@ -26,7 +26,7 @@
@@ -26,7 +26,7 @@
// ADNS3080 hardware config
# define ADNS3080_PIXELS_X 30
# define ADNS3080_PIXELS_Y 30
# define ADNS3080_CLOCK_SPEED 24000000
# define ADNS3080_CLOCK_SPEED 24000000
// Register Map for the ADNS3080 Optical OpticalFlow Sensor
# define ADNS3080_PRODUCT_ID 0x00
@ -65,69 +65,71 @@
@@ -65,69 +65,71 @@
# define ADNS3080_LED_MODE_ALWAYS_ON 0x00
# define ADNS3080_LED_MODE_WHEN_REQUIRED 0x01
# define ADNS3080_RESOLUTION_400 400
# define ADNS3080_RESOLUTION_1600 1600
# define ADNS3080_RESOLUTION_400 400
# define ADNS3080_RESOLUTION_1600 1600
// Extended Configuration bits
# define ADNS3080_SERIALNPU_OFF 0x02
# 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 :
private :
// bytes to store SPI settings
byte orig_spi_settings_spcr ;
byte orig_spi_settings_spsr ;
byte orig_spi_settings_spcr ;
byte orig_spi_settings_spsr ;
// save and restore SPI settings
byte backup_spi_settings ( ) ;
byte restore_spi_settings ( ) ;
// 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 :
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
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
// 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 ( ) ;
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
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
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)
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_period ( ) ; // get_frame_period -
void set_frame_period ( unsigned int period ) ;
unsigned int get_frame_rate ( ) ;
void set_frame_rate ( unsigned int rate ) ;
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)
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 ) ;
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 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
void print_pixel_data ( Stream * serPort ) ; // dumps a 30x30 image to the Serial port
} ;
# endif
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