alexklimaj
3 years ago
committed by
Daniel Agar
10 changed files with 1053 additions and 5 deletions
@ -0,0 +1,46 @@ |
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############################################################################ |
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# |
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# Copyright (c) 2022 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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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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px4_add_module( |
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MODULE drivers__optical_flow__paa3905 |
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MAIN paa3905 |
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SRCS |
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paa3905_main.cpp |
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PAA3905.cpp |
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PAA3905.hpp |
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PixArt_PAA3905_Registers.hpp |
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DEPENDS |
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conversion |
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drivers__device |
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px4_work_queue |
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) |
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@ -0,0 +1,5 @@ |
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menuconfig DRIVERS_OPTICAL_FLOW_PAA3905 |
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bool "paa3905" |
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default n |
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---help--- |
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Enable support for paa3905 |
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@ -0,0 +1,609 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2022 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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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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|
* notice, this list of conditions and the following disclaimer in |
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|
* the documentation and/or other materials provided with the |
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|
* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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|
* used to endorse or promote products derived from this software |
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|
* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include "PAA3905.hpp" |
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static constexpr int16_t combine(uint8_t msb, uint8_t lsb) |
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{ |
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return (msb << 8u) | lsb; |
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} |
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PAA3905::PAA3905(const I2CSPIDriverConfig &config) : |
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SPI(config), |
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I2CSPIDriver(config), |
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_drdy_gpio(config.drdy_gpio) |
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{ |
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float yaw_rotation_degrees = (float)config.custom1; |
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if (yaw_rotation_degrees >= 0.f) { |
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PX4_INFO("using yaw rotation %.3f degrees (%.3f radians)", |
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(double)yaw_rotation_degrees, (double)math::radians(yaw_rotation_degrees)); |
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_rotation = matrix::Dcmf{matrix::Eulerf{0.f, 0.f, math::radians(yaw_rotation_degrees)}}; |
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} else { |
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// otherwise use the parameter SENS_FLOW_ROT
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param_t rot = param_find("SENS_FLOW_ROT"); |
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int32_t val = 0; |
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if (param_get(rot, &val) == PX4_OK) { |
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_rotation = get_rot_matrix((enum Rotation)val); |
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} else { |
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_rotation.identity(); |
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} |
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} |
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} |
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PAA3905::~PAA3905() |
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{ |
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// free perf counters
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perf_free(_sample_perf); |
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perf_free(_interval_perf); |
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perf_free(_comms_errors); |
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perf_free(_false_motion_perf); |
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perf_free(_register_write_fail_perf); |
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} |
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int PAA3905::init() |
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{ |
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/* do SPI init (and probe) first */ |
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if (SPI::init() != OK) { |
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return PX4_ERROR; |
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} |
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Configure(); |
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_previous_collect_timestamp = hrt_absolute_time(); |
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return PX4_OK; |
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} |
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int PAA3905::probe() |
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{ |
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const uint8_t Product_ID = RegisterRead(Register::Product_ID); |
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if (Product_ID != PRODUCT_ID) { |
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PX4_ERR("Product_ID: %X", Product_ID); |
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return PX4_ERROR; |
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} |
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const uint8_t Revision_ID = RegisterRead(Register::Revision_ID); |
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if (Revision_ID != REVISION_ID) { |
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PX4_ERR("Revision_ID: %X", Revision_ID); |
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return PX4_ERROR; |
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} |
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const uint8_t Inverse_Product_ID = RegisterRead(Register::Inverse_Product_ID); |
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if (Inverse_Product_ID != PRODUCT_ID_INVERSE) { |
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PX4_ERR("Inverse_Product_ID: %X", Inverse_Product_ID); |
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return PX4_ERROR; |
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} |
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return PX4_OK; |
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} |
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int PAA3905::DataReadyInterruptCallback(int irq, void *context, void *arg) |
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{ |
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static_cast<PAA3905 *>(arg)->DataReady(); |
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return 0; |
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} |
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void PAA3905::DataReady() |
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{ |
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ScheduleNow(); |
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} |
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bool PAA3905::DataReadyInterruptConfigure() |
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{ |
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if (_drdy_gpio == 0) { |
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return false; |
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} |
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// Setup data ready on falling edge
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if (px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0) { |
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_data_ready_interrupt_enabled = true; |
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return true; |
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} |
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_data_ready_interrupt_enabled = false; |
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return false; |
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} |
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bool PAA3905::DataReadyInterruptDisable() |
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{ |
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if (_drdy_gpio == 0) { |
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return false; |
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} |
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_data_ready_interrupt_enabled = false; |
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return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; |
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} |
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void PAA3905::exit_and_cleanup() |
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{ |
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DataReadyInterruptDisable(); |
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I2CSPIDriverBase::exit_and_cleanup(); |
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} |
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void PAA3905::Configure() |
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{ |
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DataReadyInterruptDisable(); |
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ScheduleClear(); |
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// Issue a soft reset
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RegisterWrite(Register::Power_Up_Reset, 0x5A); |
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px4_usleep(1000); |
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_last_reset = hrt_absolute_time(); |
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StandardDetectionSetting(); |
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ModeAuto012(); |
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CheckMode(); |
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switch (_mode) { |
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case Mode::Bright: |
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_0; |
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break; |
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case Mode::LowLight: |
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_1; |
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break; |
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case Mode::SuperLowLight: |
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_scheduled_interval_us = SAMPLE_INTERVAL_MODE_2; |
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break; |
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} |
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EnableLed(); |
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_discard_reading = 3; |
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_valid_count = 0; |
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if (DataReadyInterruptConfigure()) { |
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// backup schedule as a watchdog timeout
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ScheduleDelayed(_scheduled_interval_us * 2); |
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} else { |
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ScheduleOnInterval(_scheduled_interval_us); |
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} |
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} |
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void PAA3905::CheckMode() |
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{ |
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// Read Register 0x15. Check Bit [7:6] for AMS mode and store it into a variable.
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const uint8_t Observation = RegisterRead(Register::Observation); |
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// Bit [7:6] AMS mode
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const uint8_t ams_mode = (Observation & (Bit7 | Bit6)) >> 5; |
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if (ams_mode == 0x0) { |
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// Mode 0
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_mode = Mode::SuperLowLight; |
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} else if (ams_mode == 0x1) { |
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// Mode 1
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_mode = Mode::LowLight; |
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} else if (ams_mode == 0x2) { |
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// Mode 2
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_mode = Mode::SuperLowLight; |
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} |
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} |
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void PAA3905::StandardDetectionSetting() |
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{ |
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RegisterWriteVerified(0x7F, 0x00); |
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RegisterWriteVerified(0x51, 0xFF); |
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RegisterWriteVerified(0x4E, 0x2A); |
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RegisterWriteVerified(0x66, 0x3E); |
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RegisterWriteVerified(0x7F, 0x14); |
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RegisterWriteVerified(0x7E, 0x71); |
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RegisterWriteVerified(0x55, 0x00); |
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RegisterWriteVerified(0x59, 0x00); |
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RegisterWriteVerified(0x6F, 0x2C); |
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RegisterWriteVerified(0x7F, 0x05); |
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RegisterWriteVerified(0x4D, 0xAC); |
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RegisterWriteVerified(0x4E, 0x32); |
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RegisterWriteVerified(0x7F, 0x09); |
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RegisterWriteVerified(0x5C, 0xAF); |
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RegisterWriteVerified(0x5F, 0xAF); |
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RegisterWriteVerified(0x70, 0x08); |
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RegisterWriteVerified(0x71, 0x04); |
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RegisterWriteVerified(0x72, 0x06); |
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RegisterWriteVerified(0x74, 0x3C); |
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RegisterWriteVerified(0x75, 0x28); |
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RegisterWriteVerified(0x76, 0x20); |
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RegisterWriteVerified(0x4E, 0xBF); |
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RegisterWriteVerified(0x7F, 0x03); |
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RegisterWriteVerified(0x64, 0x14); |
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RegisterWriteVerified(0x65, 0x0A); |
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RegisterWriteVerified(0x66, 0x10); |
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RegisterWriteVerified(0x55, 0x3C); |
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RegisterWriteVerified(0x56, 0x28); |
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RegisterWriteVerified(0x57, 0x20); |
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RegisterWriteVerified(0x4A, 0x2D); |
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RegisterWriteVerified(0x4B, 0x2D); |
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RegisterWriteVerified(0x4E, 0x4B); |
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RegisterWriteVerified(0x69, 0xFA); |
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RegisterWriteVerified(0x7F, 0x05); |
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RegisterWriteVerified(0x69, 0x1F); |
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RegisterWriteVerified(0x47, 0x1F); |
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RegisterWriteVerified(0x48, 0x0C); |
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RegisterWriteVerified(0x5A, 0x20); |
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RegisterWriteVerified(0x75, 0x0F); |
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RegisterWriteVerified(0x4A, 0x0F); |
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RegisterWriteVerified(0x42, 0x02); |
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RegisterWriteVerified(0x45, 0x03); |
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RegisterWriteVerified(0x65, 0x00); |
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RegisterWriteVerified(0x67, 0x76); |
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RegisterWriteVerified(0x68, 0x76); |
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RegisterWriteVerified(0x6A, 0xC5); |
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RegisterWriteVerified(0x43, 0x00); |
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RegisterWriteVerified(0x7F, 0x06); |
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RegisterWriteVerified(0x4A, 0x18); |
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RegisterWriteVerified(0x4B, 0x0C); |
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RegisterWriteVerified(0x4C, 0x0C); |
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RegisterWriteVerified(0x4D, 0x0C); |
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RegisterWriteVerified(0x46, 0x0A); |
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RegisterWriteVerified(0x59, 0xCD); |
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RegisterWriteVerified(0x7F, 0x0A); |
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RegisterWriteVerified(0x4A, 0x2A); |
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RegisterWriteVerified(0x48, 0x96); |
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RegisterWriteVerified(0x52, 0xB4); |
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RegisterWriteVerified(0x7F, 0x00); |
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RegisterWriteVerified(0x5B, 0xA0); |
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} |
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void PAA3905::EnhancedDetectionMode() |
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{ |
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RegisterWriteVerified(0x7F, 0x00); |
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RegisterWriteVerified(0x51, 0xFF); |
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RegisterWriteVerified(0x4E, 0x2A); |
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RegisterWriteVerified(0x66, 0x26); |
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RegisterWriteVerified(0x7F, 0x14); |
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RegisterWriteVerified(0x7E, 0x71); |
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RegisterWriteVerified(0x55, 0x00); |
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RegisterWriteVerified(0x59, 0x00); |
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RegisterWriteVerified(0x6F, 0x2C); |
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RegisterWriteVerified(0x7F, 0x05); |
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RegisterWriteVerified(0x4D, 0xAC); |
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RegisterWriteVerified(0x4E, 0x65); |
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RegisterWriteVerified(0x7F, 0x09); |
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RegisterWriteVerified(0x5C, 0xAF); |
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RegisterWriteVerified(0x5F, 0xAF); |
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RegisterWriteVerified(0x70, 0x00); |
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RegisterWriteVerified(0x71, 0x00); |
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RegisterWriteVerified(0x72, 0x00); |
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RegisterWriteVerified(0x74, 0x14); |
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RegisterWriteVerified(0x75, 0x14); |
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RegisterWriteVerified(0x76, 0x06); |
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RegisterWriteVerified(0x4E, 0x8F); |
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RegisterWriteVerified(0x7F, 0x03); |
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RegisterWriteVerified(0x64, 0x00); |
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RegisterWriteVerified(0x65, 0x00); |
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RegisterWriteVerified(0x66, 0x00); |
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RegisterWriteVerified(0x55, 0x14); |
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RegisterWriteVerified(0x56, 0x14); |
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RegisterWriteVerified(0x57, 0x06); |
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RegisterWriteVerified(0x4A, 0x20); |
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RegisterWriteVerified(0x4B, 0x20); |
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RegisterWriteVerified(0x4E, 0x32); |
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RegisterWriteVerified(0x69, 0xFE); |
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RegisterWriteVerified(0x7F, 0x05); |
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RegisterWriteVerified(0x69, 0x14); |
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RegisterWriteVerified(0x47, 0x14); |
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RegisterWriteVerified(0x48, 0x1C); |
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RegisterWriteVerified(0x5A, 0x20); |
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RegisterWriteVerified(0x75, 0xE5); |
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RegisterWriteVerified(0x4A, 0x05); |
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RegisterWriteVerified(0x42, 0x04); |
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RegisterWriteVerified(0x45, 0x03); |
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RegisterWriteVerified(0x65, 0x00); |
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RegisterWriteVerified(0x67, 0x50); |
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RegisterWriteVerified(0x68, 0x50); |
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RegisterWriteVerified(0x6A, 0xC5); |
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RegisterWriteVerified(0x43, 0x00); |
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RegisterWriteVerified(0x7F, 0x06); |
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RegisterWriteVerified(0x4A, 0x1E); |
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RegisterWriteVerified(0x4B, 0x1E); |
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RegisterWriteVerified(0x4C, 0x34); |
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RegisterWriteVerified(0x4D, 0x34); |
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RegisterWriteVerified(0x46, 0x32); |
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RegisterWriteVerified(0x59, 0x0D); |
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RegisterWriteVerified(0x7F, 0x0A); |
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RegisterWriteVerified(0x4A, 0x2A); |
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RegisterWriteVerified(0x48, 0x96); |
||||||
|
RegisterWriteVerified(0x52, 0xB4); |
||||||
|
RegisterWriteVerified(0x7F, 0x00); |
||||||
|
RegisterWriteVerified(0x5B, 0xA0); |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::ModeAuto012() |
||||||
|
{ |
||||||
|
// Automatic switching between Mode 0, 1 and 2:
|
||||||
|
RegisterWriteVerified(0x7F, 0x08); |
||||||
|
RegisterWriteVerified(0x68, 0x02); |
||||||
|
RegisterWriteVerified(0x7F, 0x00); |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::EnableLed() |
||||||
|
{ |
||||||
|
// Enable LED_N controls
|
||||||
|
RegisterWriteVerified(0x7F, 0x14); |
||||||
|
RegisterWriteVerified(0x6F, 0x0C); |
||||||
|
RegisterWriteVerified(0x7F, 0x00); |
||||||
|
} |
||||||
|
|
||||||
|
uint8_t PAA3905::RegisterRead(uint8_t reg, int retries) |
||||||
|
{ |
||||||
|
for (int i = 0; i < retries; i++) { |
||||||
|
px4_udelay(TIME_us_TSRAD); |
||||||
|
uint8_t cmd[2] {reg, 0}; |
||||||
|
|
||||||
|
if (transfer(&cmd[0], &cmd[0], sizeof(cmd)) == 0) { |
||||||
|
return cmd[1]; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
perf_count(_comms_errors); |
||||||
|
return 0; |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::RegisterWrite(uint8_t reg, uint8_t data) |
||||||
|
{ |
||||||
|
uint8_t cmd[2]; |
||||||
|
cmd[0] = DIR_WRITE(reg); |
||||||
|
cmd[1] = data; |
||||||
|
|
||||||
|
if (transfer(&cmd[0], nullptr, sizeof(cmd)) != 0) { |
||||||
|
perf_count(_comms_errors); |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
bool PAA3905::RegisterWriteVerified(uint8_t reg, uint8_t data, int retries) |
||||||
|
{ |
||||||
|
for (int i = 0; i < retries; i++) { |
||||||
|
uint8_t cmd[2]; |
||||||
|
cmd[0] = DIR_WRITE(reg); |
||||||
|
cmd[1] = data; |
||||||
|
transfer(&cmd[0], nullptr, sizeof(cmd)); |
||||||
|
px4_udelay(TIME_us_TSWW); |
||||||
|
|
||||||
|
// read back to verify
|
||||||
|
uint8_t data_read = RegisterRead(reg); |
||||||
|
|
||||||
|
if (data_read == data) { |
||||||
|
return true; |
||||||
|
} |
||||||
|
|
||||||
|
PX4_DEBUG("Register write failed 0x%02hhX: 0x%02hhX (actual value 0x%02hhX)", reg, data, data_read); |
||||||
|
} |
||||||
|
|
||||||
|
perf_count(_register_write_fail_perf); |
||||||
|
|
||||||
|
return false; |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::RunImpl() |
||||||
|
{ |
||||||
|
// backup schedule
|
||||||
|
if (_data_ready_interrupt_enabled) { |
||||||
|
ScheduleDelayed(_scheduled_interval_us * 2); |
||||||
|
} |
||||||
|
|
||||||
|
// force reset if there hasn't been valid data for an extended period (sensor could be in a bad state)
|
||||||
|
static constexpr hrt_abstime RESET_TIMEOUT_US = 5_s; |
||||||
|
|
||||||
|
if ((hrt_elapsed_time(&_last_good_publish) > RESET_TIMEOUT_US) && (hrt_elapsed_time(&_last_reset) > RESET_TIMEOUT_US)) { |
||||||
|
Configure(); |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
perf_begin(_sample_perf); |
||||||
|
perf_count(_interval_perf); |
||||||
|
|
||||||
|
struct TransferBuffer { |
||||||
|
uint8_t cmd = Register::Motion_Burst; |
||||||
|
BURST_TRANSFER data{}; |
||||||
|
} buf{}; |
||||||
|
static_assert(sizeof(buf) == (14 + 1)); |
||||||
|
|
||||||
|
const hrt_abstime timestamp_sample = hrt_absolute_time(); |
||||||
|
|
||||||
|
if (transfer((uint8_t *)&buf, (uint8_t *)&buf, sizeof(buf)) != PX4_OK) { |
||||||
|
perf_count(_comms_errors); |
||||||
|
perf_end(_sample_perf); |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
perf_end(_sample_perf); |
||||||
|
|
||||||
|
const uint64_t dt_flow = timestamp_sample - _previous_collect_timestamp; |
||||||
|
|
||||||
|
// update for next iteration
|
||||||
|
_previous_collect_timestamp = timestamp_sample; |
||||||
|
|
||||||
|
if (_discard_reading > 0) { |
||||||
|
_discard_reading--; |
||||||
|
ResetAccumulatedData(); |
||||||
|
_valid_count = 0; |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
CheckMode(); // update _mode variable
|
||||||
|
|
||||||
|
// check SQUAL & Shutter values
|
||||||
|
// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
|
||||||
|
// Bright Mode, SQUAL < 0x19, Shutter ≥ 0x00FF80
|
||||||
|
// Low Light Mode, SQUAL < 0x46, Shutter ≥ 0x00FF80
|
||||||
|
// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x025998
|
||||||
|
const uint32_t shutter = (buf.data.Shutter_Upper << 16) | (buf.data.Shutter_Middle << 8) | buf.data.Shutter_Lower; |
||||||
|
|
||||||
|
bool data_valid = (buf.data.SQUAL > 0); |
||||||
|
|
||||||
|
switch (_mode) { |
||||||
|
case Mode::Bright: |
||||||
|
|
||||||
|
// quality < 25 (0x19) and shutter >= 0x00FF80
|
||||||
|
if ((buf.data.SQUAL < 0x19) && (shutter >= 0x00FF80)) { |
||||||
|
// false motion report, discarding
|
||||||
|
perf_count(_false_motion_perf); |
||||||
|
data_valid = false; |
||||||
|
} |
||||||
|
|
||||||
|
break; |
||||||
|
|
||||||
|
case Mode::LowLight: |
||||||
|
|
||||||
|
// quality < 70 (0x46) and shutter >= 0x00FF80
|
||||||
|
if ((buf.data.SQUAL < 0x46) && (shutter >= 0x00FF80)) { |
||||||
|
// false motion report, discarding
|
||||||
|
perf_count(_false_motion_perf); |
||||||
|
data_valid = false; |
||||||
|
} |
||||||
|
|
||||||
|
break; |
||||||
|
|
||||||
|
case Mode::SuperLowLight: |
||||||
|
|
||||||
|
// quality < 85 (0x55) and shutter >= 0x025998
|
||||||
|
if ((buf.data.SQUAL < 0x55) && (shutter >= 0x025998)) { |
||||||
|
// false motion report, discarding
|
||||||
|
perf_count(_false_motion_perf); |
||||||
|
data_valid = false; |
||||||
|
} |
||||||
|
|
||||||
|
break; |
||||||
|
} |
||||||
|
|
||||||
|
if (data_valid) { |
||||||
|
const int16_t delta_x_raw = combine(buf.data.Delta_X_H, buf.data.Delta_X_L); |
||||||
|
const int16_t delta_y_raw = combine(buf.data.Delta_Y_H, buf.data.Delta_Y_L); |
||||||
|
|
||||||
|
_flow_dt_sum_usec += dt_flow; |
||||||
|
_flow_sum_x += delta_x_raw; |
||||||
|
_flow_sum_y += delta_y_raw; |
||||||
|
_flow_sample_counter++; |
||||||
|
_flow_quality_sum += buf.data.SQUAL; |
||||||
|
|
||||||
|
_valid_count++; |
||||||
|
|
||||||
|
} else { |
||||||
|
_valid_count = 0; |
||||||
|
ResetAccumulatedData(); |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
// returns if the collect time has not been reached
|
||||||
|
if (_flow_dt_sum_usec < COLLECT_TIME) { |
||||||
|
return; |
||||||
|
} |
||||||
|
|
||||||
|
optical_flow_s report{}; |
||||||
|
report.timestamp = timestamp_sample; |
||||||
|
//report.device_id = get_device_id();
|
||||||
|
|
||||||
|
float pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
|
||||||
|
float pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians
|
||||||
|
|
||||||
|
// rotate measurements in yaw from sensor frame to body frame
|
||||||
|
const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{pixel_flow_x_integral, pixel_flow_y_integral, 0.f}; |
||||||
|
report.pixel_flow_x_integral = pixel_flow_rotated(0); |
||||||
|
report.pixel_flow_y_integral = pixel_flow_rotated(1); |
||||||
|
|
||||||
|
report.frame_count_since_last_readout = _flow_sample_counter; // number of frames
|
||||||
|
report.integration_timespan = _flow_dt_sum_usec; // microseconds
|
||||||
|
|
||||||
|
report.quality = _flow_quality_sum / _flow_sample_counter; |
||||||
|
|
||||||
|
// No gyro on this board
|
||||||
|
report.gyro_x_rate_integral = NAN; |
||||||
|
report.gyro_y_rate_integral = NAN; |
||||||
|
report.gyro_z_rate_integral = NAN; |
||||||
|
|
||||||
|
// set (conservative) specs according to datasheet
|
||||||
|
report.max_flow_rate = 7.4f; // Datasheet: 7.4 rad/s
|
||||||
|
report.min_ground_distance = 0.08f; // Datasheet: 80mm
|
||||||
|
report.max_ground_distance = 30.0f; // Datasheet: infinity
|
||||||
|
|
||||||
|
|
||||||
|
switch (_mode) { |
||||||
|
case Mode::Bright: |
||||||
|
report.mode = optical_flow_s::MODE_BRIGHT; |
||||||
|
break; |
||||||
|
|
||||||
|
case Mode::LowLight: |
||||||
|
report.mode = optical_flow_s::MODE_LOWLIGHT; |
||||||
|
break; |
||||||
|
|
||||||
|
case Mode::SuperLowLight: |
||||||
|
report.mode = optical_flow_s::MODE_SUPER_LOWLIGHT; |
||||||
|
break; |
||||||
|
} |
||||||
|
|
||||||
|
report.timestamp = hrt_absolute_time(); |
||||||
|
_optical_flow_pub.publish(report); |
||||||
|
|
||||||
|
if (report.quality > 10) { |
||||||
|
_last_good_publish = report.timestamp; |
||||||
|
} |
||||||
|
|
||||||
|
ResetAccumulatedData(); |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::ResetAccumulatedData() |
||||||
|
{ |
||||||
|
// reset
|
||||||
|
_flow_dt_sum_usec = 0; |
||||||
|
_flow_sum_x = 0; |
||||||
|
_flow_sum_y = 0; |
||||||
|
_flow_sample_counter = 0; |
||||||
|
_flow_quality_sum = 0; |
||||||
|
} |
||||||
|
|
||||||
|
void PAA3905::print_status() |
||||||
|
{ |
||||||
|
I2CSPIDriverBase::print_status(); |
||||||
|
|
||||||
|
perf_print_counter(_sample_perf); |
||||||
|
perf_print_counter(_interval_perf); |
||||||
|
perf_print_counter(_comms_errors); |
||||||
|
perf_print_counter(_false_motion_perf); |
||||||
|
perf_print_counter(_register_write_fail_perf); |
||||||
|
} |
||||||
@ -0,0 +1,136 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2022 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 paa3905.hpp |
||||||
|
* |
||||||
|
* Driver for the Pixart paa3905 optical flow sensors connected via SPI. |
||||||
|
*/ |
||||||
|
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
#include "PixArt_PAA3905_Registers.hpp" |
||||||
|
|
||||||
|
#include <px4_platform_common/px4_config.h> |
||||||
|
#include <px4_platform_common/defines.h> |
||||||
|
#include <px4_platform_common/getopt.h> |
||||||
|
#include <px4_platform_common/i2c_spi_buses.h> |
||||||
|
#include <drivers/device/spi.h> |
||||||
|
#include <conversion/rotation.h> |
||||||
|
#include <lib/perf/perf_counter.h> |
||||||
|
#include <lib/parameters/param.h> |
||||||
|
#include <drivers/drv_hrt.h> |
||||||
|
#include <uORB/PublicationMulti.hpp> |
||||||
|
#include <uORB/topics/optical_flow.h> |
||||||
|
|
||||||
|
using namespace time_literals; |
||||||
|
using namespace PixArt_PAA3905; |
||||||
|
|
||||||
|
#define DIR_WRITE(a) ((a) | (1 << 7)) |
||||||
|
#define DIR_READ(a) ((a) & 0x7f) |
||||||
|
|
||||||
|
class PAA3905 : public device::SPI, public I2CSPIDriver<PAA3905> |
||||||
|
{ |
||||||
|
public: |
||||||
|
PAA3905(const I2CSPIDriverConfig &config); |
||||||
|
virtual ~PAA3905(); |
||||||
|
|
||||||
|
static void print_usage(); |
||||||
|
|
||||||
|
int init() override; |
||||||
|
|
||||||
|
void print_status() override; |
||||||
|
|
||||||
|
void RunImpl(); |
||||||
|
|
||||||
|
private: |
||||||
|
void exit_and_cleanup() override; |
||||||
|
|
||||||
|
int probe() override; |
||||||
|
|
||||||
|
static int DataReadyInterruptCallback(int irq, void *context, void *arg); |
||||||
|
void DataReady(); |
||||||
|
bool DataReadyInterruptConfigure(); |
||||||
|
bool DataReadyInterruptDisable(); |
||||||
|
|
||||||
|
uint8_t RegisterRead(uint8_t reg, int retries = 2); |
||||||
|
void RegisterWrite(uint8_t reg, uint8_t data); |
||||||
|
bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 1); |
||||||
|
|
||||||
|
void EnableLed(); |
||||||
|
|
||||||
|
void StandardDetectionSetting(); |
||||||
|
void EnhancedDetectionMode(); |
||||||
|
void ModeAuto012(); |
||||||
|
|
||||||
|
void CheckMode(); |
||||||
|
|
||||||
|
void Configure(); |
||||||
|
|
||||||
|
void ResetAccumulatedData(); |
||||||
|
|
||||||
|
uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)}; |
||||||
|
|
||||||
|
perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; |
||||||
|
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")}; |
||||||
|
perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")}; |
||||||
|
perf_counter_t _false_motion_perf{perf_alloc(PC_COUNT, MODULE_NAME": false motion report")}; |
||||||
|
perf_counter_t _register_write_fail_perf{perf_alloc(PC_COUNT, MODULE_NAME": verified register write failed")}; |
||||||
|
|
||||||
|
static constexpr uint64_t COLLECT_TIME{15000}; // 15 milliseconds, optical flow data publish rate
|
||||||
|
|
||||||
|
const spi_drdy_gpio_t _drdy_gpio; |
||||||
|
|
||||||
|
uint64_t _previous_collect_timestamp{0}; |
||||||
|
uint64_t _flow_dt_sum_usec{0}; |
||||||
|
uint8_t _flow_sample_counter{0}; |
||||||
|
uint16_t _flow_quality_sum{0}; |
||||||
|
|
||||||
|
matrix::Dcmf _rotation; |
||||||
|
|
||||||
|
int _discard_reading{3}; |
||||||
|
|
||||||
|
int _flow_sum_x{0}; |
||||||
|
int _flow_sum_y{0}; |
||||||
|
|
||||||
|
Mode _mode{Mode::LowLight}; |
||||||
|
|
||||||
|
uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_1}; |
||||||
|
|
||||||
|
int _valid_count{0}; |
||||||
|
|
||||||
|
bool _data_ready_interrupt_enabled{false}; |
||||||
|
|
||||||
|
hrt_abstime _last_good_publish{0}; |
||||||
|
hrt_abstime _last_reset{0}; |
||||||
|
}; |
||||||
@ -0,0 +1,117 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2022 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. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
#pragma once |
||||||
|
|
||||||
|
namespace PixArt_PAA3905 |
||||||
|
{ |
||||||
|
// TODO: move to a central header
|
||||||
|
static constexpr uint8_t Bit0 = (1 << 0); |
||||||
|
static constexpr uint8_t Bit1 = (1 << 1); |
||||||
|
static constexpr uint8_t Bit2 = (1 << 2); |
||||||
|
static constexpr uint8_t Bit3 = (1 << 3); |
||||||
|
static constexpr uint8_t Bit4 = (1 << 4); |
||||||
|
static constexpr uint8_t Bit5 = (1 << 5); |
||||||
|
static constexpr uint8_t Bit6 = (1 << 6); |
||||||
|
static constexpr uint8_t Bit7 = (1 << 7); |
||||||
|
|
||||||
|
static constexpr uint8_t PRODUCT_ID = 0xA2; |
||||||
|
static constexpr uint8_t REVISION_ID = 0x00; |
||||||
|
static constexpr uint8_t PRODUCT_ID_INVERSE = 0x5D; |
||||||
|
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_0{1000000 / 126}; // 126 fps
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_1{1000000 / 126}; // 126 fps
|
||||||
|
static constexpr uint32_t SAMPLE_INTERVAL_MODE_2{1000000 / 50}; // 50 fps
|
||||||
|
|
||||||
|
static constexpr uint32_t SPI_SPEED = 2 * 1000 * 1000; // 2MHz SPI serial interface
|
||||||
|
|
||||||
|
// Various time delay needed for paa3905
|
||||||
|
static constexpr uint32_t TIME_us_TSWW = 11; // actually 10.5us
|
||||||
|
static constexpr uint32_t TIME_us_TSRAD = 2; |
||||||
|
|
||||||
|
enum Register : uint8_t { |
||||||
|
Product_ID = 0x00, |
||||||
|
Revision_ID = 0x01, |
||||||
|
Motion = 0x02, |
||||||
|
Delta_X_L = 0x03, |
||||||
|
Delta_X_H = 0x04, |
||||||
|
Delta_Y_L = 0x05, |
||||||
|
Delta_Y_H = 0x06, |
||||||
|
Squal = 0x07, |
||||||
|
RawData_Sum = 0x08, |
||||||
|
Maximum_RawData = 0x09, |
||||||
|
Minimum_RawData = 0x0A, |
||||||
|
Shutter_Lower = 0x0B, |
||||||
|
Shutter_Middle = 0x0C, |
||||||
|
Shutter_Upper = 0x0D, |
||||||
|
|
||||||
|
Observation = 0x15, |
||||||
|
Motion_Burst = 0x16, |
||||||
|
|
||||||
|
Power_Up_Reset = 0x3A, |
||||||
|
Shutdown = 0x3B, |
||||||
|
|
||||||
|
Resolution = 0x4E, |
||||||
|
|
||||||
|
Inverse_Product_ID = 0x5F, |
||||||
|
}; |
||||||
|
|
||||||
|
// Observation
|
||||||
|
enum Observation_Bit : uint8_t { |
||||||
|
Reset = 0x5A, |
||||||
|
}; |
||||||
|
|
||||||
|
enum class Mode { |
||||||
|
Bright = 0, |
||||||
|
LowLight = 1, |
||||||
|
SuperLowLight = 2, |
||||||
|
}; |
||||||
|
|
||||||
|
struct BURST_TRANSFER { |
||||||
|
uint8_t Motion; |
||||||
|
uint8_t Observation; |
||||||
|
uint8_t Delta_X_L; |
||||||
|
uint8_t Delta_X_H; |
||||||
|
uint8_t Delta_Y_L; |
||||||
|
uint8_t Delta_Y_H; |
||||||
|
uint8_t Reserved; |
||||||
|
uint8_t SQUAL; |
||||||
|
uint8_t RawData_Sum; |
||||||
|
uint8_t Maximum_RawData; |
||||||
|
uint8_t Minimum_RawData; |
||||||
|
uint8_t Shutter_Upper; |
||||||
|
uint8_t Shutter_Middle; |
||||||
|
uint8_t Shutter_Lower; |
||||||
|
}; |
||||||
|
|
||||||
|
} |
||||||
@ -0,0 +1,84 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2022 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. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
#include "PAA3905.hpp" |
||||||
|
#include <px4_platform_common/module.h> |
||||||
|
|
||||||
|
void PAA3905::print_usage() |
||||||
|
{ |
||||||
|
PRINT_MODULE_USAGE_NAME("paa3905", "driver"); |
||||||
|
PRINT_MODULE_USAGE_COMMAND("start"); |
||||||
|
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); |
||||||
|
PRINT_MODULE_USAGE_PARAM_INT('Y', 0, 0, 359, "custom yaw rotation (degrees)", true); |
||||||
|
PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); |
||||||
|
} |
||||||
|
|
||||||
|
extern "C" __EXPORT int paa3905_main(int argc, char *argv[]) |
||||||
|
{ |
||||||
|
int ch = 0; |
||||||
|
using ThisDriver = PAA3905; |
||||||
|
BusCLIArguments cli{false, true}; |
||||||
|
cli.custom1 = -1; |
||||||
|
cli.spi_mode = SPIDEV_MODE0; |
||||||
|
cli.default_spi_frequency = SPI_SPEED; |
||||||
|
|
||||||
|
while ((ch = cli.getOpt(argc, argv, "Y:")) != EOF) { |
||||||
|
switch (ch) { |
||||||
|
case 'Y': |
||||||
|
cli.custom1 = atoi(cli.optArg()); |
||||||
|
break; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
const char *verb = cli.optArg(); |
||||||
|
|
||||||
|
if (!verb) { |
||||||
|
ThisDriver::print_usage(); |
||||||
|
return -1; |
||||||
|
} |
||||||
|
|
||||||
|
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_FLOW_DEVTYPE_PAA3905); |
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) { |
||||||
|
return ThisDriver::module_start(cli, iterator); |
||||||
|
|
||||||
|
} else if (!strcmp(verb, "stop")) { |
||||||
|
return ThisDriver::module_stop(iterator); |
||||||
|
|
||||||
|
} else if (!strcmp(verb, "status")) { |
||||||
|
return ThisDriver::module_status(iterator); |
||||||
|
} |
||||||
|
|
||||||
|
ThisDriver::print_usage(); |
||||||
|
return -1; |
||||||
|
} |
||||||
@ -0,0 +1,42 @@ |
|||||||
|
/****************************************************************************
|
||||||
|
* |
||||||
|
* Copyright (c) 2022 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. |
||||||
|
* |
||||||
|
****************************************************************************/ |
||||||
|
|
||||||
|
/**
|
||||||
|
* paa3905 Optical Flow |
||||||
|
* |
||||||
|
* @reboot_required true |
||||||
|
* |
||||||
|
* @boolean |
||||||
|
* @group Sensors |
||||||
|
*/ |
||||||
|
PARAM_DEFINE_INT32(SENS_EN_PAA3905, 0); |
||||||
Loading…
Reference in new issue