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# ifndef AP_OPTICALFLOW_ADNS3080_H
# define AP_OPTICALFLOW_ADNS3080_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_08_FOV 0.202458 // 11.6 degrees
// scaler - value returned when sensor is moved equivalent of 1 pixel
# define AP_OPTICALFLOW_ADNS3080_SCALER 1.1
// 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 34 // PC3
# define ADNS3080_RESET 0 // reset pin is unattached by default
# 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
// Configuration Bits
# define ADNS3080_LED_MODE_ALWAYS_ON 0x00
# define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
# define ADNS3080_RESOLUTION_400 400
# define ADNS3080_RESOLUTION_1600 1600
// Extended Configuration bits
# define ADNS3080_SERIALNPU_OFF 0x02
# 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 ( ) ;
public :
int _cs_pin ; // pin used for chip select
int _reset_pin ; // pin used for chip reset
bool _motion ; // true if there has been motion
bool _overflow ; // true if the x or y data buffers overflowed
public :
AP_OpticalFlow_ADNS3080 ( int cs_pin = ADNS3080_CHIP_SELECT , int reset_pin = ADNS3080_RESET ) ;
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.
bool update ( ) ; // read latest values from sensor and fill in x,y and totals, return true 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
void disable_serial_pullup ( ) ;
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 1600 counts per inch)
void set_resolution ( int resolution ) ; // set parameter to 400 or 1600 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 ( ) ;
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void set_shutter_speed ( unsigned int shutter_speed ) ;
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void clear_motion ( ) ; // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
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void print_pixel_data ( Stream * serPort ) ; // dumps a 30x30 image to the Serial port
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} ;
# endif