mirror of https://github.com/ArduPilot/ardupilot
141 lines
6.1 KiB
C++
141 lines
6.1 KiB
C++
#ifndef AP_OPTICALFLOW_ADNS3080_H
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#define AP_OPTICALFLOW_ADNS3080_H
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//#include <AP_Math.h>
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//#include <Stream.h>
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//#include <AP_Common.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 AP_OPTICALFLOW_ROTATION_YAW_180
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#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT AP_OPTICALFLOW_ROTATION_YAW_135
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#define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT AP_OPTICALFLOW_ROTATION_YAW_90
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT AP_OPTICALFLOW_ROTATION_YAW_45
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK AP_OPTICALFLOW_ROTATION_NONE
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#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT AP_OPTICALFLOW_ROTATION_YAW_315
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#define AP_OPTICALFLOW_ADNS3080_PINS_LEFT AP_OPTICALFLOW_ROTATION_YAW_270
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#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT AP_OPTICALFLOW_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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// 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 50 // MISO // PB3
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#define AP_SPI_DATAOUT 51 // MOSI // PB2
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#define AP_SPI_CLOCK 52 // SCK // PB1
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#define ADNS3080_CHIP_SELECT 34 // PC3
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#define ADNS3080_RESET 40 // PG1 was 35 / PC2
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#else // normal arduino SPI pins...these need to be checked
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#define AP_SPI_DATAIN 12 //MISO
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#define AP_SPI_DATAOUT 11 //MOSI
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#define AP_SPI_CLOCK 13 //SCK
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#define ADNS3080_CHIP_SELECT 10 //SS
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#define ADNS3080_RESET 9 //RESET
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#endif
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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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#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_1200 1200
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#define ADNS3080_FRAME_RATE_MAX 6469
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#define ADNS3080_FRAME_RATE_MIN 2000
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class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
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{
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private:
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// bytes to store SPI settings
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byte orig_spi_settings_spcr;
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byte orig_spi_settings_spsr;
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// save and restore SPI settings
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byte backup_spi_settings();
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byte restore_spi_settings();
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bool _motion; // true if there has been motion
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public:
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AP_OpticalFlow_ADNS3080();
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//AP_OpticalFlow_ADNS3080(); // Constructor
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bool init(bool initCommAPI = true); // parameter controls whether I2C/SPI interface is initialised (set to false if other devices are on the I2C/SPI bus and have already initialised the interface)
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byte read_register(byte address);
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void write_register(byte address, byte value);
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void reset(); // reset sensor by holding a pin high (or is it low?) for 10us.
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int read(); // read latest values from sensor and fill in x,y and totals, return OPTICALFLOW_SUCCESS on successful read
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// ADNS3080 specific features
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bool motion() { if( _motion ) { _motion = false; return true; }else{ return false; } } // return true if there has been motion since the last time this was called
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bool get_led_always_on(); // returns true if LED is always on, false if only on when required
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void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required
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int get_resolution(); // returns resolution (either 400 or 1200 counts per inch)
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void set_resolution(int resolution); // set parameter to 400 or 1200 counts per inch
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bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
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void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
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unsigned int get_frame_period(); // get_frame_period -
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void set_frame_period(unsigned int period);
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unsigned int get_frame_rate();
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void set_frame_rate(unsigned int rate);
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bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
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void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
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unsigned int get_shutter_speed();
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void set_shutter_speed(unsigned int shutter_speed);
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void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
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void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
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};
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#endif
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