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pmw3901 cleanup and updates

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- includes updates from PixArt
This commit is contained in:
Daniel Agar
2019-08-14 17:57:20 -04:00
parent ff6577ce5f
commit 41e544727c
1 changed files with 100 additions and 337 deletions
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437
src/drivers/optical_flow/pmw3901/pmw3901.cpp
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@@ -42,41 +42,13 @@
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#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 <float.h>
#include <conversion/rotation.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <lib/perf/perf_counter.h>
#include <lib/parameters/param.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/PublicationMulti.hpp>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/sensor_gyro.h>
#include <board_config.h>
/* Configuration Constants */
@@ -109,7 +81,7 @@
/* PMW3901 Registers addresses */
#define PMW3901_US 1000 /* 1 ms */
#define PMW3901_SAMPLE_RATE 10000 /* 10 ms */
#define PMW3901_SAMPLE_INTERVAL 10000 /* 10 ms */
class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
@@ -121,10 +93,6 @@ public:
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.
*/
@@ -134,27 +102,21 @@ protected:
virtual int probe();
private:
ringbuffer::RingBuffer *_reports;
bool _sensor_ok;
int _measure_interval;
int _class_instance;
int _orb_class_instance;
const uint64_t _collect_time = 15000; // usecs, optical flow data publish rate
const uint64_t _collect_time{15000}; // usecs, optical flow data publish rate
orb_advert_t _optical_flow_pub;
orb_advert_t _subsystem_pub;
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
uint64_t _previous_collect_timestamp;
uint64_t _previous_collect_timestamp{0};
enum Rotation _yaw_rotation;
int _flow_sum_x = 0;
int _flow_sum_y = 0;
uint64_t _flow_dt_sum_usec = 0;
int _flow_sum_x{0};
int _flow_sum_y{0};
uint64_t _flow_dt_sum_usec{0};
/**
* Initialise the automatic measurement state machine and start it.
@@ -175,8 +137,6 @@ private:
*/
void Run() override;
int collect();
int readRegister(unsigned reg, uint8_t *data, unsigned count);
int writeRegister(unsigned reg, uint8_t data);
@@ -192,40 +152,26 @@ extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
_reports(nullptr),
_sensor_ok(false),
_measure_interval(0),
_class_instance(-1),
_orb_class_instance(-1),
_optical_flow_pub(nullptr),
_subsystem_pub(nullptr),
_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901_read")),
_comms_errors(perf_alloc(PC_COUNT, "pmw3901_com_err")),
_previous_collect_timestamp(0),
_sample_perf(perf_alloc(PC_ELAPSED, "pmw3901: read")),
_comms_errors(perf_alloc(PC_COUNT, "pmw3901: com err")),
_yaw_rotation(yaw_rotation)
{
}
PMW3901::~PMW3901()
{
/* make sure we are truly inactive */
// make sure we are truly inactive
stop();
/* free any existing reports */
if (_reports != nullptr) {
delete _reports;
}
// free perf counters
perf_free(_sample_perf);
perf_free(_comms_errors);
}
int
PMW3901::sensorInit()
{
uint8_t data[5];
uint8_t data[5] {};
// Power on reset
writeRegister(0x3A, 0x5A);
@@ -241,6 +187,59 @@ PMW3901::sensorInit()
usleep(1000);
// set performance optimization registers
unsigned char v = 0;
unsigned char c1 = 0;
unsigned char c2 = 0;
writeRegister(0x7F, 0x00);
writeRegister(0x55, 0x01);
writeRegister(0x50, 0x07);
writeRegister(0x7f, 0x0e);
writeRegister(0x43, 0x10);
readRegister(0x67, &v, 1);
// if bit7 is set
if (v & (1 << 7)) {
writeRegister(0x48, 0x04);
} else {
writeRegister(0x48, 0x02);
}
writeRegister(0x7F, 0x00);
writeRegister(0x51, 0x7b);
writeRegister(0x50, 0x00);
writeRegister(0x55, 0x00);
writeRegister(0x7F, 0x0e);
readRegister(0x73, &v, 1);
if (v == 0) {
readRegister(0x70, &c1, 1);
if (c1 <= 28) {
c1 = c1 + 14;
} else {
c1 = c1 + 11;
}
if (c1 > 0x3F) {
c1 = 0x3F;
}
readRegister(0x71, &c2, 1);
c2 = ((unsigned short)c2 * 45) / 100;
writeRegister(0x7f, 0x00);
writeRegister(0x61, 0xAD);
writeRegister(0x51, 0x70);
writeRegister(0x7f, 0x0e);
writeRegister(0x70, c1);
writeRegister(0x71, c2);
}
writeRegister(0x7F, 0x00);
writeRegister(0x61, 0xAD);
writeRegister(0x7F, 0x03);
@@ -274,7 +273,7 @@ PMW3901::sensorInit()
writeRegister(0x7F, 0x00);
writeRegister(0x4D, 0x11);
writeRegister(0x55, 0x80);
writeRegister(0x74, 0x1F);
writeRegister(0x74, 0x21);
writeRegister(0x75, 0x1F);
writeRegister(0x4A, 0x78);
writeRegister(0x4B, 0x78);
@@ -283,11 +282,11 @@ PMW3901::sensorInit()
writeRegister(0x64, 0xFF);
writeRegister(0x65, 0x1F);
writeRegister(0x7F, 0x14);
writeRegister(0x65, 0x60);
writeRegister(0x65, 0x67);
writeRegister(0x66, 0x08);
writeRegister(0x63, 0x78);
writeRegister(0x63, 0x70);
writeRegister(0x7F, 0x15);
writeRegister(0x48, 0x58);
writeRegister(0x48, 0x48);
writeRegister(0x7F, 0x07);
writeRegister(0x41, 0x0D);
writeRegister(0x43, 0x14);
@@ -301,36 +300,29 @@ PMW3901::sensorInit()
writeRegister(0x40, 0x41);
writeRegister(0x70, 0x00);
usleep(10000);
px4_usleep(10000); // delay 10ms
writeRegister(0x32, 0x44);
writeRegister(0x7F, 0x07);
writeRegister(0x40, 0x40);
writeRegister(0x7F, 0x06);
writeRegister(0x62, 0xf0);
writeRegister(0x62, 0xF0);
writeRegister(0x63, 0x00);
writeRegister(0x7F, 0x0D);
writeRegister(0x48, 0xC0);
writeRegister(0x6F, 0xd5);
writeRegister(0x6F, 0xD5);
writeRegister(0x7F, 0x00);
writeRegister(0x5B, 0xa0);
writeRegister(0x5B, 0xA0);
writeRegister(0x4E, 0xA8);
writeRegister(0x5A, 0x50);
writeRegister(0x40, 0x80);
writeRegister(0x7F, 0x00);
writeRegister(0x5A, 0x10);
writeRegister(0x54, 0x00);
return OK;
return PX4_OK;
}
int
PMW3901::init()
{
int ret = PX4_ERROR;
// get yaw rotation from sensor frame to body frame
param_t rot = param_find("SENS_FLOW_ROT");
@@ -341,34 +333,27 @@ PMW3901::init()
_yaw_rotation = (enum Rotation)val;
}
/* For devices competing with NuttX SPI drivers on a bus (Crazyflie SD Card expansion board) */
SPI::set_lockmode(LOCK_THREADS);
/* do SPI init (and probe) first */
if (SPI::init() != OK) {
goto out;
return PX4_ERROR;
}
sensorInit();
/* allocate basic report buffers */
_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
if (_reports == nullptr) {
goto out;
}
ret = OK;
_sensor_ok = true;
_previous_collect_timestamp = hrt_absolute_time();
out:
return ret;
start();
return PX4_OK;
}
int
PMW3901::probe()
{
uint8_t data[2] = { 0, 0 };
uint8_t data[2] {};
readRegister(0x00, &data[0], 1); // chip id
@@ -381,127 +366,14 @@ PMW3901::probe()
return -EIO;
}
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_interval == 0);
/* set interval for next measurement to minimum legal value */
_measure_interval = (PMW3901_SAMPLE_RATE);
/* if we need to start the poll state machine, do it */
if (want_start) {
start();
}
return OK;
}
/* adjust to a legal polling interval in Hz */
default: {
/* do we need to start internal polling? */
bool want_start = (_measure_interval == 0);
/* convert hz to tick interval via microseconds */
unsigned interval = (1000000 / arg);
/* check against maximum rate */
if (interval < (PMW3901_SAMPLE_RATE)) {
return -EINVAL;
}
/* update interval for next measurement */
_measure_interval = interval;
/* 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_interval > 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;
uint8_t cmd[5]; // read up to 4 bytes
cmd[0] = DIR_READ(reg);
ret = transfer(&cmd[0], &cmd[0], count + 1);
int ret = transfer(&cmd[0], &cmd[0], count + 1);
if (OK != ret) {
perf_count(_comms_errors);
@@ -512,10 +384,8 @@ PMW3901::readRegister(unsigned reg, uint8_t *data, unsigned count)
memcpy(&data[0], &cmd[1], count);
return ret;
}
int
PMW3901::writeRegister(unsigned reg, uint8_t data)
{
@@ -534,19 +404,18 @@ PMW3901::writeRegister(unsigned reg, uint8_t data)
}
return ret;
}
int
PMW3901::collect()
void
PMW3901::Run()
{
int ret = OK;
int16_t delta_x_raw, delta_y_raw;
float delta_x, delta_y;
perf_begin(_sample_perf);
int16_t delta_x_raw = 0;
int16_t delta_y_raw = 0;
float delta_x = 0.0f;
float delta_y = 0.0f;
uint64_t timestamp = hrt_absolute_time();
uint64_t dt_flow = timestamp - _previous_collect_timestamp;
_previous_collect_timestamp = timestamp;
@@ -560,15 +429,13 @@ PMW3901::collect()
// returns if the collect time has not been reached
if (_flow_dt_sum_usec < _collect_time) {
return ret;
return;
}
delta_x = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
delta_y = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
struct optical_flow_s report;
optical_flow_s report{};
report.timestamp = timestamp;
report.pixel_flow_x_integral = static_cast<float>(delta_x);
@@ -579,8 +446,8 @@ PMW3901::collect()
rotate_3f(_yaw_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
rotate_3f(_yaw_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
report.frame_count_since_last_readout = 4; //microseconds
report.integration_timespan = _flow_dt_sum_usec; //microseconds
report.frame_count_since_last_readout = 4; // microseconds
report.integration_timespan = _flow_dt_sum_usec; // microseconds
report.sensor_id = 0;
@@ -607,38 +474,19 @@ PMW3901::collect()
_flow_sum_x = 0;
_flow_sum_y = 0;
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);
_optical_flow_pub.publish(report);
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);
int ret = transfer(&data[0], &data[0], 10);
if (OK != ret) {
perf_count(_comms_errors);
@@ -652,34 +500,13 @@ PMW3901::readMotionCount(int16_t &deltaX, int16_t &deltaY)
ret = OK;
return ret;
}
void
PMW3901::start()
{
/* reset the report ring and state machine */
_reports->flush();
/* schedule a cycle to start things */
ScheduleDelayed(PMW3901_US);
/* notify about state change */
struct subsystem_info_s info = {};
info.timestamp = hrt_absolute_time();
info.present = true;
info.enabled = true;
info.ok = true;
info.subsystem_type = subsystem_info_s::SUBSYSTEM_TYPE_OPTICALFLOW;
if (_subsystem_pub != nullptr) {
orb_publish(ORB_ID(subsystem_info), _subsystem_pub, &info);
} else {
_subsystem_pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
// schedule a cycle to start things
ScheduleOnInterval(PMW3901_SAMPLE_INTERVAL, PMW3901_US);
}
void
@@ -688,22 +515,12 @@ PMW3901::stop()
ScheduleClear();
}
void
PMW3901::Run()
{
collect();
/* schedule a fresh cycle call when the measurement is done */
ScheduleDelayed(PMW3901_SAMPLE_RATE);
}
void
PMW3901::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
printf("poll interval: %u\n", _measure_interval);
_reports->print_info("report queue");
}
/**
@@ -721,15 +538,12 @@ void reset();
void info();
void usage();
/**
* Start the driver.
*/
void
start(int spi_bus)
{
int fd;
if (g_dev != nullptr) {
errx(1, "already started");
}
@@ -745,17 +559,6 @@ start(int spi_bus)
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:
@@ -784,39 +587,6 @@ void stop()
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()
{
struct optical_flow_s report;
ssize_t sz;
int fd = open(PMW3901_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "%s open failed (try 'pmw3901 start' if the driver is not running)", PMW3901_DEVICE_PATH);
}
/* do a simple demand read */
sz = read(fd, &report, sizeof(report));
if (sz != sizeof(report)) {
PX4_ERR("ret: %d, expected: %d", sz, sizeof(report));
err(1, "immediate acc read failed");
}
print_message(report);
errx(0, "PASS");
}
/**
* Print a little info about the driver.
*/
@@ -893,13 +663,6 @@ pmw3901_main(int argc, char *argv[])
pmw3901::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[myoptind], "test")) {
pmw3901::test();
}
/*
* Print driver information.
*/