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137 lines
4.3 KiB
C++
137 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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 paa3905.hpp
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*
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* Driver for the Pixart paa3905 optical flow sensors connected via SPI.
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*/
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#pragma once
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#include "PixArt_PAA3905_Registers.hpp"
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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/i2c_spi_buses.h>
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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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using namespace time_literals;
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using namespace PixArt_PAA3905;
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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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class PAA3905 : public device::SPI, public I2CSPIDriver<PAA3905>
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{
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public:
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PAA3905(const I2CSPIDriverConfig &config);
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virtual ~PAA3905();
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static void print_usage();
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int init() override;
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void print_status() override;
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void RunImpl();
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private:
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void exit_and_cleanup() override;
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int probe() override;
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static int DataReadyInterruptCallback(int irq, void *context, void *arg);
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void DataReady();
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bool DataReadyInterruptConfigure();
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bool DataReadyInterruptDisable();
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uint8_t RegisterRead(uint8_t reg, int retries = 2);
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void RegisterWrite(uint8_t reg, uint8_t data);
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bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 1);
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void EnableLed();
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void StandardDetectionSetting();
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void EnhancedDetectionMode();
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void ModeAuto012();
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void CheckMode();
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void Configure();
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void ResetAccumulatedData();
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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{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
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perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
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perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
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perf_counter_t _false_motion_perf{perf_alloc(PC_COUNT, MODULE_NAME": false motion report")};
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perf_counter_t _register_write_fail_perf{perf_alloc(PC_COUNT, MODULE_NAME": verified register write failed")};
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static constexpr uint64_t COLLECT_TIME{15000}; // 15 milliseconds, optical flow data publish rate
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const spi_drdy_gpio_t _drdy_gpio;
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uint64_t _previous_collect_timestamp{0};
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uint64_t _flow_dt_sum_usec{0};
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uint8_t _flow_sample_counter{0};
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uint16_t _flow_quality_sum{0};
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matrix::Dcmf _rotation;
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int _discard_reading{3};
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int _flow_sum_x{0};
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int _flow_sum_y{0};
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Mode _mode{Mode::LowLight};
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uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_1};
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int _valid_count{0};
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bool _data_ready_interrupt_enabled{false};
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hrt_abstime _last_good_publish{0};
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hrt_abstime _last_reset{0};
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};
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