mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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pmw3901 split out header and main
This commit is contained in:
Daniel Agar
@@ -34,8 +34,8 @@
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px4_add_module(
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px4_add_module(
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MODULE drivers__optical_flow__pmw3901
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MODULE drivers__optical_flow__pmw3901
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MAIN pmw3901
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MAIN pmw3901
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COMPILE_FLAGS
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-Wno-cast-align # TODO: fix and enable
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SRCS
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SRCS
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pmw3901.cpp
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pmw3901_main.cpp
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PMW3901.cpp
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PMW3901.hpp
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)
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)
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@@ -31,123 +31,7 @@
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*
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*
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****************************************************************************/
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****************************************************************************/
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/**
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#include "PMW3901.hpp"
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* @file pmw3901.cpp
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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_config.h>
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#include <px4_defines.h>
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#include <px4_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, optical flow data publish rate
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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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/**
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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);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
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PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
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PMW3901::PMW3901(int bus, enum Rotation yaw_rotation) :
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SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
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SPI("PMW3901", PMW3901_DEVICE_PATH, bus, PMW3901_SPIDEV, SPIDEV_MODE0, PMW3901_SPI_BUS_SPEED),
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@@ -520,156 +404,4 @@ PMW3901::print_info()
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{
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{
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perf_print_counter(_sample_perf);
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perf_print_counter(_sample_perf);
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perf_print_counter(_comms_errors);
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perf_print_counter(_comms_errors);
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printf("poll interval: %u\n", _measure_interval);
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}
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/**
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* Local functions in support of the shell command.
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*/
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namespace pmw3901
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{
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PMW3901 *g_dev;
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void start(int spi_bus);
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void stop();
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void test();
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void reset();
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void info();
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void usage();
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/**
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* Start the driver.
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*/
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void
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start(int spi_bus)
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{
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if (g_dev != nullptr) {
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errx(1, "already started");
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}
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/* create the driver */
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g_dev = new PMW3901(spi_bus, (enum Rotation)0);
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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exit(0);
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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errx(1, "driver start failed");
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}
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/**
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* Stop the driver
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*/
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void stop()
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{
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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} else {
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errx(1, "driver not running");
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}
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exit(0);
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}
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/**
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* Print a little info about the driver.
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*/
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void
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info()
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{
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if (g_dev == nullptr) {
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errx(1, "driver not running");
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}
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printf("state @ %p\n", g_dev);
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g_dev->print_info();
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exit(0);
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}
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/**
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* Print a little info about how to start/stop/use the driver
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*/
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void usage()
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{
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PX4_INFO("usage: pmw3901 {start|test|reset|info'}");
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PX4_INFO(" [-b SPI_BUS]");
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}
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} // namespace pmw3901
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int
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pmw3901_main(int argc, char *argv[])
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{
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if (argc < 2) {
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pmw3901::usage();
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return PX4_ERROR;
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}
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// don't exit from getopt loop to leave getopt global variables in consistent state,
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// set error flag instead
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bool err_flag = false;
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int ch;
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int myoptind = 1;
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const char *myoptarg = nullptr;
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int spi_bus = PMW3901_BUS;
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while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
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switch (ch) {
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case 'b':
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spi_bus = (uint8_t)atoi(myoptarg);
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break;
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default:
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err_flag = true;
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break;
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}
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}
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if (err_flag) {
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pmw3901::usage();
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return PX4_ERROR;
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}
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/*
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* Start/load the driver.
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*/
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if (!strcmp(argv[myoptind], "start")) {
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pmw3901::start(spi_bus);
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}
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/*
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* Stop the driver
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*/
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if (!strcmp(argv[myoptind], "stop")) {
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pmw3901::stop();
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}
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/*
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* Print driver information.
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*/
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if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
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pmw3901::info();
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}
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pmw3901::usage();
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return PX4_ERROR;
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}
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}
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145
src/drivers/optical_flow/pmw3901/PMW3901.hpp
Normal file
145
src/drivers/optical_flow/pmw3901/PMW3901.hpp
Normal file
@@ -0,0 +1,145 @@
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/****************************************************************************
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*
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||||||
|
* Copyright (c) 2018-2019 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 PMW3901.hpp
|
||||||
|
* @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_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 <uORB/PublicationMulti.hpp>
|
||||||
|
#include <uORB/topics/optical_flow.h>
|
||||||
|
|
||||||
|
/* Configuration Constants */
|
||||||
|
|
||||||
|
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
|
||||||
|
# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
|
||||||
|
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
|
||||||
|
# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
|
||||||
|
#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
|
||||||
|
# define PMW3901_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 PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
|
||||||
|
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
|
||||||
|
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
|
||||||
|
#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
|
||||||
|
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
|
||||||
|
#else
|
||||||
|
# error "add the required spi dev from board_config.h here"
|
||||||
|
#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_US 1000 /* 1 ms */
|
||||||
|
#define PMW3901_SAMPLE_INTERVAL 10000 /* 10 ms */
|
||||||
|
|
||||||
|
|
||||||
|
class PMW3901 : public device::SPI, public px4::ScheduledWorkItem
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PMW3901(int bus = PMW3901_BUS, enum Rotation yaw_rotation = (enum Rotation)0);
|
||||||
|
|
||||||
|
virtual ~PMW3901();
|
||||||
|
|
||||||
|
virtual int init();
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Diagnostics - print some basic information about the driver.
|
||||||
|
*/
|
||||||
|
void print_info();
|
||||||
|
|
||||||
|
protected:
|
||||||
|
virtual int probe();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
const uint64_t _collect_time{15000}; // usecs, optical flow data publish rate
|
||||||
|
|
||||||
|
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{0};
|
||||||
|
|
||||||
|
enum Rotation _yaw_rotation;
|
||||||
|
|
||||||
|
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.
|
||||||
|
*
|
||||||
|
* @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 Run() override;
|
||||||
|
|
||||||
|
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);
|
||||||
|
};
|
||||||
190
src/drivers/optical_flow/pmw3901/pmw3901_main.cpp
Normal file
190
src/drivers/optical_flow/pmw3901/pmw3901_main.cpp
Normal file
@@ -0,0 +1,190 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2018 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 "PMW3901.hpp"
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Driver 'main' command.
|
||||||
|
*/
|
||||||
|
extern "C" __EXPORT int pmw3901_main(int argc, char *argv[]);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Local functions in support of the shell command.
|
||||||
|
*/
|
||||||
|
namespace pmw3901
|
||||||
|
{
|
||||||
|
|
||||||
|
PMW3901 *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 PMW3901(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: pmw3901 {start|test|reset|info'}");
|
||||||
|
PX4_INFO(" [-b SPI_BUS]");
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace pmw3901
|
||||||
|
|
||||||
|
|
||||||
|
int
|
||||||
|
pmw3901_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
if (argc < 2) {
|
||||||
|
pmw3901::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 = PMW3901_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) {
|
||||||
|
pmw3901::usage();
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Start/load the driver.
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "start")) {
|
||||||
|
pmw3901::start(spi_bus);
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Stop the driver
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "stop")) {
|
||||||
|
pmw3901::stop();
|
||||||
|
}
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Print driver information.
|
||||||
|
*/
|
||||||
|
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
|
||||||
|
pmw3901::info();
|
||||||
|
}
|
||||||
|
|
||||||
|
pmw3901::usage();
|
||||||
|
return PX4_ERROR;
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user