mirror of https://github.com/ArduPilot/ardupilot
563 lines
17 KiB
C++
563 lines
17 KiB
C++
/*
|
|
* AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
|
|
* Code by Randy Mackay. DIYDrones.com
|
|
*
|
|
* This library is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU Lesser General Public
|
|
* License as published by the Free Software Foundation; either
|
|
* version 2.1 of the License, or (at your option) any later version.
|
|
*
|
|
*/
|
|
|
|
#include "AP_OpticalFlow_ADNS3080.h"
|
|
#include "SPI.h"
|
|
#include "SPI3.h"
|
|
#include "AP_Semaphore.h"
|
|
|
|
#if defined(ARDUINO) && ARDUINO >= 100
|
|
#include "Arduino.h"
|
|
#else
|
|
#include "WProgram.h"
|
|
#endif
|
|
|
|
#define AP_SPI_TIMEOUT 1000
|
|
|
|
// We use Serial Port 2 in SPI Mode
|
|
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
|
#define ADNS3080_SPI_MISO 50 // PB3
|
|
#define ADNS3080_SPI_MOSI 51 // PB2
|
|
#define ADNS3080_SPI_SCK 52 // PB1
|
|
#else // normal arduino SPI pins...these need to be checked
|
|
#define ADNS3080_SPI_MISO 12 // MISO
|
|
#define ADNS3080_SPI_MOSI 11 // MOSI
|
|
#define ADNS3080_SPI_SCK 13 // SCK
|
|
#endif
|
|
|
|
union NumericIntType
|
|
{
|
|
int16_t intValue;
|
|
uint16_t uintValue;
|
|
uint8_t byteValue[2];
|
|
};
|
|
|
|
// Constructors ////////////////////////////////////////////////////////////////
|
|
AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(AP_Semaphore* semaphore, int16_t cs_pin, int16_t reset_pin) :
|
|
_semaphore(semaphore),
|
|
_cs_pin(cs_pin),
|
|
_reset_pin(reset_pin),
|
|
_spi_bus(ADNS3080_SPI_UNKNOWN)
|
|
{
|
|
num_pixels = ADNS3080_PIXELS_X;
|
|
field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
|
|
scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
|
|
}
|
|
|
|
// Public Methods //////////////////////////////////////////////////////////////
|
|
// init - initialise sensor
|
|
// assumes SPI bus has been initialised but will attempt to initialise nonstandard SPI3 bus if required
|
|
bool
|
|
AP_OpticalFlow_ADNS3080::init(bool initCommAPI, AP_PeriodicProcess *scheduler)
|
|
{
|
|
int8_t retry = 0;
|
|
bool retvalue = false;
|
|
|
|
// suspend timer while we set-up SPI communication
|
|
scheduler->suspend_timer();
|
|
|
|
pinMode(_cs_pin,OUTPUT);
|
|
if( _reset_pin != 0)
|
|
pinMode(ADNS3080_RESET,OUTPUT);
|
|
|
|
digitalWrite(_cs_pin,HIGH); // disable device (Chip select is active low)
|
|
|
|
// reset the device
|
|
reset();
|
|
|
|
// start the SPI library:
|
|
if( initCommAPI ) {
|
|
pinMode(ADNS3080_SPI_MOSI,OUTPUT);
|
|
pinMode(ADNS3080_SPI_MISO,INPUT);
|
|
pinMode(ADNS3080_SPI_SCK,OUTPUT);
|
|
SPI.begin();
|
|
SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
|
|
}
|
|
|
|
// check 3 times for the sensor on standard SPI bus
|
|
_spi_bus = ADNS3080_SPIBUS_1;
|
|
while( retvalue == false && retry < 3 ) {
|
|
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
|
|
retvalue = true;
|
|
}
|
|
retry++;
|
|
}
|
|
|
|
// if not found, check 3 times on SPI3
|
|
if( !retvalue ) {
|
|
|
|
// start the SPI3 library:
|
|
if( initCommAPI ) {
|
|
SPI3.begin();
|
|
SPI3.setDataMode(SPI3_MODE3); // Mode3
|
|
SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
|
|
}
|
|
|
|
_spi_bus = ADNS3080_SPIBUS_3;
|
|
retry = 0;
|
|
while( retvalue == false && retry < 3 ) {
|
|
if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
|
|
retvalue = true;
|
|
}
|
|
retry++;
|
|
}
|
|
}
|
|
|
|
// resume timer
|
|
scheduler->resume_timer();
|
|
|
|
// if device is working register the global static read function to be called at 1khz
|
|
if( retvalue ) {
|
|
scheduler->register_process( AP_OpticalFlow_ADNS3080::read );
|
|
}else{
|
|
_spi_bus = ADNS3080_SPI_UNKNOWN;
|
|
}
|
|
|
|
return retvalue;
|
|
}
|
|
|
|
//
|
|
// backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need
|
|
//
|
|
void
|
|
AP_OpticalFlow_ADNS3080::backup_spi_settings()
|
|
{
|
|
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
|
|
// store current spi mode and data rate
|
|
orig_spi_settings_spcr = SPCR & (CPOL | CPHA | SPR1 | SPR0);
|
|
|
|
// set to our required values
|
|
SPI.setDataMode(SPI_MODE3);
|
|
SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
|
|
|
|
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
|
|
/* Wait for empty transmit buffer */
|
|
while ( !( UCSR3A & (1<<UDRE3)) ) ;
|
|
|
|
// store current spi values
|
|
orig_spi3_settings_ucsr3c = UCSR3C;
|
|
orig_spi3_settings_ubrr3 = UBRR3;
|
|
|
|
// set to our required values
|
|
SPI3.setDataMode(SPI3_MODE3);
|
|
SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
|
|
}
|
|
}
|
|
|
|
// restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
|
|
void
|
|
AP_OpticalFlow_ADNS3080::restore_spi_settings()
|
|
{
|
|
byte temp;
|
|
|
|
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
|
|
// split off the two bits we need to write
|
|
temp = SPCR & ~(CPOL | CPHA | SPR1 | SPR0);
|
|
temp |= orig_spi_settings_spcr;
|
|
|
|
// write back the bits
|
|
SPCR = temp;
|
|
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
|
|
/* Wait for empty transmit buffer */
|
|
while ( !( UCSR3A & (1<<UDRE3)) ) ;
|
|
|
|
// restore UCSRC3C (spi mode) and UBBR3 (speed)
|
|
UCSR3C = orig_spi3_settings_ucsr3c;
|
|
UBRR3 = orig_spi3_settings_ubrr3;
|
|
}
|
|
}
|
|
|
|
// Read a register from the sensor
|
|
byte
|
|
AP_OpticalFlow_ADNS3080::read_register(byte address)
|
|
{
|
|
uint8_t result = 0;
|
|
uint8_t junk = 0;
|
|
|
|
// get spi semaphore if required
|
|
if( _semaphore != NULL) {
|
|
// if failed to get semaphore then just quietly fail
|
|
if( !_semaphore->get(this) ) {
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
backup_spi_settings();
|
|
|
|
// take the chip select low to select the device
|
|
digitalWrite(_cs_pin, LOW);
|
|
|
|
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
|
|
junk = SPI.transfer(address); // send the device the register you want to read:
|
|
delayMicroseconds(50); // small delay
|
|
result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
|
|
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
|
|
junk = SPI3.transfer(address); // send the device the register you want to read:
|
|
delayMicroseconds(50); // small delay
|
|
result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
|
|
}
|
|
|
|
// take the chip select high to de-select:
|
|
digitalWrite(_cs_pin, HIGH);
|
|
|
|
restore_spi_settings();
|
|
|
|
// get spi semaphore if required
|
|
if( _semaphore != NULL) {
|
|
_semaphore->release(this);
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
// write a value to one of the sensor's registers
|
|
void
|
|
AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
|
|
{
|
|
byte junk = 0;
|
|
|
|
// get spi semaphore if required
|
|
if( _semaphore != NULL) {
|
|
// if failed to get semaphore then just quietly fail
|
|
if( !_semaphore->get(this) ) {
|
|
Serial.println("Optflow: failed to get spi3 semaphore!");
|
|
return;
|
|
}
|
|
}
|
|
|
|
backup_spi_settings();
|
|
|
|
// take the chip select low to select the device
|
|
digitalWrite(_cs_pin, LOW);
|
|
|
|
if( _spi_bus == ADNS3080_SPIBUS_1 ) {
|
|
junk = SPI.transfer(address | 0x80 ); // send register address
|
|
delayMicroseconds(50); // small delay
|
|
junk = SPI.transfer(value); // send data
|
|
}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
|
|
junk = SPI3.transfer(address | 0x80 ); // send register address
|
|
delayMicroseconds(50); // small delay
|
|
junk = SPI3.transfer(value); // send data
|
|
}
|
|
|
|
// take the chip select high to de-select:
|
|
digitalWrite(_cs_pin, HIGH);
|
|
|
|
restore_spi_settings();
|
|
|
|
// get spi3 semaphore if required
|
|
if( _semaphore != NULL) {
|
|
_semaphore->release(this);
|
|
}
|
|
}
|
|
|
|
// reset sensor by holding a pin high (or is it low?) for 10us.
|
|
void
|
|
AP_OpticalFlow_ADNS3080::reset()
|
|
{
|
|
// return immediately if the reset pin is not defined
|
|
if( _reset_pin == 0)
|
|
return;
|
|
|
|
digitalWrite(_reset_pin,HIGH); // reset sensor
|
|
delayMicroseconds(10);
|
|
digitalWrite(_reset_pin,LOW); // return sensor to normal
|
|
}
|
|
|
|
// read latest values from sensor and fill in x,y and totals
|
|
void
|
|
AP_OpticalFlow_ADNS3080::update(uint32_t now)
|
|
{
|
|
byte motion_reg;
|
|
surface_quality = (uint16_t)read_register(ADNS3080_SQUAL);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// check for movement, update x,y values
|
|
motion_reg = read_register(ADNS3080_MOTION);
|
|
_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
|
|
if( (motion_reg & 0x80) != 0 ) {
|
|
raw_dx = ((int8_t)read_register(ADNS3080_DELTA_X));
|
|
delayMicroseconds(50); // small delay
|
|
raw_dy = ((int8_t)read_register(ADNS3080_DELTA_Y));
|
|
_motion = true;
|
|
}else{
|
|
raw_dx = 0;
|
|
raw_dy = 0;
|
|
}
|
|
|
|
last_update = millis();
|
|
|
|
apply_orientation_matrix();
|
|
}
|
|
|
|
void
|
|
AP_OpticalFlow_ADNS3080::disable_serial_pullup()
|
|
{
|
|
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
|
|
regVal = (regVal | ADNS3080_SERIALNPU_OFF);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
|
|
}
|
|
|
|
// get_led_always_on - returns true if LED is always on, false if only on when required
|
|
bool
|
|
AP_OpticalFlow_ADNS3080::get_led_always_on()
|
|
{
|
|
return ( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x40) > 0 );
|
|
}
|
|
|
|
// set_led_always_on - set parameter to true if you want LED always on, otherwise false for only when required
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
|
|
{
|
|
byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
|
|
regVal = (regVal & 0xbf) | (alwaysOn << 6);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_CONFIGURATION_BITS, regVal);
|
|
}
|
|
|
|
// returns resolution (either 400 or 1600 counts per inch)
|
|
int16_t
|
|
AP_OpticalFlow_ADNS3080::get_resolution()
|
|
{
|
|
if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
|
|
return 400;
|
|
else
|
|
return 1600;
|
|
}
|
|
|
|
// set parameter to 400 or 1600 counts per inch
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_resolution(uint16_t resolution)
|
|
{
|
|
byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
|
|
|
|
if( resolution == ADNS3080_RESOLUTION_400 ) {
|
|
regVal &= ~0x10;
|
|
scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
|
|
}else if( resolution == ADNS3080_RESOLUTION_1600) {
|
|
regVal |= 0x10;
|
|
scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
|
|
}
|
|
|
|
delayMicroseconds(50); // small delay
|
|
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
|
|
bool
|
|
AP_OpticalFlow_ADNS3080::get_frame_rate_auto()
|
|
{
|
|
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
|
|
if( (regVal & 0x01) != 0 ) {
|
|
return false;
|
|
}else{
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// set_frame_rate_auto - set frame rate to auto (true) or manual (false)
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_frame_rate_auto(bool auto_frame_rate)
|
|
{
|
|
byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
|
|
delayMicroseconds(50); // small delay
|
|
if( auto_frame_rate == true ) {
|
|
// set specific frame period
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,0xE0);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// decide what value to update in extended config
|
|
regVal = (regVal & ~0x01);
|
|
}else{
|
|
// decide what value to update in extended config
|
|
regVal = (regVal & ~0x01) | 0x01;
|
|
}
|
|
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
|
|
}
|
|
|
|
// get frame period
|
|
uint16_t
|
|
AP_OpticalFlow_ADNS3080::get_frame_period()
|
|
{
|
|
NumericIntType aNum;
|
|
aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
|
|
delayMicroseconds(50); // small delay
|
|
aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
|
|
return aNum.uintValue;
|
|
}
|
|
|
|
// set frame period
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_frame_period(uint16_t period)
|
|
{
|
|
NumericIntType aNum;
|
|
aNum.uintValue = period;
|
|
|
|
// set frame rate to manual
|
|
set_frame_rate_auto(false);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// set specific frame period
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
|
|
|
|
}
|
|
|
|
uint16_t
|
|
AP_OpticalFlow_ADNS3080::get_frame_rate()
|
|
{
|
|
uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
|
|
uint16_t rate = clockSpeed / get_frame_period();
|
|
return rate;
|
|
}
|
|
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_frame_rate(uint16_t rate)
|
|
{
|
|
uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
|
|
uint16_t period = (uint16_t)(clockSpeed / (uint32_t)rate);
|
|
|
|
set_frame_period(period);
|
|
}
|
|
|
|
// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
|
|
bool
|
|
AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
|
|
{
|
|
uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
|
|
if( (regVal & 0x02) > 0 ) {
|
|
return false;
|
|
}else{
|
|
return true;
|
|
}
|
|
}
|
|
|
|
// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
|
|
{
|
|
uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
|
|
delayMicroseconds(50); // small delay
|
|
if( auto_shutter_speed ) {
|
|
// return shutter speed max to default
|
|
write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,0x8c);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// determine value to put into extended config
|
|
regVal &= ~0x02;
|
|
}else{
|
|
// determine value to put into extended config
|
|
regVal |= 0x02;
|
|
}
|
|
write_register(ADNS3080_EXTENDED_CONFIG, regVal);
|
|
delayMicroseconds(50); // small delay
|
|
}
|
|
|
|
// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
|
|
uint16_t
|
|
AP_OpticalFlow_ADNS3080::get_shutter_speed()
|
|
{
|
|
NumericIntType aNum;
|
|
aNum.byteValue[1] = read_register(ADNS3080_SHUTTER_UPPER);
|
|
delayMicroseconds(50); // small delay
|
|
aNum.byteValue[0] = read_register(ADNS3080_SHUTTER_LOWER);
|
|
return aNum.uintValue;
|
|
}
|
|
|
|
|
|
// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
|
|
void
|
|
AP_OpticalFlow_ADNS3080::set_shutter_speed(uint16_t shutter_speed)
|
|
{
|
|
NumericIntType aNum;
|
|
aNum.uintValue = shutter_speed;
|
|
|
|
// set shutter speed to manual
|
|
set_shutter_speed_auto(false);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// set specific shutter speed
|
|
write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,aNum.byteValue[0]);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
|
|
delayMicroseconds(50); // small delay
|
|
|
|
// larger delay
|
|
delay(50);
|
|
|
|
// need to update frame period to cause shutter value to take effect
|
|
aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
|
|
delayMicroseconds(50); // small delay
|
|
aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
|
|
delayMicroseconds(50); // small delay
|
|
write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
|
|
delayMicroseconds(50); // small delay
|
|
}
|
|
|
|
// clear_motion - will cause the Delta_X, Delta_Y, and internal motion registers to be cleared
|
|
void
|
|
AP_OpticalFlow_ADNS3080::clear_motion()
|
|
{
|
|
write_register(ADNS3080_MOTION_CLEAR,0xFF); // writing anything to this register will clear the sensor's motion registers
|
|
x = 0;
|
|
y = 0;
|
|
dx = 0;
|
|
dy = 0;
|
|
_motion = false;
|
|
}
|
|
|
|
// get_pixel_data - captures an image from the sensor and stores it to the pixe_data array
|
|
void
|
|
AP_OpticalFlow_ADNS3080::print_pixel_data(Stream *serPort)
|
|
{
|
|
int16_t i,j;
|
|
bool isFirstPixel = true;
|
|
uint8_t regValue;
|
|
uint8_t pixelValue;
|
|
|
|
// write to frame capture register to force capture of frame
|
|
write_register(ADNS3080_FRAME_CAPTURE,0x83);
|
|
|
|
// wait 3 frame periods + 10 nanoseconds for frame to be captured
|
|
delayMicroseconds(1510); // min frame speed is 2000 frames/second so 1 frame = 500 nano seconds. so 500 x 3 + 10 = 1510
|
|
|
|
// display the pixel data
|
|
for( i=0; i<ADNS3080_PIXELS_Y; i++ ) {
|
|
for( j=0; j<ADNS3080_PIXELS_X; j++ ) {
|
|
regValue = read_register(ADNS3080_FRAME_CAPTURE);
|
|
if( isFirstPixel && (regValue & 0x40) == 0 ) {
|
|
serPort->println("failed to find first pixel");
|
|
}
|
|
isFirstPixel = false;
|
|
pixelValue = ( regValue << 2);
|
|
serPort->print(pixelValue,DEC);
|
|
if( j!= ADNS3080_PIXELS_X-1 )
|
|
serPort->print(",");
|
|
delayMicroseconds(50);
|
|
}
|
|
serPort->println();
|
|
}
|
|
|
|
// hardware reset to restore sensor to normal operation
|
|
reset();
|
|
}
|