mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Move optical flow drivers to own subdirectory
This commit is contained in:
Mohammed Kabir
committed by
Daniel Agar
Daniel Agar
parent
6627c60e5b
commit
b334b75886
@@ -0,0 +1,915 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file pmw3901.cpp
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* @author Daniele Pettenuzzo
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*
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* Driver for the pmw3901 optical flow sensor connected via SPI.
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*/
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_getopt.h>
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#include <px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/device/spi.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <float.h>
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#include <conversion/rotation.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/ringbuffer.h>
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#include <drivers/device/integrator.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/subsystem_info.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/sensor_gyro.h>
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#include <board_config.h>
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/* Configuration Constants */
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#if defined PX4_SPI_BUS_EXPANSION // crazyflie
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# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
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#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
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# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
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#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
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# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
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#else
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# error "add the required spi bus from board_config.h here"
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#endif
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#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
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# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
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#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
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# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
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#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
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# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
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#else
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# error "add the required spi dev from board_config.h here"
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#endif
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#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
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#define DIR_WRITE(a) ((a) | (1 << 7))
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#define DIR_READ(a) ((a) & 0x7f)
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#define PMW3901_DEVICE_PATH "/dev/pmw3901"
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/* PMW3901 Registers addresses */
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#define PMW3901_US 1000 /* 1 ms */
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#define PMW3901_SAMPLE_RATE 10000 /* 10 ms */
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class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
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{
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public:
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PMW3901(int bus = PMW3901_BUS, enum Rotation yaw_rotation = (enum Rotation)0);
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virtual ~PMW3901();
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virtual int init();
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virtual ssize_t read(device::file_t *filp, char *buffer, size_t buflen);
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virtual int ioctl(device::file_t *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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ringbuffer::RingBuffer *_reports;
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bool _sensor_ok;
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int _measure_interval;
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int _class_instance;
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int _orb_class_instance;
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const uint64_t _collect_time = 15000; // usecs, optical flow data publish rate
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orb_advert_t _optical_flow_pub;
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orb_advert_t _subsystem_pub;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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uint64_t _previous_collect_timestamp;
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enum Rotation _yaw_rotation;
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int _flow_sum_x = 0;
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int _flow_sum_y = 0;
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uint64_t _flow_dt_sum_usec = 0;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void Run() override;
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int collect();
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int readRegister(unsigned reg, uint8_t *data, unsigned count);
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int writeRegister(unsigned reg, uint8_t data);
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int sensorInit();
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int readMotionCount(int16_t &deltaX, int16_t &deltaY);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
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PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
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SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
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_reports(nullptr),
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_sensor_ok(false),
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_measure_interval(0),
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_class_instance(-1),
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_orb_class_instance(-1),
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_optical_flow_pub(nullptr),
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_subsystem_pub(nullptr),
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_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901_read")),
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_comms_errors(perf_alloc(PC_COUNT, "pmw3901_com_err")),
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_previous_collect_timestamp(0),
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_yaw_rotation(yaw_rotation)
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{
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}
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PMW3901::~PMW3901()
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{
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/* make sure we are truly inactive */
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stop();
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/* free any existing reports */
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if (_reports != nullptr) {
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delete _reports;
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}
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_comms_errors);
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}
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int
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PMW3901::sensorInit()
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{
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uint8_t data[5];
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// Power on reset
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writeRegister(0x3A, 0x5A);
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usleep(5000);
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// Reading the motion registers one time
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readRegister(0x02, &data[0], 1);
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readRegister(0x03, &data[1], 1);
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readRegister(0x04, &data[2], 1);
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readRegister(0x05, &data[3], 1);
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readRegister(0x06, &data[4], 1);
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usleep(1000);
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// set performance optimization registers
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writeRegister(0x7F, 0x00);
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writeRegister(0x61, 0xAD);
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writeRegister(0x7F, 0x03);
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writeRegister(0x40, 0x00);
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writeRegister(0x7F, 0x05);
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writeRegister(0x41, 0xB3);
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writeRegister(0x43, 0xF1);
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writeRegister(0x45, 0x14);
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writeRegister(0x5B, 0x32);
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writeRegister(0x5F, 0x34);
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writeRegister(0x7B, 0x08);
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writeRegister(0x7F, 0x06);
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writeRegister(0x44, 0x1B);
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writeRegister(0x40, 0xBF);
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writeRegister(0x4E, 0x3F);
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writeRegister(0x7F, 0x08);
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writeRegister(0x65, 0x20);
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writeRegister(0x6A, 0x18);
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writeRegister(0x7F, 0x09);
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writeRegister(0x4F, 0xAF);
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writeRegister(0x5F, 0x40);
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writeRegister(0x48, 0x80);
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writeRegister(0x49, 0x80);
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writeRegister(0x57, 0x77);
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writeRegister(0x60, 0x78);
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writeRegister(0x61, 0x78);
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writeRegister(0x62, 0x08);
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writeRegister(0x63, 0x50);
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writeRegister(0x7F, 0x0A);
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writeRegister(0x45, 0x60);
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writeRegister(0x7F, 0x00);
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writeRegister(0x4D, 0x11);
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writeRegister(0x55, 0x80);
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writeRegister(0x74, 0x1F);
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writeRegister(0x75, 0x1F);
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writeRegister(0x4A, 0x78);
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writeRegister(0x4B, 0x78);
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writeRegister(0x44, 0x08);
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writeRegister(0x45, 0x50);
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writeRegister(0x64, 0xFF);
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writeRegister(0x65, 0x1F);
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writeRegister(0x7F, 0x14);
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writeRegister(0x65, 0x60);
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writeRegister(0x66, 0x08);
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writeRegister(0x63, 0x78);
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writeRegister(0x7F, 0x15);
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writeRegister(0x48, 0x58);
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writeRegister(0x7F, 0x07);
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writeRegister(0x41, 0x0D);
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writeRegister(0x43, 0x14);
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writeRegister(0x4B, 0x0E);
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writeRegister(0x45, 0x0F);
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writeRegister(0x44, 0x42);
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writeRegister(0x4C, 0x80);
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writeRegister(0x7F, 0x10);
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writeRegister(0x5B, 0x02);
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writeRegister(0x7F, 0x07);
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writeRegister(0x40, 0x41);
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writeRegister(0x70, 0x00);
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usleep(10000);
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writeRegister(0x32, 0x44);
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writeRegister(0x7F, 0x07);
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writeRegister(0x40, 0x40);
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writeRegister(0x7F, 0x06);
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writeRegister(0x62, 0xf0);
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writeRegister(0x63, 0x00);
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writeRegister(0x7F, 0x0D);
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writeRegister(0x48, 0xC0);
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writeRegister(0x6F, 0xd5);
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writeRegister(0x7F, 0x00);
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writeRegister(0x5B, 0xa0);
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writeRegister(0x4E, 0xA8);
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writeRegister(0x5A, 0x50);
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writeRegister(0x40, 0x80);
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writeRegister(0x7F, 0x00);
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writeRegister(0x5A, 0x10);
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writeRegister(0x54, 0x00);
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return OK;
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}
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int
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PMW3901::init()
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{
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int ret = PX4_ERROR;
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// get yaw rotation from sensor frame to body frame
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param_t rot = param_find("SENS_FLOW_ROT");
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if (rot != PARAM_INVALID) {
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int32_t val = 0;
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param_get(rot, &val);
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_yaw_rotation = (enum Rotation)val;
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}
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/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
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SPI::set_lockmode(LOCK_THREADS);
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/* do SPI init (and probe) first */
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if (SPI::init() != OK) {
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goto out;
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}
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sensorInit();
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/* allocate basic report buffers */
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_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
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if (_reports == nullptr) {
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goto out;
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}
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ret = OK;
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_sensor_ok = true;
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_previous_collect_timestamp = hrt_absolute_time();
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out:
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return ret;
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}
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int
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PMW3901::probe()
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{
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uint8_t data[2] = { 0, 0 };
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readRegister(0x00, &data[0], 1); // chip id
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// Test the SPI communication, checking chipId and inverse chipId
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if (data[0] == 0x49) {
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return OK;
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}
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// not found on any address
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return -EIO;
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}
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int
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PMW3901::ioctl(device::file_t *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case SENSORIOCSPOLLRATE: {
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switch (arg) {
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case 0:
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return -EINVAL;
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case SENSOR_POLLRATE_DEFAULT: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_interval == 0);
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/* set interval for next measurement to minimum legal value */
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_measure_interval = (PMW3901_SAMPLE_RATE);
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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/* adjust to a legal polling interval in Hz */
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default: {
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/* do we need to start internal polling? */
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bool want_start = (_measure_interval == 0);
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/* convert hz to tick interval via microseconds */
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unsigned interval = (1000000 / arg);
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/* check against maximum rate */
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if (interval < (PMW3901_SAMPLE_RATE)) {
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return -EINVAL;
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}
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/* update interval for next measurement */
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_measure_interval = interval;
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/* if we need to start the poll state machine, do it */
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if (want_start) {
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start();
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}
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return OK;
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}
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||||
}
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}
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default:
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/* give it to the superclass */
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return SPI::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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PMW3901::read(device::file_t *filp, char *buffer, size_t buflen)
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{
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unsigned count = buflen / sizeof(struct optical_flow_s);
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struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
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int ret = 0;
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/* buffer must be large enough */
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if (count < 1) {
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return -ENOSPC;
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}
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/* if automatic measurement is enabled */
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if (_measure_interval > 0) {
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/*
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* While there is space in the caller's buffer, and reports, copy them.
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* Note that we may be pre-empted by the workq thread while we are doing this;
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* we are careful to avoid racing with them.
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*/
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while (count--) {
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if (_reports->get(rbuf)) {
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ret += sizeof(*rbuf);
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rbuf++;
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}
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}
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||||
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||||
/* if there was no data, warn the caller */
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return ret ? ret : -EAGAIN;
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}
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||||
|
||||
/* manual measurement - run one conversion */
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||||
do {
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||||
_reports->flush();
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||||
|
||||
/* trigger a measurement */
|
||||
if (OK != collect()) {
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ret = -EIO;
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||||
break;
|
||||
}
|
||||
|
||||
/* state machine will have generated a report, copy it out */
|
||||
if (_reports->get(rbuf)) {
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ret = sizeof(*rbuf);
|
||||
}
|
||||
|
||||
} while (0);
|
||||
|
||||
return ret;
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||||
}
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||||
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||||
|
||||
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;
|
||||
}
|
||||
Reference in New Issue
Block a user