mirror of https://github.com/ArduPilot/ardupilot
146 lines
6.1 KiB
C++
146 lines
6.1 KiB
C++
#ifndef AP_OPTICALFLOW_ADNS3080_H
|
|
#define AP_OPTICALFLOW_ADNS3080_H
|
|
|
|
#include "AP_OpticalFlow.h"
|
|
|
|
// orientations for ADNS3080 sensor
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_RIGHT ROTATION_YAW_90
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_RIGHT ROTATION_YAW_45
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK ROTATION_NONE
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_BACK_LEFT ROTATION_YAW_315
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_LEFT ROTATION_YAW_270
|
|
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_LEFT ROTATION_YAW_225
|
|
|
|
// field of view of ADNS3080 sensor lenses
|
|
#define AP_OPTICALFLOW_ADNS3080_08_FOV 0.202458 // 11.6 degrees
|
|
|
|
// scaler - value returned when sensor is moved equivalent of 1 pixel
|
|
#define AP_OPTICALFLOW_ADNS3080_SCALER 1.1
|
|
|
|
// We use Serial Port 2 in SPI Mode
|
|
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
|
|
#define AP_SPI_DATAIN 50 // MISO // PB3
|
|
#define AP_SPI_DATAOUT 51 // MOSI // PB2
|
|
#define AP_SPI_CLOCK 52 // SCK // PB1
|
|
#define ADNS3080_CHIP_SELECT 34 // PC3
|
|
#define ADNS3080_RESET 0 // reset pin is unattached by default
|
|
#else // normal arduino SPI pins...these need to be checked
|
|
#define AP_SPI_DATAIN 12 //MISO
|
|
#define AP_SPI_DATAOUT 11 //MOSI
|
|
#define AP_SPI_CLOCK 13 //SCK
|
|
#define ADNS3080_CHIP_SELECT 10 //SS
|
|
#define ADNS3080_RESET 9 //RESET
|
|
#endif
|
|
|
|
// ADNS3080 hardware config
|
|
#define ADNS3080_PIXELS_X 30
|
|
#define ADNS3080_PIXELS_Y 30
|
|
#define ADNS3080_CLOCK_SPEED 24000000
|
|
|
|
// Register Map for the ADNS3080 Optical OpticalFlow Sensor
|
|
#define ADNS3080_PRODUCT_ID 0x00
|
|
#define ADNS3080_REVISION_ID 0x01
|
|
#define ADNS3080_MOTION 0x02
|
|
#define ADNS3080_DELTA_X 0x03
|
|
#define ADNS3080_DELTA_Y 0x04
|
|
#define ADNS3080_SQUAL 0x05
|
|
#define ADNS3080_PIXEL_SUM 0x06
|
|
#define ADNS3080_MAXIMUM_PIXEL 0x07
|
|
#define ADNS3080_CONFIGURATION_BITS 0x0a
|
|
#define ADNS3080_EXTENDED_CONFIG 0x0b
|
|
#define ADNS3080_DATA_OUT_LOWER 0x0c
|
|
#define ADNS3080_DATA_OUT_UPPER 0x0d
|
|
#define ADNS3080_SHUTTER_LOWER 0x0e
|
|
#define ADNS3080_SHUTTER_UPPER 0x0f
|
|
#define ADNS3080_FRAME_PERIOD_LOWER 0x10
|
|
#define ADNS3080_FRAME_PERIOD_UPPER 0x11
|
|
#define ADNS3080_MOTION_CLEAR 0x12
|
|
#define ADNS3080_FRAME_CAPTURE 0x13
|
|
#define ADNS3080_SROM_ENABLE 0x14
|
|
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_LOWER 0x19
|
|
#define ADNS3080_FRAME_PERIOD_MAX_BOUND_UPPER 0x1a
|
|
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_LOWER 0x1b
|
|
#define ADNS3080_FRAME_PERIOD_MIN_BOUND_UPPER 0x1c
|
|
#define ADNS3080_SHUTTER_MAX_BOUND_LOWER 0x1e
|
|
#define ADNS3080_SHUTTER_MAX_BOUND_UPPER 0x1e
|
|
#define ADNS3080_SROM_ID 0x1f
|
|
#define ADNS3080_OBSERVATION 0x3d
|
|
#define ADNS3080_INVERSE_PRODUCT_ID 0x3f
|
|
#define ADNS3080_PIXEL_BURST 0x40
|
|
#define ADNS3080_MOTION_BURST 0x50
|
|
#define ADNS3080_SROM_LOAD 0x60
|
|
|
|
// Configuration Bits
|
|
#define ADNS3080_LED_MODE_ALWAYS_ON 0x00
|
|
#define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
|
|
|
|
#define ADNS3080_RESOLUTION_400 400
|
|
#define ADNS3080_RESOLUTION_1600 1600
|
|
|
|
// Extended Configuration bits
|
|
#define ADNS3080_SERIALNPU_OFF 0x02
|
|
|
|
#define ADNS3080_FRAME_RATE_MAX 6469
|
|
#define ADNS3080_FRAME_RATE_MIN 2000
|
|
|
|
|
|
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
|
|
{
|
|
private:
|
|
// bytes to store SPI settings
|
|
byte orig_spi_settings_spcr;
|
|
byte orig_spi_settings_spsr;
|
|
|
|
// save and restore SPI settings
|
|
byte backup_spi_settings();
|
|
byte restore_spi_settings();
|
|
|
|
public:
|
|
int _cs_pin; // pin used for chip select
|
|
int _reset_pin; // pin used for chip reset
|
|
bool _motion; // true if there has been motion
|
|
bool _overflow; // true if the x or y data buffers overflowed
|
|
|
|
public:
|
|
AP_OpticalFlow_ADNS3080(int cs_pin = ADNS3080_CHIP_SELECT, int reset_pin = ADNS3080_RESET);
|
|
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)
|
|
byte read_register(byte address);
|
|
void write_register(byte address, byte value);
|
|
void reset(); // reset sensor by holding a pin high (or is it low?) for 10us.
|
|
bool update(); // read latest values from sensor and fill in x,y and totals, return true on successful read
|
|
|
|
// ADNS3080 specific features
|
|
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
|
|
|
|
void disable_serial_pullup();
|
|
|
|
bool get_led_always_on(); // returns true if LED is always on, false if only on when required
|
|
void set_led_always_on( bool alwaysOn ); // set parameter to true if you want LED always on, otherwise false for only when required
|
|
|
|
int get_resolution(); // returns resolution (either 400 or 1600 counts per inch)
|
|
void set_resolution(int resolution); // set parameter to 400 or 1600 counts per inch
|
|
|
|
bool get_frame_rate_auto(); // get_frame_rate_auto - return true if frame rate is set to "auto", false if manual
|
|
void set_frame_rate_auto(bool auto_frame_rate); // set_frame_rate_auto(bool) - set frame rate to auto (true), or manual (false)
|
|
|
|
unsigned int get_frame_period(); // get_frame_period -
|
|
void set_frame_period(unsigned int period);
|
|
|
|
unsigned int get_frame_rate();
|
|
void set_frame_rate(unsigned int rate);
|
|
|
|
bool get_shutter_speed_auto(); // get_shutter_speed_auto - returns true if shutter speed is adjusted automatically, false if manual
|
|
void set_shutter_speed_auto(bool auto_shutter_speed); // set_shutter_speed_auto - set shutter speed to auto (true), or manual (false)
|
|
|
|
unsigned int get_shutter_speed();
|
|
void set_shutter_speed(unsigned int shutter_speed);
|
|
|
|
void clear_motion(); // will cause the x,y, dx, dy, and the sensor's motion registers to be cleared
|
|
|
|
void print_pixel_data(Stream *serPort); // dumps a 30x30 image to the Serial port
|
|
};
|
|
|
|
#endif
|