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https://github.com/ArduPilot/ardupilot
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26ba391cd4
Semaphore can be null, handled correctly if it is. Rather than check for which SPI bus the sensor is using, just check whether semaphore is not null before using it. More general and flexible.
146 lines
6.7 KiB
C++
146 lines
6.7 KiB
C++
#ifndef __AP_OPTICALFLOW_ADNS3080_H__
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#define __AP_OPTICALFLOW_ADNS3080_H__
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#include <AP_Semaphore.h>
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#include "AP_OpticalFlow.h"
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// default pin settings
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#define ADNS3080_CHIP_SELECT 34 // PC3
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#define ADNS3080_RESET 0 // reset pin is unattached by default
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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 0.202458 // 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 1.1
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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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// Configuration Bits
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#define ADNS3080_LED_MODE_ALWAYS_ON 0x00
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#define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
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#define ADNS3080_RESOLUTION_400 400
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#define ADNS3080_RESOLUTION_1600 1600
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// Extended Configuration bits
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#define ADNS3080_SERIALNPU_OFF 0x02
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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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public:
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AP_OpticalFlow_ADNS3080(AP_Semaphore* semaphore, 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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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
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// return true if there has been motion since the last time this was called
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bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } }
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bool overflow() { return _overflow; } // true if there has been an overflow
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void disable_serial_pullup();
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bool get_led_always_on(); // returns true if LED is always on, false if only on when required
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void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required
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int16_t get_resolution(); // returns resolution (either 400 or 1600 counts per inch)
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void set_resolution(uint16_t resolution); // set parameter to 400 or 1600 counts per inch
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bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
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void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
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uint16_t get_frame_period(); // get_frame_period
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void set_frame_period(uint16_t period);
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uint16_t get_frame_rate();
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void set_frame_rate(uint16_t rate);
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bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
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void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
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uint16_t get_shutter_speed();
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void set_shutter_speed(uint16_t shutter_speed);
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void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
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void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
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private:
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// bytes to store SPI settings
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uint8_t orig_spi_settings_spcr; // spi1's mode
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uint8_t orig_spi3_settings_ucsr3c; // spi3's mode
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uint8_t orig_spi3_settings_ubrr3; // spi3's speed
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// save and restore SPI settings
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void backup_spi_settings();
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void restore_spi_settings();
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int16_t _cs_pin; // pin used for chip select
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int16_t _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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uint8_t _spi_bus; // 0 = unknown, 1 = using SPI, 3 = using SPI3
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AP_Semaphore* _semaphore;
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};
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#endif
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