mirror of https://github.com/ArduPilot/ardupilot
139 lines
4.2 KiB
C++
139 lines
4.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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driver for PX4Flow optical flow sensor
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*/
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#include "AP_OpticalFlow_config.h"
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#if AP_OPTICALFLOW_PX4FLOW_ENABLED
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#include "AP_OpticalFlow_PX4Flow.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/crc.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_HAL/I2CDevice.h>
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#include <utility>
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#include "AP_OpticalFlow.h"
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#include <stdio.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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extern const AP_HAL::HAL& hal;
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#define PX4FLOW_BASE_I2C_ADDR 0x42
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#define PX4FLOW_INIT_RETRIES 10 // attempt to initialise the sensor up to 10 times at startup
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// detect the device
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AP_OpticalFlow_PX4Flow *AP_OpticalFlow_PX4Flow::detect(AP_OpticalFlow &_frontend)
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{
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AP_OpticalFlow_PX4Flow *sensor = new AP_OpticalFlow_PX4Flow(_frontend);
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if (!sensor) {
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return nullptr;
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}
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if (!sensor->setup_sensor()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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/*
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look for the sensor on different buses
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*/
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bool AP_OpticalFlow_PX4Flow::scan_buses(void)
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{
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bool success = false;
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uint8_t retry_attempt = 0;
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while (!success && retry_attempt < PX4FLOW_INIT_RETRIES) {
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bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
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uint32_t bus_mask = all_external? hal.i2c_mgr->get_bus_mask() : hal.i2c_mgr->get_bus_mask_external();
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FOREACH_I2C_MASK(bus, bus_mask) {
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#ifdef HAL_OPTFLOW_PX4FLOW_I2C_BUS
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// only one bus from HAL
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if (bus != HAL_OPTFLOW_PX4FLOW_I2C_BUS) {
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continue;
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}
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#endif
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AP_HAL::OwnPtr<AP_HAL::Device> tdev = hal.i2c_mgr->get_device(bus, PX4FLOW_BASE_I2C_ADDR + get_address());
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if (!tdev) {
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continue;
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}
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WITH_SEMAPHORE(tdev->get_semaphore());
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struct i2c_integral_frame frame;
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success = tdev->read_registers(REG_INTEGRAL_FRAME, (uint8_t *)&frame, sizeof(frame));
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if (success) {
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printf("Found PX4Flow on bus %u\n", bus);
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dev = std::move(tdev);
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break;
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}
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}
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retry_attempt++;
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if (!success) {
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hal.scheduler->delay(10);
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}
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}
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return success;
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}
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// setup the device
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bool AP_OpticalFlow_PX4Flow::setup_sensor(void)
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{
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if (!scan_buses()) {
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return false;
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}
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// read at 10Hz
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dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_OpticalFlow_PX4Flow::timer, void));
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return true;
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}
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// update - read latest values from sensor and fill in x,y and totals.
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void AP_OpticalFlow_PX4Flow::update(void)
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{
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}
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// timer to read sensor
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void AP_OpticalFlow_PX4Flow::timer(void)
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{
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struct i2c_integral_frame frame;
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if (!dev->read_registers(REG_INTEGRAL_FRAME, (uint8_t *)&frame, sizeof(frame))) {
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return;
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}
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struct AP_OpticalFlow::OpticalFlow_state state {};
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if (frame.integration_timespan > 0) {
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const Vector2f flowScaler = _flowScaler();
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float flowScaleFactorX = 1.0f + 0.001f * flowScaler.x;
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float flowScaleFactorY = 1.0f + 0.001f * flowScaler.y;
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float integralToRate = 1.0e6 / frame.integration_timespan;
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state.surface_quality = frame.qual;
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state.flowRate = Vector2f(frame.pixel_flow_x_integral * flowScaleFactorX,
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frame.pixel_flow_y_integral * flowScaleFactorY) * 1.0e-4 * integralToRate;
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state.bodyRate = Vector2f(frame.gyro_x_rate_integral, frame.gyro_y_rate_integral) * 1.0e-4 * integralToRate;
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_applyYaw(state.flowRate);
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_applyYaw(state.bodyRate);
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}
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_update_frontend(state);
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}
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#endif // AP_OPTICALFLOW_PX4FLOW_ENABLED
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