mirror of https://github.com/ArduPilot/ardupilot
87 lines
2.0 KiB
C++
87 lines
2.0 KiB
C++
#pragma once
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#include "AP_OpticalFlow.h"
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#ifndef AP_OPTICALFLOW_PIXART_ENABLED
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#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_ENABLED
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#endif
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#if AP_OPTICALFLOW_PIXART_ENABLED
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#include <AP_HAL/utility/OwnPtr.h>
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class AP_OpticalFlow_Pixart : public OpticalFlow_backend
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{
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public:
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/// constructor
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AP_OpticalFlow_Pixart(const char *devname, AP_OpticalFlow &_frontend);
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// init - initialise the sensor
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void init() override {}
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// update - read latest values from sensor and fill in x,y and totals.
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void update(void) override;
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// detect if the sensor is available
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static AP_OpticalFlow_Pixart *detect(const char *devname, AP_OpticalFlow &_frontend);
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private:
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AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
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enum {
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PIXART_3900=0,
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PIXART_3901=1
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} model;
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struct RegData {
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uint8_t reg;
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uint8_t value;
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};
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struct PACKED MotionBurst {
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uint8_t motion;
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uint8_t observation;
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int16_t delta_x;
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int16_t delta_y;
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uint8_t squal;
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uint8_t rawdata_sum;
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uint8_t max_raw;
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uint8_t min_raw;
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uint8_t shutter_upper;
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uint8_t shutter_lower;
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} burst;
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struct {
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Vector2l sum;
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uint32_t last_frame_us;
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uint32_t sum_us;
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Vector2f gyro;
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} integral;
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static const uint8_t srom_data[];
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static const uint8_t srom_id;
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static const RegData init_data_3900[];
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static const RegData init_data_3901_1[];
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static const RegData init_data_3901_2[];
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const float flow_pixel_scaling = 1.26e-3;
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// setup sensor
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bool setup_sensor(void);
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void reg_write(uint8_t reg, uint8_t value);
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uint8_t reg_read(uint8_t reg);
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int16_t reg_read16s(uint8_t reg);
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uint16_t reg_read16u(uint8_t reg);
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void srom_download(void);
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void load_configuration(const RegData *init_data, uint16_t n);
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void timer(void);
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void motion_burst(void);
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uint32_t last_burst_us;
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uint32_t last_update_ms;
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};
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#endif // AP_OPTICALFLOW_PIXART_ENABLED
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