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Merge pull request #2226 from rmackay9/orig-precland6 

Driver for the IR Lock vision sensor (derivative of the Pixy vision sensor)
This commit is contained in:
Lorenz Meier 2015-06-02 01:31:01 -07:00
parent 7cde53597c 7dcef40516
commit f54080bd43
3 changed files with 547 additions and 0 deletions
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60
src/drivers/drv_irlock.h Normal file
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/****************************************************************************
*
* Copyright (c) 2012-2015 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 drv_irlock.h
*
* IR-Lock device API
**/
#pragma once
#include <stdint.h>
#include <sys/ioctl.h>
#include "drv_sensor.h" // include sensor driver interfaces
#define IRLOCK_BASE_DEVICE_PATH "/dev/irlock"
#define IRLOCK0_DEVICE_PATH "/dev/irlock0"
#define IRLOCK_OBJECTS_MAX 5 /** up to 5 objects can be detected/reported **/
/** irlock_s structure returned from read calls **/
struct irlock_s {
uint64_t timestamp; /** microseconds since system start **/
uint16_t target_num; /** target number prioritised by size (largest is 0) **/
float angle_x; /** x-axis angle in radians from center of image to center of target **/
float angle_y; /** y-axis angle in radians from center of image to center of target **/
float size_x; /** size in radians of target along x-axis **/
float size_y; /** size in radians of target along y-axis **/
};

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src/drivers/irlock/irlock.cpp Normal file
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/****************************************************************************
*
* Copyright (c) 2012-2015 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 irlock.cpp
* @author Michael Landes
*
* Driver for an IR-Lock and Pixy vision sensor connected via I2C.
*
* Created on: Nov 12, 2014
**/
#include <fcntl.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include <drivers/boards/px4fmu-v2/board_config.h>
#include <drivers/device/i2c.h>
#include <drivers/device/ringbuffer.h>
#include <drivers/drv_irlock.h>
#include <drivers/drv_hrt.h>
#include <nuttx/clock.h>
#include <nuttx/wqueue.h>
#include <systemlib/err.h>
/** Configuration Constants **/
#define IRLOCK_I2C_BUS PX4_I2C_BUS_EXPANSION
#define IRLOCK_I2C_ADDRESS 0x54 /** 7-bit address (non shifted) **/
#define IRLOCK_CONVERSION_INTERVAL_US 20000U /** us = 20ms = 50Hz **/
#define IRLOCK_SYNC 0xAA55
#define IRLOCK_RESYNC 0x5500
#define IRLOCK_ADJUST 0xAA
#define IRLOCK_CENTER_X 159 // the x-axis center pixel position
#define IRLOCK_CENTER_Y 99 // the y-axis center pixel position
#define IRLOCK_PIXELS_PER_RADIAN_X 307.9075f // x-axis pixel to radian scaler assuming 60deg FOV on x-axis
#define IRLOCK_PIXELS_PER_RADIAN_Y 326.4713f // y-axis pixel to radian scaler assuming 35deg FOV on y-axis
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class IRLOCK : public device::I2C
{
public:
IRLOCK(int bus = IRLOCK_I2C_BUS, int address = IRLOCK_I2C_ADDRESS);
virtual ~IRLOCK();
virtual int init();
virtual int probe();
virtual int info();
virtual int test();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
private:
/** start periodic reads from sensor **/
void start();
/** stop periodic reads from sensor **/
void stop();
/** static function that is called by worker queue, arg will be pointer to instance of this class **/
static void cycle_trampoline(void *arg);
/** read from device and schedule next read **/
void cycle();
/** low level communication with sensor **/
int read_device();
bool sync_device();
int read_device_word(uint16_t *word);
int read_device_block(struct irlock_s *block);
/** internal variables **/
RingBuffer *_reports;
bool _sensor_ok;
work_s _work;
uint32_t _read_failures;
};
/** global pointer for single IRLOCK sensor **/
namespace
{
IRLOCK *g_irlock = nullptr;
}
void irlock_usage();
extern "C" __EXPORT int irlock_main(int argc, char *argv[]);
/** constructor **/
IRLOCK::IRLOCK(int bus, int address) :
I2C("irlock", IRLOCK0_DEVICE_PATH, bus, address, 400000),
_reports(nullptr),
_sensor_ok(false),
_read_failures(0)
{
memset(&_work, 0, sizeof(_work));
}
/** destructor **/
IRLOCK::~IRLOCK()
{
stop();
/** clear reports queue **/
if (_reports != nullptr) {
delete _reports;
}
}
/** initialise driver to communicate with sensor **/
int IRLOCK::init()
{
/** initialise I2C bus **/
int ret = I2C::init();
if (ret != OK) {
return ret;
}
/** allocate buffer storing values read from sensor **/
_reports = new RingBuffer(IRLOCK_OBJECTS_MAX, sizeof(struct irlock_s));
if (_reports == nullptr) {
return ENOTTY;
} else {
_sensor_ok = true;
/** start work queue **/
start();
return OK;
}
}
/** probe the device is on the I2C bus **/
int IRLOCK::probe()
{
/*
* IRLock defaults to sending 0x00 when there is no block
* data to return, so really all we can do is check to make
* sure a transfer completes successfully.
**/
uint8_t byte;
if (transfer(nullptr, 0, &byte, 1) != OK) {
return -EIO;
}
return OK;
}
/** display driver info **/
int IRLOCK::info()
{
if (g_irlock == nullptr) {
errx(1, "irlock device driver is not running");
}
/** display reports in queue **/
if (_sensor_ok) {
_reports->print_info("report queue: ");
warnx("read errors:%lu", (unsigned long)_read_failures);
} else {
warnx("sensor is not healthy");
}
return OK;
}
/** test driver **/
int IRLOCK::test()
{
/** exit immediately if driver not running **/
if (g_irlock == nullptr) {
errx(1, "irlock device driver is not running");
}
/** exit immediately if sensor is not healty **/
if (!_sensor_ok) {
errx(1, "sensor is not healthy");
}
/** instructions to user **/
warnx("searching for object for 10 seconds");
/** read from sensor for 10 seconds **/
struct irlock_s obj_report;
uint64_t start_time = hrt_absolute_time();
while ((hrt_absolute_time() - start_time) < 10000000) {
/** output all objects found **/
while (_reports->count() > 0) {
_reports->get(&obj_report);
warnx("sig:%d x:%4.3f y:%4.3f width:%4.3f height:%4.3f",
(int)obj_report.target_num,
(double)obj_report.angle_x,
(double)obj_report.angle_y,
(double)obj_report.size_x,
(double)obj_report.size_y);
}
/** sleep for 0.05 seconds **/
usleep(50000);
}
return OK;
}
/** start periodic reads from sensor **/
void IRLOCK::start()
{
/** flush ring and reset state machine **/
_reports->flush();
/** start work queue cycle **/
work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, 1);
}
/** stop periodic reads from sensor **/
void IRLOCK::stop()
{
work_cancel(HPWORK, &_work);
}
void IRLOCK::cycle_trampoline(void *arg)
{
IRLOCK *device = (IRLOCK *)arg;
/** check global irlock reference and cycle **/
if (g_irlock != nullptr) {
device->cycle();
}
}
void IRLOCK::cycle()
{
/** ignoring failure, if we do, we will be back again right away... **/
read_device();
/** schedule the next cycle **/
work_queue(HPWORK, &_work, (worker_t)&IRLOCK::cycle_trampoline, this, USEC2TICK(IRLOCK_CONVERSION_INTERVAL_US));
}
ssize_t IRLOCK::read(struct file *filp, char *buffer, size_t buflen)
{
unsigned count = buflen / sizeof(struct irlock_s);
struct irlock_s *rbuf = reinterpret_cast<struct irlock_s *>(buffer);
int ret = 0;
if (count < 1) {
return -ENOSPC;
}
/** try to read **/
while (count--) {
if (_reports->get(rbuf)) {
ret += sizeof(*rbuf);
++rbuf;
}
}
return ret ? ret : -EAGAIN;
return ret;
}
/** sync device to ensure reading starts at new frame*/
bool IRLOCK::sync_device()
{
uint8_t sync_byte;
uint16_t sync_word;
if (read_device_word(&sync_word) != OK) {
return false;
}
if (sync_word == IRLOCK_RESYNC) {
transfer(nullptr, 0, &sync_byte, 1);
if (sync_byte == IRLOCK_ADJUST) {
return true;
}
} else if (sync_word == IRLOCK_SYNC) {
return true;
}
return false;
}
/** read all available frames from sensor **/
int IRLOCK::read_device()
{
/** if we sync, then we are starting a new frame, else fail **/
if (!sync_device()) {
return -ENOTTY;
}
/** now read blocks until sync stops, first flush stale queue data **/
_reports->flush();
int num_objects = 0;
while (sync_device() && (num_objects < IRLOCK_OBJECTS_MAX)) {
struct irlock_s block;
if (read_device_block(&block) != OK) {
break;
}
_reports->force(&block);
}
return OK;
}
/** read a word (two bytes) from sensor **/
int IRLOCK::read_device_word(uint16_t *word)
{
uint8_t bytes[2];
memset(bytes, 0, sizeof bytes);
int status = transfer(nullptr, 0, &bytes[0], 2);
*word = bytes[1] << 8 | bytes[0];
return status;
}
/** read a single block (a full frame) from sensor **/
int IRLOCK::read_device_block(struct irlock_s *block)
{
uint8_t bytes[12];
memset(bytes, 0, sizeof bytes);
int status = transfer(nullptr, 0, &bytes[0], 12);
uint16_t checksum = bytes[1] << 8 | bytes[0];
uint16_t target_num = bytes[3] << 8 | bytes[2];
uint16_t pixel_x = bytes[5] << 8 | bytes[4];
uint16_t pixel_y = bytes[7] << 8 | bytes[6];
uint16_t pixel_size_x = bytes[9] << 8 | bytes[8];
uint16_t pixel_size_y = bytes[11] << 8 | bytes[10];
/** crc check **/
if (target_num + pixel_x + pixel_y + pixel_size_x + pixel_size_y != checksum) {
_read_failures++;
return -EIO;
}
/** convert to angles **/
block->target_num = target_num;
block->angle_x = (((float)(pixel_x-IRLOCK_CENTER_X))/IRLOCK_PIXELS_PER_RADIAN_X);
block->angle_y = (((float)(pixel_y-IRLOCK_CENTER_Y))/IRLOCK_PIXELS_PER_RADIAN_Y);
block->size_x = pixel_size_x / IRLOCK_PIXELS_PER_RADIAN_X;
block->size_y = pixel_size_y / IRLOCK_PIXELS_PER_RADIAN_Y;
block->timestamp = hrt_absolute_time();
return status;
}
void irlock_usage()
{
warnx("missing command: try 'start', 'stop', 'info', 'test'");
warnx("options:");
warnx(" -b i2cbus (%d)", IRLOCK_I2C_BUS);
}
int irlock_main(int argc, char *argv[])
{
int i2cdevice = IRLOCK_I2C_BUS;
/** jump over start/off/etc and look at options first **/
if (getopt(argc, argv, "b:") != EOF) {
i2cdevice = (int)strtol(optarg, NULL, 0);
}
if (optind >= argc) {
irlock_usage();
exit(1);
}
const char *command = argv[optind];
/** start driver **/
if (!strcmp(command, "start")) {
if (g_irlock != nullptr) {
errx(1, "driver has already been started");
}
/** instantiate global instance **/
g_irlock = new IRLOCK(i2cdevice, IRLOCK_I2C_ADDRESS);
if (g_irlock == nullptr) {
errx(1, "failed to allocated memory for driver");
}
/** initialise global instance **/
if (g_irlock->init() != OK) {
IRLOCK *tmp_irlock = g_irlock;
g_irlock = nullptr;
delete tmp_irlock;
errx(1, "failed to initialize device, stopping driver");
}
exit(0);
}
/** need the driver past this point **/
if (g_irlock == nullptr) {
warnx("not started");
irlock_usage();
exit(1);
}
/** stop the driver **/
if (!strcmp(command, "stop")) {
IRLOCK *tmp_irlock = g_irlock;
g_irlock = nullptr;
delete tmp_irlock;
warnx("irlock stopped");
exit(OK);
}
/** Print driver information **/
if (!strcmp(command, "info")) {
g_irlock->info();
exit(OK);
}
/** test driver **/
if (!strcmp(command, "test")) {
g_irlock->test();
exit(OK);
}
/** display usage info **/
irlock_usage();
exit(0);
}

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src/drivers/irlock/module.mk Normal file
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#
# Makefile to build the IRLock driver.
#
MODULE_COMMAND = irlock
SRCS = irlock.cpp
MAXOPTIMIZATION = -Os