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OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600

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This commit is contained in:
Randy Mackay 2012-01-14 12:34:29 +09:00
parent 7877a872d3
commit bcd63a9807
3 changed files with 14 additions and 10 deletions
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13
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
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@ -237,17 +237,17 @@ AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
write_register(ADNS3080_CONFIGURATION_BITS, regVal); write_register(ADNS3080_CONFIGURATION_BITS, regVal);
} }
// returns resolution (either 400 or 1200 counts per inch) // returns resolution (either 400 or 1600 counts per inch)
int int
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 )
return 400; return 400;
else else
return 1200; return 1600;
} }
// set parameter to 400 or 1200 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(int resolution)
{ {
@ -255,12 +255,17 @@ AP_OpticalFlow_ADNS3080::set_resolution(int resolution)
if( resolution == ADNS3080_RESOLUTION_400 ) { if( resolution == ADNS3080_RESOLUTION_400 ) {
regVal &= ~0x10; regVal &= ~0x10;
}else if( resolution == ADNS3080_RESOLUTION_1200) { scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
}else if( resolution == ADNS3080_RESOLUTION_1600) {
regVal |= 0x10; regVal |= 0x10;
scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
} }
delayMicroseconds(50); // small delay delayMicroseconds(50); // small delay
write_register(ADNS3080_CONFIGURATION_BITS, regVal); write_register(ADNS3080_CONFIGURATION_BITS, regVal);
// this will affect conversion factors so update them
update_conversion_factors();
} }
// get_frame_rate_auto - return whether frame rate is set to "auto" or manual // get_frame_rate_auto - return whether frame rate is set to "auto" or manual

6
libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
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@ -77,7 +77,7 @@
#define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01 #define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
#define ADNS3080_RESOLUTION_400 400 #define ADNS3080_RESOLUTION_400 400
#define ADNS3080_RESOLUTION_1200 1200 #define ADNS3080_RESOLUTION_1600 1600
// Extended Configuration bits // Extended Configuration bits
#define ADNS3080_SERIALNPU_OFF 0x02 #define ADNS3080_SERIALNPU_OFF 0x02
@ -118,8 +118,8 @@ class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
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 1200 counts per inch) int get_resolution(); // returns resolution (either 400 or 1600 counts per inch)
void set_resolution(int resolution); // set parameter to 400 or 1200 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 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)

5
libraries/AP_OpticalFlow/examples/AP_OpticalFlow_test/AP_OpticalFlow_test.pde
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@ -201,7 +201,7 @@ void set_resolution()
Serial.print("resolution: "); Serial.print("resolution: ");
Serial.println(resolution); Serial.println(resolution);
Serial.println("Choose new value:"); Serial.println("Choose new value:");
Serial.println(" 1) 1200"); Serial.println(" 1) 1600");
Serial.println(" 4) 400"); Serial.println(" 4) 400");
Serial.println(" x) exit"); Serial.println(" x) exit");
Serial.println(); Serial.println();
@ -215,10 +215,9 @@ void set_resolution()
// update resolution // update resolution
if( value == '1' ) { if( value == '1' ) {
flowSensor.set_resolution(ADNS3080_RESOLUTION_1200); flowSensor.set_resolution(ADNS3080_RESOLUTION_1600);
} }
if( value == '4' ) { if( value == '4' ) {
Serial.println("you want 1200!");
flowSensor.set_resolution(ADNS3080_RESOLUTION_400); flowSensor.set_resolution(ADNS3080_RESOLUTION_400);
} }