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-rw-r--r--src/drivers/px4flow/px4flow.cpp806
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diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
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+++ b/src/drivers/px4flow/px4flow.cpp
@@ -0,0 +1,806 @@
+/****************************************************************************
+ *
+ * Copyright (c) 2013 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 px4flow.cpp
+ * @author Dominik Honegger
+ *
+ * Driver for the PX4FLOW module connected via I2C.
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.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 <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <systemlib/perf_counter.h>
+#include <systemlib/err.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_px4flow.h>
+#include <drivers/device/ringbuffer.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/subsystem_info.h>
+//#include <uORB/topics/optical_flow.h>
+
+#include <board_config.h>
+
+/* Configuration Constants */
+#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION
+#define I2C_FLOW_ADDRESS 0x42 //* 7-bit address. 8-bit address is 0x84
+//range 0x42 - 0x49
+
+/* PX4FLOW Registers addresses */
+#define PX4FLOW_REG 0x00 /* Measure Register */
+
+#define PX4FLOW_CONVERSION_INTERVAL 8000 /* 8ms 125Hz
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+static const int ERROR = -1;
+
+#ifndef CONFIG_SCHED_WORKQUEUE
+# error This requires CONFIG_SCHED_WORKQUEUE.
+#endif
+
+//struct i2c_frame
+//{
+// uint16_t frame_count;
+// int16_t pixel_flow_x_sum;
+// int16_t pixel_flow_y_sum;
+// int16_t flow_comp_m_x;
+// int16_t flow_comp_m_y;
+// int16_t qual;
+// int16_t gyro_x_rate;
+// int16_t gyro_y_rate;
+// int16_t gyro_z_rate;
+// uint8_t gyro_range;
+// uint8_t sonar_timestamp;
+// int16_t ground_distance;
+//};
+//
+//struct i2c_frame f;
+
+class PX4FLOW : public device::I2C
+{
+public:
+ PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS);
+ virtual ~PX4FLOW();
+
+ virtual int init();
+
+ virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
+ virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+
+ /**
+ * Diagnostics - print some basic information about the driver.
+ */
+ void print_info();
+
+protected:
+ virtual int probe();
+
+private:
+
+ work_s _work;
+ RingBuffer *_reports;
+ bool _sensor_ok;
+ int _measure_ticks;
+ bool _collect_phase;
+
+ orb_advert_t _px4flow_topic;
+
+ perf_counter_t _sample_perf;
+ perf_counter_t _comms_errors;
+ perf_counter_t _buffer_overflows;
+
+ /**
+ * Test whether the device supported by the driver is present at a
+ * specific address.
+ *
+ * @param address The I2C bus address to probe.
+ * @return True if the device is present.
+ */
+ int probe_address(uint8_t address);
+
+ /**
+ * 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 measure();
+ int collect();
+ /**
+ * 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 px4flow_main(int argc, char *argv[]);
+
+PX4FLOW::PX4FLOW(int bus, int address) :
+ I2C("PX4FLOW", PX4FLOW_DEVICE_PATH, bus, address, 400000),//400khz
+ _reports(nullptr),
+ _sensor_ok(false),
+ _measure_ticks(0),
+ _collect_phase(false),
+ _px4flow_topic(-1),
+ _sample_perf(perf_alloc(PC_ELAPSED, "px4flow_read")),
+ _comms_errors(perf_alloc(PC_COUNT, "px4flow_comms_errors")),
+ _buffer_overflows(perf_alloc(PC_COUNT, "px4flow_buffer_overflows"))
+{
+ // enable debug() calls
+ _debug_enabled = true;
+
+ // work_cancel in the dtor will explode if we don't do this...
+ memset(&_work, 0, sizeof(_work));
+}
+
+PX4FLOW::~PX4FLOW()
+{
+ /* make sure we are truly inactive */
+ stop();
+
+ /* free any existing reports */
+ if (_reports != nullptr)
+ delete _reports;
+}
+
+int
+PX4FLOW::init()
+{
+ int ret = ERROR;
+
+ /* do I2C init (and probe) first */
+ if (I2C::init() != OK)
+ goto out;
+
+ /* allocate basic report buffers */
+ _reports = new RingBuffer(2, sizeof(px4flow_report));
+
+ if (_reports == nullptr)
+ goto out;
+
+ /* get a publish handle on the px4flow topic */
+ struct px4flow_report zero_report;
+ memset(&zero_report, 0, sizeof(zero_report));
+ _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &zero_report);
+
+ if (_px4flow_topic < 0)
+ debug("failed to create px4flow object. Did you start uOrb?");
+
+ ret = OK;
+ /* sensor is ok, but we don't really know if it is within range */
+ _sensor_ok = true;
+out:
+ return ret;
+}
+
+int
+PX4FLOW::probe()
+{
+ return measure();
+}
+
+int
+PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ switch (cmd) {
+
+ case SENSORIOCSPOLLRATE: {
+ switch (arg) {
+
+ /* switching to manual polling */
+ case SENSOR_POLLRATE_MANUAL:
+ stop();
+ _measure_ticks = 0;
+ return OK;
+
+ /* external signalling (DRDY) not supported */
+ case SENSOR_POLLRATE_EXTERNAL:
+
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
+
+ /* set default/max polling rate */
+ case SENSOR_POLLRATE_MAX:
+ 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(PX4FLOW_CONVERSION_INTERVAL);
+
+ /* 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_ticks == 0);
+
+ /* convert hz to tick interval via microseconds */
+ unsigned ticks = USEC2TICK(1000000 / arg);
+
+ /* check against maximum rate */
+ if (ticks < USEC2TICK(PX4FLOW_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;
+ }
+ }
+ }
+
+ case SENSORIOCGPOLLRATE:
+ if (_measure_ticks == 0)
+ return SENSOR_POLLRATE_MANUAL;
+
+ return (1000 / _measure_ticks);
+
+ case SENSORIOCSQUEUEDEPTH: {
+ /* lower bound is mandatory, upper bound is a sanity check */
+ if ((arg < 1) || (arg > 100))
+ return -EINVAL;
+
+ irqstate_t flags = irqsave();
+ if (!_reports->resize(arg)) {
+ irqrestore(flags);
+ return -ENOMEM;
+ }
+ irqrestore(flags);
+
+ return OK;
+ }
+
+ case SENSORIOCGQUEUEDEPTH:
+ return _reports->size();
+
+ case SENSORIOCRESET:
+ /* XXX implement this */
+ return -EINVAL;
+
+ default:
+ /* give it to the superclass */
+ return I2C::ioctl(filp, cmd, arg);
+ }
+}
+
+ssize_t
+PX4FLOW::read(struct file *filp, char *buffer, size_t buflen)
+{
+ unsigned count = buflen / sizeof(struct px4flow_report);
+ struct px4flow_report *rbuf = reinterpret_cast<struct px4flow_report *>(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 != measure()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* wait for it to complete */
+ usleep(PX4FLOW_CONVERSION_INTERVAL);
+
+ /* run the collection phase */
+ 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
+PX4FLOW::measure()
+{
+ int ret;
+
+ /*
+ * Send the command to begin a measurement.
+ */
+ uint8_t cmd = PX4FLOW_REG;
+ ret = transfer(&cmd, 1, nullptr, 0);
+
+ if (OK != ret)
+ {
+ perf_count(_comms_errors);
+ log("i2c::transfer returned %d", ret);
+ printf("i2c::transfer flow returned %d");
+ return ret;
+ }
+ ret = OK;
+
+ return ret;
+}
+
+int
+PX4FLOW::collect()
+{
+ int ret = -EIO;
+
+ /* read from the sensor */
+ uint8_t val[22] = {0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0,0, 0};
+
+ perf_begin(_sample_perf);
+
+ ret = transfer(nullptr, 0, &val[0], 22);
+
+ if (ret < 0)
+ {
+ log("error reading from sensor: %d", ret);
+ perf_count(_comms_errors);
+ perf_end(_sample_perf);
+ return ret;
+ }
+
+// f.frame_count = val[1] << 8 | val[0];
+// f.pixel_flow_x_sum= val[3] << 8 | val[2];
+// f.pixel_flow_y_sum= val[5] << 8 | val[4];
+// f.flow_comp_m_x= val[7] << 8 | val[6];
+// f.flow_comp_m_y= val[9] << 8 | val[8];
+// f.qual= val[11] << 8 | val[10];
+// f.gyro_x_rate= val[13] << 8 | val[12];
+// f.gyro_y_rate= val[15] << 8 | val[14];
+// f.gyro_z_rate= val[17] << 8 | val[16];
+// f.gyro_range= val[18];
+// f.sonar_timestamp= val[19];
+// f.ground_distance= val[21] << 8 | val[20];
+
+ int16_t flowcx = val[7] << 8 | val[6];
+ int16_t flowcy = val[9] << 8 | val[8];
+ int16_t gdist = val[21] << 8 | val[20];
+
+ struct px4flow_report report;
+ report.flow_comp_x_m = float(flowcx)/1000.0f;
+ report.flow_comp_y_m = float(flowcy)/1000.0f;
+ report.flow_raw_x= val[3] << 8 | val[2];
+ report.flow_raw_y= val[5] << 8 | val[4];
+ report.ground_distance_m =float(gdist)/1000.0f;
+ report.quality= val[10];
+ report.sensor_id = 0;
+ report.timestamp = hrt_absolute_time();
+
+
+ /* publish it */
+ orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
+
+ /* post a report to the ring */
+ if (_reports->force(&report)) {
+ perf_count(_buffer_overflows);
+ }
+
+ /* notify anyone waiting for data */
+ poll_notify(POLLIN);
+
+ ret = OK;
+
+ perf_end(_sample_perf);
+ return ret;
+}
+
+void
+PX4FLOW::start()
+{
+ /* reset the report ring and state machine */
+ _collect_phase = false;
+ _reports->flush();
+
+ /* schedule a cycle to start things */
+ work_queue(HPWORK, &_work, (worker_t)&PX4FLOW::cycle_trampoline, this, 1);
+
+ /* notify about state change */
+ struct subsystem_info_s info = {
+ true,
+ true,
+ true,
+ SUBSYSTEM_TYPE_OPTICALFLOW};
+ static orb_advert_t pub = -1;
+
+ if (pub > 0) {
+ orb_publish(ORB_ID(subsystem_info), pub, &info);
+ } else {
+ pub = orb_advertise(ORB_ID(subsystem_info), &info);
+ }
+}
+
+void
+PX4FLOW::stop()
+{
+ work_cancel(HPWORK, &_work);
+}
+
+void
+PX4FLOW::cycle_trampoline(void *arg)
+{
+ PX4FLOW *dev = (PX4FLOW *)arg;
+
+ dev->cycle();
+}
+
+void
+PX4FLOW::cycle()
+{
+ /* collection phase? */
+ if (_collect_phase) {
+
+ /* perform collection */
+ if (OK != collect()) {
+ log("collection error");
+ /* restart the measurement state machine */
+ start();
+ return;
+ }
+
+ /* next phase is measurement */
+ _collect_phase = false;
+
+ /*
+ * Is there a collect->measure gap?
+ */
+ if (_measure_ticks > USEC2TICK(PX4FLOW_CONVERSION_INTERVAL)) {
+
+ /* schedule a fresh cycle call when we are ready to measure again */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&PX4FLOW::cycle_trampoline,
+ this,
+ _measure_ticks - USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
+
+ return;
+ }
+ }
+
+ /* measurement phase */
+ if (OK != measure())
+ log("measure error");
+
+ /* next phase is collection */
+ _collect_phase = true;
+
+ /* schedule a fresh cycle call when the measurement is done */
+ work_queue(HPWORK,
+ &_work,
+ (worker_t)&PX4FLOW::cycle_trampoline,
+ this,
+ USEC2TICK(PX4FLOW_CONVERSION_INTERVAL));
+}
+
+void
+PX4FLOW::print_info()
+{
+ perf_print_counter(_sample_perf);
+ perf_print_counter(_comms_errors);
+ perf_print_counter(_buffer_overflows);
+ printf("poll interval: %u ticks\n", _measure_ticks);
+ _reports->print_info("report queue");
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace px4flow
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+PX4FLOW *g_dev;
+
+void start();
+void stop();
+void test();
+void reset();
+void info();
+
+/**
+ * Start the driver.
+ */
+void
+start()
+{
+ int fd;
+
+ if (g_dev != nullptr)
+ errx(1, "already started");
+
+ /* create the driver */
+ g_dev = new PX4FLOW(PX4FLOW_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(PX4FLOW_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0)
+ goto fail;
+
+ if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX) < 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()
+{
+ struct px4flow_report report;
+ ssize_t sz;
+ int ret;
+
+ int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0)
+ err(1, "%s open failed (try 'px4flow start' if the driver is not running", PX4FLOW_DEVICE_PATH);
+
+ /* do a simple demand read */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report))
+ // err(1, "immediate read failed");
+
+ warnx("single read");
+ warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
+ warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
+ warnx("time: %lld", report.timestamp);
+
+
+ /* start the sensor polling at 2Hz */
+ if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
+ errx(1, "failed to set 2Hz poll rate");
+
+ /* read the sensor 5x and report each value */
+ for (unsigned i = 0; i < 5; i++) {
+ struct pollfd fds;
+
+ /* wait for data to be ready */
+ fds.fd = fd;
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 2000);
+
+ if (ret != 1)
+ errx(1, "timed out waiting for sensor data");
+
+ /* now go get it */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report))
+ err(1, "periodic read failed");
+
+ warnx("periodic read %u", i);
+ warnx("flowx: %0.2f m/s", (double)report.flow_comp_x_m);
+ warnx("flowy: %0.2f m/s", (double)report.flow_comp_y_m);
+ warnx("time: %lld", report.timestamp);
+
+
+ }
+
+ errx(0, "PASS");
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset()
+{
+ int fd = open(PX4FLOW_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
+
+int
+px4flow_main(int argc, char *argv[])
+{
+ /*
+ * Start/load the driver.
+ */
+ if (!strcmp(argv[1], "start"))
+ px4flow::start();
+
+ /*
+ * Stop the driver
+ */
+ if (!strcmp(argv[1], "stop"))
+ px4flow::stop();
+
+ /*
+ * Test the driver/device.
+ */
+ if (!strcmp(argv[1], "test"))
+ px4flow::test();
+
+ /*
+ * Reset the driver.
+ */
+ if (!strcmp(argv[1], "reset"))
+ px4flow::reset();
+
+ /*
+ * Print driver information.
+ */
+ if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status"))
+ px4flow::info();
+
+ errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
+}
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