PAW3902.hpp

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/**
 * @file paw3902.cpp
 *
 * Driver for the Pixart PAW3902 optical flow sensor connected via SPI.
 */

#pragma once

#include "PixArt_PAW3902JF_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/px4_work_queue/ScheduledWorkItem.hpp>
#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 <drivers/drv_range_finder.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/optical_flow.h>

/* Configuration Constants */

#if defined PX4_SPI_BUS_EXPANSION   // crazyflie
# define PAW3902_BUS PX4_SPI_BUS_EXPANSION
#elif defined PX4_SPI_BUS_EXTERNAL1   // fmu-v5
# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL1
#elif defined PX4_SPI_BUS_EXTERNAL    // fmu-v4 extspi
# define PAW3902_BUS PX4_SPI_BUS_EXTERNAL
#else
# error "add the required spi bus from board_config.h here"
#endif

#if defined PX4_SPIDEV_EXPANSION_2    // crazyflie flow deck
# define PAW3902_SPIDEV PX4_SPIDEV_EXPANSION_2
#elif defined PX4_SPIDEV_EXTERNAL1_1    // fmu-v5 ext CS1
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL1_1
#elif defined PX4_SPIDEV_EXTERNAL   // fmu-v4 extspi
# define PAW3902_SPIDEV PX4_SPIDEV_EXTERNAL
#else
# error "add the required spi dev from board_config.h here"
#endif

#define PAW3902_SPI_BUS_SPEED (2000000L) // 2MHz

#define DIR_WRITE(a) ((a) | (1 << 7))
#define DIR_READ(a) ((a) & 0x7f)

using namespace time_literals;
using namespace PixArt_PAW3902JF;

// PAW3902JF-TXQT is PixArt Imaging

class PAW3902 : public device::SPI, public px4::ScheduledWorkItem
{
public:
    PAW3902(int bus = PAW3902_BUS, enum Rotation yaw_rotation = ROTATION_NONE);
    virtual ~PAW3902();

    virtual int init();

    void print_info();

    void start();
    void stop();

protected:
    virtual int probe();

private:

    void Run() override;

    uint8_t registerRead(uint8_t reg);
    void    registerWrite(uint8_t reg, uint8_t data);

    bool reset();

    bool modeBright();
    bool modeLowLight();
    bool modeSuperLowLight();

    bool changeMode(Mode newMode);

    uORB::PublicationMulti<optical_flow_s> _optical_flow_pub{ORB_ID(optical_flow)};

    perf_counter_t  _sample_perf;
    perf_counter_t  _comms_errors;
    perf_counter_t  _dupe_count_perf;

    static constexpr uint64_t _collect_time{15000}; // 15 milliseconds, optical flow data publish rate

    uint64_t    _previous_collect_timestamp{0};
    uint64_t    _flow_dt_sum_usec{0};
    unsigned    _frame_count_since_last{0};

    enum Rotation   _yaw_rotation {ROTATION_NONE};

    int     _flow_sum_x{0};
    int     _flow_sum_y{0};

    Mode        _mode{Mode::LowLight};

};