Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_OpticalFlow_config.h"
       4             : 
       5             : #if AP_OPTICALFLOW_PX4FLOW_ENABLED
       6             : 
       7             : #include "AP_OpticalFlow_Backend.h"
       8             : #include <AP_HAL/utility/OwnPtr.h>
       9             : 
      10             : class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
      11             : {
      12             : public:
      13             :     /// constructor
      14             :     using OpticalFlow_backend::OpticalFlow_backend;
      15             : 
      16             :     CLASS_NO_COPY(AP_OpticalFlow_PX4Flow);
      17             : 
      18             :     // init - initialise the sensor
      19           0 :     void init() override {}
      20             : 
      21             :     // update - read latest values from sensor and fill in x,y and totals.
      22             :     void update(void) override;
      23             : 
      24             :     // detect if the sensor is available
      25             :     static AP_OpticalFlow_PX4Flow *detect(AP_OpticalFlow &_frontend);
      26             : 
      27             : private:
      28             :     AP_HAL::OwnPtr<AP_HAL::Device> dev;
      29             : 
      30             :     static const uint8_t REG_INTEGRAL_FRAME = 0x16;
      31             :     
      32             :     // I2C data on register REG_INTEGRAL_FRAME
      33             :     struct PACKED i2c_integral_frame {
      34             :         uint16_t frame_count_since_last_readout;
      35             :         int16_t pixel_flow_x_integral;
      36             :         int16_t pixel_flow_y_integral;
      37             :         int16_t gyro_x_rate_integral;
      38             :         int16_t gyro_y_rate_integral;
      39             :         int16_t gyro_z_rate_integral;
      40             :         uint32_t integration_timespan;
      41             :         uint32_t sonar_timestamp;
      42             :         uint16_t ground_distance;
      43             :         int16_t gyro_temperature;
      44             :         uint8_t qual;
      45             :     };
      46             :     
      47             :     // scan I2C bus addresses and buses
      48             :     bool scan_buses(void);
      49             : 
      50             :     // setup sensor
      51             :     bool setup_sensor(void);
      52             : 
      53             :     void timer(void);
      54             : };
      55             : 
      56             : #endif  // AP_OPTICALFLOW_PX4FLOW_ENABLED