mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 17:33:37 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
148 lines
4.7 KiB
C++
148 lines
4.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018-2019 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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/**
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* @file PMW3901.hpp
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* @author Daniele Pettenuzzo
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*
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* Driver for the pmw3901 optical flow sensor connected via SPI.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/device/spi.h>
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#include <conversion/rotation.h>
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#include <lib/perf/perf_counter.h>
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#include <lib/parameters/param.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/optical_flow.h>
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/* Configuration Constants */
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#if defined PX4_SPI_BUS_EXPANSION // crazyflie
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# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
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#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
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# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
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#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
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# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
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#else
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# error "add the required spi bus from board_config.h here"
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#endif
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#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
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# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
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#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
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# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
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#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
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# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
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#else
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# error "add the required spi dev from board_config.h here"
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#endif
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#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
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#define DIR_WRITE(a) ((a) | (1 << 7))
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#define DIR_READ(a) ((a) & 0x7f)
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#define PMW3901_DEVICE_PATH "/dev/pmw3901"
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/* PMW3901 Registers addresses */
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#define PMW3901_US 1000 /* 1 ms */
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#define PMW3901_SAMPLE_INTERVAL 10000 /* 10 ms */
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class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
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{
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public:
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PMW3901(int bus = PMW3901_BUS, enum Rotation yaw_rotation = (enum Rotation)0);
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virtual ~PMW3901();
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virtual int init();
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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const uint64_t _collect_time{15000}; // usecs, ensures flow data is published every second iteration of Run() (100Hz -> 50Hz)
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uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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uint64_t _previous_collect_timestamp{0};
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enum Rotation _yaw_rotation;
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int _flow_sum_x{0};
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int _flow_sum_y{0};
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uint64_t _flow_dt_sum_usec{0};
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uint16_t _flow_quality_sum{0};
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uint8_t _flow_sample_counter{0};
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void Run() override;
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int readRegister(unsigned reg, uint8_t *data, unsigned count);
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int writeRegister(unsigned reg, uint8_t data);
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int sensorInit();
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int readMotionCount(int16_t &deltaX, int16_t &deltaY, uint8_t &qual);
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};
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