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AP_OpticalFlow: initial code for Pixart optical flow chip

mission-4.1.18
Andrew Tridgell 8 years ago
parent
c37c38f873
commit
0889b25afa
7 changed files with 638 additions and 2 deletions
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  1. 276
      libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
  2. 64
      libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
  3. 280
      libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart_SROM.h
  4. 9
      libraries/AP_OpticalFlow/OpticalFlow.cpp
  5. 1
      libraries/AP_OpticalFlow/OpticalFlow.h
  6. 7
      libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
  7. 3
      libraries/AP_OpticalFlow/OpticalFlow_backend.h

276
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
driver for Pixart PMW3900DH optical flow sensor
NOTE: This sensor does not use traditional SPI register access. The
timing for register reads and writes is critical
*/
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/edc.h>
#include <utility>
#include "OpticalFlow.h"
#include "AP_OpticalFlow_Pixart_SROM.h"
#include <stdio.h>
extern const AP_HAL::HAL& hal;
#define PIXART_REG_PRODUCT_ID 0x00
#define PIXART_REG_REVISION_ID 0x01
#define PIXART_REG_MOTION 0x02
#define PIXART_REG_DELTA_X_L 0x03
#define PIXART_REG_DELTA_X_H 0x04
#define PIXART_REG_DELTA_Y_L 0x05
#define PIXART_REG_DELTA_Y_H 0x06
#define PIXART_REG_SQUAL 0x07
#define PIXART_REG_RAWDATA_SUM 0x08
#define PIXART_REG_RAWDATA_MAX 0x09
#define PIXART_REG_RAWDATA_MIN 0x0A
#define PIXART_REG_SHUTTER_LOW 0x0B
#define PIXART_REG_SHUTTER_HI 0x0C
#define PIXART_REG_CONFIG1 0x0F
#define PIXART_REG_CONFIG2 0x10
#define PIXART_REG_FRAME_CAP 0x12
#define PIXART_REG_SROM_EN 0x13
#define PIXART_REG_RUN_DS 0x14
#define PIXART_REG_REST1_RATE 0x15
#define PIXART_REG_REST1_DS 0x16
#define PIXART_REG_REST2_RATE 0x17
#define PIXART_REG_REST2_DS 0x18
#define PIXART_REG_REST3_RATE 0x19
#define PIXART_REG_OBS 0x24
#define PIXART_REG_DOUT_L 0x25
#define PIXART_REG_DOUT_H 0x26
#define PIXART_REG_RAW_GRAB 0x29
#define PIXART_REG_SROM_ID 0x2A
#define PIXART_REG_POWER_RST 0x3A
#define PIXART_REG_SHUTDOWN 0x3B
#define PIXART_REG_INV_PROD_ID 0x3F
#define PIXART_REG_MOT_BURST 0x50
#define PIXART_REG_SROM_BURST 0x62
#define PIXART_REG_RAW_BURST 0x64
// writing to registers needs this flag
#define PIXART_WRITE_FLAG 0x80
// timings in microseconds
#define PIXART_Tsrad 150
// correct result for SROM CRC
#define PIXART_SROM_CRC_RESULT 0xBEEF
// constructor
AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart(OpticalFlow &_frontend) :
OpticalFlow_backend(_frontend)
{
_dev = std::move(hal.spi->get_device("external0m3"));
}
// detect the device
AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(OpticalFlow &_frontend)
{
AP_OpticalFlow_Pixart *sensor = new AP_OpticalFlow_Pixart(_frontend);
if (!sensor) {
return nullptr;
}
if (!sensor->setup_sensor()) {
delete sensor;
return nullptr;
}
return sensor;
}
// setup the device
bool AP_OpticalFlow_Pixart::setup_sensor(void)
{
if (!_dev->get_semaphore()->take(0)) {
AP_HAL::panic("Unable to get bus semaphore");
}
uint8_t id;
uint16_t crc;
// power-up sequence
reg_write(PIXART_REG_POWER_RST, 0x5A);
hal.scheduler->delay(50);
// check product ID
if (reg_read(PIXART_REG_PRODUCT_ID) != 0x3F ||
reg_read(PIXART_REG_INV_PROD_ID) != 0xC0) {
goto failed;
}
srom_download();
id = reg_read(PIXART_REG_SROM_ID);
if (id != srom_id) {
printf("Pixart: bad SROM ID: 0x%02x\n", id);
goto failed;
}
reg_write(PIXART_REG_SROM_EN, 0x15);
hal.scheduler->delay(10);
crc = reg_read16u(PIXART_REG_DOUT_L);
if (crc != 0xBEEF) {
printf("Pixart: bad SROM CRC: 0x%04x\n", crc);
goto failed;
}
load_configuration();
hal.scheduler->delay(50);
printf("Pixart ready: prod:0x%02x rev:0x%02x iprod:0x%02x shi:0x%02x cfg1:0x%02x cfg2:0x%02x\n",
(unsigned)reg_read(PIXART_REG_PRODUCT_ID),
(unsigned)reg_read(PIXART_REG_REVISION_ID),
(unsigned)reg_read(PIXART_REG_INV_PROD_ID),
(unsigned)reg_read(PIXART_REG_SHUTTER_HI),
(unsigned)reg_read(PIXART_REG_CONFIG1),
(unsigned)reg_read(PIXART_REG_CONFIG2));
_dev->get_semaphore()->give();
_dev->register_periodic_callback(2000, FUNCTOR_BIND_MEMBER(&AP_OpticalFlow_Pixart::timer, bool));
return true;
failed:
_dev->get_semaphore()->give();
return false;
}
// update - read latest values from sensor and fill in x,y and totals.
void AP_OpticalFlow_Pixart::update(void)
{
}
// write an 8 bit register
void AP_OpticalFlow_Pixart::reg_write(uint8_t reg, uint8_t value)
{
_dev->write_register(reg | PIXART_WRITE_FLAG, value);
hal.scheduler->delay_microseconds(120);
}
// read from an 8 bit register
uint8_t AP_OpticalFlow_Pixart::reg_read(uint8_t reg)
{
uint8_t v = 0;
_dev->set_chip_select(true);
_dev->transfer(&reg, 1, nullptr, 0);
hal.scheduler->delay_microseconds(PIXART_Tsrad);
_dev->transfer(nullptr, 0, &v, 1);
_dev->set_chip_select(false);
hal.scheduler->delay_microseconds(120);
return v;
}
// read from a 16 bit unsigned register
uint16_t AP_OpticalFlow_Pixart::reg_read16u(uint8_t reg)
{
uint16_t low = reg_read(reg);
uint16_t high = reg_read(reg+1);
return low | (high<<8);
}
// read from a 16 bit signed register
int16_t AP_OpticalFlow_Pixart::reg_read16s(uint8_t reg)
{
return (int16_t)reg_read16u(reg);
}
void AP_OpticalFlow_Pixart::srom_download(void)
{
reg_write(0x39, 0x02);
hal.scheduler->delay(1);
reg_write(PIXART_REG_SROM_EN, 0x1D);
hal.scheduler->delay(10);
reg_write(PIXART_REG_SROM_EN, 0x18);
if (!_dev->set_chip_select(true)) {
printf("Failed to force CS\n");
}
hal.scheduler->delay_microseconds(1);
uint8_t reg = PIXART_REG_SROM_BURST | PIXART_WRITE_FLAG;
_dev->transfer(&reg, 1, nullptr, 0);
for (uint16_t i = 0; i < ARRAY_SIZE(srom_data); i++) {
hal.scheduler->delay_microseconds(15);
_dev->transfer(&srom_data[i], 1, nullptr, 0);
}
hal.scheduler->delay_microseconds(125);
if (!_dev->set_chip_select(false)) {
printf("Failed to force CS off\n");
}
hal.scheduler->delay_microseconds(160);
}
void AP_OpticalFlow_Pixart::load_configuration(void)
{
for (uint16_t i = 0; i < ARRAY_SIZE(init_data); i++) {
reg_write(init_data[i].reg, init_data[i].value);
}
}
void AP_OpticalFlow_Pixart::motion_burst(void)
{
uint8_t *b = (uint8_t *)&burst;
burst.delta_x = 0;
burst.delta_y = 0;
_dev->set_chip_select(true);
uint8_t reg = PIXART_REG_MOT_BURST;
_dev->transfer(&reg, 1, nullptr, 0);
hal.scheduler->delay_microseconds(150);
for (uint8_t i=0; i<sizeof(burst); i++) {
_dev->transfer(nullptr, 0, &b[i], 1);
if (i == 0 && (burst.motion & 0x80) == 0) {
// no motion, save some bus bandwidth
_dev->set_chip_select(false);
return;
}
}
_dev->set_chip_select(false);
}
bool AP_OpticalFlow_Pixart::timer(void)
{
if (AP_HAL::micros() - last_burst_us < 500) {
return true;
}
motion_burst();
last_burst_us = AP_HAL::micros();
sum_x += burst.delta_x;
sum_y += burst.delta_y;
uint32_t now = AP_HAL::millis();
if (now - last_print_ms >= 100 && (sum_x != 0 || sum_y != 0)) {
last_print_ms = now;
printf("Motion: %d %d obs:0x%02x squal:%u rds:%u maxr:%u minr:%u sup:%u slow:%u\n",
(int)sum_x, (int)sum_y, (unsigned)burst.squal, (unsigned)burst.rawdata_sum, (unsigned)burst.max_raw,
(unsigned)burst.max_raw, (unsigned)burst.min_raw, (unsigned)burst.shutter_upper, (unsigned)burst.shutter_lower);
sum_x = sum_y = 0;
}
return true;
}

64
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
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#pragma once
#include "OpticalFlow.h"
#include <AP_HAL/utility/OwnPtr.h>
class AP_OpticalFlow_Pixart : public OpticalFlow_backend
{
public:
/// constructor
AP_OpticalFlow_Pixart(OpticalFlow &_frontend);
// 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_Pixart *detect(OpticalFlow &_frontend);
private:
AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev;
struct RegData {
uint8_t reg;
uint8_t value;
};
struct PACKED MotionBurst {
uint8_t motion;
uint8_t observation;
int16_t delta_x;
int16_t delta_y;
uint8_t squal;
uint8_t rawdata_sum;
uint8_t max_raw;
uint8_t min_raw;
uint8_t shutter_upper;
uint8_t shutter_lower;
} burst;
static const uint8_t srom_data[];
static const uint8_t srom_id;
static const RegData init_data[];
// setup sensor
bool setup_sensor(void);
void reg_write(uint8_t reg, uint8_t value);
uint8_t reg_read(uint8_t reg);
int16_t reg_read16s(uint8_t reg);
uint16_t reg_read16u(uint8_t reg);
void srom_download(void);
void load_configuration(void);
bool timer(void);
void motion_burst(void);
int32_t sum_x;
int32_t sum_y;
uint32_t last_print_ms;
uint32_t last_burst_us;
};

280
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart_SROM.h
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/*
SROM for Pixart flow, converted from data supplied by Pixart (thanks to Fish for conversion)
*/
const uint8_t AP_OpticalFlow_Pixart::srom_id = 0xED;
const uint8_t AP_OpticalFlow_Pixart::srom_data[] =
{
0x03, 0xed, 0xb5, 0x32, 0x26, 0xfc, 0x1e, 0xbe, 0xd8, 0x1d, 0xb8, 0xd3, 0x05, 0x88, 0x73, 0x45,
0x08, 0x92, 0xa6, 0xce, 0x1e, 0xba, 0xfe, 0x71, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x2f, 0xdc, 0x1b,
0x95, 0xa8, 0xb3, 0xe4, 0x2b, 0xb5, 0xe8, 0x52, 0x26, 0xce, 0xff, 0x5d, 0x38, 0xf2, 0x66, 0x4e,
0xff, 0x5d, 0x38, 0xd3, 0x05, 0x6f, 0x31, 0xe0, 0x42, 0x06, 0x8e, 0x7f, 0x7c, 0x5b, 0x34, 0xcb,
0xf5, 0x68, 0x52, 0x26, 0xce, 0xff, 0x7c, 0x7a, 0x76, 0x6e, 0x3f, 0xdd, 0x19, 0xb3, 0xc3, 0x06,
0x8a, 0x96, 0x8f, 0x9c, 0x9b, 0x95, 0x81, 0x90, 0x83, 0x84, 0x6a, 0x54, 0x0b, 0x75, 0x49, 0x10,
0x83, 0x60, 0x41, 0x18, 0x8c, 0x61, 0x34, 0xfe, 0x68, 0xe6, 0xa1, 0x61, 0x44, 0x81, 0x7d, 0xc3,
0xc7, 0xcf, 0x96, 0x11, 0x65, 0x14, 0x2d, 0xa7, 0xe1, 0x91, 0xe6, 0xfa, 0x99, 0x04, 0x65, 0x1d,
0x57, 0x98, 0x7c, 0xce, 0x9a, 0xe2, 0x41, 0xd5, 0x0e, 0x3b, 0x51, 0xed, 0x0f, 0x55, 0x45, 0xc0,
0xbc, 0x32, 0x00, 0xcb, 0x3e, 0x84, 0xba, 0x7a, 0x59, 0x84, 0x04, 0x5f, 0xf2, 0xf3, 0x8b, 0x20,
0x2d, 0x6c, 0xb5, 0x88, 0x9c, 0x4c, 0x4c, 0x70, 0x45, 0x13, 0x8a, 0x9a, 0x93, 0x64, 0x2b, 0xf5,
0xa8, 0x7d, 0x63, 0x78, 0xcc, 0xd0, 0xa6, 0x6e, 0x54, 0xff, 0xc9, 0x67, 0x40, 0xe0, 0x4c, 0xdd,
0x48, 0x58, 0xff, 0xb6, 0x80, 0x95, 0xb5, 0xc3, 0x2b, 0x19, 0x2b, 0x8c, 0x19, 0x66, 0x1a, 0xc6,
0xac, 0x2e, 0x4a, 0x9f, 0xcc, 0x1e, 0xe6, 0xed, 0x36, 0x2d, 0x63, 0xb4, 0x9b, 0xb9, 0xbf, 0xd9,
0x22, 0xde, 0xaf, 0xcc, 0xde, 0x02, 0xa3, 0xf7, 0x9a, 0xa5, 0x27, 0x64, 0x19, 0x82, 0x16, 0xdc,
0xf5, 0x21, 0x93, 0x54, 0xdf, 0x4e, 0x4d, 0x99, 0xac, 0x89, 0x55, 0x3b, 0xb1, 0x73, 0x56, 0x7e,
0xed, 0x28, 0x46, 0x5d, 0xc6, 0xe7, 0x1f, 0x7f, 0x4c, 0x68, 0x4d, 0x71, 0xf3, 0xa4, 0x5f, 0x41,
0x9b, 0xe9, 0x23, 0xed, 0x1b, 0xa5, 0xc4, 0x6c, 0x35, 0xb2, 0xfa, 0x82, 0x1e, 0x28, 0xab, 0xf1,
0x53, 0xb7, 0x4f, 0xf1, 0x00, 0x77, 0xe4, 0x3a, 0x34, 0xe7, 0x4f, 0xfe, 0xbb, 0x84, 0x08, 0x79,
0x3d, 0x39, 0x90, 0xd2, 0x85, 0x83, 0x0b, 0x76, 0x8a, 0xc7, 0x8e, 0x96, 0xc6, 0x88, 0xbe, 0xfa,
0x2e, 0x5c, 0x28, 0x2b, 0xa4, 0x69, 0x59, 0xff, 0x07, 0x5f, 0x68, 0x85, 0xd0, 0xe6, 0x1c, 0x88,
0x2f, 0xe5, 0x10, 0xe0, 0x55, 0x1b, 0xc4, 0xaa, 0x91, 0x2d, 0x69, 0xd2, 0x13, 0x91, 0xb1, 0x40,
0x25, 0x87, 0xbd, 0x5b, 0x00, 0x75, 0x6c, 0x86, 0x09, 0xb8, 0x78, 0x70, 0xc1, 0x13, 0x1b, 0x5d,
0xca, 0x47, 0x8e, 0x6f, 0x25, 0x25, 0x53, 0x54, 0x8a, 0x5f, 0x8c, 0x6f, 0x0a, 0xd8, 0xa7, 0xad,
0xac, 0xc8, 0x73, 0x59, 0xc0, 0x5a, 0x75, 0x95, 0xe8, 0xe6, 0x9b, 0xa8, 0xc0, 0x7a, 0x68, 0x15,
0xf6, 0x2e, 0x1e, 0xff, 0x57, 0xf9, 0xe4, 0xfc, 0xf4, 0xff, 0x8f, 0xb1, 0xc5, 0xf6, 0x22, 0xf6,
0xba, 0xb2, 0xd5, 0x88, 0x7e, 0x8f, 0x93, 0x56, 0x32, 0x7c, 0x2d, 0xa0, 0xc1, 0x3f, 0x96, 0x24,
0xf0, 0x75, 0xe7, 0x17, 0x8d, 0x98, 0x19, 0x8c, 0x0b, 0xfa, 0xd4, 0x98, 0x3e, 0x2f, 0x59, 0xf5,
0x03, 0x23, 0x4b, 0xa0, 0xbe, 0xca, 0x3b, 0xcd, 0x39, 0xf1, 0x75, 0x4d, 0x2b, 0x17, 0x58, 0x2b,
0x55, 0x15, 0x53, 0x1b, 0x1e, 0xed, 0xce, 0xb2, 0x32, 0x5d, 0x30, 0x12, 0x37, 0xe7, 0xad, 0x59,
0x2c, 0x61, 0x35, 0x3f, 0x13, 0xd4, 0x8a, 0x4a, 0x8c, 0x0e, 0xec, 0xfd, 0xbf, 0xc1, 0xa0, 0x87,
0x24, 0x2a, 0x95, 0xf2, 0x5b, 0x14, 0xa6, 0xca, 0x96, 0x36, 0x07, 0x5e, 0x49, 0x3a, 0x54, 0x0f,
0x4e, 0xcd, 0xb8, 0xf8, 0xa7, 0xb9, 0xf9, 0xd4, 0x83, 0x64, 0x7e, 0x70, 0xea, 0xa6, 0x1b, 0x3a,
0xcb, 0xb1, 0xee, 0xdf, 0x53, 0x69, 0x13, 0x33, 0x94, 0xeb, 0x08, 0x39, 0x61, 0xe0, 0x68, 0x17,
0x58, 0xe9, 0x91, 0xb0, 0x40, 0x3b, 0x38, 0x08, 0x46, 0x0a, 0xaf, 0x7e, 0xb4, 0xc4, 0x7a, 0xb4,
0xcc, 0x09, 0xe0, 0xe1, 0x46, 0x7a, 0x8c, 0x4e, 0xaf, 0x1b, 0x04, 0x7b, 0x64, 0x10, 0x83, 0xa1,
0xf3, 0xf5, 0x49, 0x9b, 0x77, 0xcd, 0xff, 0xb0, 0x4b, 0x86, 0x0c, 0x89, 0x4a, 0x13, 0x22, 0x0a,
0x1e, 0x2c, 0x78, 0xa7, 0x9e, 0x0f, 0x7a, 0x2c, 0x78, 0x85, 0xcc, 0xcb, 0xf7, 0x78, 0x41, 0x26,
0x5f, 0x9d, 0x22, 0x19, 0x71, 0xcf, 0x9a, 0x59, 0x4b, 0xe4, 0x7a, 0x5f, 0x61, 0xc2, 0xf7, 0xc1,
0xd4, 0x62, 0x91, 0x7b, 0x5d, 0xc5, 0x05, 0xe1, 0x40, 0x35, 0xa0, 0x24, 0x73, 0x4d, 0xf3, 0x37,
0xa1, 0xba, 0xd8, 0xa9, 0x0c, 0x21, 0xb6, 0xb7, 0xa9, 0xfe, 0x57, 0xf6, 0xbd, 0xcc, 0xa2, 0x42,
0x65, 0x0f, 0xc4, 0xb1, 0x03, 0xd0, 0xfb, 0xd3, 0xa2, 0xd8, 0x7b, 0x2e, 0x4c, 0x0f, 0x05, 0x2b,
0x5a, 0x01, 0xf8, 0x28, 0x30, 0x17, 0x75, 0xc3, 0x9a, 0xb8, 0xba, 0x4d, 0xea, 0x83, 0x3c, 0x20,
0x7c, 0x5d, 0x60, 0xf9, 0xd3, 0x91, 0x79, 0x8a, 0x78, 0xd1, 0x24, 0x4a, 0xec, 0x29, 0x64, 0xe5,
0xb3, 0xb9, 0xd9, 0x6b, 0xc1, 0x5c, 0x77, 0x03, 0x27, 0xac, 0x50, 0xff, 0xa2, 0x97, 0xee, 0x3a,
0x14, 0xb3, 0x46, 0xad, 0xeb, 0xb5, 0x6c, 0x01, 0x15, 0x34, 0xc6, 0x40, 0x80, 0x6d, 0xcc, 0xa6,
0x31, 0x71, 0xa2, 0xc5, 0xe6, 0x97, 0x8e, 0x3d, 0x0b, 0x54, 0x89, 0x50, 0xdf, 0xa5, 0x10, 0xe7,
0xf1, 0xa6, 0x44, 0xd6, 0x1e, 0x34, 0x1c, 0x8d, 0xcf, 0xfb, 0xc5, 0xeb, 0x93, 0x11, 0x7f, 0x51,
0x4d, 0x05, 0x5b, 0xc7, 0xb9, 0x50, 0x1f, 0x47, 0x52, 0xe8, 0xf3, 0x80, 0x3d, 0xcf, 0x31, 0x81,
0xb3, 0xb5, 0x48, 0xce, 0x84, 0xd4, 0xe4, 0xea, 0x70, 0x3c, 0xce, 0x14, 0x5a, 0x21, 0xca, 0xd7,
0x4b, 0xdc, 0x2a, 0x11, 0x10, 0x72, 0x57, 0x36, 0xdf, 0x39, 0xc3, 0xf6, 0xce, 0x0c, 0xca, 0x3a,
0xaf, 0x9f, 0xaf, 0xf4, 0x3b, 0x65, 0xc9, 0xe1, 0x14, 0xf3, 0xf6, 0xcc, 0x28, 0xfb, 0x27, 0x9d,
0xf9, 0x7b, 0x16, 0x46, 0x3c, 0x6f, 0xa0, 0x6c, 0xce, 0xcc, 0x60, 0xc6, 0x8f, 0x71, 0x0c, 0xb2,
0xb7, 0xaf, 0x0f, 0x18, 0xbb, 0x65, 0xe8, 0x5c, 0x73, 0x4c, 0x8b, 0xd7, 0x1e, 0xbd, 0x3d, 0xfc,
0x66, 0xb2, 0x2f, 0x00, 0x8b, 0x5f, 0xd8, 0xf3, 0xc1, 0x68, 0xb2, 0x1a, 0x7f, 0x28, 0xbb, 0x37,
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0x99, 0xc0, 0xa1, 0xa8, 0x9d, 0x38, 0x07, 0x44, 0xef, 0xd7, 0xda, 0x14, 0x0f, 0xcf, 0x0e, 0x6e,
0xfc, 0x0a, 0xa6, 0xd2, 0x34, 0xa9, 0x82, 0x96, 0x1e, 0xc0, 0xe6, 0xa4, 0x5e, 0x6a, 0x5e, 0xfc,
0xae, 0x5f, 0x03, 0xcc, 0xd1, 0xf5, 0xcb, 0xae, 0x85, 0xcf, 0x47, 0x5d, 0x4a, 0x4f, 0x40, 0x22,
0xf3, 0xa6, 0xd8, 0x16, 0x09, 0x19, 0xe2, 0x84, 0xa3, 0x50, 0x75, 0x14, 0x0e, 0x01, 0x57, 0x01,
0xc1, 0xef, 0xd0, 0x60, 0x35, 0x49, 0x13, 0x67, 0xe5, 0xbd, 0xd3, 0xb0, 0x41, 0x72, 0x8d, 0xac,
0x8b, 0x16, 0xb8, 0x32, 0xf2, 0xc0, 0x79, 0x52, 0x4c, 0x84, 0x29, 0xa2, 0x0c, 0x0e, 0x37, 0x1b,
0xad, 0x3d, 0x0d, 0x1a, 0xa6, 0x02, 0xd2, 0x5e, 0x9b, 0xd1, 0x20, 0xa3, 0xc4, 0xeb, 0x54, 0x2a,
0xb7, 0xcd, 0xf9, 0x70, 0x62, 0x46, 0xef, 0x5c, 0x3a, 0xd7, 0x2c, 0xda, 0x17, 0x8d, 0x79, 0x51,
0x20, 0xc2, 0xe7, 0x4c, 0x1a, 0x97, 0xac, 0xda, 0x17, 0x8d, 0x98, 0x93, 0xa4, 0xca, 0x16, 0x8f,
0x9c, 0xba, 0xf6, 0x4f, 0x1c, 0xba, 0xd7, 0x2c, 0xda, 0x36, 0xee, 0x3f, 0xdd, 0x19, 0x91, 0xa0,
0xa3, 0xa5, 0xc8, 0x12, 0x87, 0x8c, 0x9a, 0xb6, 0xcf, 0xfd, 0x78, 0x53, 0x24, 0xca, 0x16, 0xae,
0xbf, 0xfc, 0x5b, 0x34, 0xcb, 0xf5, 0x68, 0x33, 0xc5, 0xe9, 0x50, 0x22, 0xc6, 0x0e, 0x7f, 0x5d,
0x38, 0xf2, 0x66, 0x2f, 0xbd, 0xd9, 0x11, 0xa0, 0xa3, 0xa5, 0xa9, 0xb1, 0xe0, 0x23, 0xa5, 0xa9,
0xb1, 0xc1, 0xe1, 0x21, 0xa1, 0xc0, 0x02, 0x67, 0x2d, 0xb9, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d,
0xd9, 0x30, 0xc3, 0x04, 0x6b, 0x35, 0xc9, 0xf1, 0x60, 0x23, 0xc4, 0xeb, 0x35, 0xc9, 0x10, 0xa2,
0xa7, 0xcc, 0xfb, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xbd, 0xf8, 0x72, 0x47, 0xed, 0x39, 0xd1, 0x20,
0xa3, 0xc4, 0xeb, 0x35, 0xe8, 0x52, 0x26, 0xaf, 0xdc, 0x3a, 0xf6, 0x4f, 0xfd, 0x59, 0x30, 0xe2,
0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x61, 0x21, 0xc0, 0xe3, 0x25, 0xa9, 0xb1, 0xe0, 0x42,
0x06, 0x6f, 0x3d, 0xf8, 0x72, 0x47, 0x0c, 0x7b, 0x74, 0x4b, 0x14, 0x8b, 0x75, 0x49, 0x10, 0x83,
0x84, 0x6b, 0x54, 0x0b, 0x94, 0x8b, 0x94, 0xaa, 0xb7, 0xec, 0xa2, 0xc7, 0x77, 0xd9,
};
/*
initialisation data (register config)
*/
const AP_OpticalFlow_Pixart::RegData AP_OpticalFlow_Pixart::init_data[] =
{
{ 0x30, 0x44 },
{ 0x31, 0xe9 },
{ 0x32, 0x82 },
{ 0x33, 0xdf },
{ 0x31, 0xea },
{ 0x32, 0x82 },
{ 0x33, 0xff },
{ 0x31, 0xeb },
{ 0x32, 0x82 },
{ 0x33, 0xdf },
{ 0x31, 0xec },
{ 0x32, 0x82 },
{ 0x33, 0xff },
{ 0x31, 0xed },
{ 0x32, 0x82 },
{ 0x33, 0xdf },
{ 0x31, 0xee },
{ 0x32, 0x82 },
{ 0x33, 0xff },
{ 0x31, 0xdd },
{ 0x32, 0x82 },
{ 0x33, 0xfe },
{ 0x31, 0xde },
{ 0x32, 0x82 },
{ 0x33, 0x0b },
{ 0x31, 0xdf },
{ 0x32, 0x82 },
{ 0x33, 0xfe },
{ 0x31, 0xe0 },
{ 0x32, 0x82 },
{ 0x33, 0x0b },
{ 0x31, 0xe1 },
{ 0x32, 0x82 },
{ 0x33, 0xfe },
{ 0x31, 0xe2 },
{ 0x32, 0x82 },
{ 0x33, 0x0b },
{ 0x47, 0x00 },
{ 0x10, 0x08 },
{ 0x0f, 0x28 },
{ 0x2b, 0x08 },
{ 0x2c, 0x10 },
{ 0x2e, 0x1f },
{ 0x49, 0x40 },
{ 0x4a, 0x60 },
{ 0x4b, 0x3F },
{ 0x10, 0x08 },
{ 0x30, 0x00 },
{ 0x45, 0x8b },
{ 0x46, 0x02 },
{ 0x53, 0x07 },
{ 0x52, 0x10 },
};

9
libraries/AP_OpticalFlow/OpticalFlow.cpp
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@ -1,3 +1,4 @@ @@ -1,3 +1,4 @@
#include <AP_BoardConfig/AP_BoardConfig.h>
#include "OpticalFlow.h"
#include "AP_OpticalFlow_Onboard.h"
@ -74,7 +75,13 @@ void OpticalFlow::init(void) @@ -74,7 +75,13 @@ void OpticalFlow::init(void)
{
if (!backend) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
backend = new AP_OpticalFlow_PX4(*this);
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
// possibly have pixhart on external SPI
backend = AP_OpticalFlow_Pixart::detect(*this);
}
if (backend == nullptr) {
backend = new AP_OpticalFlow_PX4(*this);
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_SITL
backend = new AP_OpticalFlow_HIL(*this);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||\

1
libraries/AP_OpticalFlow/OpticalFlow.h
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@ -103,3 +103,4 @@ private: @@ -103,3 +103,4 @@ private:
#include "AP_OpticalFlow_HIL.h"
#include "AP_OpticalFlow_PX4.h"
#include "AP_OpticalFlow_Linux.h"
#include "AP_OpticalFlow_Pixart.h"

7
libraries/AP_OpticalFlow/OpticalFlow_backend.cpp
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@ -23,6 +23,13 @@ OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) : @@ -23,6 +23,13 @@ OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
_sem = hal.util->new_semaphore();
}
OpticalFlow_backend::~OpticalFlow_backend(void)
{
if (_sem) {
delete _sem;
}
}
// update the frontend
void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
{

3
libraries/AP_OpticalFlow/OpticalFlow_backend.h
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@ -27,7 +27,8 @@ class OpticalFlow_backend @@ -27,7 +27,8 @@ class OpticalFlow_backend
public:
// constructor
OpticalFlow_backend(OpticalFlow &_frontend);
virtual ~OpticalFlow_backend(void);
// init - initialise sensor
virtual void init() = 0;

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