Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_OpticalFlow - moved most pin definitions into .cpp file

This commit is contained in:
rmackay9 2012-04-21 20:09:15 +09:00
parent 77766bfb73
commit 026cd4e64f
2 changed files with 15 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
View File

@ -33,6 +33,17 @@
#define AP_SPI_TIMEOUT 1000
// 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
#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
#endif
union NumericIntType
{
int intValue;

20
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
View File

@ -3,6 +3,10 @@
#include "AP_OpticalFlow.h"
// default pin settings
#define ADNS3080_CHIP_SELECT 34 // PC3
#define ADNS3080_RESET 0 // reset pin is unattached by default
// orientations for ADNS3080 sensor
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
@ -19,21 +23,6 @@
// 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
@ -85,7 +74,6 @@
#define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
{
private: