diff options
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/px4flow/px4flow.cpp | 436 |
1 files changed, 228 insertions, 208 deletions
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 6c68636c6..29f26cab9 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -73,15 +73,15 @@ #include <board_config.h> /* Configuration Constants */ -#define PX4FLOW_BUS PX4_I2C_BUS_EXPANSION +#define PX4FLOW_BUS PX4_I2C_BUS_ESC//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 */ +//#define PX4FLOW_REG 0x00 /* Measure Register 0*/ +#define PX4FLOW_REG 0x16 /* Measure Register 22*/ +#define PX4FLOW_CONVERSION_INTERVAL 20000 //in microseconds! 20000 = 50 Hz 100000 = 10Hz /* oddly, ERROR is not defined for c++ */ #ifdef ERROR # undef ERROR @@ -92,94 +92,104 @@ static const int ERROR = -1; # 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 +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; + +typedef struct i2c_integral_frame { + uint16_t frame_count_since_last_readout; + int16_t pixel_flow_x_integral; + int16_t pixel_flow_y_integral; + int16_t gyro_x_rate_integral; + int16_t gyro_y_rate_integral; + int16_t gyro_z_rate_integral; + uint32_t integration_timespan; + uint32_t time_since_last_sonar_update; + uint16_t ground_distance; + uint8_t qual; +} __attribute__((packed)); +struct i2c_integral_frame f_integral; + + +class PX4FLOW: public device::I2C { public: PX4FLOW(int bus = PX4FLOW_BUS, int address = I2C_FLOW_ADDRESS); virtual ~PX4FLOW(); - virtual int init(); + 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); + 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(); + * Diagnostics - print some basic information about the driver. + */ + void print_info(); protected: - virtual int probe(); + virtual int probe(); private: - work_s _work; - RingBuffer *_reports; - bool _sensor_ok; - int _measure_ticks; - bool _collect_phase; + work_s _work; + RingBuffer *_reports; bool _sensor_ok; + int _measure_ticks; bool _collect_phase; - orb_advert_t _px4flow_topic; + orb_advert_t _px4flow_topic; - perf_counter_t _sample_perf; - perf_counter_t _comms_errors; - perf_counter_t _buffer_overflows; + 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); + * 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(); + * 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(); + * 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(); + * 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); - + * 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); }; @@ -189,15 +199,12 @@ private: 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")) + 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; @@ -217,8 +224,7 @@ PX4FLOW::~PX4FLOW() } } -int -PX4FLOW::init() +int PX4FLOW::init() { int ret = ERROR; @@ -228,30 +234,19 @@ PX4FLOW::init() } /* allocate basic report buffers */ - _reports = new RingBuffer(2, sizeof(struct optical_flow_s)); + _reports = new RingBuffer(2, sizeof(optical_flow_s)); if (_reports == nullptr) { goto out; } - /* get a publish handle on the px4flow topic */ - struct optical_flow_s 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; +out: return ret; } -int -PX4FLOW::probe() +int PX4FLOW::probe() { uint8_t val[22]; @@ -267,8 +262,7 @@ PX4FLOW::probe() return measure(); } -int -PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) +int PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { @@ -369,11 +363,11 @@ PX4FLOW::ioctl(struct file *filp, int cmd, unsigned long arg) } } -ssize_t -PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) +ssize_t PX4FLOW::read(struct file *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); + struct optical_flow_s *rbuf = + reinterpret_cast<struct optical_flow_s *>(buffer); int ret = 0; /* buffer must be large enough */ @@ -410,8 +404,8 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) break; } - /* wait for it to complete */ - usleep(PX4FLOW_CONVERSION_INTERVAL); +// /* wait for it to complete */ +// usleep(PX4FLOW_CONVERSION_INTERVAL); /* run the collection phase */ if (OK != collect()) { @@ -419,6 +413,9 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) break; } + /* wait for it to complete */ + usleep(PX4FLOW_CONVERSION_INTERVAL); + /* state machine will have generated a report, copy it out */ if (_reports->get(rbuf)) { ret = sizeof(*rbuf); @@ -429,8 +426,7 @@ PX4FLOW::read(struct file *filp, char *buffer, size_t buflen) return ret; } -int -PX4FLOW::measure() +int PX4FLOW::measure() { int ret; @@ -452,17 +448,22 @@ PX4FLOW::measure() return ret; } -int -PX4FLOW::collect() +int PX4FLOW::collect() { - int ret = -EIO; + 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}; + uint8_t val[46] = { 0 }; perf_begin(_sample_perf); - ret = transfer(nullptr, 0, &val[0], 22); + if (PX4FLOW_REG == 0x00) { + ret = transfer(nullptr, 0, &val[0], 45); // read 45 bytes (22+23 : frame1 + frame2) + } + + if (PX4FLOW_REG == 0x16) { + ret = transfer(nullptr, 0, &val[0], 23); // read 23 bytes (only frame2) + } if (ret < 0) { log("error reading from sensor: %d", ret); @@ -471,36 +472,81 @@ PX4FLOW::collect() 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]; + if (PX4FLOW_REG == 0) { + 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]; + + f_integral.frame_count_since_last_readout = val[23] << 8 | val[22]; + f_integral.pixel_flow_x_integral = val[25] << 8 | val[24]; + f_integral.pixel_flow_y_integral = val[27] << 8 | val[26]; + f_integral.gyro_x_rate_integral = val[29] << 8 | val[28]; + f_integral.gyro_y_rate_integral = val[31] << 8 | val[30]; + f_integral.gyro_z_rate_integral = val[33] << 8 | val[32]; + f_integral.integration_timespan = val[37] << 24 | val[36] << 16 + | val[35] << 8 | val[34]; + f_integral.time_since_last_sonar_update = val[41] << 24 | val[40] << 16 + | val[39] << 8 | val[38]; + f_integral.ground_distance = val[43] << 8 | val[42]; + f_integral.qual = val[44]; + } + + if (PX4FLOW_REG == 0x16) { + f_integral.frame_count_since_last_readout = val[1] << 8 | val[0]; + f_integral.pixel_flow_x_integral = val[3] << 8 | val[2]; + f_integral.pixel_flow_y_integral = val[5] << 8 | val[4]; + f_integral.gyro_x_rate_integral = val[7] << 8 | val[6]; + f_integral.gyro_y_rate_integral = val[9] << 8 | val[8]; + f_integral.gyro_z_rate_integral = val[11] << 8 | val[10]; + f_integral.integration_timespan = val[15] << 24 | val[14] << 16 | val[13] << 8 | val[12]; + f_integral.time_since_last_sonar_update = val[19] << 24 | val[18] << 16 | val[17] << 8 | val[16]; + f_integral.ground_distance = val[21] << 8 | val[20]; + f_integral.qual = val[22]; + } - 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 optical_flow_s 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(); + report.pixel_flow_x_integral = float(f_integral.pixel_flow_x_integral) / 10000.0f;//convert to radians + + report.pixel_flow_y_integral = float(f_integral.pixel_flow_y_integral) / 10000.0f;//convert to radians + + report.frame_count_since_last_readout = f_integral.frame_count_since_last_readout; + + report.ground_distance_m = float(f_integral.ground_distance) / 1000.0f;//convert to meters + + report.quality = f_integral.qual; //0:bad ; 255 max quality - /* publish it */ - orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + report.gyro_x_rate_integral = float(f_integral.gyro_x_rate_integral) / 10000.0f; //convert to radians + + report.gyro_y_rate_integral = float(f_integral.gyro_y_rate_integral) / 10000.0f; //convert to radians + + report.gyro_z_rate_integral = float(f_integral.gyro_z_rate_integral) / 10000.0f; //convert to radians + + report.integration_timespan = f_integral.integration_timespan; //microseconds + + report.time_since_last_sonar_update = f_integral.time_since_last_sonar_update;//microseconds + + report.sensor_id = 0; + + if (_px4flow_topic < 0) { + _px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report); + + } else { + /* publish it */ + orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report); + } /* post a report to the ring */ if (_reports->force(&report)) { @@ -516,15 +562,14 @@ PX4FLOW::collect() return ret; } -void -PX4FLOW::start() +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); + work_queue(HPWORK, &_work, (worker_t) & PX4FLOW::cycle_trampoline, this, 1); /* notify about state change */ struct subsystem_info_s info = { @@ -543,71 +588,38 @@ PX4FLOW::start() } } -void -PX4FLOW::stop() +void PX4FLOW::stop() { work_cancel(HPWORK, &_work); } -void -PX4FLOW::cycle_trampoline(void *arg) +void PX4FLOW::cycle_trampoline(void *arg) { - PX4FLOW *dev = (PX4FLOW *)arg; + PX4FLOW *dev = (PX4FLOW *) arg; dev->cycle(); } -void -PX4FLOW::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; + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + work_queue(HPWORK, &_work, (worker_t) & PX4FLOW::cycle_trampoline, this, + _measure_ticks); - /* 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() +void PX4FLOW::print_info() { perf_print_counter(_sample_perf); perf_print_counter(_comms_errors); @@ -628,19 +640,18 @@ namespace px4flow #endif const int ERROR = -1; -PX4FLOW *g_dev; +PX4FLOW *g_dev; -void start(); -void stop(); -void test(); -void reset(); -void info(); +void start(); +void stop(); +void test(); +void reset(); +void info(); /** * Start the driver. */ -void -start() +void start() { int fd; @@ -703,8 +714,7 @@ void stop() * make sure we can collect data from the sensor in polled * and automatic modes. */ -void -test() +void test() { struct optical_flow_s report; ssize_t sz; @@ -716,6 +726,7 @@ test() 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)); @@ -725,18 +736,17 @@ test() } 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("flowx: %0.2f m/s", (double) f.pixel_flow_x_sum); + warnx("flowy: %0.2f m/s", (double) f.pixel_flow_y_sum); 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"); + /* start the sensor polling at 10Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) { + errx(1, "failed to set 10Hz poll rate"); } /* read the sensor 5x and report each value */ - for (unsigned i = 0; i < 5; i++) { + for (unsigned i = 0; i < 10; i++) { struct pollfd fds; /* wait for data to be ready */ @@ -756,9 +766,22 @@ test() } 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); + + warnx("framecount_total: %u", f.frame_count); + warnx("framecount_integral: %u", + f_integral.frame_count_since_last_readout); + warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral); + warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral); + warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral); + warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral); + warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral); + warnx("integration_timespan [us]: %u", f_integral.integration_timespan); + warnx("ground_distance: %0.2f m", + (double) f_integral.ground_distance / 1000); + warnx("time since last sonar update [us]: %i", + f_integral.time_since_last_sonar_update); + warnx("quality integration average : %i", f_integral.qual); + warnx("quality : %i", f.qual); } @@ -769,8 +792,7 @@ test() /** * Reset the driver. */ -void -reset() +void reset() { int fd = open(PX4FLOW_DEVICE_PATH, O_RDONLY); @@ -792,8 +814,7 @@ reset() /** * Print a little info about the driver. */ -void -info() +void info() { if (g_dev == nullptr) { errx(1, "driver not running"); @@ -807,8 +828,7 @@ info() } // namespace -int -px4flow_main(int argc, char *argv[]) +int px4flow_main(int argc, char *argv[]) { /* * Start/load the driver. |