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