ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h

141 lines
6.3 KiB
C
Raw Normal View History

#ifndef AP_OPTICALFLOW_ADNS3080_H
#define AP_OPTICALFLOW_ADNS3080_H
#include <AP_Math.h>
#include <Stream.h>
#include "AP_OpticalFlow.h"
// orientations for ADNS3080 sensor
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD AP_OPTICALFLOW_ROTATION_YAW_180
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT AP_OPTICALFLOW_ROTATION_YAW_135
#define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT AP_OPTICALFLOW_ROTATION_YAW_90
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT AP_OPTICALFLOW_ROTATION_YAW_45
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK AP_OPTICALFLOW_ROTATION_NONE
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT AP_OPTICALFLOW_ROTATION_YAW_315
#define AP_OPTICALFLOW_ADNS3080_PINS_LEFT AP_OPTICALFLOW_ROTATION_YAW_270
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT AP_OPTICALFLOW_ROTATION_YAW_225
// field of view of ADNS3080 sensor lenses
#define AP_OPTICALFLOW_ADNS3080_04_FOV 1.396263 // 80 degrees
#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.872665 // 50 degrees
#define AP_OPTICALFLOW_ADNS3080_12_FOV 0.349066 // 20 degrees
// scaler - value returned when sensor is moved equivalent of 1 pixel
#define AP_OPTICALFLOW_ADNS3080_SCALER 3.4 // was 10.5
// We use Serial Port 2 in SPI Mode
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AP_SPI_DATAIN 50 // MISO // PB3
#define AP_SPI_DATAOUT 51 // MOSI // PB2
#define AP_SPI_CLOCK 52 // SCK // PB1
#define ADNS3080_CHIP_SELECT 32 // PC5 // should be changed to be 34/PC3
#define ADNS3080_RESET 35 // PC2
#else // normal arduino SPI pins...these need to be checked
#define AP_SPI_DATAIN 12 //MISO
#define AP_SPI_DATAOUT 11 //MOSI
#define AP_SPI_CLOCK 13 //SCK
#define ADNS3080_CHIP_SELECT 10 //SS
#define ADNS3080_RESET 9 //RESET
#endif
// ADNS3080 hardware config
#define ADNS3080_PIXELS_X 30
#define ADNS3080_PIXELS_Y 30
#define ADNS3080_CLOCK_SPEED 24000000
// Register Map for the ADNS3080 Optical OpticalFlow Sensor
#define ADNS3080_PRODUCT_ID 0x00
#define ADNS3080_REVISION_ID 0x01
#define ADNS3080_MOTION 0x02
#define ADNS3080_DELTA_X 0x03
#define ADNS3080_DELTA_Y 0x04
#define ADNS3080_SQUAL 0x05
#define ADNS3080_PIXEL_SUM 0x06
#define ADNS3080_MAXIMUM_PIXEL 0x07
#define ADNS3080_CONFIGURATION_BITS 0x0a
#define ADNS3080_EXTENDED_CONFIG 0x0b
#define ADNS3080_DATA_OUT_LOWER 0x0c
#define ADNS3080_DATA_OUT_UPPER 0x0d
#define ADNS3080_SHUTTER_LOWER 0x0e
#define ADNS3080_SHUTTER_UPPER 0x0f
#define ADNS3080_FRAME_PERIOD_LOWER 0x10
#define ADNS3080_FRAME_PERIOD_UPPER 0x11
#define ADNS3080_MOTION_CLEAR 0x12
#define ADNS3080_FRAME_CAPTURE 0x13
#define ADNS3080_SROM_ENABLE 0x14
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c
#define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e
#define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e
#define ADNS3080_SROM_ID 0x1f
#define ADNS3080_OBSERVATION 0x3d
#define ADNS3080_INVERSE_PRODUCT_ID 0x3f
#define ADNS3080_PIXEL_BURST 0x40
#define ADNS3080_MOTION_BURST 0x50
#define ADNS3080_SROM_LOAD 0x60
#define ADNS3080_LED_MODE_ALWAYS_ON 0x00
#define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
#define ADNS3080_RESOLUTION_400 400
#define ADNS3080_RESOLUTION_1200 1200
#define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
{
private:
// bytes to store SPI settings
byte orig_spi_settings_spcr;
byte orig_spi_settings_spsr;
// save and restore SPI settings
byte backup_spi_settings();
byte restore_spi_settings();
bool _motion; // true if there has been motion
public:
AP_OpticalFlow_ADNS3080(); // Constructor
bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
byte read_register(byte address);
void write_register(byte address, byte value);
void reset(); // reset sensor by holding a pin high (or is it low?) for 10us.
int read(); // read latest values from sensor and fill in x,y and totals, return OPTICALFLOW_SUCCESS on successful read
// ADNS3080 specific features
bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } } // return true if there has been motion since the last time this was called
bool get_led_always_on(); // returns true if LED is always on, false if only on when required
void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required
int get_resolution(); // returns resolution (either 400 or 1200 counts per inch)
void set_resolution(int resolution); // set parameter to 400 or 1200 counts per inch
bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
unsigned int get_frame_period(); // get_frame_period -
void set_frame_period(unsigned int period);
unsigned int get_frame_rate();
void set_frame_rate(unsigned int rate);
bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
unsigned int get_shutter_speed();
unsigned int set_shutter_speed(unsigned int shutter_speed);
void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
int print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
};
#endif