mirror of https://github.com/ArduPilot/ardupilot
561 lines
17 KiB
C++
561 lines
17 KiB
C++
/*
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* AP_OpticalFlow_ADNS3080.cpp - ADNS3080 OpticalFlow Library for Ardupilot Mega
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* Code by Randy Mackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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*/
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#include "AP_OpticalFlow_ADNS3080.h"
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#include "SPI.h"
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#include "SPI3.h"
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#include "AP_Semaphore.h"
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#define AP_SPI_TIMEOUT 1000
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// We use Serial Port 2 in SPI Mode
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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#define ADNS3080_SPI_MISO 50 // PB3
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#define ADNS3080_SPI_MOSI 51 // PB2
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#define ADNS3080_SPI_SCK 52 // PB1
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#else // normal arduino SPI pins...these need to be checked
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#define ADNS3080_SPI_MISO 12 // MISO
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#define ADNS3080_SPI_MOSI 11 // MOSI
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#define ADNS3080_SPI_SCK 13 // SCK
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#endif
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union NumericIntType
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{
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int16_t intValue;
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uint16_t uintValue;
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uint8_t byteValue[2];
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};
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// Constructors ////////////////////////////////////////////////////////////////
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AP_OpticalFlow_ADNS3080::AP_OpticalFlow_ADNS3080(int16_t cs_pin, int16_t reset_pin) :
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_cs_pin(cs_pin),
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_reset_pin(reset_pin),
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_spi_bus(ADNS3080_SPI_UNKNOWN),
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_spi_semaphore(NULL)
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{
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num_pixels = ADNS3080_PIXELS_X;
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field_of_view = AP_OPTICALFLOW_ADNS3080_08_FOV;
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scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// init - initialise sensor
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// assumes SPI bus has been initialised but will attempt to initialise nonstandard SPI3 bus if required
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bool
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AP_OpticalFlow_ADNS3080::init(bool initCommAPI, AP_PeriodicProcess *scheduler, AP_Semaphore* spi_semaphore, AP_Semaphore* spi3_semaphore)
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{
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int8_t retry = 0;
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bool retvalue = false;
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// suspend timer while we set-up SPI communication
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scheduler->suspend_timer();
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pinMode(_cs_pin,OUTPUT);
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if( _reset_pin != 0)
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pinMode(ADNS3080_RESET,OUTPUT);
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digitalWrite(_cs_pin,HIGH); // disable device (Chip select is active low)
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// reset the device
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reset();
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// start the SPI library:
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if( initCommAPI ) {
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pinMode(ADNS3080_SPI_MOSI,OUTPUT);
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pinMode(ADNS3080_SPI_MISO,INPUT);
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pinMode(ADNS3080_SPI_SCK,OUTPUT);
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SPI.begin();
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SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
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}
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// check 3 times for the sensor on standard SPI bus
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_spi_bus = ADNS3080_SPIBUS_1;
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_spi_semaphore = spi_semaphore;
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while( retvalue == false && retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
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retvalue = true;
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}
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retry++;
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}
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// if not found, check 3 times on SPI3
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if( !retvalue ) {
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// start the SPI3 library:
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if( initCommAPI ) {
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SPI3.begin();
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SPI3.setDataMode(SPI3_MODE3); // Mode3
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SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
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}
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_spi_bus = ADNS3080_SPIBUS_3;
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_spi_semaphore = spi3_semaphore;
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retry = 0;
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while( retvalue == false && retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
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retvalue = true;
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}
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retry++;
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}
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}
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// resume timer
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scheduler->resume_timer();
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// if device is working register the global static read function to be called at 1khz
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if( retvalue ) {
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scheduler->register_process( AP_OpticalFlow_ADNS3080::read );
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}else{
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_spi_bus = ADNS3080_SPI_UNKNOWN;
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}
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return retvalue;
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}
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//
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// backup_spi_settings - checks current SPI settings (clock speed, etc), sets values to what we need
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//
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void
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AP_OpticalFlow_ADNS3080::backup_spi_settings()
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{
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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// store current spi mode and data rate
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orig_spi_settings_spcr = SPCR & (CPOL | CPHA | SPR1 | SPR0);
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// set to our required values
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SPI.setDataMode(SPI_MODE3);
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SPI.setClockDivider(SPI_CLOCK_DIV8); // 2MHZ SPI rate
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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// store current spi values
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orig_spi3_settings_ucsr3c = UCSR3C;
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orig_spi3_settings_ubrr3 = UBRR3;
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// set to our required values
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SPI3.setDataMode(SPI3_MODE3);
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SPI3.setSpeed(SPI3_SPEED_2MHZ); // 2MHZ SPI rate
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}
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}
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// restore_spi_settings - restores SPI settings (clock speed, etc) to what their values were before the sensor used the bus
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void
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AP_OpticalFlow_ADNS3080::restore_spi_settings()
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{
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byte temp;
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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// split off the two bits we need to write
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temp = SPCR & ~(CPOL | CPHA | SPR1 | SPR0);
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temp |= orig_spi_settings_spcr;
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// write back the bits
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SPCR = temp;
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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// restore UCSRC3C (spi mode) and UBBR3 (speed)
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UCSR3C = orig_spi3_settings_ucsr3c;
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UBRR3 = orig_spi3_settings_ubrr3;
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}
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}
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// Read a register from the sensor
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byte
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AP_OpticalFlow_ADNS3080::read_register(byte address)
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{
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uint8_t result = 0;
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// get spi semaphore if required
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if( _spi_semaphore != NULL ) {
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// if failed to get semaphore then just quietly fail
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if( !_spi_semaphore->get(this) ) {
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return 0;
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}
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}
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backup_spi_settings();
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// take the chip select low to select the device
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digitalWrite(_cs_pin, LOW);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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SPI.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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result = SPI.transfer(0x00); // send a value of 0 to read the first byte returned:
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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SPI3.transfer(address); // send the device the register you want to read:
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delayMicroseconds(50); // small delay
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result = SPI3.transfer(0x00); // send a value of 0 to read the first byte returned:
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}
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// take the chip select high to de-select:
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digitalWrite(_cs_pin, HIGH);
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restore_spi_settings();
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// get spi semaphore if required
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if( _spi_semaphore != NULL ) {
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_spi_semaphore->release(this);
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}
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return result;
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}
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// write a value to one of the sensor's registers
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void
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AP_OpticalFlow_ADNS3080::write_register(byte address, byte value)
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{
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// get spi semaphore if required
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if( _spi_semaphore != NULL ) {
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// if failed to get semaphore then just quietly fail
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if( !_spi_semaphore->get(this) ) {
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return;
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}
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}
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backup_spi_settings();
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// take the chip select low to select the device
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digitalWrite(_cs_pin, LOW);
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if( _spi_bus == ADNS3080_SPIBUS_1 ) {
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SPI.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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SPI.transfer(value); // send data
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}else if( _spi_bus == ADNS3080_SPIBUS_3 ) {
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SPI3.transfer(address | 0x80 ); // send register address
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delayMicroseconds(50); // small delay
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SPI3.transfer(value); // send data
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}
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// take the chip select high to de-select:
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digitalWrite(_cs_pin, HIGH);
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restore_spi_settings();
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// get spi3 semaphore if required
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if( _spi_semaphore != NULL ) {
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_spi_semaphore->release(this);
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}
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}
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// reset sensor by holding a pin high (or is it low?) for 10us.
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void
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AP_OpticalFlow_ADNS3080::reset()
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{
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// return immediately if the reset pin is not defined
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if( _reset_pin == 0)
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return;
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digitalWrite(_reset_pin,HIGH); // reset sensor
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delayMicroseconds(10);
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digitalWrite(_reset_pin,LOW); // return sensor to normal
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}
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// read latest values from sensor and fill in x,y and totals
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void
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AP_OpticalFlow_ADNS3080::update(uint32_t now)
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{
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byte motion_reg;
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surface_quality = (uint16_t)read_register(ADNS3080_SQUAL);
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delayMicroseconds(50); // small delay
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// check for movement, update x,y values
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motion_reg = read_register(ADNS3080_MOTION);
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_overflow = ((motion_reg & 0x10) != 0); // check if we've had an overflow
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if( (motion_reg & 0x80) != 0 ) {
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raw_dx = ((int8_t)read_register(ADNS3080_DELTA_X));
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delayMicroseconds(50); // small delay
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raw_dy = ((int8_t)read_register(ADNS3080_DELTA_Y));
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_motion = true;
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}else{
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raw_dx = 0;
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raw_dy = 0;
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}
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last_update = millis();
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apply_orientation_matrix();
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}
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void
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AP_OpticalFlow_ADNS3080::disable_serial_pullup()
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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regVal = (regVal | ADNS3080_SERIALNPU_OFF);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_EXTENDED_CONFIG, regVal);
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}
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// get_led_always_on - returns true if LED is always on, false if only on when required
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bool
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AP_OpticalFlow_ADNS3080::get_led_always_on()
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{
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return ( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x40) > 0 );
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}
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// set_led_always_on - set parameter to true if you want LED always on, otherwise false for only when required
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void
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AP_OpticalFlow_ADNS3080::set_led_always_on( bool alwaysOn )
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{
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byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
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regVal = (regVal & 0xbf) | (alwaysOn << 6);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_CONFIGURATION_BITS, regVal);
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}
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// returns resolution (either 400 or 1600 counts per inch)
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int16_t
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AP_OpticalFlow_ADNS3080::get_resolution()
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{
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if( (read_register(ADNS3080_CONFIGURATION_BITS) & 0x10) == 0 )
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return 400;
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else
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return 1600;
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}
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// set parameter to 400 or 1600 counts per inch
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void
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AP_OpticalFlow_ADNS3080::set_resolution(uint16_t resolution)
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{
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byte regVal = read_register(ADNS3080_CONFIGURATION_BITS);
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if( resolution == ADNS3080_RESOLUTION_400 ) {
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regVal &= ~0x10;
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scaler = AP_OPTICALFLOW_ADNS3080_SCALER;
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}else if( resolution == ADNS3080_RESOLUTION_1600) {
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regVal |= 0x10;
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scaler = AP_OPTICALFLOW_ADNS3080_SCALER * 4;
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}
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_CONFIGURATION_BITS, regVal);
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// this will affect conversion factors so update them
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update_conversion_factors();
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}
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// get_frame_rate_auto - return whether frame rate is set to "auto" or manual
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bool
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AP_OpticalFlow_ADNS3080::get_frame_rate_auto()
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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if( (regVal & 0x01) != 0 ) {
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return false;
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}else{
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return true;
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}
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}
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// set_frame_rate_auto - set frame rate to auto (true) or manual (false)
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void
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AP_OpticalFlow_ADNS3080::set_frame_rate_auto(bool auto_frame_rate)
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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delayMicroseconds(50); // small delay
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if( auto_frame_rate == true ) {
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// set specific frame period
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,0xE0);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
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delayMicroseconds(50); // small delay
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// decide what value to update in extended config
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regVal = (regVal & ~0x01);
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}else{
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// decide what value to update in extended config
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regVal = (regVal & ~0x01) | 0x01;
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}
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write_register(ADNS3080_EXTENDED_CONFIG, regVal);
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}
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// get frame period
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uint16_t
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AP_OpticalFlow_ADNS3080::get_frame_period()
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{
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NumericIntType aNum;
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aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
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delayMicroseconds(50); // small delay
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aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
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return aNum.uintValue;
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}
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// set frame period
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void
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AP_OpticalFlow_ADNS3080::set_frame_period(uint16_t period)
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{
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NumericIntType aNum;
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aNum.uintValue = period;
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// set frame rate to manual
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set_frame_rate_auto(false);
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delayMicroseconds(50); // small delay
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// set specific frame period
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
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}
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uint16_t
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AP_OpticalFlow_ADNS3080::get_frame_rate()
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{
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uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
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uint16_t rate = clockSpeed / get_frame_period();
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return rate;
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}
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void
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AP_OpticalFlow_ADNS3080::set_frame_rate(uint16_t rate)
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{
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uint32_t clockSpeed = ADNS3080_CLOCK_SPEED;
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uint16_t period = (uint16_t)(clockSpeed / (uint32_t)rate);
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set_frame_period(period);
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}
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// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
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bool
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AP_OpticalFlow_ADNS3080::get_shutter_speed_auto()
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{
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uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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if( (regVal & 0x02) > 0 ) {
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return false;
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}else{
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return true;
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}
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}
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// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
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void
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AP_OpticalFlow_ADNS3080::set_shutter_speed_auto(bool auto_shutter_speed)
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{
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uint8_t regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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delayMicroseconds(50); // small delay
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if( auto_shutter_speed ) {
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// return shutter speed max to default
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write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,0x8c);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
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delayMicroseconds(50); // small delay
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// determine value to put into extended config
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regVal &= ~0x02;
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}else{
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// determine value to put into extended config
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regVal |= 0x02;
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}
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write_register(ADNS3080_EXTENDED_CONFIG, regVal);
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delayMicroseconds(50); // small delay
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}
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// get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
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uint16_t
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AP_OpticalFlow_ADNS3080::get_shutter_speed()
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{
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NumericIntType aNum;
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aNum.byteValue[1] = read_register(ADNS3080_SHUTTER_UPPER);
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delayMicroseconds(50); // small delay
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aNum.byteValue[0] = read_register(ADNS3080_SHUTTER_LOWER);
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return aNum.uintValue;
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}
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// set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
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void
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AP_OpticalFlow_ADNS3080::set_shutter_speed(uint16_t shutter_speed)
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{
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NumericIntType aNum;
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aNum.uintValue = shutter_speed;
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// set shutter speed to manual
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set_shutter_speed_auto(false);
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delayMicroseconds(50); // small delay
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// set specific shutter speed
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write_register(ADNS3080_SHUTTER_MAX_BOUND_LOWER,aNum.byteValue[0]);
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delayMicroseconds(50); // small delay
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write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
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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()
|
|
{
|
|
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 ) {
|
|
Serial.print_P(PSTR("failed to find first pixel"));
|
|
}
|
|
isFirstPixel = false;
|
|
pixelValue = ( regValue << 2);
|
|
Serial.print(pixelValue,DEC);
|
|
if( j!= ADNS3080_PIXELS_X-1 )
|
|
Serial.print_P(PSTR(","));
|
|
delayMicroseconds(50);
|
|
}
|
|
Serial.println();
|
|
}
|
|
|
|
// hardware reset to restore sensor to normal operation
|
|
reset();
|
|
}
|