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Optical Flow - added overflow check

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This commit is contained in:
Randy Mackay 2012-01-25 21:45:52 +09:00
parent ef60642bb2
commit 13caa24515
3 changed files with 10 additions and 2 deletions
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5
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
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@ -190,11 +190,14 @@ AP_OpticalFlow_ADNS3080::reset()
bool bool
AP_OpticalFlow_ADNS3080::update() AP_OpticalFlow_ADNS3080::update()
{ {
byte motion_reg;
surface_quality = (unsigned int)read_register(ADNS3080_SQUAL); surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
delayMicroseconds(50); // small delay delayMicroseconds(50); // small delay
// check for movement, update x,y values // check for movement, update x,y values
if( (read_register(ADNS3080_MOTION) & 0x80) != 0 ) { motion_reg = read_register(ADNS3080_MOTION);
_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
if( (motion_reg & 0x80) != 0 ) {
raw_dx = ((char)read_register(ADNS3080_DELTA_X)); raw_dx = ((char)read_register(ADNS3080_DELTA_X));
delayMicroseconds(50); // small delay delayMicroseconds(50); // small delay
raw_dy = ((char)read_register(ADNS3080_DELTA_Y)); raw_dy = ((char)read_register(ADNS3080_DELTA_Y));

3
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
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@ -100,7 +100,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
public: public:
int _cs_pin; // pin used for chip select int _cs_pin; // pin used for chip select
int _reset_pin; // pin used for chip reset int _reset_pin; // pin used for chip reset
bool _motion; // true if there has been motion bool _motion; // true if there has been motion
bool _overflow; // true if the x or y data buffers overflowed
public: public:
AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET); AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);

4
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -312,6 +312,10 @@ void display_motion()
flowSensor.update(); flowSensor.update();
flowSensor.update_position(0,0,0,1,100); flowSensor.update_position(0,0,0,1,100);
// check for errors
if( flowSensor._overflow )
Serial.println("overflow!!");
// x,y,squal // x,y,squal
//if( flowSensor.motion() || first_time ) { //if( flowSensor.motion() || first_time ) {
Serial.print("x/dx: "); Serial.print("x/dx: ");