bizhang_-obav/src/drivers/pmw3901/pmw3901.cpp

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 *
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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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/**
 * @file pmw3901.cpp
 * @author Daniele Pettenuzzo
 *
 * Driver for the pmw3901 optical flow sensor connected via SPI.
 */

#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>

#include <drivers/device/spi.h>

#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>

#include <conversion/rotation.h>

#include <systemlib/perf_counter.h>
#include <systemlib/err.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/device/integrator.h>

#include <uORB/uORB.h>
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/sensor_gyro.h>

#include <board_config.h>

/* Configuration Constants */
#ifdef PX4_SPI_BUS_EXPANSION
#define PMW3901_BUS 							PX4_SPI_BUS_EXPANSION				/* fmu-v4pro: PX4_SPI_BUS_EXT1 | fmu-v5: PX4_SPI_BUS_EXTERNAL1  */
#endif

#ifdef PX4_SPIDEV_EXPANSION_2
#define PMW3901_SPIDEV 							PX4_SPIDEV_EXPANSION_2				/* fmu-v4pro: PX4_SPIDEV_EXT0  | fmu-v5: PX4_SPIDEV_EXTERNAL1_1 */
#endif

#define PMW3901_SPI_BUS_SPEED    				(2000000L)      			// 2MHz

#define DIR_WRITE(a)             				((a) | (1 << 7))
#define DIR_READ(a)                    			((a) & 0x7f)

#define PMW3901_DEVICE_PATH   					"/dev/pmw3901"

/* PMW3901 Registers addresses */
#define PMW3901_CONVERSION_INTERVAL 			1000 						/*   1 ms */
#define PMW3901_SAMPLE_RATE						10000 						/*  10 ms */


#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif

class PMW3901 : public device::SPI
{
public:
	PMW3901(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING, int bus = PMW3901_BUS);

	virtual ~PMW3901();

	virtual int 		init();

	virtual ssize_t		read(device::file_t *filp, char *buffer, size_t buflen);

	virtual int			ioctl(device::file_t *filp, int cmd, unsigned long arg);

	/**
	* Diagnostics - print some basic information about the driver.
	*/
	void				print_info();

	int					collect();

private:
	uint8_t _rotation;
	work_s						_work;
	ringbuffer::RingBuffer		*_reports;
	bool						_sensor_ok;
	int							_measure_ticks;
	int							_class_instance;
	int							_orb_class_instance;

	orb_advert_t				_optical_flow_pub;

	perf_counter_t				_sample_perf;
	perf_counter_t				_comms_errors;

	uint64_t					_previous_collect_timestamp;

	enum Rotation 				_sensor_rotation;



	/**
	* Initialise the automatic measurement state machine and start it.
	*
	* @note This function is called at open and error time.  It might make sense
	*       to make it more aggressive about resetting the bus in case of errors.
	*/
	void				start();

	/**
	* Stop the automatic measurement state machine.
	*/
	void				stop();

	/**
	* Perform a poll cycle; collect from the previous measurement
	* and start a new one.
	*/
	void				cycle();
	// int					collect();

	int 				readRegister(unsigned reg, uint8_t *data, unsigned count);
	int         		writeRegister(unsigned reg, uint8_t data);

	int 				sensorInit();
	int        			readMotionCount(int16_t &deltaX, int16_t &deltaY);

	/**
	* Static trampoline from the workq context; because we don't have a
	* generic workq wrapper yet.
	*
	* @param arg		Instance pointer for the driver that is polling.
	*/
	static void			cycle_trampoline(void *arg);


};




/*
 * Driver 'main' command.
 */
extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);

PMW3901::PMW3901(uint8_t rotation, int bus) :
	SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
	_rotation(rotation),
	_reports(nullptr),
	_sensor_ok(false),
	_measure_ticks(0),
	_class_instance(-1),
	_orb_class_instance(-1),
	_optical_flow_pub(nullptr),
	_sample_perf(perf_alloc(PC_ELAPSED, "tr1_read")),
	_comms_errors(perf_alloc(PC_COUNT, "tr1_com_err")),
	_previous_collect_timestamp(0),
	_sensor_rotation((enum Rotation)rotation)
{

	// enable debug() calls
	_debug_enabled = false;

	// work_cancel in the dtor will explode if we don't do this...
	memset(&_work, 0, sizeof(_work));
}

PMW3901::~PMW3901()
{
	/* make sure we are truly inactive */
	stop();

	/* free any existing reports */
	if (_reports != nullptr) {
		delete _reports;
	}

	// if (_class_instance != -1) {
	// 	unregister_class_devname(PMW3901_DEVICE_PATH, _class_instance);
	// }

	// free perf counters
	perf_free(_sample_perf);
	perf_free(_comms_errors);
}


int
PMW3901::sensorInit()
{
	int ret;
	uint8_t data[5];

	// initialize pmw3901 flow sensor
	readRegister(0x00, &data[0], 1); // chip idreadRegister(0x5F, &data[1], 1); // inverse chip id

	// Power on reset
	writeRegister(0x3A, 0x5A);
	usleep(5000);

	// Test the SPI communication, checking chipId and inverse chipId
	if (data[0] != 0x49 && data[1] != 0xB8) { return false; }

	// Reading the motion registers one time
	readRegister(0x02, &data[0], 1);
	readRegister(0x03, &data[1], 1);
	readRegister(0x04, &data[2], 1);
	readRegister(0x05, &data[3], 1);
	readRegister(0x06, &data[4], 1);

	usleep(1000);

	// set performance optimization registers
	writeRegister(0x7F, 0x00);
	writeRegister(0x61, 0xAD);
	writeRegister(0x7F, 0x03);
	writeRegister(0x40, 0x00);
	writeRegister(0x7F, 0x05);
	writeRegister(0x41, 0xB3);
	writeRegister(0x43, 0xF1);
	writeRegister(0x45, 0x14);
	writeRegister(0x5B, 0x32);
	writeRegister(0x5F, 0x34);
	writeRegister(0x7B, 0x08);
	writeRegister(0x7F, 0x06);
	writeRegister(0x44, 0x1B);
	writeRegister(0x40, 0xBF);
	writeRegister(0x4E, 0x3F);
	writeRegister(0x7F, 0x08);
	writeRegister(0x65, 0x20);
	writeRegister(0x6A, 0x18);
	writeRegister(0x7F, 0x09);
	writeRegister(0x4F, 0xAF);
	writeRegister(0x5F, 0x40);
	writeRegister(0x48, 0x80);
	writeRegister(0x49, 0x80);
	writeRegister(0x57, 0x77);
	writeRegister(0x60, 0x78);
	writeRegister(0x61, 0x78);
	writeRegister(0x62, 0x08);
	writeRegister(0x63, 0x50);
	writeRegister(0x7F, 0x0A);
	writeRegister(0x45, 0x60);
	writeRegister(0x7F, 0x00);
	writeRegister(0x4D, 0x11);
	writeRegister(0x55, 0x80);
	writeRegister(0x74, 0x1F);
	writeRegister(0x75, 0x1F);
	writeRegister(0x4A, 0x78);
	writeRegister(0x4B, 0x78);
	writeRegister(0x44, 0x08);
	writeRegister(0x45, 0x50);
	writeRegister(0x64, 0xFF);
	writeRegister(0x65, 0x1F);
	writeRegister(0x7F, 0x14);
	writeRegister(0x65, 0x60);
	writeRegister(0x66, 0x08);
	writeRegister(0x63, 0x78);
	writeRegister(0x7F, 0x15);
	writeRegister(0x48, 0x58);
	writeRegister(0x7F, 0x07);
	writeRegister(0x41, 0x0D);
	writeRegister(0x43, 0x14);
	writeRegister(0x4B, 0x0E);
	writeRegister(0x45, 0x0F);
	writeRegister(0x44, 0x42);
	writeRegister(0x4C, 0x80);
	writeRegister(0x7F, 0x10);
	writeRegister(0x5B, 0x02);
	writeRegister(0x7F, 0x07);
	writeRegister(0x40, 0x41);
	writeRegister(0x70, 0x00);

	usleep(10000);

	writeRegister(0x32, 0x44);
	writeRegister(0x7F, 0x07);
	writeRegister(0x40, 0x40);
	writeRegister(0x7F, 0x06);
	writeRegister(0x62, 0xf0);
	writeRegister(0x63, 0x00);
	writeRegister(0x7F, 0x0D);
	writeRegister(0x48, 0xC0);
	writeRegister(0x6F, 0xd5);
	writeRegister(0x7F, 0x00);
	writeRegister(0x5B, 0xa0);
	writeRegister(0x4E, 0xA8);
	writeRegister(0x5A, 0x50);
	writeRegister(0x40, 0x80);

	ret = OK;

	return ret;

}

int
PMW3901::init()
{
	int ret = PX4_ERROR;

	/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
	SPI::set_lockmode(LOCK_THREADS);

	/* do I2C init (and probe) first */
	if (SPI::init() != OK) {
		goto out;
	}

	set_frequency(PMW3901_SPI_BUS_SPEED);

	sensorInit();

	/* allocate basic report buffers */
	_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));

	if (_reports == nullptr) {
		goto out;
	}

	//_class_instance = register_class_devname(PMW3901_DEVICE_PATH);

	//if (_class_instance == CLASS_DEVICE_PRIMARY) {               // change to optical flow topic
	/* get a publish handle on the range finder topic */
	// struct distance_sensor_s ds_report;

	// _reports->get(&ds_report);

	// _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
	// 			 &_orb_class_instance, ORB_PRIO_LOW);

	// if (_distance_sensor_topic == nullptr) {
	// 	DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
	// }

	//}

	ret = OK;
	_sensor_ok = true;
	_previous_collect_timestamp = hrt_absolute_time();

out:
	return ret;

}


int
PMW3901::ioctl(device::file_t *filp, int cmd, unsigned long arg)
{
	switch (cmd) {

	case SENSORIOCSPOLLRATE: {
			switch (arg) {

			case 0:
				return -EINVAL;

			case SENSOR_POLLRATE_DEFAULT: {

					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* set interval for next measurement to minimum legal value */
					_measure_ticks = USEC2TICK(PMW3901_CONVERSION_INTERVAL);

					/* if we need to start the poll state machine, do it */
					if (want_start) {
						start();
					}

					return OK;
				}

			case SENSOR_POLLRATE_MANUAL: {

					stop();
					_measure_ticks = 0;
					return OK;
				}

			/* adjust to a legal polling interval in Hz */
			default: {
					/* do we need to start internal polling? */
					bool want_start = (_measure_ticks == 0);

					/* convert hz to tick interval via microseconds */
					unsigned ticks = USEC2TICK(1000000 / arg);

					/* check against maximum rate */
					if (ticks < USEC2TICK(PMW3901_CONVERSION_INTERVAL)) {
						return -EINVAL;
					}

					/* update interval for next measurement */
					_measure_ticks = ticks;

					/* if we need to start the poll state machine, do it */
					if (want_start) {
						start();
					}

					return OK;
				}
			}
		}

	default:
		/* give it to the superclass */
		return SPI::ioctl(filp, cmd, arg);
	}
}

ssize_t
PMW3901::read(device::file_t *filp, char *buffer, size_t buflen)
{
	unsigned count = buflen / sizeof(struct optical_flow_s);
	struct optical_flow_s *rbuf = reinterpret_cast<struct optical_flow_s *>(buffer);
	int ret = 0;

	/* buffer must be large enough */
	if (count < 1) {
		return -ENOSPC;
	}

	/* if automatic measurement is enabled */
	if (_measure_ticks > 0) {

		/*
		 * While there is space in the caller's buffer, and reports, copy them.
		 * Note that we may be pre-empted by the workq thread while we are doing this;
		 * we are careful to avoid racing with them.
		 */
		while (count--) {
			if (_reports->get(rbuf)) {
				ret += sizeof(*rbuf);
				rbuf++;
			}
		}

		/* if there was no data, warn the caller */
		return ret ? ret : -EAGAIN;
	}

	/* manual measurement - run one conversion */
	do {
		_reports->flush();

		/* trigger a measurement */
		if (OK != collect()) {
			ret = -EIO;
			break;
		}

		/* state machine will have generated a report, copy it out */
		if (_reports->get(rbuf)) {
			ret = sizeof(*rbuf);
		}

	} while (0);

	return ret;
}


int
PMW3901::readRegister(unsigned reg, uint8_t *data, unsigned count)
{
	uint8_t cmd[5]; 					// read up to 4 bytes
	int ret;

	cmd[0] = DIR_READ(reg);

	ret = transfer(&cmd[0], &cmd[0], count + 1);

	if (OK != ret) {
		perf_count(_comms_errors);
		DEVICE_LOG("spi::transfer returned %d", ret);
		return ret;
	}

	memcpy(&data[0], &cmd[1], count);

	ret = OK;

	return ret;

}


int
PMW3901::writeRegister(unsigned reg, uint8_t data)
{
	uint8_t cmd[2]; 						// write 1 byte
	int ret;

	cmd[0] = DIR_WRITE(reg);
	cmd[1] = data;

	ret = transfer(&cmd[0], nullptr, 2);

	if (OK != ret) {
		perf_count(_comms_errors);
		DEVICE_LOG("spi::transfer returned %d", ret);
		return ret;
	}

	ret = OK;

	return ret;

}


int
PMW3901::collect()
{
	int ret;
	int16_t delta_x_raw, delta_y_raw;
	float delta_x, delta_y;

	perf_begin(_sample_perf);

	uint64_t timestamp = hrt_absolute_time();
	uint64_t dt_flow = timestamp - _previous_collect_timestamp;
	_previous_collect_timestamp = timestamp;

	readMotionCount(delta_x_raw, delta_y_raw);

	delta_x = (float)delta_x_raw / 500.0f;				// proportional factor + convert from pixels to radians
	delta_y = (float)delta_y_raw / 500.0f;				// proportional factor + convert from pixels to radians

	struct optical_flow_s report;

	report.timestamp = timestamp;

	report.pixel_flow_x_integral = static_cast<float>(delta_x);
	report.pixel_flow_y_integral = static_cast<float>(delta_y);

	report.frame_count_since_last_readout = dt_flow;						//microseconds
	report.integration_timespan = dt_flow; 									//microseconds

	report.sensor_id = 0;
	report.quality = 255;

	if (_optical_flow_pub == nullptr) {

		_optical_flow_pub = orb_advertise(ORB_ID(optical_flow), &report);

	} else {

		orb_publish(ORB_ID(optical_flow), _optical_flow_pub, &report);
	}

	/* post a report to the ring */
	_reports->force(&report);

	/* notify anyone waiting for data */
	poll_notify(POLLIN);

	ret = OK;

	perf_end(_sample_perf);
	return ret;

}


int
PMW3901::readMotionCount(int16_t &deltaX, int16_t &deltaY)
{
	int ret;

	uint8_t data[10] = { DIR_READ(0x02), 0, DIR_READ(0x03), 0, DIR_READ(0x04), 0,
			     DIR_READ(0x05), 0, DIR_READ(0x06), 0
			   };

	ret = transfer(&data[0], &data[0], 10);

	if (OK != ret) {
		perf_count(_comms_errors);
		DEVICE_LOG("spi::transfer returned %d", ret);
		return ret;
	}

	deltaX = ((int16_t)data[5] << 8) | data[3];
	deltaY = ((int16_t)data[9] << 8) | data[7];

	ret = OK;

	return ret;

}


void
PMW3901::start()
{
	/* reset the report ring and state machine */
	_reports->flush();

	/* schedule a cycle to start things */
	work_queue(HPWORK, &_work, (worker_t)&PMW3901::cycle_trampoline, this, 1000);

	/* notify about state change */
	struct subsystem_info_s info = {};
	info.present = true;
	info.enabled = true;
	info.ok = true;
	info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW;

	static orb_advert_t pub = nullptr;

	if (pub != nullptr) {
		orb_publish(ORB_ID(subsystem_info), pub, &info);

	} else {
		pub = orb_advertise(ORB_ID(subsystem_info), &info);
	}
}

void
PMW3901::stop()
{
	work_cancel(HPWORK, &_work);
}

void
PMW3901::cycle_trampoline(void *arg)
{
	PMW3901 *dev = (PMW3901 *)arg;

	dev->cycle();
}

void
PMW3901::cycle()
{
	collect();

	/* schedule a fresh cycle call when the measurement is done */
	work_queue(HPWORK,
		   &_work,
		   (worker_t)&PMW3901::cycle_trampoline,
		   this,
		   USEC2TICK(PMW3901_SAMPLE_RATE));

}

void
PMW3901::print_info()
{
	perf_print_counter(_sample_perf);
	perf_print_counter(_comms_errors);
	printf("poll interval:  %u ticks\n", _measure_ticks);
	_reports->print_info("report queue");
}


/**
 * Local functions in support of the shell command.
 */
namespace pmw3901
{

PMW3901	*g_dev;

void	start(uint8_t rotation);
void	stop();
void	test();
void	reset();
void	info();


/**
 * Start the driver.
 */
void
start(uint8_t rotation)
{
	int fd;

	if (g_dev != nullptr) {
		errx(1, "already started");
	}

	/* create the driver */
	g_dev = new PMW3901(rotation, PMW3901_BUS);

	if (g_dev == nullptr) {
		goto fail;
	}

	if (OK != g_dev->init()) {
		goto fail;
	}

	/* set the poll rate to default, starts automatic data collection */
	fd = open(PMW3901_DEVICE_PATH, O_RDONLY);

	if (fd < 0) {
		goto fail;
	}

	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		goto fail;
	}

	exit(0);

fail:

	if (g_dev != nullptr) {
		delete g_dev;
		g_dev = nullptr;
	}

	errx(1, "driver start failed");
}

/**
 * Stop the driver
 */
void stop()
{
	if (g_dev != nullptr) {
		delete g_dev;
		g_dev = nullptr;

	} else {
		errx(1, "driver not running");
	}

	exit(0);
}


/**
 * Perform some basic functional tests on the driver;
 * make sure we can collect data from the sensor in polled
 * and automatic modes.
 */
void
test()
{

	if (g_dev != nullptr) {
		errx(1, "already started");
	}

	/* create the driver */
	g_dev = new PMW3901(0, PMW3901_BUS);

	if (g_dev == nullptr) {
		delete g_dev;
		g_dev = nullptr;
	}

	if (OK != g_dev->init()) {
		delete g_dev;
		g_dev = nullptr;

	}

	int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);

	if (fd < 0) {
		err(1, "%s open failed (try 'vl53lxx start' if the driver is not running", PMW3901_DEVICE_PATH);
	}

	/* start the sensor polling at 2Hz */
	// if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
	// 	errx(1, "failed to set 2Hz poll rate");
	// }

	for (int i = 0; i < 10000; i++) {
		g_dev->collect();
		usleep(10000);
	}

	errx(0, "PASS");
}


/**
 * Reset the driver.
 */
void
reset()
{
	int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);

	if (fd < 0) {
		err(1, "failed ");
	}

	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
		err(1, "driver reset failed");
	}

	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
		err(1, "driver poll restart failed");
	}

	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);
}

} // namespace pmw3901


int
pmw3901_main(int argc, char *argv[])
{
	int ch;
	int myoptind = 1;

	const char *myoptarg = nullptr;
	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;

	if (argc < 2) {
		goto out;
	}

	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
		switch (ch) {
		case 'R':
			rotation = (uint8_t)atoi(myoptarg);
			PX4_INFO("Setting sensor orientation to %d", (int)rotation);
			break;

		default:
			PX4_WARN("Unknown option!");
		}
	}

	/*
	 * Start/load the driver.
	 */
	if (!strcmp(argv[myoptind], "start")) {
		pmw3901::start(rotation);
	}

	/*
	 * Stop the driver
	 */
	if (!strcmp(argv[myoptind], "stop")) {
		pmw3901::stop();
	}

	/*
	 * Test the driver/device.
	 */
	if (!strcmp(argv[myoptind], "test")) {
		pmw3901::test();
	}

	/*
	 * Reset the driver.
	 */
	if (!strcmp(argv[myoptind], "reset")) {
		pmw3901::reset();
	}

	/*
	 * Print driver information.
	 */
	if (!strcmp(argv[myoptind], "info") || !strcmp(argv[1], "status")) {
		pmw3901::info();
	}

out:

	PX4_ERR("unrecognized command, try 'start', 'test', 'reset' or 'info'");
	return PX4_ERROR;
}