#ifndef AP_OPTICALFLOW_ADNS3080_H #define AP_OPTICALFLOW_ADNS3080_H #include "AP_OpticalFlow.h" // orientations for ADNS3080 sensor #define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180 #define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135 #define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT ROTATION_YAW_90 #define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT ROTATION_YAW_45 #define AP_OPTICALFLOW_ADNS3080_PINS_BACK ROTATION_NONE #define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT ROTATION_YAW_315 #define AP_OPTICALFLOW_ADNS3080_PINS_LEFT ROTATION_YAW_270 #define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT ROTATION_YAW_225 // field of view of ADNS3080 sensor lenses #define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458 // 11.6 degrees // 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 #define ADNS3080_CLOCK_SPEED 24000000 // Register Map for the ADNS3080 Optical OpticalFlow Sensor #define ADNS3080_PRODUCT_ID 0x00 #define ADNS3080_REVISION_ID 0x01 #define ADNS3080_MOTION 0x02 #define ADNS3080_DELTA_X 0x03 #define ADNS3080_DELTA_Y 0x04 #define ADNS3080_SQUAL 0x05 #define ADNS3080_PIXEL_SUM 0x06 #define ADNS3080_MAXIMUM_PIXEL 0x07 #define ADNS3080_CONFIGURATION_BITS 0x0a #define ADNS3080_EXTENDED_CONFIG 0x0b #define ADNS3080_DATA_OUT_LOWER 0x0c #define ADNS3080_DATA_OUT_UPPER 0x0d #define ADNS3080_SHUTTER_LOWER 0x0e #define ADNS3080_SHUTTER_UPPER 0x0f #define ADNS3080_FRAME_PERIOD_LOWER 0x10 #define ADNS3080_FRAME_PERIOD_UPPER 0x11 #define ADNS3080_MOTION_CLEAR 0x12 #define ADNS3080_FRAME_CAPTURE 0x13 #define ADNS3080_SROM_ENABLE 0x14 #define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19 #define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a #define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b #define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c #define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e #define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e #define ADNS3080_SROM_ID 0x1f #define ADNS3080_OBSERVATION 0x3d #define ADNS3080_INVERSE_PRODUCT_ID 0x3f #define ADNS3080_PIXEL_BURST 0x40 #define ADNS3080_MOTION_BURST 0x50 #define ADNS3080_SROM_LOAD 0x60 // Configuration Bits #define ADNS3080_LED_MODE_ALWAYS_ON 0x00 #define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01 #define ADNS3080_RESOLUTION_400 400 #define ADNS3080_RESOLUTION_1600 1600 // Extended Configuration bits #define ADNS3080_SERIALNPU_OFF 0x02 #define ADNS3080_FRAME_RATE_MAX 6469 #define ADNS3080_FRAME_RATE_MIN 2000 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: int _cs_pin; // pin used for chip select int _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 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. bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read // 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 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 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); unsigned int get_frame_rate(); void set_frame_rate(unsigned int 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); 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 }; #endif