mirror of https://github.com/ArduPilot/ardupilot
537 lines
16 KiB
C++
537 lines
16 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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* External ADNS3080 OpticalFlow is connected via Serial port 2 (in SPI mode)
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* TXD2 = MOSI = pin PH1
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* RXD2 = MISO = pin PH0
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* XCK2 = SCK = pin PH2
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* Chip Select pin is PC4 (33) [PH6 (9)]
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* We are using the 16 clocks per conversion timming to increase efficiency (fast)
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* The sampling frequency is 400Hz (Timer2 overflow interrupt)
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* So if our loop is at 50Hz, our needed sampling freq should be 100Hz, so
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* we have an 4x oversampling and averaging.
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*
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* Methods:
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* Init() : Initialization of interrupts an Timers (Timer2 overflow interrupt)
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* Read() : Read latest values from OpticalFlow and store to x,y, surface_quality parameters
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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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#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 AP_SPI_DATAIN 15 // MISO
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#define AP_SPI_DATAOUT 14 // MOSI
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#define AP_SPI_CLOCK PJ2 // SCK
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#else // normal arduino SPI pins...these need to be checked
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# error Please check the Tools/Board menu to ensure you have selected Arduino Mega as your target.
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#endif
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// mask for saving bit order and data mode to avoid interference with other users of the bus
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#define UCSR3C_MASK 0x07
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// SPI3 setting for UCSR3C
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#define SPI3_MODE_SPI 0xC0 // UMSEL31 = 1, UMSEL30 = 1
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// settings for phase and polarity bits of UCSR3C
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#define SPI3_MODE_MASK 0x03
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#define SPI3_MODE0 0x00
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#define SPI3_MODE1 0x01
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#define SPI3_MODE2 0x02
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#define SPI3_MODE3 0x03
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#define SPI3_MODE SPI3_MODE3
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// settings for phase and polarity bits of UCSR3C
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#define SPI3_ORDER_MASK 0x04
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#define SPI3_MSBFIRST 0x00
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#define SPI3_LSBFIRST 0x04
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#define SPI3_SPEED 0x04 // 2 megahertz?
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#define SPI3_DELAY 20 // delay in microseconds after sending data
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union NumericIntType
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{
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int intValue;
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unsigned int uintValue;
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byte byteValue[2];
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};
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// Constructors ////////////////////////////////////////////////////////////////
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AP_OpticalFlow_ADNS3080_APM2::AP_OpticalFlow_ADNS3080_APM2(int cs_pin, int reset_pin) : _cs_pin(cs_pin), _reset_pin(reset_pin)
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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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// SPI Methods
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// *** INTERNAL FUNCTIONS ***
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unsigned char AP_OpticalFlow_ADNS3080_APM2::SPI_transfer(uint8_t data)
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{
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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/* Put data into buffer, sends the data */
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UDR3 = data;
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/* Wait for data to be received */
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while ( !(UCSR3A & (1<<RXC3)) ) ;
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/* Get and return received data from buffer */
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return UDR3;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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// init - initialise sensor
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// initCommAPI parameter controls whether SPI interface is initialised (set to false if other devices are on the SPI bus and have already initialised the interface)
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bool
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AP_OpticalFlow_ADNS3080_APM2::init(bool initCommAPI)
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{
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int retry = 0;
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pinMode(AP_SPI_DATAOUT,OUTPUT);
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pinMode(AP_SPI_DATAIN,INPUT);
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pinMode(AP_SPI_CLOCK,OUTPUT);
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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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// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
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UBRR3 = 0;
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DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
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// put UART3 into SPI master mode
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UCSR3C = SPI3_MODE_SPI | SPI3_MODE;
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// Enable receiver and transmitter.
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UCSR3B = (1<<RXEN3)|(1<<TXEN3);
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// Set Baud rate
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UBRR3 = SPI3_SPEED; // SPI running at 8Mhz
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}
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delay(10);
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// check the sensor is functioning
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while( retry < 3 ) {
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if( read_register(ADNS3080_PRODUCT_ID) == 0x17 ) {
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return true;
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}
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retry++;
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}
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return false;
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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 AP_OpticalFlow_ADNS3080_APM2::backup_spi_settings()
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{
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uint8_t temp;
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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_spi_settings_ucsr3c = UCSR3C;
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orig_spi_settings_ubrr3 = UBRR3;
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// decide new value for UCSR3C
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temp = (orig_spi_settings_ucsr3c & ~UCSR3C_MASK) | SPI3_MODE | SPI3_MSBFIRST;
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UCSR3C = temp;
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UBRR3 = SPI3_SPEED; // SPI running at 1Mhz
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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 AP_OpticalFlow_ADNS3080_APM2::restore_spi_settings()
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{
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/* Wait for empty transmit buffer */
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while ( !( UCSR3A & (1<<UDRE3)) ) ;
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// restore UCSRC3C and UBRR3
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UCSR3C = orig_spi_settings_ucsr3c;
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UBRR3 = orig_spi_settings_ubrr3;
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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_APM2::read_register(byte address)
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{
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byte result = 0, junk = 0;
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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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// send the device the register you want to read:
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junk = SPI_transfer(address);
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// small delay
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delayMicroseconds(SPI3_DELAY);
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// send a value of 0 to read the first byte returned:
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result = SPI_transfer(0x00);
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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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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_APM2::write_register(byte address, byte value)
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{
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byte junk = 0;
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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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// send register address
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junk = SPI_transfer(address | 0x80 );
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// small delay
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delayMicroseconds(SPI3_DELAY);
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// send data
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junk = SPI_transfer(value);
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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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}
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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_APM2::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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bool
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AP_OpticalFlow_ADNS3080_APM2::update()
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{
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byte motion_reg;
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surface_quality = (unsigned int)read_register(ADNS3080_SQUAL);
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delayMicroseconds(SPI3_DELAY); // 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 = ((char)read_register(ADNS3080_DELTA_X));
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delayMicroseconds(SPI3_DELAY); // small delay
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raw_dy = ((char)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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return true;
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}
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void
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AP_OpticalFlow_ADNS3080_APM2::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(SPI3_DELAY); // 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_APM2::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_APM2::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(SPI3_DELAY); // 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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int
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AP_OpticalFlow_ADNS3080_APM2::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_APM2::set_resolution(int 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(SPI3_DELAY); // 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_APM2::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_APM2::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(SPI3_DELAY); // 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(SPI3_DELAY); // small delay
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,0x1A);
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delayMicroseconds(SPI3_DELAY); // 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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unsigned int
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AP_OpticalFlow_ADNS3080_APM2::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(SPI3_DELAY); // 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_APM2::set_frame_period(unsigned int 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(SPI3_DELAY); // 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(SPI3_DELAY); // 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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unsigned int
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AP_OpticalFlow_ADNS3080_APM2::get_frame_rate()
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{
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unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
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unsigned int 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_APM2::set_frame_rate(unsigned int rate)
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{
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unsigned long clockSpeed = ADNS3080_CLOCK_SPEED;
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unsigned int period = (unsigned int)(clockSpeed / (unsigned long)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_APM2::get_shutter_speed_auto()
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{
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byte 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_APM2::set_shutter_speed_auto(bool auto_shutter_speed)
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{
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byte regVal = read_register(ADNS3080_EXTENDED_CONFIG);
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delayMicroseconds(SPI3_DELAY); // 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(SPI3_DELAY); // small delay
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write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,0x20);
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delayMicroseconds(SPI3_DELAY); // 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(SPI3_DELAY); // 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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unsigned int
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AP_OpticalFlow_ADNS3080_APM2::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(SPI3_DELAY); // 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_APM2::set_shutter_speed(unsigned int 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(SPI3_DELAY); // 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(SPI3_DELAY); // small delay
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write_register(ADNS3080_SHUTTER_MAX_BOUND_UPPER,aNum.byteValue[1]);
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delayMicroseconds(SPI3_DELAY); // small delay
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// larger delay
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delay(50);
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// need to update frame period to cause shutter value to take effect
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aNum.byteValue[1] = read_register(ADNS3080_FRAME_PERIOD_UPPER);
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delayMicroseconds(SPI3_DELAY); // small delay
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aNum.byteValue[0] = read_register(ADNS3080_FRAME_PERIOD_LOWER);
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delayMicroseconds(SPI3_DELAY); // small delay
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER,aNum.byteValue[0]);
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delayMicroseconds(SPI3_DELAY); // small delay
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write_register(ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER,aNum.byteValue[1]);
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delayMicroseconds(SPI3_DELAY); // small delay
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}
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// clear_motion - will cause the Delta_X, Delta_Y, and internal motion registers to be cleared
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void
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AP_OpticalFlow_ADNS3080_APM2::clear_motion()
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{
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write_register(ADNS3080_MOTION_CLEAR,0xFF); // writing anything to this register will clear the sensor's motion registers
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x = 0;
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y = 0;
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dx = 0;
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dy = 0;
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_motion = false;
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}
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// get_pixel_data - captures an image from the sensor and stores it to the pixe_data array
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void
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AP_OpticalFlow_ADNS3080_APM2::print_pixel_data(Stream *serPort)
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{
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int i,j;
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bool isFirstPixel = true;
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byte regValue;
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byte pixelValue;
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// write to frame capture register to force capture of frame
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write_register(ADNS3080_FRAME_CAPTURE,0x83);
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// wait 3 frame periods + 10 nanoseconds for frame to be captured
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delayMicroseconds(1510); // min frame speed is 2000 frames/second so 1 frame = 500 nano seconds. so 500 x 3 + 10 = 1510
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// display the pixel data
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for( i=0; i<ADNS3080_PIXELS_Y; i++ ) {
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for( j=0; j<ADNS3080_PIXELS_X; j++ ) {
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regValue = read_register(ADNS3080_FRAME_CAPTURE);
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if( isFirstPixel && (regValue & 0x40) == 0 ) {
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serPort->println("failed to find first pixel");
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}
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isFirstPixel = false;
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pixelValue = ( regValue << 2);
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serPort->print(pixelValue,DEC);
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if( j!= ADNS3080_PIXELS_X-1 )
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serPort->print(",");
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delayMicroseconds(SPI3_DELAY);
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}
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serPort->println();
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}
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// hardware reset to restore sensor to normal operation
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reset();
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}
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