mirror of https://github.com/ArduPilot/ardupilot
AP_OpticalFlow_ADNS3080: detect if optical flow sensor is on standard or secondary SPI bus
This commit is contained in:
rmackay9
parent
17ccc7e62e
commit
99eaa37a38
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@ -7,24 +7,11 @@
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
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* TXD2 = MOSI = pin PH1
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* RXD2 = MISO = pin PH0
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* XCK2 = SCK = pin PH2
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* Chip Select pin is PC4 (33) [PH6 (9)]
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* We are using the 16 clocks per conversion timming to increase efficiency (fast)
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* The sampling frequency is 400Hz (Timer2 overflow interrupt)
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* So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
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* we have an 4x oversampling and averaging.
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*
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* Methods:
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* Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
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* Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
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*
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*/
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#include "AP_OpticalFlow_ADNS3080.h"
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#include "SPI.h"
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#include "SPI3.h"
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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@ -35,42 +22,45 @@
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// We use Serial Port 2 in SPI Mode
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define AP_SPI_DATAIN 50 // MISO // PB3
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#define AP_SPI_DATAOUT 51 // MOSI // PB2
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#define AP_SPI_CLOCK 52 // SCK // PB1
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#define ADNS3080_SPI_MISO 50 // PB3
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#define ADNS3080_SPI_MOSI 51 // PB2
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#define ADNS3080_SPI_SCK 52 // PB1
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#else // normal arduino SPI pins...these need to be checked
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#define AP_SPI_DATAIN 12 //MISO
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#define AP_SPI_DATAOUT 11 //MOSI
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#define AP_SPI_CLOCK 13 //SCK
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#define ADNS3080_SPI_MISO 12 // MISO
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#define ADNS3080_SPI_MOSI 11 // MOSI
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#define ADNS3080_SPI_SCK 13 // SCK
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#endif
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union NumericIntType
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{
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int intValue;
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unsigned int uintValue;
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byte byteValue[2];
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int16_t intValue;
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uint16_t uintValue;
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uint8_t byteValue[2];
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};
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// Constructors ////////////////////////////////////////////////////////////////
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AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin)
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AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int16_t cs_pin, int16_t reset_pin) :
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_cs_pin(cs_pin),
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_reset_pin(reset_pin),
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_spi_bus(ADNS3080_SPI_UNKNOWN)
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{
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num_pixels = ADNS3080_PIXELS_X;
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field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
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scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// init - initialise sensor
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// 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)
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// assumes SPI bus has been initialised but will attempt to initialise nonstandard SPI3 bus if required
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bool
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AP_OpticalFlow_ADNS3080::init(bool initCommAPI)
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AP_OpticalFlow_ADNS3080::init(bool initCommAPI, AP_PeriodicProcess *scheduler)
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{
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int retry = 0;
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int8_t retry = 0;
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bool retvalue = false;
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// suspend timer while we set-up SPI communication
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scheduler->suspend_timer();
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pinMode(AP_SPI_DATAOUT,OUTPUT);
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pinMode(AP_SPI_DATAIN,INPUT);
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pinMode(AP_SPI_CLOCK,OUTPUT);
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pinMode(_cs_pin,OUTPUT);
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if( _reset_pin != 0)
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pinMode(ADNS3080_RESET,OUTPUT);
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@ -82,77 +72,127 @@ AP_OpticalFlow_ADNS3080::init(bool initCommAPI)
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// start the SPI library:
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if( initCommAPI ) {
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pinMode(ADNS3080_SPI_MOSI,OUTPUT);
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pinMode(ADNS3080_SPI_MISO,INPUT);
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pinMode(ADNS3080_SPI_SCK,OUTPUT);
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
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}
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// check the sensor is functioning
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while( retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 )
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return true;
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// check 3 times for the sensor on standard SPI bus
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_spi_bus = ADNS3080_SPIBUS_1;
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while( retvalue == false && retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
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retvalue = true;
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}
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retry++;
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}
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return false;
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// if not found, check 3 times on SPI3
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if( !retvalue ) {
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// start the SPI3 library:
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if( initCommAPI ) {
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SPI3.begin();
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SPI3.setDataMode(SPI3_MODE3); // Mode3
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SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
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}
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_spi_bus = ADNS3080_SPIBUS_3;
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retry = 0;
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while( retvalue == false && retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
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retvalue = true;
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}
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retry++;
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}
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}
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// resume timer
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scheduler->resume_timer();
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// if device is working register the global static read function to be called at 1khz
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if( retvalue ) {
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scheduler->register_process( AP_OpticalFlow_ADNS3080::read );
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}else{
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_spi_bus = ADNS3080_SPI_UNKNOWN;
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}
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return retvalue;
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}
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//
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// backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need
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//
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byte
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void
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AP_OpticalFlow_ADNS3080::backup_spi_settings()
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{
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// store current spi values
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orig_spi_settings_spcr = SPCR & (DORD | CPOL | CPHA);
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orig_spi_settings_spsr = SPSR & SPI2X;
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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// store current spi mode
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orig_spi_settings_spcr = SPCR & (CPOL | CPHA);
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// set the values that we need
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SPI.setBitOrder(MSBFIRST);
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// set to our required values
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SPI.setDataMode(SPI_MODE3);
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SPI.setClockDivider(SPI_CLOCK_DIV8); // sensor running at 2Mhz. this is it's maximum speed
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// we do not set speed to 2Mhz because we assume it is that already no more than 2Mhz
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return orig_spi_settings_spcr;
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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// store current spi values
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orig_spi3_settings_ucsr3c = UCSR3C;
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orig_spi3_settings_ubrr3 = UBRR3;
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// set to our required values
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SPI3.setDataMode(SPI3_MODE3);
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SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
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}
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}
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// restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
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byte
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void
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AP_OpticalFlow_ADNS3080::restore_spi_settings()
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{
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byte temp;
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// restore SPSR
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temp = SPSR;
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temp &= ~SPI2X;
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temp |= orig_spi_settings_spsr;
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SPSR = temp;
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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// split off the two bits we need to write
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temp = SPCR & ~(CPOL | CPHA);
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temp |= orig_spi_settings_spcr;
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// restore SPCR
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temp = SPCR;
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temp &= ~(DORD | CPOL | CPHA); // zero out the important bits
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temp |= orig_spi_settings_spcr; // restore important bits
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// write back the bits
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SPCR = temp;
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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return temp;
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// restore UCSRC3C (spi mode) and UBBR3 (speed)
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UCSR3C = orig_spi3_settings_ucsr3c;
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UBRR3 = orig_spi3_settings_ubrr3;
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}
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}
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// Read a register from the sensor
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byte
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AP_OpticalFlow_ADNS3080::read_register(byte address)
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{
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byte result = 0, junk = 0;
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uint8_t result = 0;
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uint8_t junk = 0;
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backup_spi_settings();
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// take the chip select low to select the device
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digitalWrite(_cs_pin, LOW);
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// send the device the register you want to read:
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junk = SPI.transfer(address);
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// small delay
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delayMicroseconds(50);
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// send a value of 0 to read the first byte returned:
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result = SPI.transfer(0x00);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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junk = SPI.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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junk = SPI3.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
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}
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// take the chip select high to de-select:
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digitalWrite(_cs_pin, HIGH);
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@ -173,14 +213,15 @@ AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
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// take the chip select low to select the device
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digitalWrite(_cs_pin, LOW);
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// send register address
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junk = SPI.transfer(address | 0x80 );
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// small delay
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delayMicroseconds(50);
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// send data
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junk = SPI.transfer(value);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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junk = SPI.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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junk = SPI.transfer(value); // send data
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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junk = SPI3.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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junk = SPI3.transfer(value); // send data
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}
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// take the chip select high to de-select:
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digitalWrite(_cs_pin, HIGH);
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@ -202,20 +243,20 @@ AP_OpticalFlow_ADNS3080::reset()
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}
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// read latest values from sensor and fill in x,y and totals
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bool
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AP_OpticalFlow_ADNS3080::update()
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void
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AP_OpticalFlow_ADNS3080::update(uint32_t now)
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{
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byte motion_reg;
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surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
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surface_quality = (uint16_t)read_register(ADNS3080_SQUAL);
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delayMicroseconds(50); // small delay
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// check for movement, update x,y values
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motion_reg = read_register(ADNS3080_MOTION);
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_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
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if( (motion_reg & 0x80) != 0 ) {
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raw_dx = ((char)read_register(ADNS3080_DELTA_X));
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raw_dx = ((int8_t)read_register(ADNS3080_DELTA_X));
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delayMicroseconds(50); // small delay
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raw_dy = ((char)read_register(ADNS3080_DELTA_Y));
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raw_dy = ((int8_t)read_register(ADNS3080_DELTA_Y));
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_motion = true;
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}else{
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raw_dx = 0;
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@ -225,8 +266,6 @@ AP_OpticalFlow_ADNS3080::update()
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last_update = millis();
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apply_orientation_matrix();
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return true;
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}
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void
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@ -256,7 +295,7 @@ AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
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}
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// returns resolution (either 400 or 1600 counts per inch)
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int
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int16_t
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AP_OpticalFlow_ADNS3080::get_resolution()
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{
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if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
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@ -267,7 +306,7 @@ AP_OpticalFlow_ADNS3080::get_resolution()
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// set parameter to 400 or 1600 counts per inch
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void
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AP_OpticalFlow_ADNS3080::set_resolution(int resolution)
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AP_OpticalFlow_ADNS3080::set_resolution(uint16_t resolution)
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{
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byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
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@ -321,7 +360,7 @@ AP_OpticalFlow_ADNS3080::set_frame_rate_auto(bool auto_frame_rate)
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}
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// get frame period
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unsigned int
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uint16_t
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AP_OpticalFlow_ADNS3080::get_frame_period()
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{
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NumericIntType aNum;
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@ -349,19 +388,19 @@ AP_OpticalFlow_ADNS3080::set_frame_period(unsigned int period)
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}
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unsigned int
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uint16_t
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AP_OpticalFlow_ADNS3080::get_frame_rate()
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{
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unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
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unsigned int rate = clockSpeed / get_frame_period();
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uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
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uint16_t rate = clockSpeed / get_frame_period();
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return rate;
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}
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void
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AP_OpticalFlow_ADNS3080::set_frame_rate(unsigned int rate)
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AP_OpticalFlow_ADNS3080::set_frame_rate(uint16_t rate)
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{
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unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
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unsigned int period = (unsigned int)(clockSpeed / (unsigned long)rate);
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uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
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uint16_t period = (uint16_t)(clockSpeed / (uint32_t)rate);
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set_frame_period(period);
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}
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@ -370,7 +409,7 @@ AP_OpticalFlow_ADNS3080::set_frame_rate(unsigned int rate)
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bool
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AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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if( (regVal & 0x02) > 0 ) {
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return false;
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}else{
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@ -382,7 +421,7 @@ AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
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void
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AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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delayMicroseconds(50); // small delay
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if( auto_shutter_speed ) {
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// return shutter speed max to default
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@ -402,7 +441,7 @@ AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
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}
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// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
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unsigned int
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uint16_t
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AP_OpticalFlow_ADNS3080::get_shutter_speed()
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{
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NumericIntType aNum;
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@ -460,10 +499,10 @@ AP_OpticalFlow_ADNS3080::clear_motion()
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void
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AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort)
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{
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int i,j;
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int16_t i,j;
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bool isFirstPixel = true;
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byte regValue;
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byte pixelValue;
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uint8_t regValue;
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uint8_t pixelValue;
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// write to frame capture register to force capture of frame
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write_register(ADNS3080_FRAME_CAPTURE,0x83);
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@ -74,62 +74,70 @@
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#define ADNS3080_FRAME_RATE_MAX 6469
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#define ADNS3080_FRAME_RATE_MIN 2000
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// SPI bus definitions
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#define ADNS3080_SPI_UNKNOWN 0
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#define ADNS3080_SPIBUS_1 1 // standard SPI bus
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#define ADNS3080_SPIBUS_3 3 // SPI3
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class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
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{
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private:
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// bytes to store SPI settings
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byte orig_spi_settings_spcr;
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byte orig_spi_settings_spsr;
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// save and restore SPI settings
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byte backup_spi_settings();
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byte restore_spi_settings();
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public:
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int _cs_pin; // pin used for chip select
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int _reset_pin; // pin used for chip reset
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bool _motion; // true if there has been motion
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bool _overflow; // true if the x or y data buffers overflowed
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public:
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AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);
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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)
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byte read_register(byte address);
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void write_register(byte address, byte value);
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AP_OpticalFlow_ADNS3080(int16_t cs_pin = ADNS3080_CHIP_SELECT, int16_t reset_pin = ADNS3080_RESET);
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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)
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uint8_t read_register(uint8_t address);
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||||
void write_register(uint8_t address, uint8_t value);
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void reset(); // reset sensor by holding a pin high (or is it low?) for 10us.
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bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read
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||||
void update(uint32_t now); // read latest values from sensor and fill in x,y and totals, return true on successful read
|
||||
|
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// ADNS3080 specific features
|
||||
bool motion() {
|
||||
if( _motion ) { _motion = false; return true; }else{ return false; }
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||||
} // 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();
|
||||
|
||||
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
|
||||
int16_t get_resolution(); // returns resolution (either 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
|
||||
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);
|
||||
uint16_t get_frame_period(); // get_frame_period
|
||||
void set_frame_period(uint16_t period);
|
||||
|
||||
unsigned int get_frame_rate();
|
||||
void set_frame_rate(unsigned int rate);
|
||||
uint16_t get_frame_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
|
||||
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();
|
||||
void set_shutter_speed(unsigned int shutter_speed);
|
||||
uint16_t get_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 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
|
||||
|
|
|
|||
Loading…
Reference in New Issue