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PixArt PAW3902 optical motion tracking driver (#12576)
This commit is contained in:
Daniel Agar
@@ -31,5 +31,7 @@
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#
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#
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############################################################################
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############################################################################
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add_subdirectory(px4flow)
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add_subdirectory(paw3902)
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add_subdirectory(pmw3901)
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add_subdirectory(pmw3901)
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add_subdirectory(px4flow)
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@@ -0,0 +1,41 @@
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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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||||||
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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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||||||
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||||
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__optical_flow__paw3902
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MAIN paw3902
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STACK_MAIN 1500
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SRCS
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paw3902_main.cpp
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PAW3902.cpp
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)
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@@ -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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||||||
|
* 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
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||||||
|
* without specific prior written permission.
|
||||||
|
*
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||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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||||||
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* 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
|
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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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||||||
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registerWrite(0x7F, 0x14);
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||||||
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registerWrite(0x44, 0x84);
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||||||
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registerWrite(0x65, 0x47);
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||||||
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registerWrite(0x66, 0x18);
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||||||
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registerWrite(0x63, 0x70);
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||||||
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registerWrite(0x6f, 0x2c);
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||||||
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registerWrite(0x7F, 0x15);
|
||||||
|
registerWrite(0x48, 0x48);
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||||||
|
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, 0x03);
|
||||||
|
registerWrite(0x7F, 0x07);
|
||||||
|
registerWrite(0x40, 0x41);
|
||||||
|
|
||||||
|
usleep(10_ms); // delay 10ms
|
||||||
|
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x32, 0x00);
|
||||||
|
registerWrite(0x7F, 0x07);
|
||||||
|
registerWrite(0x40, 0x40);
|
||||||
|
registerWrite(0x7F, 0x06);
|
||||||
|
registerWrite(0x68, 0x70);
|
||||||
|
registerWrite(0x69, 0x01);
|
||||||
|
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, 0x1f);
|
||||||
|
|
||||||
|
usleep(10_ms); // delay 10ms
|
||||||
|
|
||||||
|
registerWrite(0x73, 0x00);
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool
|
||||||
|
PAW3902::modeLowLight()
|
||||||
|
{
|
||||||
|
// Mode 1: Low Light (126 fps) 30 Lux typical
|
||||||
|
// low light and low speed motion tracking
|
||||||
|
|
||||||
|
// set performance optimization registers
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x55, 0x01);
|
||||||
|
registerWrite(0x50, 0x07);
|
||||||
|
registerWrite(0x7f, 0x0e);
|
||||||
|
registerWrite(0x43, 0x10);
|
||||||
|
|
||||||
|
registerWrite(0x48, 0x02);
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x51, 0x7b);
|
||||||
|
registerWrite(0x50, 0x00);
|
||||||
|
registerWrite(0x55, 0x00);
|
||||||
|
|
||||||
|
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, 0x65);
|
||||||
|
registerWrite(0x6d, 0x65);
|
||||||
|
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, 0xFE);
|
||||||
|
registerWrite(0x65, 0x1F);
|
||||||
|
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, 0x03);
|
||||||
|
registerWrite(0x7F, 0x07);
|
||||||
|
registerWrite(0x40, 0x41);
|
||||||
|
|
||||||
|
usleep(10_ms); // delay 10ms
|
||||||
|
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x32, 0x00);
|
||||||
|
registerWrite(0x7F, 0x07);
|
||||||
|
registerWrite(0x40, 0x40);
|
||||||
|
registerWrite(0x7F, 0x06);
|
||||||
|
registerWrite(0x68, 0x70);
|
||||||
|
registerWrite(0x69, 0x01);
|
||||||
|
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, 0x1f);
|
||||||
|
|
||||||
|
usleep(10_ms); // delay 10ms
|
||||||
|
|
||||||
|
registerWrite(0x73, 0x00);
|
||||||
|
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool
|
||||||
|
PAW3902::modeSuperLowLight()
|
||||||
|
{
|
||||||
|
// Mode 2: Super Low Light (50 fps) 9 Lux typical
|
||||||
|
// super low light and low speed motion tracking
|
||||||
|
|
||||||
|
// set performance optimization registers
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x55, 0x01);
|
||||||
|
registerWrite(0x50, 0x07);
|
||||||
|
registerWrite(0x7f, 0x0e);
|
||||||
|
registerWrite(0x43, 0x10);
|
||||||
|
|
||||||
|
registerWrite(0x48, 0x04);
|
||||||
|
registerWrite(0x7F, 0x00);
|
||||||
|
registerWrite(0x51, 0x7b);
|
||||||
|
registerWrite(0x50, 0x00);
|
||||||
|
registerWrite(0x55, 0x00);
|
||||||
|
|
||||||
|
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);
|
||||||
|
}
|
||||||
@@ -0,0 +1,140 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file paw3902.cpp
|
||||||
|
*
|
||||||
|
* Driver for the Pixart PAW3902 optical flow sensor connected via SPI.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "PixArt_PAW3902JF_Registers.hpp"
|
||||||
|
|
||||||
|
#include <px4_config.h>
|
||||||
|
#include <px4_defines.h>
|
||||||
|
#include <px4_getopt.h>
|
||||||
|
#include <px4_work_queue/ScheduledWorkItem.hpp>
|
||||||
|
#include <drivers/device/spi.h>
|
||||||
|
#include <conversion/rotation.h>
|
||||||
|
#include <lib/perf/perf_counter.h>
|
||||||
|
#include <lib/parameters/param.h>
|
||||||
|
#include <drivers/drv_hrt.h>
|
||||||
|
#include <drivers/drv_range_finder.h>
|
||||||
|
#include <uORB/Publication.hpp>
|
||||||
|
#include <uORB/topics/optical_flow.h>
|
||||||
|
|
||||||
|
/* Configuration Constants */
|
||||||
|
|
||||||
|
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
|
||||||
|
# define PAW3902_BUS PX4_SPI_BUS_EXPANSION
|
||||||
|
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
|
||||||
|
# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL1
|
||||||
|
#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
|
||||||
|
# define PAW3902_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 PAW3902_SPIDEV PX4_SPIDEV_EXPANSION_2
|
||||||
|
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
|
||||||
|
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL1_1
|
||||||
|
#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
|
||||||
|
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL
|
||||||
|
#else
|
||||||
|
# error "add the required spi dev from board_config.h here"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define PAW3902_SPI_BUS_SPEED (2000000L) // 2MHz
|
||||||
|
|
||||||
|
#define DIR_WRITE(a) ((a) | (1 << 7))
|
||||||
|
#define DIR_READ(a) ((a) & 0x7f)
|
||||||
|
|
||||||
|
using namespace time_literals;
|
||||||
|
using namespace PixArt_PAW3902JF;
|
||||||
|
|
||||||
|
// PAW3902JF-TXQT is PixArt Imaging
|
||||||
|
|
||||||
|
class PAW3902 : public device::SPI, public px4::ScheduledWorkItem
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PAW3902(int bus = PAW3902_BUS, enum Rotation yaw_rotation = ROTATION_NONE);
|
||||||
|
virtual ~PAW3902();
|
||||||
|
|
||||||
|
virtual int init();
|
||||||
|
|
||||||
|
void print_info();
|
||||||
|
|
||||||
|
void start();
|
||||||
|
void stop();
|
||||||
|
|
||||||
|
protected:
|
||||||
|
virtual int probe();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
void Run() override;
|
||||||
|
|
||||||
|
uint8_t registerRead(uint8_t reg);
|
||||||
|
void registerWrite(uint8_t reg, uint8_t data);
|
||||||
|
|
||||||
|
bool reset();
|
||||||
|
|
||||||
|
bool modeBright();
|
||||||
|
bool modeLowLight();
|
||||||
|
bool modeSuperLowLight();
|
||||||
|
|
||||||
|
bool changeMode(Mode newMode);
|
||||||
|
|
||||||
|
uORB::Publication<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
|
||||||
|
|
||||||
|
perf_counter_t _sample_perf;
|
||||||
|
perf_counter_t _interval_perf;
|
||||||
|
perf_counter_t _comms_errors;
|
||||||
|
perf_counter_t _dupe_count_perf;
|
||||||
|
|
||||||
|
static constexpr uint64_t _collect_time{15000}; // 15 milliseconds, optical flow data publish rate
|
||||||
|
|
||||||
|
uint64_t _previous_collect_timestamp{0};
|
||||||
|
uint64_t _flow_dt_sum_usec{0};
|
||||||
|
unsigned _frame_count_since_last{0};
|
||||||
|
|
||||||
|
enum Rotation _yaw_rotation {ROTATION_NONE};
|
||||||
|
|
||||||
|
int _flow_sum_x{0};
|
||||||
|
int _flow_sum_y{0};
|
||||||
|
|
||||||
|
Mode _mode{Mode::LowLight};
|
||||||
|
|
||||||
|
};
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
namespace PixArt_PAW3902JF
|
||||||
|
{
|
||||||
|
|
||||||
|
static constexpr uint8_t PRODUCT_ID = 0x49; // shared with the PMW3901
|
||||||
|
static constexpr uint8_t REVISION_ID = 0x01;
|
||||||
|
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_0{1000000 / 126}; // 126 fps
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_1{1000000 / 126}; // 126 fps
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_2{1000000 / 50}; // 50 fps
|
||||||
|
|
||||||
|
static constexpr uint64_t T_SWW{11}; // 10.5 microseconds
|
||||||
|
static constexpr uint64_t T_SRR{2}; // 1.5 microseconds
|
||||||
|
|
||||||
|
enum Register : uint8_t {
|
||||||
|
Product_ID = 0x00,
|
||||||
|
Revision_ID = 0x01,
|
||||||
|
Motion = 0x02,
|
||||||
|
Delta_X_L = 0x03,
|
||||||
|
Delta_X_H = 0x04,
|
||||||
|
Delta_Y_L = 0x05,
|
||||||
|
Delta_Y_H = 0x06,
|
||||||
|
Squal = 0x07,
|
||||||
|
RawData_Sum = 0x08,
|
||||||
|
Maximum_RawData = 0x09,
|
||||||
|
Minimum_RawData = 0x0A,
|
||||||
|
Shutter_Lower = 0x0B,
|
||||||
|
Shutter_Upper = 0x0C,
|
||||||
|
|
||||||
|
Observation = 0x15,
|
||||||
|
Motion_Burst = 0x16,
|
||||||
|
|
||||||
|
Power_Up_Reset = 0x3A,
|
||||||
|
|
||||||
|
Resolution = 0x4E,
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
enum Product_ID_Bit : uint8_t {
|
||||||
|
Reset = 0x5A,
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
enum class Mode {
|
||||||
|
Bright = 0,
|
||||||
|
LowLight = 1,
|
||||||
|
SuperLowLight = 2,
|
||||||
|
};
|
||||||
|
|
||||||
|
struct BURST_TRANSFER {
|
||||||
|
uint8_t Motion;
|
||||||
|
uint8_t Observation;
|
||||||
|
uint8_t Delta_X_L;
|
||||||
|
uint8_t Delta_X_H;
|
||||||
|
uint8_t Delta_Y_L;
|
||||||
|
uint8_t Delta_Y_H;
|
||||||
|
uint8_t SQUAL;
|
||||||
|
uint8_t RawData_Sum;
|
||||||
|
uint8_t Maximum_RawData;
|
||||||
|
uint8_t Minimum_RawData;
|
||||||
|
uint8_t Shutter_Upper;
|
||||||
|
uint8_t Shutter_Lower;
|
||||||
|
};
|
||||||
|
|
||||||
|
}
|
||||||
@@ -0,0 +1,190 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include "PAW3902.hpp"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Local functions in support of the shell command.
|
||||||
|
*/
|
||||||
|
namespace pmw3902
|
||||||
|
{
|
||||||
|
|
||||||
|
PAW3902 *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)
|
||||||
|
{
|
||||||
|
if (g_dev != nullptr) {
|
||||||
|
errx(1, "already started");
|
||||||
|
}
|
||||||
|
|
||||||
|
/* create the driver */
|
||||||
|
g_dev = new PAW3902(spi_bus, (enum Rotation)0);
|
||||||
|
|
||||||
|
if (g_dev == nullptr) {
|
||||||
|
goto fail;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (OK != g_dev->init()) {
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 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: pmw3902 {start|test|reset|info'}");
|
||||||
|
PX4_INFO(" [-b SPI_BUS]");
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace pmw3902
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Driver 'main' command.
|
||||||
|
*/
|
||||||
|
extern "C" __EXPORT int paw3902_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
int
|
||||||
|
paw3902_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
if (argc < 2) {
|
||||||
|
pmw3902::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 = PAW3902_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) {
|
||||||
|
pmw3902::usage();
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Start/load the driver.
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "start")) {
|
||||||
|
pmw3902::start(spi_bus);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Stop the driver
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "stop")) {
|
||||||
|
pmw3902::stop();
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Print driver information.
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "status")) {
|
||||||
|
pmw3902::info();
|
||||||
|
}
|
||||||
|
|
||||||
|
pmw3902::usage();
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
@@ -32,7 +32,7 @@
|
|||||||
############################################################################
|
############################################################################
|
||||||
|
|
||||||
px4_add_module(
|
px4_add_module(
|
||||||
MODULE drivers__pmw3901
|
MODULE drivers__optical_flow__pmw3901
|
||||||
MAIN pmw3901
|
MAIN pmw3901
|
||||||
COMPILE_FLAGS
|
COMPILE_FLAGS
|
||||||
-Wno-cast-align # TODO: fix and enable
|
-Wno-cast-align # TODO: fix and enable
|
||||||
|
|||||||
Reference in New Issue
Block a user