mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 15:40:31 +08:00
drivers/optical_flow: new PixArt PAA3905 optical flow driver
This commit is contained in:
alexklimaj
Daniel Agar
@@ -83,18 +83,24 @@ then
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teraranger start -X
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fi
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# Possible external pmw3901 optical flow sensor
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if param greater -s SENS_EN_PMW3901 0
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# paa3905 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAA3905 0
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then
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pmw3901 -S start
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paa3905 -S start
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fi
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# Possible external paw3902 optical flow sensor
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# paw3902 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PAW3902 0
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then
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paw3902 -S start
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fi
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# pmw3901 optical flow sensor (external SPI)
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if param greater -s SENS_EN_PMW3901 0
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then
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pmw3901 -S start
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fi
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# Check for px4flow sensor
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if param compare -s SENS_EN_PX4FLOW 1
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then
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@@ -130,12 +130,14 @@
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#define DRV_GYR_DEVTYPE_BMI088 0x66
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#define DRV_BARO_DEVTYPE_BMP388 0x67
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#define DRV_BARO_DEVTYPE_DPS310 0x68
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#define DRV_PWM_DEVTYPE_PCA9685 0x69
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#define DRV_ACC_DEVTYPE_BMI088 0x6a
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#define DRV_OSD_DEVTYPE_ATXXXX 0x6b
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#define DRV_FLOW_DEVTYPE_PMW3901 0x6c
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#define DRV_FLOW_DEVTYPE_PAW3902 0x6d
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#define DRV_FLOW_DEVTYPE_PX4FLOW 0x6e
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#define DRV_PWM_DEVTYPE_PCA9685 0x6f
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#define DRV_FLOW_DEVTYPE_PAA3905 0x6f
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#define DRV_DIST_DEVTYPE_LL40LS 0x70
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#define DRV_DIST_DEVTYPE_MAPPYDOT 0x71
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@@ -2,6 +2,7 @@ menu "Optical flow"
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menuconfig COMMON_OPTICAL_FLOW
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bool "Common Optical flow"
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default n
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select DRIVERS_OPTICAL_FLOW_PAA3905
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select DRIVERS_OPTICAL_FLOW_PAW3902
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select DRIVERS_OPTICAL_FLOW_PMW3901
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select DRIVERS_OPTICAL_FLOW_PX4FLOW
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@@ -0,0 +1,46 @@
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############################################################################
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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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||||
# 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.
|
||||
#
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||||
# 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,
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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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px4_add_module(
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MODULE drivers__optical_flow__paa3905
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MAIN paa3905
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SRCS
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paa3905_main.cpp
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PAA3905.cpp
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PAA3905.hpp
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PixArt_PAA3905_Registers.hpp
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DEPENDS
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conversion
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drivers__device
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px4_work_queue
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)
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@@ -0,0 +1,5 @@
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menuconfig DRIVERS_OPTICAL_FLOW_PAA3905
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bool "paa3905"
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default n
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---help---
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Enable support for paa3905
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,136 @@
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/****************************************************************************
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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
|
||||
* 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.
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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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@@ -0,0 +1,117 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 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.
|
||||
*
|
||||
****************************************************************************/
|
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#pragma once
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namespace PixArt_PAA3905
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{
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// TODO: move to a central header
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static constexpr uint8_t Bit0 = (1 << 0);
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static constexpr uint8_t Bit1 = (1 << 1);
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static constexpr uint8_t Bit2 = (1 << 2);
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static constexpr uint8_t Bit3 = (1 << 3);
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static constexpr uint8_t Bit4 = (1 << 4);
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static constexpr uint8_t Bit5 = (1 << 5);
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static constexpr uint8_t Bit6 = (1 << 6);
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static constexpr uint8_t Bit7 = (1 << 7);
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static constexpr uint8_t PRODUCT_ID = 0xA2;
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static constexpr uint8_t REVISION_ID = 0x00;
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static constexpr uint8_t PRODUCT_ID_INVERSE = 0x5D;
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|
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static constexpr uint32_t SAMPLE_INTERVAL_MODE_0{1000000 / 126}; // 126 fps
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static constexpr uint32_t SAMPLE_INTERVAL_MODE_1{1000000 / 126}; // 126 fps
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static constexpr uint32_t SAMPLE_INTERVAL_MODE_2{1000000 / 50}; // 50 fps
|
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|
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static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2MHz SPI serial interface
|
||||
|
||||
// Various time delay needed for paa3905
|
||||
static constexpr uint32_t TIME_us_TSWW = 11; // actually 10.5us
|
||||
static constexpr uint32_t TIME_us_TSRAD = 2;
|
||||
|
||||
enum Register : uint8_t {
|
||||
Product_ID = 0x00,
|
||||
Revision_ID = 0x01,
|
||||
Motion = 0x02,
|
||||
Delta_X_L = 0x03,
|
||||
Delta_X_H = 0x04,
|
||||
Delta_Y_L = 0x05,
|
||||
Delta_Y_H = 0x06,
|
||||
Squal = 0x07,
|
||||
RawData_Sum = 0x08,
|
||||
Maximum_RawData = 0x09,
|
||||
Minimum_RawData = 0x0A,
|
||||
Shutter_Lower = 0x0B,
|
||||
Shutter_Middle = 0x0C,
|
||||
Shutter_Upper = 0x0D,
|
||||
|
||||
Observation = 0x15,
|
||||
Motion_Burst = 0x16,
|
||||
|
||||
Power_Up_Reset = 0x3A,
|
||||
Shutdown = 0x3B,
|
||||
|
||||
Resolution = 0x4E,
|
||||
|
||||
Inverse_Product_ID = 0x5F,
|
||||
};
|
||||
|
||||
// Observation
|
||||
enum Observation_Bit : uint8_t {
|
||||
Reset = 0x5A,
|
||||
};
|
||||
|
||||
enum class Mode {
|
||||
Bright = 0,
|
||||
LowLight = 1,
|
||||
SuperLowLight = 2,
|
||||
};
|
||||
|
||||
struct BURST_TRANSFER {
|
||||
uint8_t Motion;
|
||||
uint8_t Observation;
|
||||
uint8_t Delta_X_L;
|
||||
uint8_t Delta_X_H;
|
||||
uint8_t Delta_Y_L;
|
||||
uint8_t Delta_Y_H;
|
||||
uint8_t Reserved;
|
||||
uint8_t SQUAL;
|
||||
uint8_t RawData_Sum;
|
||||
uint8_t Maximum_RawData;
|
||||
uint8_t Minimum_RawData;
|
||||
uint8_t Shutter_Upper;
|
||||
uint8_t Shutter_Middle;
|
||||
uint8_t Shutter_Lower;
|
||||
};
|
||||
|
||||
}
|
||||
@@ -0,0 +1,84 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 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 "PAA3905.hpp"
|
||||
#include <px4_platform_common/module.h>
|
||||
|
||||
void PAA3905::print_usage()
|
||||
{
|
||||
PRINT_MODULE_USAGE_NAME("paa3905", "driver");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('Y', 0, 0, 359, "custom yaw rotation (degrees)", true);
|
||||
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
|
||||
}
|
||||
|
||||
extern "C" __EXPORT int paa3905_main(int argc, char *argv[])
|
||||
{
|
||||
int ch = 0;
|
||||
using ThisDriver = PAA3905;
|
||||
BusCLIArguments cli{false, true};
|
||||
cli.custom1 = -1;
|
||||
cli.spi_mode = SPIDEV_MODE0;
|
||||
cli.default_spi_frequency = SPI_SPEED;
|
||||
|
||||
while ((ch = cli.getOpt(argc, argv, "Y:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'Y':
|
||||
cli.custom1 = atoi(cli.optArg());
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
const char *verb = cli.optArg();
|
||||
|
||||
if (!verb) {
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PAA3905);
|
||||
|
||||
if (!strcmp(verb, "start")) {
|
||||
return ThisDriver::module_start(cli, iterator);
|
||||
|
||||
} else if (!strcmp(verb, "stop")) {
|
||||
return ThisDriver::module_stop(iterator);
|
||||
|
||||
} else if (!strcmp(verb, "status")) {
|
||||
return ThisDriver::module_status(iterator);
|
||||
}
|
||||
|
||||
ThisDriver::print_usage();
|
||||
return -1;
|
||||
}
|
||||
@@ -0,0 +1,42 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* paa3905 Optical Flow
|
||||
*
|
||||
* @reboot_required true
|
||||
*
|
||||
* @boolean
|
||||
* @group Sensors
|
||||
*/
|
||||
PARAM_DEFINE_INT32(SENS_EN_PAA3905, 0);
|
||||
Reference in New Issue
Block a user