mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
#pragma once
|
|
|
|
#include "AP_OpticalFlow_config.h"
|
|
|
|
#if AP_OPTICALFLOW_PX4FLOW_ENABLED
|
|
|
|
#include "AP_OpticalFlow_Backend.h"
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
|
|
|
class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
|
|
{
|
|
public:
|
|
/// constructor
|
|
using OpticalFlow_backend::OpticalFlow_backend;
|
|
|
|
CLASS_NO_COPY(AP_OpticalFlow_PX4Flow);
|
|
|
|
// init - initialise the sensor
|
|
void init() override {}
|
|
|
|
// update - read latest values from sensor and fill in x,y and totals.
|
|
void update(void) override;
|
|
|
|
// detect if the sensor is available
|
|
static AP_OpticalFlow_PX4Flow *detect(AP_OpticalFlow &_frontend);
|
|
|
|
private:
|
|
AP_HAL::OwnPtr<AP_HAL::Device> dev;
|
|
|
|
static const uint8_t REG_INTEGRAL_FRAME = 0x16;
|
|
|
|
// I2C data on register REG_INTEGRAL_FRAME
|
|
struct PACKED i2c_integral_frame {
|
|
uint16_t frame_count_since_last_readout;
|
|
int16_t pixel_flow_x_integral;
|
|
int16_t pixel_flow_y_integral;
|
|
int16_t gyro_x_rate_integral;
|
|
int16_t gyro_y_rate_integral;
|
|
int16_t gyro_z_rate_integral;
|
|
uint32_t integration_timespan;
|
|
uint32_t sonar_timestamp;
|
|
uint16_t ground_distance;
|
|
int16_t gyro_temperature;
|
|
uint8_t qual;
|
|
};
|
|
|
|
// scan I2C bus addresses and buses
|
|
bool scan_buses(void);
|
|
|
|
// setup sensor
|
|
bool setup_sensor(void);
|
|
|
|
void timer(void);
|
|
};
|
|
|
|
#endif // AP_OPTICALFLOW_PX4FLOW_ENABLED
|