mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.7 KiB
C++
109 lines
3.7 KiB
C++
#ifndef __AP_OPTICALFLOW_ADNS3080_H__
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#define __AP_OPTICALFLOW_ADNS3080_H__
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#include <AP_HAL.h>
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#include "AP_OpticalFlow.h"
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// timer process runs at 1khz. 50 iterations = 20hz
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#define AP_OPTICALFLOW_ADNS3080_NUM_CALLS_FOR_20HZ 50
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// orientations for ADNS3080 sensor
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#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
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#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
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#define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT ROTATION_YAW_90
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT ROTATION_YAW_45
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK ROTATION_NONE
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT ROTATION_YAW_315
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#define AP_OPTICALFLOW_ADNS3080_PINS_LEFT ROTATION_YAW_270
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#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT ROTATION_YAW_225
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// field of view of ADNS3080 sensor lenses
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#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458f // 11.6 degrees
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// scaler - value returned when sensor is moved equivalent of 1 pixel
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#define AP_OPTICALFLOW_ADNS3080_SCALER_400 1.1f // when resolution set to 400
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#define AP_OPTICALFLOW_ADNS3080_SCALER_1600 4.4f // when resolution set to 1600
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// ADNS3080 hardware config
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#define ADNS3080_PIXELS_X 30
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#define ADNS3080_PIXELS_Y 30
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#define ADNS3080_CLOCK_SPEED 24000000
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// Register Map for the ADNS3080 Optical OpticalFlow Sensor
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#define ADNS3080_PRODUCT_ID 0x00
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#define ADNS3080_REVISION_ID 0x01
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#define ADNS3080_MOTION 0x02
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#define ADNS3080_DELTA_X 0x03
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#define ADNS3080_DELTA_Y 0x04
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#define ADNS3080_SQUAL 0x05
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#define ADNS3080_PIXEL_SUM 0x06
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#define ADNS3080_MAXIMUM_PIXEL 0x07
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#define ADNS3080_CONFIGURATION_BITS 0x0a
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#define ADNS3080_EXTENDED_CONFIG 0x0b
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#define ADNS3080_DATA_OUT_LOWER 0x0c
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#define ADNS3080_DATA_OUT_UPPER 0x0d
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#define ADNS3080_SHUTTER_LOWER 0x0e
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#define ADNS3080_SHUTTER_UPPER 0x0f
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#define ADNS3080_FRAME_PERIOD_LOWER 0x10
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#define ADNS3080_FRAME_PERIOD_UPPER 0x11
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#define ADNS3080_MOTION_CLEAR 0x12
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#define ADNS3080_FRAME_CAPTURE 0x13
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#define ADNS3080_SROM_ENABLE 0x14
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#define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19
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#define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a
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#define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b
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#define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c
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#define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e
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#define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e
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#define ADNS3080_SROM_ID 0x1f
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#define ADNS3080_OBSERVATION 0x3d
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#define ADNS3080_INVERSE_PRODUCT_ID 0x3f
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#define ADNS3080_PIXEL_BURST 0x40
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#define ADNS3080_MOTION_BURST 0x50
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#define ADNS3080_SROM_LOAD 0x60
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// Extended Configuration bits
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#define ADNS3080_SERIALNPU_OFF 0x02
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class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
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{
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public:
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// constructor
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AP_OpticalFlow_ADNS3080();
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// initialise the sensor
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void init();
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// read latest values from sensor and fill in x,y and totals,
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// returns true on successful read
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void update(void);
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// ADNS3080 specific features
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// called by timer process to read sensor data
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void read();
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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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// will cause the x,y, dx, dy, and the sensor's motion registers to
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// be cleared
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void clear_motion();
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// print_pixel_data - dumps a 30x30 image to the Serial port
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void print_pixel_data();
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private:
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// update conversion factors based on field of view
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void update_conversion_factors();
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uint8_t _num_calls; // used to throttle read down to 20hz
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// SPI device
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AP_HAL::SPIDeviceDriver *_spi;
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};
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#endif
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