############################################################################
#
# Copyright (c) 2019 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.
#
############################################################################
px4_add_module(
MODULE drivers__pmw3901
MAIN pmw3901
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
STACK_MAIN 1400
SRCS
pmw3901.cpp
)
src/drivers/optical_flow/pmw3901/pmw3901.cpp
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/****************************************************************************
*
* Copyright (c) 2018 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 pmw3901.cpp
* @author Daniele Pettenuzzo
*
* Driver for the pmw3901 optical flow sensor connected via SPI.
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_work_queue/ScheduledWorkItem.hpp>
#include <drivers/device/spi.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <float.h>
#include <conversion/rotation.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>
#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/sensor_gyro.h>
#include <board_config.h>
/* Configuration Constants */
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
#else
# error "add the required spi bus from board_config.h here"
#endif
#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
#else
# error "add the required spi dev from board_config.h here"
#endif
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
#define DIR_WRITE(a) ((a) | (1 << 7))
#define DIR_READ(a) ((a) & 0x7f)
#define PMW3901_DEVICE_PATH "/dev/pmw3901"
/* PMW3901 Registers addresses */
#define PMW3901_US 1000 /* 1 ms */
#define PMW3901_SAMPLE_RATE 10000 /* 10 ms */
class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
{
public:
PMW3901(int bus = PMW3901_BUS, enum Rotation yaw_rotation = (enum Rotation)0);
virtual ~PMW3901();
virtual int init();
virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_interval;
int _class_instance;
int _orb_class_instance;
const uint64_t _collect_time = 15000; // usecs, optical flow data publish rate
orb_advert_t _optical_flow_pub;
orb_advert_t _subsystem_pub;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
uint64_t _previous_collect_timestamp;
enum Rotation _yaw_rotation;
int _flow_sum_x = 0;
int _flow_sum_y = 0;
uint64_t _flow_dt_sum_usec = 0;
/**
* 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();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void Run() override;
int collect();
int readRegister(unsigned reg, uint8_t *data, unsigned count);
int writeRegister(unsigned reg, uint8_t data);
int sensorInit();
int readMotionCount(int16_t &deltaX, int16_t &deltaY);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_reports(nullptr),
_sensor_ok(false),
_measure_interval(0),
_class_instance(-1),
_orb_class_instance(-1),
_optical_flow_pub(nullptr),
_subsystem_pub(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901_read")),
_comms_errors(perf_alloc(PC_COUNT, "pmw3901_com_err")),
_previous_collect_timestamp(0),
_yaw_rotation(yaw_rotation)
{
}
PMW3901::~PMW3901()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
PMW3901::sensorInit()
{
uint8_t data[5];
// Power on reset
writeRegister(0x3A, 0x5A);
usleep(5000);
// Reading the motion registers one time
readRegister(0x02, &data[0], 1);
readRegister(0x03, &data[1], 1);
readRegister(0x04, &data[2], 1);
readRegister(0x05, &data[3], 1);
readRegister(0x06, &data[4], 1);
usleep(1000);
// set performance optimization registers
writeRegister(0x7F, 0x00);
writeRegister(0x61, 0xAD);
writeRegister(0x7F, 0x03);
writeRegister(0x40, 0x00);
writeRegister(0x7F, 0x05);
writeRegister(0x41, 0xB3);
writeRegister(0x43, 0xF1);
writeRegister(0x45, 0x14);
writeRegister(0x5B, 0x32);
writeRegister(0x5F, 0x34);
writeRegister(0x7B, 0x08);
writeRegister(0x7F, 0x06);
writeRegister(0x44, 0x1B);
writeRegister(0x40, 0xBF);
writeRegister(0x4E, 0x3F);
writeRegister(0x7F, 0x08);
writeRegister(0x65, 0x20);
writeRegister(0x6A, 0x18);
writeRegister(0x7F, 0x09);
writeRegister(0x4F, 0xAF);
writeRegister(0x5F, 0x40);
writeRegister(0x48, 0x80);
writeRegister(0x49, 0x80);
writeRegister(0x57, 0x77);
writeRegister(0x60, 0x78);
writeRegister(0x61, 0x78);
writeRegister(0x62, 0x08);
writeRegister(0x63, 0x50);
writeRegister(0x7F, 0x0A);
writeRegister(0x45, 0x60);
writeRegister(0x7F, 0x00);
writeRegister(0x4D, 0x11);
writeRegister(0x55, 0x80);
writeRegister(0x74, 0x1F);
writeRegister(0x75, 0x1F);
writeRegister(0x4A, 0x78);
writeRegister(0x4B, 0x78);
writeRegister(0x44, 0x08);
writeRegister(0x45, 0x50);
writeRegister(0x64, 0xFF);
writeRegister(0x65, 0x1F);
writeRegister(0x7F, 0x14);
writeRegister(0x65, 0x60);
writeRegister(0x66, 0x08);
writeRegister(0x63, 0x78);
writeRegister(0x7F, 0x15);
writeRegister(0x48, 0x58);
writeRegister(0x7F, 0x07);
writeRegister(0x41, 0x0D);
writeRegister(0x43, 0x14);
writeRegister(0x4B, 0x0E);
writeRegister(0x45, 0x0F);
writeRegister(0x44, 0x42);
writeRegister(0x4C, 0x80);
writeRegister(0x7F, 0x10);
writeRegister(0x5B, 0x02);
writeRegister(0x7F, 0x07);
writeRegister(0x40, 0x41);
writeRegister(0x70, 0x00);
usleep(10000);
writeRegister(0x32, 0x44);
writeRegister(0x7F, 0x07);
writeRegister(0x40, 0x40);
writeRegister(0x7F, 0x06);
writeRegister(0x62, 0xf0);
writeRegister(0x63, 0x00);
writeRegister(0x7F, 0x0D);
writeRegister(0x48, 0xC0);
writeRegister(0x6F, 0xd5);
writeRegister(0x7F, 0x00);
writeRegister(0x5B, 0xa0);
writeRegister(0x4E, 0xA8);
writeRegister(0x5A, 0x50);
writeRegister(0x40, 0x80);
writeRegister(0x7F, 0x00);
writeRegister(0x5A, 0x10);
writeRegister(0x54, 0x00);
return OK;
}
int
PMW3901::init()
{
int ret = PX4_ERROR;
// get yaw rotation from sensor frame to body frame
param_t rot = param_find("SENS_FLOW_ROT");
if (rot != PARAM_INVALID) {
int32_t val = 0;
param_get(rot, &val);
_yaw_rotation = (enum Rotation)val;
}
/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
SPI::set_lockmode(LOCK_THREADS);
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
goto out;
}
sensorInit();
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
ret = OK;
_sensor_ok = true;
_previous_collect_timestamp = hrt_absolute_time();
out:
return ret;
}
int
PMW3901::probe()
{
uint8_t data[2] = { 0, 0 };
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::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
case 0:
return -EINVAL;
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_interval = (PMW3901_SAMPLE_RATE);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (interval < (PMW3901_SAMPLE_RATE)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_interval = interval;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
default:
/* give it to the superclass */
return SPI::ioctl(filp, cmd, arg);
}
}
ssize_t
PMW3901::read(device::file_t *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_interval > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
PMW3901::readRegister(unsigned reg, uint8_t *data, unsigned count)
{
uint8_t cmd[5]; // read up to 4 bytes
int ret;
cmd[0] = DIR_READ(reg);
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;
}
int
PMW3901::writeRegister(unsigned reg, uint8_t data)
{
uint8_t cmd[2]; // write 1 byte
int ret;
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;
}
return ret;
}
int
PMW3901::collect()
{
int ret = OK;
int16_t delta_x_raw, delta_y_raw;
float delta_x, delta_y;
perf_begin(_sample_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);
_flow_sum_x += delta_x_raw;
_flow_sum_y += delta_y_raw;
// returns if the collect time has not been reached
if (_flow_dt_sum_usec < _collect_time) {
return ret;
}
delta_x = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
delta_y = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
struct optical_flow_s report;
report.timestamp = timestamp;
report.pixel_flow_x_integral = static_cast<float>(delta_x);
report.pixel_flow_y_integral = static_cast<float>(delta_y);
// 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_x_integral, report.pixel_flow_y_integral, zeroval);
rotate_3f(_yaw_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
report.frame_count_since_last_readout = 4; //microseconds
report.integration_timespan = _flow_dt_sum_usec; //microseconds
report.sensor_id = 0;
// This sensor doesn't provide any quality metric. However if the sensor is unable to calculate the optical flow it will
// output 0 for the delta. Hence, we set the measurement to "invalid" (quality = 0) if the values are smaller than FLT_EPSILON
if (fabsf(report.pixel_flow_x_integral) < FLT_EPSILON && fabsf(report.pixel_flow_y_integral) < FLT_EPSILON) {
report.quality = 0;
} else {
report.quality = 255;
}
/* 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 = 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;
if (_optical_flow_pub == nullptr) {
_optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &report);
} else {
orb_publish(ORB_ID(optical_flow), _optical_flow_pub, &report);
}
/* post a report to the ring */
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
perf_end(_sample_perf);
return ret;
}
int
PMW3901::readMotionCount(int16_t &deltaX, int16_t &deltaY)
{
int ret;
uint8_t data[10] = { DIR_READ(0x02), 0, DIR_READ(0x03), 0, DIR_READ(0x04), 0,
DIR_READ(0x05), 0, DIR_READ(0x06), 0
};
ret = transfer(&data[0], &data[0], 10);
if (OK != ret) {
perf_count(_comms_errors);
DEVICE_LOG("spi::transfer returned %d", ret);
return ret;
}
deltaX = ((int16_t)data[5] << 8) | data[3];
deltaY = ((int16_t)data[9] << 8) | data[7];
ret = OK;
return ret;
}
void
PMW3901::start()
{
/* reset the report ring and state machine */
_reports->flush();
/* schedule a cycle to start things */
ScheduleDelayed(PMW3901_US);
/* notify about state change */
struct subsystem_info_s info = {};
info.timestamp = hrt_absolute_time();
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW;
if (_subsystem_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
} else {
_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
void
PMW3901::stop()
{
ScheduleClear();
}
void
PMW3901::Run()
{
collect();
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(PMW3901_SAMPLE_RATE);
}
void
PMW3901::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u\n", _measure_interval);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace pmw3901
{
PMW3901 *g_dev;
void start(int spi_bus);
void stop();
void test();
void reset();
void info();
void usage();
/**
* Start the driver.
*/
void
start(int spi_bus)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new PMW3901(spi_bus, (enum Rotation)0);
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
goto fail;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct optical_flow_s report;
ssize_t sz;
int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'pmw3901 start' if the driver is not running)", PMW3901_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("ret: %d, expected: %d", sz, sizeof(report));
err(1, "immediate acc read failed");
}
print_message(report);
errx(0, "PASS");
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
/**
* Print a little info about how to start/stop/use the driver
*/
void usage()
{
PX4_INFO("usage: pmw3901 {start|test|reset|info'}");
PX4_INFO(" [-b SPI_BUS]");
}
} // namespace pmw3901
int
pmw3901_main(int argc, char *argv[])
{
if (argc < 2) {
pmw3901::usage();
return PX4_ERROR;
}
// don't exit from getopt loop to leave getopt global variables in consistent state,
// set error flag instead
bool err_flag = false;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
int spi_bus = PMW3901_BUS;
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
spi_bus = (uint8_t)atoi(myoptarg);
break;
default:
err_flag = true;
break;
}
}
if (err_flag) {
pmw3901::usage();
return PX4_ERROR;
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[myoptind], "start")) {
pmw3901::start(spi_bus);
}
/*
* Stop the driver
*/
if (!strcmp(argv[myoptind], "stop")) {
pmw3901::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[myoptind], "test")) {
pmw3901::test();
}
/*
* Print driver information.
*/
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
pmw3901::info();
}
pmw3901::usage();
return PX4_ERROR;
}
src/drivers/optical_flow/px4flow/CMakeLists.txt
+41
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@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__px4flow
MAIN px4flow
STACK_MAIN 1200
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
px4flow.cpp
)
src/drivers/optical_flow/px4flow/i2c_frame.h
+80
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@@ -0,0 +1,80 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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 i2c_frame.h
* Definition of i2c frames.
* There are different I2C readouts available: i2c_frame and i2c_integral_frame.
* The ic2_frame can be requested via the register 0x0, the i2c_integral_frame via 0x16.
*
* @author Thomas Boehm <thomas.boehm@fortiss.org>
* @author James Goppert <james.goppert@gmail.com>
*/
#pragma once
#include <inttypes.h>
typedef struct i2c_frame {
uint16_t frame_count; /**< counts created I2C frames [#frames] */
int16_t pixel_flow_x_sum; /**< latest x flow measurement in pixels*10 [pixels] */
int16_t pixel_flow_y_sum; /**< latest y flow measurement in pixels*10 [pixels] */
int16_t flow_comp_m_x; /**< x velocity*1000 [meters/sec] */
int16_t flow_comp_m_y; /**< y velocity*1000 [meters/sec] */
int16_t qual; /**< Optical flow quality / confidence [0: bad, 255: maximum quality] */
int16_t gyro_x_rate; /**< latest gyro x rate [rad/sec] */
int16_t gyro_y_rate; /**< latest gyro y rate [rad/sec] */
int16_t gyro_z_rate; /**< latest gyro z rate [rad/sec] */
uint8_t gyro_range; /**< gyro range [0 .. 7] equals [50 deg/sec .. 2000 deg/sec] */
uint8_t sonar_timestamp; /**< time since last sonar update [milliseconds] */
int16_t ground_distance; /**< Ground distance in meters*1000 [meters]. Positive value: distance known. Negative value: Unknown distance */
} i2c_frame;
#define I2C_FRAME_SIZE (sizeof(i2c_frame))
typedef struct i2c_integral_frame {
uint16_t frame_count_since_last_readout; /**< number of flow measurements since last I2C readout [#frames] */
int16_t pixel_flow_x_integral; /**< accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] */
int16_t pixel_flow_y_integral; /**< accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] */
int16_t gyro_x_rate_integral; /**< accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] */
int16_t gyro_y_rate_integral; /**< accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] */
int16_t gyro_z_rate_integral; /**< accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] */
uint32_t integration_timespan; /**< accumulation timespan in microseconds since last I2C readout [microseconds] */
uint32_t sonar_timestamp; /**< time since last sonar update [microseconds] */
uint16_t ground_distance; /**< Ground distance in meters*1000 [meters*1000] */
int16_t gyro_temperature; /**< Temperature * 100 in centi-degrees Celsius [degcelsius*100] */
uint8_t qual; /**< averaged quality of accumulated flow values [0:bad quality;255: max quality] */
} i2c_integral_frame;
#define I2C_INTEGRAL_FRAME_SIZE (sizeof(i2c_integral_frame))
src/drivers/optical_flow/px4flow/px4flow.cpp
+991
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@@ -0,0 +1,991 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 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 px4flow.cpp
* @author Dominik Honegger
* @author Ban Siesta <bansiesta@gmail.com>
*
* Driver for the PX4FLOW module connected via I2C.
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <drivers/device/i2c.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <conversion/rotation.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h>
#include <board_config.h>
#define PX4FLOW0_DEVICE_PATH "/dev/px4flow0"
/* Configuration Constants */
#define I2C_FLOW_ADDRESS_DEFAULT 0x42 ///< 7-bit address. 8-bit address is 0x84, range 0x42 - 0x49
#define I2C_FLOW_ADDRESS_MIN 0x42 ///< 7-bit address.
#define I2C_FLOW_ADDRESS_MAX 0x49 ///< 7-bit address.
/* PX4FLOW Registers addresses */
#define PX4FLOW_REG 0x16 ///< Measure Register 22
#define PX4FLOW_CONVERSION_INTERVAL_DEFAULT 100000 ///< in microseconds! = 10Hz
#define PX4FLOW_CONVERSION_INTERVAL_MIN 10000 ///< in microseconds! = 100 Hz
#define PX4FLOW_CONVERSION_INTERVAL_MAX 1000000 ///< in microseconds! = 1 Hz
#define PX4FLOW_I2C_MAX_BUS_SPEED 400000 ///< 400 KHz maximum speed
#define PX4FLOW_MAX_DISTANCE 5.0f
#define PX4FLOW_MIN_DISTANCE 0.3f
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#include "i2c_frame.h"
class PX4FLOW: public device::I2C
{
public:
PX4FLOW(int bus, int address = I2C_FLOW_ADDRESS_DEFAULT, enum Rotation rotation = (enum Rotation)0,
int conversion_interval = PX4FLOW_CONVERSION_INTERVAL_DEFAULT,
uint8_t sonar_rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
virtual ~PX4FLOW();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
uint8_t _sonar_rotation;
work_s _work;
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_ticks;
bool _collect_phase;
int _class_instance;
int _orb_class_instance;
orb_advert_t _px4flow_topic;
orb_advert_t _distance_sensor_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
unsigned _conversion_interval;
enum Rotation _sensor_rotation;
float _sensor_min_range;
float _sensor_max_range;
float _sensor_max_flow_rate;
i2c_frame _frame;
i2c_integral_frame _frame_integral;
/**
* Test whether the device supported by the driver is present at a
* specific address.
*
* @param address The I2C bus address to probe.
* @return True if the device is present.
*/
int probe_address(uint8_t address);
/**
* 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();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
int measure();
int collect();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int px4flow_main(int argc, char *argv[]);
PX4FLOW::PX4FLOW(int bus, int address, enum Rotation rotation, int conversion_interval, uint8_t sonar_rotation) :
I2C("PX4FLOW", PX4FLOW0_DEVICE_PATH, bus, address, PX4FLOW_I2C_MAX_BUS_SPEED), /* 100-400 KHz */
_sonar_rotation(sonar_rotation),
_reports(nullptr),
_sensor_ok(false),
_measure_ticks(0),
_collect_phase(false),
_class_instance(-1),
_orb_class_instance(-1),
_px4flow_topic(nullptr),
_distance_sensor_topic(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "px4f_read")),
_comms_errors(perf_alloc(PC_COUNT, "px4f_com_err")),
_conversion_interval(conversion_interval),
_sensor_rotation(rotation)
{
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
PX4FLOW::~PX4FLOW()
{
/* make sure we are truly inactive */
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
PX4FLOW::init()
{
int ret = PX4_ERROR;
/* do I2C init (and probe) first */
if (I2C::init() != OK) {
return ret;
}
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
return ret;
}
_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
/* get a publish handle on the range finder topic */
struct distance_sensor_s ds_report = {};
if (_class_instance == CLASS_DEVICE_PRIMARY) {
_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
&_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) {
PX4_ERR("failed to create distance_sensor object");
}
} else {
DEVICE_LOG("not primary range device, not advertising");
}
ret = OK;
/* sensor is ok, but we don't really know if it is within range */
_sensor_ok = true;
/* get yaw rotation from sensor frame to body frame */
param_t rot = param_find("SENS_FLOW_ROT");
if (rot != PARAM_INVALID) {
int32_t val = 6; // the recommended installation for the flow sensor is with the Y sensor axis forward
param_get(rot, &val);
_sensor_rotation = (enum Rotation)val;
}
/* get operational limits of the sensor */
param_t hmin = param_find("SENS_FLOW_MINHGT");
if (hmin != PARAM_INVALID) {
float val = 0.7;
param_get(hmin, &val);
_sensor_min_range = val;
}
param_t hmax = param_find("SENS_FLOW_MAXHGT");
if (hmax != PARAM_INVALID) {
float val = 3.0;
param_get(hmax, &val);
_sensor_max_range = val;
}
param_t ratemax = param_find("SENS_FLOW_MAXR");
if (ratemax != PARAM_INVALID) {
float val = 2.5;
param_get(ratemax, &val);
_sensor_max_flow_rate = val;
}
return ret;
}
int
PX4FLOW::probe()
{
uint8_t val[I2C_FRAME_SIZE];
// to be sure this is not a ll40ls Lidar (which can also be on
// 0x42) we check if a I2C_FRAME_SIZE byte transfer works from address
// 0. The ll40ls gives an error for that, whereas the flow
// happily returns some data
if (transfer(nullptr, 0, &val[0], 22) != OK) {
return -EIO;
}
// that worked, so start a measurement cycle
return measure();
}
int
PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case SENSORIOCSPOLLRATE: {
switch (arg) {
/* zero would be bad */
case 0:
return -EINVAL;
/* set default polling rate */
case SENSOR_POLLRATE_DEFAULT: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* set interval for next measurement to minimum legal value */
_measure_ticks = USEC2TICK(_conversion_interval);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_ticks == 0);
/* convert hz to tick interval via microseconds */
unsigned ticks = USEC2TICK(1000000 / arg);
/* check against maximum rate */
if (ticks < USEC2TICK(_conversion_interval)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_ticks = ticks;
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
}
}
default:
/* give it to the superclass */
return I2C::ioctl(filp, cmd, arg);
}
}
ssize_t
PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct optical_flow_s);
struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
int ret = 0;
/* buffer must be large enough */
if (count < 1) {
return -ENOSPC;
}
/* if automatic measurement is enabled */
if (_measure_ticks > 0) {
/*
* While there is space in the caller's buffer, and reports, copy them.
* Note that we may be pre-empted by the workq thread while we are doing this;
* we are careful to avoid racing with them.
*/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
rbuf++;
}
}
/* if there was no data, warn the caller */
return ret ? ret : -EAGAIN;
}
/* manual measurement - run one conversion */
do {
_reports->flush();
/* trigger a measurement */
if (OK != measure()) {
ret = -EIO;
break;
}
/* run the collection phase */
if (OK != collect()) {
ret = -EIO;
break;
}
/* state machine will have generated a report, copy it out */
if (_reports->get(rbuf)) {
ret = sizeof(*rbuf);
}
} while (0);
return ret;
}
int
PX4FLOW::measure()
{
int ret;
/*
* Send the command to begin a measurement.
*/
uint8_t cmd = PX4FLOW_REG;
ret = transfer(&cmd, 1, nullptr, 0);
if (OK != ret) {
perf_count(_comms_errors);
DEVICE_DEBUG("i2c::transfer returned %d", ret);
return ret;
}
ret = OK;
return ret;
}
int
PX4FLOW::collect()
{
int ret = -EIO;
/* read from the sensor */
uint8_t val[I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE] = { };
perf_begin(_sample_perf);
if (PX4FLOW_REG == 0x00) {
ret = transfer(nullptr, 0, &val[0], I2C_FRAME_SIZE + I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
ret = transfer(nullptr, 0, &val[0], I2C_INTEGRAL_FRAME_SIZE);
}
if (ret < 0) {
DEVICE_DEBUG("error reading from sensor: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
return ret;
}
if (PX4FLOW_REG == 0) {
memcpy(&_frame, val, I2C_FRAME_SIZE);
memcpy(&_frame_integral, &(val[I2C_FRAME_SIZE]), I2C_INTEGRAL_FRAME_SIZE);
}
if (PX4FLOW_REG == 0x16) {
memcpy(&_frame_integral, val, I2C_INTEGRAL_FRAME_SIZE);
}
struct optical_flow_s report;
report.timestamp = hrt_absolute_time();
report.pixel_flow_x_integral = static_cast<float>(_frame_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians
report.pixel_flow_y_integral = static_cast<float>(_frame_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians
report.frame_count_since_last_readout = _frame_integral.frame_count_since_last_readout;
report.ground_distance_m = static_cast<float>(_frame_integral.ground_distance) / 1000.0f;//convert to meters
report.quality = _frame_integral.qual; //0:bad ; 255 max quality
report.gyro_x_rate_integral = static_cast<float>(_frame_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians
report.gyro_y_rate_integral = static_cast<float>(_frame_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians
report.gyro_z_rate_integral = static_cast<float>(_frame_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians
report.integration_timespan = _frame_integral.integration_timespan; //microseconds
report.time_since_last_sonar_update = _frame_integral.sonar_timestamp;//microseconds
report.gyro_temperature = _frame_integral.gyro_temperature;//Temperature * 100 in centi-degrees Celsius
report.sensor_id = 0;
report.max_flow_rate = _sensor_max_flow_rate;
report.min_ground_distance = _sensor_min_range;
report.max_ground_distance = _sensor_max_range;
/* rotate measurements in yaw from sensor frame to body frame according to parameter SENS_FLOW_ROT */
float zeroval = 0.0f;
rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
if (_px4flow_topic == nullptr) {
_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
} else {
/* publish it */
orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
}
/* publish to the distance_sensor topic as well */
struct distance_sensor_s distance_report;
distance_report.timestamp = report.timestamp;
distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
distance_report.current_distance = report.ground_distance_m;
distance_report.variance = 0.0f;
distance_report.signal_quality = -1;
distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
/* TODO: the ID needs to be properly set */
distance_report.id = 0;
distance_report.orientation = _sonar_rotation;
orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
/* post a report to the ring */
_reports->force(&report);
/* notify anyone waiting for data */
poll_notify(POLLIN);
ret = OK;
perf_end(_sample_perf);
return ret;
}
void
PX4FLOW::start()
{
/* reset the report ring and state machine */
_collect_phase = false;
_reports->flush();
/* schedule a cycle to start things */
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
}
void
PX4FLOW::stop()
{
work_cancel(HPWORK, &_work);
}
void
PX4FLOW::cycle_trampoline(void *arg)
{
PX4FLOW *dev = (PX4FLOW *)arg;
dev->cycle();
}
void
PX4FLOW::cycle()
{
if (OK != measure()) {
DEVICE_DEBUG("measure error");
}
/* perform collection */
if (OK != collect()) {
DEVICE_DEBUG("collection error");
/* restart the measurement state machine */
start();
return;
}
work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this,
_measure_ticks);
}
void
PX4FLOW::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u ticks\n", _measure_ticks);
_reports->print_info("report queue");
}
/**
* Local functions in support of the shell command.
*/
namespace px4flow
{
PX4FLOW *g_dev = nullptr;
bool start_in_progress = false;
const int START_RETRY_COUNT = 5;
const int START_RETRY_TIMEOUT = 1000;
int start(int argc, char *argv[]);
void stop();
void test();
void reset();
void info();
void usage();
/**
* Start the driver.
*/
int
start(int argc, char *argv[])
{
int fd;
/* entry check: */
if (start_in_progress) {
PX4_WARN("start already in progress");
return 1;
}
if (g_dev != nullptr) {
start_in_progress = false;
PX4_WARN("already started");
return 1;
}
/* parse command line options */
int address = I2C_FLOW_ADDRESS_DEFAULT;
int conversion_interval = PX4FLOW_CONVERSION_INTERVAL_DEFAULT;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
int ch;
int myoptind = 1;
const char *myoptarg = nullptr;
uint8_t sonar_rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
while ((ch = px4_getopt(argc, argv, "a:i:R:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'a':
address = strtoul(myoptarg, nullptr, 16);
if (address < I2C_FLOW_ADDRESS_MIN || address > I2C_FLOW_ADDRESS_MAX) {
PX4_WARN("invalid i2c address '%s'", myoptarg);
err_flag = true;
}
break;
case 'i':
conversion_interval = strtoul(myoptarg, nullptr, 10);
if (conversion_interval < PX4FLOW_CONVERSION_INTERVAL_MIN || conversion_interval > PX4FLOW_CONVERSION_INTERVAL_MAX) {
PX4_WARN("invalid conversion interval '%s'", myoptarg);
err_flag = true;
}
break;
case 'R':
sonar_rotation = (uint8_t)atoi(myoptarg);
PX4_INFO("Setting sonar orientation to %d", (int)sonar_rotation);
break;
default:
err_flag = true;
break;
}
}
if (err_flag) {
usage();
return PX4_ERROR;
}
/* starting */
start_in_progress = true;
PX4_INFO("scanning I2C buses for device..");
int retry_nr = 0;
while (1) {
const int busses_to_try[] = {
PX4_I2C_BUS_EXPANSION,
#ifdef PX4_I2C_BUS_ESC
PX4_I2C_BUS_ESC,
#endif
#ifdef PX4_I2C_BUS_ONBOARD
PX4_I2C_BUS_ONBOARD,
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
PX4_I2C_BUS_EXPANSION1,
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
PX4_I2C_BUS_EXPANSION2,
#endif
-1
};
const int *cur_bus = busses_to_try;
while (*cur_bus != -1) {
/* create the driver */
/* PX4_WARN("trying bus %d", *cur_bus); */
g_dev = new PX4FLOW(*cur_bus, address, (enum Rotation)0, conversion_interval, sonar_rotation);
if (g_dev == nullptr) {
/* this is a fatal error */
break;
}
/* init the driver: */
if (OK == g_dev->init()) {
/* success! */
break;
}
/* destroy it again because it failed. */
delete g_dev;
g_dev = nullptr;
/* try next! */
cur_bus++;
}
/* check whether we found it: */
if (*cur_bus != -1) {
/* check for failure: */
if (g_dev == nullptr) {
break;
}
/* set the poll rate to default, starts automatic data collection */
fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
break;
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
break;
}
/* success! */
start_in_progress = false;
return 0;
}
if (retry_nr < START_RETRY_COUNT) {
/* lets not be too verbose */
// PX4_WARN("PX4FLOW not found on I2C busses. Retrying in %d ms. Giving up in %d retries.", START_RETRY_TIMEOUT, START_RETRY_COUNT - retry_nr);
px4_usleep(START_RETRY_TIMEOUT * 1000);
retry_nr++;
} else {
break;
}
}
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
start_in_progress = false;
return 1;
}
/**
* Stop the driver
*/
void
stop()
{
start_in_progress = false;
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
struct optical_flow_s report;
ssize_t sz;
int ret;
int fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW0_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_WARN("immediate read failed");
}
print_message(report);
/* start the sensor polling at 10Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
errx(1, "failed to set 10Hz poll rate");
}
/* read the sensor 5x and report each value */
for (unsigned i = 0; i < 10; i++) {
struct pollfd fds;
/* wait for data to be ready */
fds.fd = fd;
fds.events = POLLIN;
ret = poll(&fds, 1, 2000);
if (ret != 1) {
errx(1, "timed out waiting for sensor data");
}
/* now go get it */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
err(1, "periodic read failed");
}
print_message(report);
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(PX4FLOW0_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
err(1, "driver reset failed");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
err(1, "driver poll restart failed");
}
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
void usage()
{
PX4_INFO("usage: px4flow {start|test|reset|info'}");
PX4_INFO(" [-a i2c_address]");
PX4_INFO(" [-i i2c_interval]");
}
} // namespace
int
px4flow_main(int argc, char *argv[])
{
if (argc < 2) {
px4flow::usage();
return 1;
}
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
return px4flow::start(argc, argv);
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
px4flow::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
px4flow::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
px4flow::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
px4flow::info();
}
px4flow::usage();
return 1;
}