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PixArt PAW3902 optical motion tracking driver (#12576)
This commit is contained in:
Daniel Agar
@@ -0,0 +1,705 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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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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#include "PAW3902.hpp"
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PAW3902::PAW3902(int bus, enum Rotation yaw_rotation) :
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SPI("PAW3902", nullptr, bus, PAW3902_SPIDEV, SPIDEV_MODE0, PAW3902_SPI_BUS_SPEED),
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ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
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_sample_perf(perf_alloc(PC_ELAPSED, "paw3902: read")),
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_interval_perf(perf_alloc(PC_INTERVAL, "paw3902: interval")),
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_comms_errors(perf_alloc(PC_COUNT, "paw3902: com_err")),
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_dupe_count_perf(perf_alloc(PC_COUNT, "paw3902: duplicate reading")),
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_yaw_rotation(yaw_rotation)
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{
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}
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PAW3902::~PAW3902()
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{
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// make sure we are truly inactive
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stop();
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// free perf counters
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perf_free(_sample_perf);
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perf_free(_interval_perf);
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perf_free(_comms_errors);
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perf_free(_dupe_count_perf);
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}
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int
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PAW3902::init()
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{
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// get yaw rotation from sensor frame to body frame
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param_t rot = param_find("SENS_FLOW_ROT");
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if (rot != PARAM_INVALID) {
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int32_t val = 0;
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if (param_get(rot, &val) == PX4_OK) {
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_yaw_rotation = (enum Rotation)val;
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}
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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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return PX4_ERROR;
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}
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reset();
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// default to low light mode (1)
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modeLowLight();
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_previous_collect_timestamp = hrt_absolute_time();
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start();
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return PX4_OK;
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}
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int
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PAW3902::probe()
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{
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uint8_t product_id = registerRead(Register::Product_ID);
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PX4_INFO("DEVICE_ID: %X", product_id);
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// Test the SPI communication, checking chipId and inverse chipId
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if (product_id != PRODUCT_ID) {
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return PX4_ERROR;
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}
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uint8_t revision_id = registerRead(Register::Revision_ID);
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PX4_INFO("REVISION_ID: %X", revision_id);
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if (revision_id != REVISION_ID) {
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return PX4_ERROR;
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}
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return PX4_OK;
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}
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bool
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PAW3902::reset()
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{
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// Power on reset
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registerWrite(Register::Power_Up_Reset, 0x5A);
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usleep(5000);
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// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion state
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registerRead(Register::Motion);
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registerRead(Register::Delta_X_L);
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registerRead(Register::Delta_X_H);
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registerRead(Register::Delta_Y_L);
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registerRead(Register::Delta_Y_H);
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usleep(1000);
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return true;
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}
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bool
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PAW3902::changeMode(Mode newMode)
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{
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if (newMode != _mode) {
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PX4_INFO("changing from mode %d -> %d", static_cast<int>(_mode), static_cast<int>(newMode));
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ScheduleClear();
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reset();
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switch (newMode) {
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case Mode::Bright:
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modeBright();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_0);
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break;
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case Mode::LowLight:
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modeLowLight();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1);
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break;
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case Mode::SuperLowLight:
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modeSuperLowLight();
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ScheduleOnInterval(SAMPLE_INTERVAL_MODE_2);
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break;
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}
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_mode = newMode;
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}
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// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
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// The maximum register value is 0xA8. The minimum register value is 0.
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uint8_t resolution = registerRead(Register::Resolution);
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PX4_INFO("Resolution: %X", resolution);
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PX4_INFO("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));
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return true;
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}
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bool
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PAW3902::modeBright()
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{
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// Mode 0: Bright (126 fps) 60 Lux typical
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// set performance optimization registers
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registerWrite(0x7F, 0x00);
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registerWrite(0x55, 0x01);
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registerWrite(0x50, 0x07);
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registerWrite(0x7f, 0x0e);
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registerWrite(0x43, 0x10);
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registerWrite(0x48, 0x02);
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registerWrite(0x7F, 0x00);
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registerWrite(0x51, 0x7b);
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registerWrite(0x50, 0x00);
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registerWrite(0x55, 0x00);
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registerWrite(0x7F, 0x00);
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registerWrite(0x61, 0xAD);
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registerWrite(0x7F, 0x03);
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registerWrite(0x40, 0x00);
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registerWrite(0x7F, 0x05);
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registerWrite(0x41, 0xB3);
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registerWrite(0x43, 0xF1);
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registerWrite(0x45, 0x14);
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registerWrite(0x5F, 0x34);
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registerWrite(0x7B, 0x08);
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registerWrite(0x5e, 0x34);
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registerWrite(0x5b, 0x32);
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registerWrite(0x6d, 0x32);
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registerWrite(0x45, 0x17);
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registerWrite(0x70, 0xe5);
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registerWrite(0x71, 0xe5);
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registerWrite(0x7F, 0x06);
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registerWrite(0x44, 0x1B);
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registerWrite(0x40, 0xBF);
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registerWrite(0x4E, 0x3F);
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registerWrite(0x7F, 0x08);
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registerWrite(0x66, 0x44);
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registerWrite(0x65, 0x20);
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registerWrite(0x6a, 0x3a);
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registerWrite(0x61, 0x05);
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registerWrite(0x62, 0x05);
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registerWrite(0x7F, 0x09);
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registerWrite(0x4F, 0xAF);
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registerWrite(0x48, 0x80);
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registerWrite(0x49, 0x80);
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registerWrite(0x57, 0x77);
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registerWrite(0x5F, 0x40);
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registerWrite(0x60, 0x78);
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registerWrite(0x61, 0x78);
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registerWrite(0x62, 0x08);
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registerWrite(0x63, 0x50);
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registerWrite(0x7F, 0x0A);
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registerWrite(0x45, 0x60);
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registerWrite(0x7F, 0x00);
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registerWrite(0x4D, 0x11);
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registerWrite(0x55, 0x80);
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registerWrite(0x74, 0x21);
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registerWrite(0x75, 0x1F);
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registerWrite(0x4A, 0x78);
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registerWrite(0x4B, 0x78);
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registerWrite(0x44, 0x08);
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registerWrite(0x45, 0x50);
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registerWrite(0x64, 0xFE);
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registerWrite(0x65, 0x1F);
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registerWrite(0x72, 0x0A);
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registerWrite(0x73, 0x00);
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registerWrite(0x7F, 0x14);
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registerWrite(0x44, 0x84);
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registerWrite(0x65, 0x47);
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registerWrite(0x66, 0x18);
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registerWrite(0x63, 0x70);
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registerWrite(0x6f, 0x2c);
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registerWrite(0x7F, 0x15);
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registerWrite(0x48, 0x48);
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registerWrite(0x7F, 0x07);
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registerWrite(0x41, 0x0D);
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registerWrite(0x43, 0x14);
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registerWrite(0x4B, 0x0E);
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registerWrite(0x45, 0x0F);
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registerWrite(0x44, 0x42);
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registerWrite(0x4C, 0x80);
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registerWrite(0x7F, 0x10);
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registerWrite(0x5B, 0x03);
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registerWrite(0x7F, 0x07);
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registerWrite(0x40, 0x41);
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usleep(10_ms); // delay 10ms
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registerWrite(0x7F, 0x00);
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registerWrite(0x32, 0x00);
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registerWrite(0x7F, 0x07);
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registerWrite(0x40, 0x40);
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registerWrite(0x7F, 0x06);
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registerWrite(0x68, 0x70);
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registerWrite(0x69, 0x01);
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registerWrite(0x7F, 0x0D);
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registerWrite(0x48, 0xC0);
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registerWrite(0x6F, 0xD5);
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registerWrite(0x7F, 0x00);
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registerWrite(0x5B, 0xA0);
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registerWrite(0x4E, 0xA8);
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registerWrite(0x5A, 0x50);
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registerWrite(0x40, 0x80);
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registerWrite(0x73, 0x1f);
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usleep(10_ms); // delay 10ms
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registerWrite(0x73, 0x00);
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return false;
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}
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bool
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PAW3902::modeLowLight()
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{
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// Mode 1: Low Light (126 fps) 30 Lux typical
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// low light and low speed motion tracking
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// set performance optimization registers
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registerWrite(0x7F, 0x00);
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registerWrite(0x55, 0x01);
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registerWrite(0x50, 0x07);
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registerWrite(0x7f, 0x0e);
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registerWrite(0x43, 0x10);
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registerWrite(0x48, 0x02);
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registerWrite(0x7F, 0x00);
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registerWrite(0x51, 0x7b);
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registerWrite(0x50, 0x00);
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registerWrite(0x55, 0x00);
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registerWrite(0x7F, 0x00);
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registerWrite(0x61, 0xAD);
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registerWrite(0x7F, 0x03);
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registerWrite(0x40, 0x00);
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registerWrite(0x7F, 0x05);
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registerWrite(0x41, 0xB3);
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registerWrite(0x43, 0xF1);
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registerWrite(0x45, 0x14);
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registerWrite(0x5F, 0x34);
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registerWrite(0x7B, 0x08);
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registerWrite(0x5e, 0x34);
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registerWrite(0x5b, 0x65);
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registerWrite(0x6d, 0x65);
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registerWrite(0x45, 0x17);
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registerWrite(0x70, 0xe5);
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registerWrite(0x71, 0xe5);
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registerWrite(0x7F, 0x06);
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registerWrite(0x44, 0x1B);
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registerWrite(0x40, 0xBF);
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registerWrite(0x4E, 0x3F);
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registerWrite(0x7F, 0x08);
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registerWrite(0x66, 0x44);
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registerWrite(0x65, 0x20);
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registerWrite(0x6a, 0x3a);
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registerWrite(0x61, 0x05);
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registerWrite(0x62, 0x05);
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registerWrite(0x7F, 0x09);
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registerWrite(0x4F, 0xAF);
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registerWrite(0x48, 0x80);
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registerWrite(0x49, 0x80);
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registerWrite(0x57, 0x77);
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registerWrite(0x5F, 0x40);
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registerWrite(0x60, 0x78);
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registerWrite(0x61, 0x78);
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registerWrite(0x62, 0x08);
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registerWrite(0x63, 0x50);
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registerWrite(0x7F, 0x0A);
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registerWrite(0x45, 0x60);
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registerWrite(0x7F, 0x00);
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registerWrite(0x4D, 0x11);
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registerWrite(0x55, 0x80);
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registerWrite(0x74, 0x21);
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registerWrite(0x75, 0x1F);
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registerWrite(0x4A, 0x78);
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registerWrite(0x4B, 0x78);
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registerWrite(0x44, 0x08);
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registerWrite(0x45, 0x50);
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registerWrite(0x64, 0xFE);
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registerWrite(0x65, 0x1F);
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registerWrite(0x72, 0x0A);
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registerWrite(0x73, 0x00);
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registerWrite(0x7F, 0x14);
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registerWrite(0x44, 0x84);
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registerWrite(0x65, 0x67);
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registerWrite(0x66, 0x18);
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registerWrite(0x63, 0x70);
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registerWrite(0x6f, 0x2c);
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registerWrite(0x7F, 0x15);
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registerWrite(0x48, 0x48);
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registerWrite(0x7F, 0x07);
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registerWrite(0x41, 0x0D);
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registerWrite(0x43, 0x14);
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registerWrite(0x4B, 0x0E);
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registerWrite(0x45, 0x0F);
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registerWrite(0x44, 0x42);
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registerWrite(0x4C, 0x80);
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registerWrite(0x7F, 0x10);
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registerWrite(0x5B, 0x03);
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||||
registerWrite(0x7F, 0x07);
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registerWrite(0x40, 0x41);
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usleep(10_ms); // delay 10ms
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||||
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registerWrite(0x7F, 0x00);
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registerWrite(0x32, 0x00);
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registerWrite(0x7F, 0x07);
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registerWrite(0x40, 0x40);
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||||
registerWrite(0x7F, 0x06);
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registerWrite(0x68, 0x70);
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||||
registerWrite(0x69, 0x01);
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||||
registerWrite(0x7F, 0x0D);
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||||
registerWrite(0x48, 0xC0);
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registerWrite(0x6F, 0xD5);
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||||
registerWrite(0x7F, 0x00);
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||||
registerWrite(0x5B, 0xA0);
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||||
registerWrite(0x4E, 0xA8);
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||||
registerWrite(0x5A, 0x50);
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||||
registerWrite(0x40, 0x80);
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||||
registerWrite(0x73, 0x1f);
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||||
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||||
usleep(10_ms); // delay 10ms
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||||
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||||
registerWrite(0x73, 0x00);
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return false;
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||||
}
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||||
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||||
bool
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PAW3902::modeSuperLowLight()
|
||||
{
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||||
// Mode 2: Super Low Light (50 fps) 9 Lux typical
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||||
// super low light and low speed motion tracking
|
||||
|
||||
// set performance optimization registers
|
||||
registerWrite(0x7F, 0x00);
|
||||
registerWrite(0x55, 0x01);
|
||||
registerWrite(0x50, 0x07);
|
||||
registerWrite(0x7f, 0x0e);
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||||
registerWrite(0x43, 0x10);
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||||
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||||
registerWrite(0x48, 0x04);
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||||
registerWrite(0x7F, 0x00);
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||||
registerWrite(0x51, 0x7b);
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||||
registerWrite(0x50, 0x00);
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||||
registerWrite(0x55, 0x00);
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||||
|
||||
registerWrite(0x7F, 0x00);
|
||||
registerWrite(0x61, 0xAD);
|
||||
registerWrite(0x7F, 0x03);
|
||||
registerWrite(0x40, 0x00);
|
||||
registerWrite(0x7F, 0x05);
|
||||
registerWrite(0x41, 0xB3);
|
||||
registerWrite(0x43, 0xF1);
|
||||
registerWrite(0x45, 0x14);
|
||||
registerWrite(0x5F, 0x34);
|
||||
registerWrite(0x7B, 0x08);
|
||||
registerWrite(0x5E, 0x34);
|
||||
registerWrite(0x5B, 0x32);
|
||||
registerWrite(0x6D, 0x32);
|
||||
registerWrite(0x45, 0x17);
|
||||
registerWrite(0x70, 0xE5);
|
||||
registerWrite(0x71, 0xE5);
|
||||
registerWrite(0x7F, 0x06);
|
||||
registerWrite(0x44, 0x1B);
|
||||
registerWrite(0x40, 0xBF);
|
||||
registerWrite(0x4E, 0x3F);
|
||||
registerWrite(0x7F, 0x08);
|
||||
registerWrite(0x66, 0x44);
|
||||
registerWrite(0x65, 0x20);
|
||||
registerWrite(0x6A, 0x3a);
|
||||
registerWrite(0x61, 0x05);
|
||||
registerWrite(0x62, 0x05);
|
||||
registerWrite(0x7F, 0x09);
|
||||
registerWrite(0x4F, 0xAF);
|
||||
registerWrite(0x48, 0x80);
|
||||
registerWrite(0x49, 0x80);
|
||||
registerWrite(0x57, 0x77);
|
||||
registerWrite(0x5F, 0x40);
|
||||
registerWrite(0x60, 0x78);
|
||||
registerWrite(0x61, 0x78);
|
||||
registerWrite(0x62, 0x08);
|
||||
registerWrite(0x63, 0x50);
|
||||
registerWrite(0x7F, 0x0A);
|
||||
registerWrite(0x45, 0x60);
|
||||
registerWrite(0x7F, 0x00);
|
||||
registerWrite(0x4D, 0x11);
|
||||
registerWrite(0x55, 0x80);
|
||||
registerWrite(0x74, 0x21);
|
||||
registerWrite(0x75, 0x1F);
|
||||
registerWrite(0x4A, 0x78);
|
||||
registerWrite(0x4B, 0x78);
|
||||
registerWrite(0x44, 0x08);
|
||||
registerWrite(0x45, 0x50);
|
||||
registerWrite(0x64, 0xCE);
|
||||
registerWrite(0x65, 0x0B);
|
||||
registerWrite(0x72, 0x0A);
|
||||
registerWrite(0x73, 0x00);
|
||||
registerWrite(0x7F, 0x14);
|
||||
registerWrite(0x44, 0x84);
|
||||
registerWrite(0x65, 0x67);
|
||||
registerWrite(0x66, 0x18);
|
||||
registerWrite(0x63, 0x70);
|
||||
registerWrite(0x6f, 0x2c);
|
||||
registerWrite(0x7F, 0x15);
|
||||
registerWrite(0x48, 0x48);
|
||||
registerWrite(0x7F, 0x07);
|
||||
registerWrite(0x41, 0x0D);
|
||||
registerWrite(0x43, 0x14);
|
||||
registerWrite(0x4B, 0x0E);
|
||||
registerWrite(0x45, 0x0F);
|
||||
registerWrite(0x44, 0x42);
|
||||
registerWrite(0x4C, 0x80);
|
||||
registerWrite(0x7F, 0x10);
|
||||
registerWrite(0x5B, 0x02);
|
||||
registerWrite(0x7F, 0x07);
|
||||
registerWrite(0x40, 0x41);
|
||||
|
||||
usleep(25_ms); // delay 25ms
|
||||
|
||||
registerWrite(0x7F, 0x00);
|
||||
registerWrite(0x32, 0x44);
|
||||
registerWrite(0x7F, 0x07);
|
||||
registerWrite(0x40, 0x40);
|
||||
registerWrite(0x7F, 0x06);
|
||||
registerWrite(0x68, 0x40);
|
||||
registerWrite(0x69, 0x02);
|
||||
registerWrite(0x7F, 0x0D);
|
||||
registerWrite(0x48, 0xC0);
|
||||
registerWrite(0x6F, 0xD5);
|
||||
registerWrite(0x7F, 0x00);
|
||||
registerWrite(0x5B, 0xA0);
|
||||
registerWrite(0x4E, 0xA8);
|
||||
registerWrite(0x5A, 0x50);
|
||||
registerWrite(0x40, 0x80);
|
||||
registerWrite(0x73, 0x0B);
|
||||
|
||||
usleep(25_ms); // delay 25ms
|
||||
|
||||
registerWrite(0x73, 0x00);
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
uint8_t
|
||||
PAW3902::registerRead(uint8_t reg)
|
||||
{
|
||||
uint8_t cmd[2] {};
|
||||
cmd[0] = reg;
|
||||
transfer(&cmd[0], &cmd[0], sizeof(cmd));
|
||||
up_udelay(T_SRR);
|
||||
return cmd[1];
|
||||
}
|
||||
|
||||
void
|
||||
PAW3902::registerWrite(uint8_t reg, uint8_t data)
|
||||
{
|
||||
uint8_t cmd[2];
|
||||
cmd[0] = DIR_WRITE(reg);
|
||||
cmd[1] = data;
|
||||
transfer(&cmd[0], nullptr, sizeof(cmd));
|
||||
up_udelay(T_SWW);
|
||||
}
|
||||
|
||||
void
|
||||
PAW3902::Run()
|
||||
{
|
||||
perf_begin(_sample_perf);
|
||||
perf_count(_interval_perf);
|
||||
|
||||
struct TransferBuffer {
|
||||
uint8_t cmd = Register::Motion_Burst;
|
||||
BURST_TRANSFER data{};
|
||||
};
|
||||
TransferBuffer buf;
|
||||
static_assert(sizeof(buf) == (12 + 1));
|
||||
|
||||
const hrt_abstime timestamp_sample = hrt_absolute_time();
|
||||
|
||||
if (transfer((uint8_t *)&buf, (uint8_t *)&buf, sizeof(buf)) != PX4_OK) {
|
||||
perf_count(_comms_errors);
|
||||
perf_end(_sample_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
const uint64_t dt_flow = timestamp_sample - _previous_collect_timestamp;
|
||||
_flow_dt_sum_usec += dt_flow;
|
||||
_frame_count_since_last++;
|
||||
|
||||
// update for next iteration
|
||||
_previous_collect_timestamp = timestamp_sample;
|
||||
|
||||
// PX4_INFO("data.Motion %d", buf.data.Motion);
|
||||
// PX4_INFO("data.Observation %d", buf.data.Observation);
|
||||
// PX4_INFO("data.Delta_X_L %d", buf.data.Delta_X_L);
|
||||
// PX4_INFO("data.Delta_X_H %d", buf.data.Delta_X_H);
|
||||
// PX4_INFO("data.Delta_Y_L %d", buf.data.Delta_Y_L);
|
||||
// PX4_INFO("data.Delta_Y_H %d", buf.data.Delta_Y_H);
|
||||
// PX4_INFO("data.SQUAL %d", buf.data.SQUAL);
|
||||
// PX4_INFO("data.RawData_Sum %d", buf.data.RawData_Sum);
|
||||
// PX4_INFO("data.Maximum_RawData %d", buf.data.Maximum_RawData);
|
||||
// PX4_INFO("data.Minimum_RawData %d", buf.data.Minimum_RawData);
|
||||
// PX4_INFO("data.Shutter_Upper %d", buf.data.Shutter_Upper);
|
||||
// PX4_INFO("data.Shutter_Lower %d", buf.data.Shutter_Lower);
|
||||
|
||||
const int16_t delta_x_raw = ((int16_t)buf.data.Delta_X_H << 8) | buf.data.Delta_X_L;
|
||||
const int16_t delta_y_raw = ((int16_t)buf.data.Delta_Y_H << 8) | buf.data.Delta_Y_L;
|
||||
|
||||
// check SQUAL & Shutter values
|
||||
// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
|
||||
// Bright Mode, SQUAL < 0x19, Shutter ≥ 0x1FF0
|
||||
// Low Light Mode, SQUAL < 0x46, Shutter ≥ 0x1FF0
|
||||
// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
|
||||
const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;
|
||||
|
||||
if ((buf.data.SQUAL < 0x19) && (shutter >= 0x0BC0)) {
|
||||
PX4_ERR("false motion report, discarding");
|
||||
perf_end(_sample_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
switch (_mode) {
|
||||
case Mode::Bright:
|
||||
if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x3C)) { // AND valid for 10 consecutive frames?
|
||||
// Bright -> LowLight
|
||||
changeMode(Mode::LowLight);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case Mode::LowLight:
|
||||
if ((shutter >= 0x1FFE) && (buf.data.RawData_Sum < 0x5A)) { // AND valid for 10 consecutive frames?
|
||||
// LowLight -> SuperLowLight
|
||||
changeMode(Mode::SuperLowLight);
|
||||
|
||||
} else if ((shutter >= 0x0BB8)) { // AND valid for 10 consecutive frames?
|
||||
// LowLight -> Bright
|
||||
changeMode(Mode::Bright);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case Mode::SuperLowLight:
|
||||
|
||||
// SuperLowLight -> LowLight
|
||||
if ((shutter >= 0x03E8)) { // AND valid for 10 consecutive frames?
|
||||
changeMode(Mode::LowLight);
|
||||
}
|
||||
|
||||
// PAW3902JF should not operate with Shutter < 0x01F4 in Mode 2
|
||||
if (shutter >= 0x01F4) {
|
||||
changeMode(Mode::LowLight);
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
// TODO: page 35 switching scheme
|
||||
|
||||
// As a minimum requirement, PAW3902JF should not operate with Shutter < 0x01F4 in Mode 2, and must switch to the next operation mode.
|
||||
|
||||
_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) {
|
||||
perf_end(_sample_perf);
|
||||
return;
|
||||
}
|
||||
|
||||
optical_flow_s report{};
|
||||
report.timestamp = timestamp_sample;
|
||||
|
||||
|
||||
//PX4_INFO("X: %d Y: %d", _flow_sum_x, _flow_sum_y);
|
||||
|
||||
report.pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
|
||||
report.pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
|
||||
|
||||
// rotate measurements in yaw from sensor frame to body frame 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);
|
||||
|
||||
report.frame_count_since_last_readout = _frame_count_since_last;
|
||||
report.integration_timespan = _flow_dt_sum_usec; // microseconds
|
||||
|
||||
report.sensor_id = 0;
|
||||
report.quality = buf.data.SQUAL;
|
||||
|
||||
/* 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 = 0.08f; // Datasheet: 80mm
|
||||
report.max_ground_distance = 30.0f; // Datasheet: infinity
|
||||
|
||||
_optical_flow_pub.publish(report);
|
||||
|
||||
// reset
|
||||
_flow_dt_sum_usec = 0;
|
||||
_flow_sum_x = 0;
|
||||
_flow_sum_y = 0;
|
||||
_frame_count_since_last = 0;
|
||||
|
||||
perf_end(_sample_perf);
|
||||
}
|
||||
|
||||
void
|
||||
PAW3902::start()
|
||||
{
|
||||
// schedule a cycle to start things
|
||||
ScheduleOnInterval(SAMPLE_INTERVAL_MODE_1);
|
||||
}
|
||||
|
||||
void
|
||||
PAW3902::stop()
|
||||
{
|
||||
ScheduleClear();
|
||||
}
|
||||
|
||||
void
|
||||
PAW3902::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_interval_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_dupe_count_perf);
|
||||
}
|
||||
Reference in New Issue
Block a user