forked from Archive/PX4-Autopilot
drivers/optical_flow/paw3902: backup scheduling to fetch 0 flow
- this sensor provides a MOTION interrupt used for default scheduling, but we also need to publish zero flow information
This commit is contained in:
Daniel Agar
parent
1f30b2168d
commit
d98f3554da
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019-2023 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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@ -199,13 +199,13 @@ void PAW3902::RunImpl()
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_state = STATE::READ;
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if (DataReadyInterruptConfigure()) {
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_data_ready_interrupt_enabled = true;
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_motion_interrupt_enabled = true;
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// backup schedule as a watchdog timeout
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ScheduleDelayed(1_s);
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} else {
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_data_ready_interrupt_enabled = false;
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_motion_interrupt_enabled = false;
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ScheduleOnInterval(_scheduled_interval_us, _scheduled_interval_us);
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}
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@ -227,7 +227,7 @@ void PAW3902::RunImpl()
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case STATE::READ: {
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hrt_abstime timestamp_sample = now;
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if (_data_ready_interrupt_enabled) {
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if (_motion_interrupt_enabled) {
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// scheduled from interrupt if _drdy_timestamp_sample was set as expected
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const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
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@ -263,12 +263,6 @@ void PAW3902::RunImpl()
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PX4_ERR("invalid RawData_Sum > 0x98");
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}
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// Number of Features = SQUAL * 4
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// RawData_Sum maximum register value is 0x98
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bool data_valid = (buffer.data.SQUAL > 0)
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&& (buffer.data.RawData_Sum <= 0x98)
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&& (_discard_reading == 0);
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// publish sensor_optical_flow
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sensor_optical_flow_s sensor_optical_flow{};
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sensor_optical_flow.timestamp_sample = timestamp_sample;
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@ -293,6 +287,14 @@ void PAW3902::RunImpl()
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const uint16_t shutter = (shutter_upper << 8) | shutter_lower;
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// Number of Features = SQUAL * 4
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// RawData_Sum maximum register value is 0x98
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bool data_valid = (buffer.data.SQUAL > 0)
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&& (buffer.data.RawData_Sum > 0)
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&& (buffer.data.RawData_Sum <= 0x98)
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&& (shutter > 0)
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&& (_discard_reading == 0);
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switch (_mode) {
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case Mode::Bright:
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sensor_optical_flow.integration_timespan_us = SAMPLE_INTERVAL_MODE_0;
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@ -395,12 +397,17 @@ void PAW3902::RunImpl()
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// motion in burst transfer
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const bool motion_reported = (buffer.data.Motion & Motion_Bit::MOT);
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if (data_valid) {
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if (motion_reported) {
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// only populate flow if data valid (motion and quality > 0)
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const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
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const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
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const int16_t delta_x_raw = combine(buffer.data.Delta_X_H, buffer.data.Delta_X_L);
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const int16_t delta_y_raw = combine(buffer.data.Delta_Y_H, buffer.data.Delta_Y_L);
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if (data_valid) {
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const bool zero_flow = (delta_x_raw == 0) && (delta_y_raw == 0);
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const bool little_to_no_flow = (abs(delta_x_raw) <= 1) && (abs(delta_y_raw) <= 1);
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bool publish = false;
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if (motion_reported) {
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// rotate measurements in yaw from sensor frame to body frame
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const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{(float)delta_x_raw, (float)delta_y_raw, 0.f};
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@ -415,15 +422,53 @@ void PAW3902::RunImpl()
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sensor_optical_flow.pixel_flow[1] = pixel_flow_rotated(1) * SCALE;
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sensor_optical_flow.quality = buffer.data.SQUAL;
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publish = true;
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_last_motion = timestamp_sample;
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} else if (zero_flow && (timestamp_sample > _last_motion)) {
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// no motion, but burst read looks valid and we should have seen new data by now if there was any motion
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const bool burst_read_changed = (delta_x_raw != _delta_x_raw_prev) || (delta_y_raw != _delta_y_raw_prev)
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|| (shutter != _shutter_prev)
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|| (buffer.data.RawData_Sum != _raw_data_sum_prev)
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|| (buffer.data.SQUAL != _quality_prev);
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if (burst_read_changed) {
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sensor_optical_flow.pixel_flow[0] = 0;
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sensor_optical_flow.pixel_flow[1] = 0;
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sensor_optical_flow.quality = buffer.data.SQUAL;
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publish = true;
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}
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}
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// only publish when there's motion or at least every second
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if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
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// only publish when there's valid data or on timeout
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if (publish || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
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sensor_optical_flow.timestamp = hrt_absolute_time();
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_sensor_optical_flow_pub.publish(sensor_optical_flow);
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_last_publish = sensor_optical_flow.timestamp;
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_last_publish = sensor_optical_flow.timestamp_sample;
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}
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// backup schedule if we're reliant on the motion interrupt and there's very little flow
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if (_motion_interrupt_enabled && little_to_no_flow) {
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switch (_mode) {
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case Mode::Bright:
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ScheduleDelayed(SAMPLE_INTERVAL_MODE_0);
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break;
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case Mode::LowLight:
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ScheduleDelayed(SAMPLE_INTERVAL_MODE_1);
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break;
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case Mode::SuperLowLight:
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ScheduleDelayed(SAMPLE_INTERVAL_MODE_2);
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break;
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}
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}
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success = true;
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@ -433,6 +478,12 @@ void PAW3902::RunImpl()
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}
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}
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_delta_x_raw_prev = delta_x_raw;
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_delta_y_raw_prev = delta_y_raw;
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_shutter_prev = shutter;
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_raw_data_sum_prev = buffer.data.RawData_Sum;
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_quality_prev = buffer.data.SQUAL;
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} else {
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perf_count(_bad_transfer_perf);
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}
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
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* Copyright (c) 2019-2023 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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@ -114,14 +114,22 @@ private:
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hrt_abstime _reset_timestamp{0};
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hrt_abstime _last_publish{0};
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hrt_abstime _last_motion{0};
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int16_t _delta_x_raw_prev{0};
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int16_t _delta_y_raw_prev{0};
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uint16_t _shutter_prev{0};
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uint8_t _quality_prev{0};
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uint8_t _raw_data_sum_prev{0};
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int _failure_count{0};
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int _discard_reading{0};
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px4::atomic<hrt_abstime> _drdy_timestamp_sample{0};
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bool _data_ready_interrupt_enabled{false};
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bool _motion_interrupt_enabled{false};
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uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2};
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static constexpr uint32_t kBackupScheduleIntervalUs{200_ms};
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static constexpr uint32_t kBackupScheduleIntervalUs{SAMPLE_INTERVAL_MODE_2}; // longest expected interval
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Mode _mode{Mode::LowLight};
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