mirror of https://github.com/ArduPilot/ardupilot
165 lines
5.7 KiB
C++
165 lines
5.7 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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// 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(uint8_t reset_pin = 0);
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bool init();
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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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// reset sensor by holding a pin high (or is it low?) for 10us.
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void reset();
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// read latest values from sensor and fill in x,y and totals,
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// return true on successful read
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void update(uint32_t now);
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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() {
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if( _motion ) {
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_motion = false;
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return true;
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} else {
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return false;
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}
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}
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// true if there has been an overflow
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bool overflow() { return _overflow; }
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void disable_serial_pullup();
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// returns true if LED is always on, false if only on when required
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bool get_led_always_on();
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// set parameter to true if you want LED always on, otherwise false
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// for only when required
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void set_led_always_on( bool alwaysOn );
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// returns resolution (either 400 or 1600 counts per inch)
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int16_t get_resolution();
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// set parameter to 400 or 1600 counts per inch
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void set_resolution(uint16_t resolution);
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// get_frame_rate_auto - return true if frame rate is set to "auto",
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// false if manual
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bool get_frame_rate_auto();
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// set_frame_rate_auto(bool) - set frame rate to auto (true),
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// or manual (false)
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void set_frame_rate_auto(bool auto_frame_rate);
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// get_frame_period
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uint16_t 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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// get_shutter_speed_auto - returns true if shutter speed is adjusted
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// automatically, false if manual
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bool get_shutter_speed_auto();
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// set_shutter_speed_auto - set shutter speed to auto (true),
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// or manual (false)
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void set_shutter_speed_auto(bool auto_shutter_speed);
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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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// 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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// 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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// pin used for chip reset
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uint8_t _reset_pin;
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// true if there has been motion
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bool _motion;
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// true if the x or y data buffers overflowed
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bool _overflow;
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// SPI device
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AP_HAL::SPIDeviceDriver *_spi;
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AP_HAL::Semaphore *_spi_sem;
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};
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#endif
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