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AP_OpticalFlow_ADNS3080: detect if optical flow sensor is on standard or secondary SPI bus

This commit is contained in:
rmackay9 2012-09-14 21:01:33 +09:00
parent 17ccc7e62e
commit 99eaa37a38
2 changed files with 174 additions and 127 deletions
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227
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
View File

@ -7,24 +7,11 @@
* License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
* *
* External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
* TXD2 = MOSI = pin PH1
* RXD2 = MISO = pin PH0
* XCK2 = SCK = pin PH2
* Chip Select pin is PC4 (33) [PH6 (9)]
* We are using the 16 clocks per conversion timming to increase efficiency (fast)
* The sampling frequency is 400Hz (Timer2 overflow interrupt)
* So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
* we have an 4x oversampling and averaging.
*
* Methods:
* Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
* Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
*
*/ */
#include "AP_OpticalFlow_ADNS3080.h" #include "AP_OpticalFlow_ADNS3080.h"
#include "SPI.h" #include "SPI.h"
#include "SPI3.h"
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
@ -35,42 +22,45 @@
// We use Serial Port 2 in SPI Mode // We use Serial Port 2 in SPI Mode
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
#define AP_SPI_DATAIN 50 // MISO // PB3 #define ADNS3080_SPI_MISO 50 // PB3
#define AP_SPI_DATAOUT 51 // MOSI // PB2 #define ADNS3080_SPI_MOSI 51 // PB2
#define AP_SPI_CLOCK 52 // SCK // PB1 #define ADNS3080_SPI_SCK 52 // PB1
#else // normal arduino SPI pins...these need to be checked #else // normal arduino SPI pins...these need to be checked
#define AP_SPI_DATAIN 12 //MISO #define ADNS3080_SPI_MISO 12 // MISO
#define AP_SPI_DATAOUT 11 //MOSI #define ADNS3080_SPI_MOSI 11 // MOSI
#define AP_SPI_CLOCK 13 //SCK #define ADNS3080_SPI_SCK 13 // SCK
#endif #endif
union NumericIntType union NumericIntType
{ {
int intValue; int16_t intValue;
unsigned int uintValue; uint16_t uintValue;
byte byteValue[2]; uint8_t byteValue[2];
}; };
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin) AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int16_t cs_pin, int16_t reset_pin) :
_cs_pin(cs_pin),
_reset_pin(reset_pin),
_spi_bus(ADNS3080_SPI_UNKNOWN)
{ {
num_pixels = ADNS3080_PIXELS_X; num_pixels = ADNS3080_PIXELS_X;
field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV; field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER; scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
} }
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
// init - initialise sensor // init - initialise sensor
// initCommAPI parameter controls whether SPI interface is initialised (set to false if other devices are on the SPI bus and have already initialised the interface) // assumes SPI bus has been initialised but will attempt to initialise nonstandard SPI3 bus if required
bool bool
AP_OpticalFlow_ADNS3080::init(bool initCommAPI) AP_OpticalFlow_ADNS3080::init(bool initCommAPI, AP_PeriodicProcess *scheduler)
{ {
int retry = 0; int8_t retry = 0;
bool retvalue = false;
// suspend timer while we set-up SPI communication
scheduler->suspend_timer();
pinMode(AP_SPI_DATAOUT,OUTPUT);
pinMode(AP_SPI_DATAIN,INPUT);
pinMode(AP_SPI_CLOCK,OUTPUT);
pinMode(_cs_pin,OUTPUT); pinMode(_cs_pin,OUTPUT);
if( _reset_pin != 0) if( _reset_pin != 0)
pinMode(ADNS3080_RESET,OUTPUT); pinMode(ADNS3080_RESET,OUTPUT);
@ -82,77 +72,127 @@ AP_OpticalFlow_ADNS3080::init(bool initCommAPI)
// start the SPI library: // start the SPI library:
if( initCommAPI ) { if( initCommAPI ) {
pinMode(ADNS3080_SPI_MOSI,OUTPUT);
pinMode(ADNS3080_SPI_MISO,INPUT);
pinMode(ADNS3080_SPI_SCK,OUTPUT);
SPI.begin(); SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
} }
// check the sensor is functioning // check 3 times for the sensor on standard SPI bus
while( retry < 3 ) { _spi_bus = ADNS3080_SPIBUS_1;
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) while( retvalue == false && retry < 3 ) {
return true; if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
retvalue = true;
}
retry++; retry++;
} }
return false; // if not found, check 3 times on SPI3
if( !retvalue ) {
// start the SPI3 library:
if( initCommAPI ) {
SPI3.begin();
SPI3.setDataMode(SPI3_MODE3); // Mode3
SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
}
_spi_bus = ADNS3080_SPIBUS_3;
retry = 0;
while( retvalue == false && retry < 3 ) {
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
retvalue = true;
}
retry++;
}
}
// resume timer
scheduler->resume_timer();
// if device is working register the global static read function to be called at 1khz
if( retvalue ) {
scheduler->register_process( AP_OpticalFlow_ADNS3080::read );
}else{
_spi_bus = ADNS3080_SPI_UNKNOWN;
}
return retvalue;
} }
// //
// backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need // backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need
// //
byte void
AP_OpticalFlow_ADNS3080::backup_spi_settings() AP_OpticalFlow_ADNS3080::backup_spi_settings()
{ {
// store current spi values if( _spi_bus == ADNS3080_SPIBUS_1 ) {
orig_spi_settings_spcr = SPCR & (DORD | CPOL | CPHA); // store current spi mode
orig_spi_settings_spsr = SPSR & SPI2X; orig_spi_settings_spcr = SPCR & (CPOL | CPHA);
// set the values that we need // set to our required values
SPI.setBitOrder(MSBFIRST);
SPI.setDataMode(SPI_MODE3); SPI.setDataMode(SPI_MODE3);
SPI.setClockDivider(SPI_CLOCK_DIV8); // sensor running at 2Mhz. this is it's maximum speed // we do not set speed to 2Mhz because we assume it is that already no more than 2Mhz
return orig_spi_settings_spcr; }else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ) ;
// store current spi values
orig_spi3_settings_ucsr3c = UCSR3C;
orig_spi3_settings_ubrr3 = UBRR3;
// set to our required values
SPI3.setDataMode(SPI3_MODE3);
SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
}
} }
// restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus // restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
byte void
AP_OpticalFlow_ADNS3080::restore_spi_settings() AP_OpticalFlow_ADNS3080::restore_spi_settings()
{ {
byte temp; byte temp;
// restore SPSR if( _spi_bus == ADNS3080_SPIBUS_1 ) {
temp = SPSR; // split off the two bits we need to write
temp &= ~SPI2X; temp = SPCR & ~(CPOL | CPHA);
temp |= orig_spi_settings_spsr; temp |= orig_spi_settings_spcr;
SPSR = temp;
// restore SPCR // write back the bits
temp = SPCR;
temp &= ~(DORD | CPOL | CPHA); // zero out the important bits
temp |= orig_spi_settings_spcr; // restore important bits
SPCR = temp; SPCR = temp;
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ) ;
return temp; // restore UCSRC3C (spi mode) and UBBR3 (speed)
UCSR3C = orig_spi3_settings_ucsr3c;
UBRR3 = orig_spi3_settings_ubrr3;
}
} }
// Read a register from the sensor // Read a register from the sensor
byte byte
AP_OpticalFlow_ADNS3080::read_register(byte address) AP_OpticalFlow_ADNS3080::read_register(byte address)
{ {
byte result = 0, junk = 0; uint8_t result = 0;
uint8_t junk = 0;
backup_spi_settings(); backup_spi_settings();
// take the chip select low to select the device // take the chip select low to select the device
digitalWrite(_cs_pin, LOW); digitalWrite(_cs_pin, LOW);
// send the device the register you want to read: if( _spi_bus == ADNS3080_SPIBUS_1 ) {
junk = SPI.transfer(address); junk = SPI.transfer(address); // send the device the register you want to read:
delayMicroseconds(50); // small delay
// small delay result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
delayMicroseconds(50); }else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
junk = SPI3.transfer(address); // send the device the register you want to read:
// send a value of 0 to read the first byte returned: delayMicroseconds(50); // small delay
result = SPI.transfer(0x00); result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
}
// take the chip select high to de-select: // take the chip select high to de-select:
digitalWrite(_cs_pin, HIGH); digitalWrite(_cs_pin, HIGH);
@ -173,14 +213,15 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
// take the chip select low to select the device // take the chip select low to select the device
digitalWrite(_cs_pin, LOW); digitalWrite(_cs_pin, LOW);
// send register address if( _spi_bus == ADNS3080_SPIBUS_1 ) {
junk = SPI.transfer(address | 0x80 ); junk = SPI.transfer(address | 0x80 ); // send register address
delayMicroseconds(50); // small delay
// small delay junk = SPI.transfer(value); // send data
delayMicroseconds(50); }else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
junk = SPI3.transfer(address | 0x80 ); // send register address
// send data delayMicroseconds(50); // small delay
junk = SPI.transfer(value); junk = SPI3.transfer(value); // send data
}
// take the chip select high to de-select: // take the chip select high to de-select:
digitalWrite(_cs_pin, HIGH); digitalWrite(_cs_pin, HIGH);
@ -202,20 +243,20 @@ AP_OpticalFlow_ADNS3080::reset()
} }
// read latest values from sensor and fill in x,y and totals // read latest values from sensor and fill in x,y and totals
bool void
AP_OpticalFlow_ADNS3080::update() AP_OpticalFlow_ADNS3080::update(uint32_t now)
{ {
byte motion_reg; byte motion_reg;
surface_quality = (unsigned int)read_register(ADNS3080_SQUAL); surface_quality = (uint16_t)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
motion_reg = read_register(ADNS3080_MOTION); motion_reg = read_register(ADNS3080_MOTION);
_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow _overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
if( (motion_reg & 0x80) != 0 ) { if( (motion_reg & 0x80) != 0 ) {
raw_dx = ((char)read_register(ADNS3080_DELTA_X)); raw_dx = ((int8_t)read_register(ADNS3080_DELTA_X));
delayMicroseconds(50); // small delay delayMicroseconds(50); // small delay
raw_dy = ((char)read_register(ADNS3080_DELTA_Y)); raw_dy = ((int8_t)read_register(ADNS3080_DELTA_Y));
_motion = true; _motion = true;
}else{ }else{
raw_dx = 0; raw_dx = 0;
@ -225,8 +266,6 @@ AP_OpticalFlow_ADNS3080::update()
last_update = millis(); last_update = millis();
apply_orientation_matrix(); apply_orientation_matrix();
return true;
} }
void void
@ -256,7 +295,7 @@ AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
} }
// returns resolution (either 400 or 1600 counts per inch) // returns resolution (either 400 or 1600 counts per inch)
int int16_t
AP_OpticalFlow_ADNS3080::get_resolution() AP_OpticalFlow_ADNS3080::get_resolution()
{ {
if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 ) if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
@ -267,7 +306,7 @@ AP_OpticalFlow_ADNS3080::get_resolution()
// set parameter to 400 or 1600 counts per inch // set parameter to 400 or 1600 counts per inch
void void
AP_OpticalFlow_ADNS3080::set_resolution(int resolution) AP_OpticalFlow_ADNS3080::set_resolution(uint16_t resolution)
{ {
byte regVal = read_register(ADNS3080_CONFIGURATION_BITS); byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
@ -321,7 +360,7 @@ AP_OpticalFlow_ADNS3080::set_frame_rate_auto(bool auto_frame_rate)
} }
// get frame period // get frame period
unsigned int uint16_t
AP_OpticalFlow_ADNS3080::get_frame_period() AP_OpticalFlow_ADNS3080::get_frame_period()
{ {
NumericIntType aNum; NumericIntType aNum;
@ -349,19 +388,19 @@ AP_OpticalFlow_ADNS3080::set_frame_period(unsigned int period)
} }
unsigned int uint16_t
AP_OpticalFlow_ADNS3080::get_frame_rate() AP_OpticalFlow_ADNS3080::get_frame_rate()
{ {
unsigned long clockSpeed = ADNS3080_CLOCK_SPEED; uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
unsigned int rate = clockSpeed / get_frame_period(); uint16_t rate = clockSpeed / get_frame_period();
return rate; return rate;
} }
void void
AP_OpticalFlow_ADNS3080::set_frame_rate(unsigned int rate) AP_OpticalFlow_ADNS3080::set_frame_rate(uint16_t rate)
{ {
unsigned long clockSpeed = ADNS3080_CLOCK_SPEED; uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
unsigned int period = (unsigned int)(clockSpeed / (unsigned long)rate); uint16_t period = (uint16_t)(clockSpeed / (uint32_t)rate);
set_frame_period(period); set_frame_period(period);
} }
@ -370,7 +409,7 @@ AP_OpticalFlow_ADNS3080::set_frame_rate(unsigned int rate)
bool bool
AP_OpticalFlow_ADNS3080::get_shutter_speed_auto() AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
{ {
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG); uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
if( (regVal & 0x02) > 0 ) { if( (regVal & 0x02) > 0 ) {
return false; return false;
}else{ }else{
@ -382,7 +421,7 @@ AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
void void
AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed) AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
{ {
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG); uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
delayMicroseconds(50); // small delay delayMicroseconds(50); // small delay
if( auto_shutter_speed ) { if( auto_shutter_speed ) {
// return shutter speed max to default // return shutter speed max to default
@ -402,7 +441,7 @@ AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
} }
// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
unsigned int uint16_t
AP_OpticalFlow_ADNS3080::get_shutter_speed() AP_OpticalFlow_ADNS3080::get_shutter_speed()
{ {
NumericIntType aNum; NumericIntType aNum;
@ -460,10 +499,10 @@ AP_OpticalFlow_ADNS3080::clear_motion()
void void
AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort) AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort)
{ {
int i,j; int16_t i,j;
bool isFirstPixel = true; bool isFirstPixel = true;
byte regValue; uint8_t regValue;
byte pixelValue; uint8_t pixelValue;
// write to frame capture register to force capture of frame // write to frame capture register to force capture of frame
write_register(ADNS3080_FRAME_CAPTURE,0x83); write_register(ADNS3080_FRAME_CAPTURE,0x83);

70
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
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@ -74,62 +74,70 @@
#define ADNS3080_FRAME_RATE_MAX 6469 #define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000 #define ADNS3080_FRAME_RATE_MIN 2000
// SPI bus definitions
#define ADNS3080_SPI_UNKNOWN 0
#define ADNS3080_SPIBUS_1 1 // standard SPI bus
#define ADNS3080_SPIBUS_3 3 // SPI3
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow 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: public:
int _cs_pin; // pin used for chip select AP_OpticalFlow_ADNS3080(int16_t cs_pin = ADNS3080_CHIP_SELECT, int16_t reset_pin = ADNS3080_RESET);
int _reset_pin; // pin used for chip reset bool init(bool initCommAPI, AP_PeriodicProcess *scheduler); // 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)
bool _motion; // true if there has been motion uint8_t read_register(uint8_t address);
bool _overflow; // true if the x or y data buffers overflowed void write_register(uint8_t address, uint8_t value);
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. 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 void update(uint32_t now); // read latest values from sensor and fill in x,y and totals, return true on successful read
// ADNS3080 specific features // 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
} // return true if there has been motion since the last time this was called bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } }
bool overflow() { return _overflow; } // true if there has been an overflow
void disable_serial_pullup(); void disable_serial_pullup();
bool get_led_always_on(); // returns true if LED is always on, false if only on when required 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 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) int16_t 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 void set_resolution(uint16_t 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 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) 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 - uint16_t get_frame_period(); // get_frame_period
void set_frame_period(unsigned int period); void set_frame_period(uint16_t period);
unsigned int get_frame_rate(); uint16_t get_frame_rate();
void set_frame_rate(unsigned int rate); void set_frame_rate(uint16_t rate);
bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual 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) 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(); uint16_t get_shutter_speed();
void set_shutter_speed(unsigned int shutter_speed); void set_shutter_speed(uint16_t shutter_speed);
void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
private:
// bytes to store SPI settings
uint8_t orig_spi_settings_spcr; // spi1's mode
uint8_t orig_spi3_settings_ucsr3c; // spi3's mode
uint8_t orig_spi3_settings_ubrr3; // spi3's speed
// save and restore SPI settings
void backup_spi_settings();
void restore_spi_settings();
int16_t _cs_pin; // pin used for chip select
int16_t _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
uint8_t _spi_bus; // 0 = unknown, 1 = using SPI, 3 = using SPI3
}; };
#endif #endif