#include <AP_OpticalFlow_Pixart.h>

Inheritance diagram for AP_OpticalFlow_Pixart:

Collaboration diagram for AP_OpticalFlow_Pixart:

Classes
struct	MotionBurst

struct	RegData

Public Member Functions
	AP_OpticalFlow_Pixart (const char *devname, OpticalFlow &_frontend)
	constructor More...

void	init () override

void	update (void) override

Public Member Functions inherited from OpticalFlow_backend
	OpticalFlow_backend (OpticalFlow &_frontend)

virtual	~OpticalFlow_backend (void)

Static Public Member Functions
static AP_OpticalFlow_Pixart *	detect (const char *devname, OpticalFlow &_frontend)

Private Types
enum	{ PIXART_3900 =0, PIXART_3901 =1 }

Private Member Functions
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 (const RegData *init_data, uint16_t n)

void	timer (void)

void	motion_burst (void)

Private Attributes
AP_HAL::OwnPtr< AP_HAL::SPIDevice >	_dev

enum AP_OpticalFlow_Pixart:: { ... }	model

struct PACKED AP_OpticalFlow_Pixart::MotionBurst	burst

struct {
Vector2l sum

uint32_t last_frame_us

uint32_t sum_us

Vector2f gyro

}	integral

const float	flow_pixel_scaling = 1.26e-3

uint32_t	last_burst_us

uint32_t	last_update_ms

Static Private Attributes
static const uint8_t	srom_data []

static const uint8_t	srom_id = 0xED

static const RegData	init_data_3900 []

static const RegData	init_data_3901_1 []

static const RegData	init_data_3901_2 []

Additional Inherited Members
Protected Member Functions inherited from OpticalFlow_backend
void	_update_frontend (const struct OpticalFlow::OpticalFlow_state &state)

Vector2f	_flowScaler (void) const

float	_yawAngleRad (void) const

void	_applyYaw (Vector2f &v)

AP_AHRS_NavEKF &	get_ahrs (void)

uint8_t	get_address (void) const

Protected Attributes inherited from OpticalFlow_backend
OpticalFlow &	frontend

AP_HAL::Semaphore *	_sem

Detailed Description

Definition at line 6 of file AP_OpticalFlow_Pixart.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
PIXART_3900
PIXART_3901

Definition at line 24 of file AP_OpticalFlow_Pixart.h.

Constructor & Destructor Documentation

◆ AP_OpticalFlow_Pixart()

AP_OpticalFlow_Pixart::AP_OpticalFlow_Pixart	(	const char *	devname,
		OpticalFlow &	_frontend
	)

constructor

Definition at line 83 of file AP_OpticalFlow_Pixart.cpp.

Referenced by detect().

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Member Function Documentation

◆ detect()

AP_OpticalFlow_Pixart * AP_OpticalFlow_Pixart::detect	(	const char *	devname,
		OpticalFlow &	_frontend
	)

static

Definition at line 91 of file AP_OpticalFlow_Pixart.cpp.

Referenced by init(), and OpticalFlow::init().

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◆ init()

void AP_OpticalFlow_Pixart::init ( void )

inlineoverridevirtual

Implements OpticalFlow_backend.

Definition at line 13 of file AP_OpticalFlow_Pixart.h.

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◆ load_configuration()

void AP_OpticalFlow_Pixart::load_configuration	(	const RegData *	init_data,
		uint16_t	n
	)

private

Definition at line 250 of file AP_OpticalFlow_Pixart.cpp.

Referenced by setup_sensor().

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◆ motion_burst()

void AP_OpticalFlow_Pixart::motion_burst ( void )

private

Definition at line 266 of file AP_OpticalFlow_Pixart.cpp.

Referenced by timer().

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◆ reg_read()

uint8_t AP_OpticalFlow_Pixart::reg_read ( uint8_t reg )

private

Definition at line 196 of file AP_OpticalFlow_Pixart.cpp.

Referenced by load_configuration(), reg_read16u(), and setup_sensor().

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◆ reg_read16s()

int16_t AP_OpticalFlow_Pixart::reg_read16s ( uint8_t reg )

private

Definition at line 217 of file AP_OpticalFlow_Pixart.cpp.

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◆ reg_read16u()

uint16_t AP_OpticalFlow_Pixart::reg_read16u ( uint8_t reg )

private

Definition at line 209 of file AP_OpticalFlow_Pixart.cpp.

Referenced by reg_read16s(), and setup_sensor().

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◆ reg_write()

void AP_OpticalFlow_Pixart::reg_write	(	uint8_t	reg,
		uint8_t	value
	)

private

Definition at line 184 of file AP_OpticalFlow_Pixart.cpp.

Referenced by load_configuration(), setup_sensor(), and srom_download().

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◆ setup_sensor()

bool AP_OpticalFlow_Pixart::setup_sensor ( void )

private

Definition at line 105 of file AP_OpticalFlow_Pixart.cpp.

Referenced by detect().

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◆ srom_download()

void AP_OpticalFlow_Pixart::srom_download ( void )

private

Definition at line 223 of file AP_OpticalFlow_Pixart.cpp.

Referenced by setup_sensor().

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◆ timer()

void AP_OpticalFlow_Pixart::timer ( void )

private

Definition at line 290 of file AP_OpticalFlow_Pixart.cpp.

Referenced by setup_sensor().

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◆ update()

void AP_OpticalFlow_Pixart::update ( void )

overridevirtual

Implements OpticalFlow_backend.

Definition at line 335 of file AP_OpticalFlow_Pixart.cpp.

Referenced by init().

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Member Data Documentation

◆ _dev

AP_HAL::OwnPtr<AP_HAL::SPIDevice> AP_OpticalFlow_Pixart::_dev

private

Definition at line 22 of file AP_OpticalFlow_Pixart.h.

Referenced by AP_OpticalFlow_Pixart(), motion_burst(), reg_read(), reg_write(), setup_sensor(), and srom_download().

◆ burst

struct PACKED AP_OpticalFlow_Pixart::MotionBurst AP_OpticalFlow_Pixart::burst

private

Referenced by motion_burst(), timer(), and update().

◆ flow_pixel_scaling

const float AP_OpticalFlow_Pixart::flow_pixel_scaling = 1.26e-3

private

Definition at line 59 of file AP_OpticalFlow_Pixart.h.

Referenced by update().

◆ gyro

Vector2f AP_OpticalFlow_Pixart::gyro

Definition at line 51 of file AP_OpticalFlow_Pixart.h.

Referenced by timer().

◆ init_data_3900

const AP_OpticalFlow_Pixart::RegData AP_OpticalFlow_Pixart::init_data_3900

staticprivate

Definition at line 56 of file AP_OpticalFlow_Pixart.h.

Referenced by setup_sensor().

◆ init_data_3901_1

const AP_OpticalFlow_Pixart::RegData AP_OpticalFlow_Pixart::init_data_3901_1

staticprivate

Definition at line 57 of file AP_OpticalFlow_Pixart.h.

Referenced by setup_sensor().

◆ init_data_3901_2

const AP_OpticalFlow_Pixart::RegData AP_OpticalFlow_Pixart::init_data_3901_2

staticprivate

Initial value:

=
{
    { 0x32, 0x44 },
    { 0x7F, 0x07 },
    { 0x40, 0x40 },
    { 0x7F, 0x06 },
    { 0x62, 0xF0 },
    { 0x63, 0x00 },
    { 0x7F, 0x0D },
    { 0x48, 0xC0 },
    { 0x6F, 0xD5 },
    { 0x7F, 0x00 },
    { 0x5B, 0xA0 },
    { 0x4E, 0xA8 },
    { 0x5A, 0x50 },
    { 0x40, 0x80 },
}

Definition at line 58 of file AP_OpticalFlow_Pixart.h.

Referenced by setup_sensor().

◆ integral

struct { ... } AP_OpticalFlow_Pixart::integral

Referenced by setup_sensor(), timer(), and update().

◆ last_burst_us

uint32_t AP_OpticalFlow_Pixart::last_burst_us

private

Definition at line 75 of file AP_OpticalFlow_Pixart.h.

Referenced by timer().

◆ last_frame_us

uint32_t AP_OpticalFlow_Pixart::last_frame_us

Definition at line 49 of file AP_OpticalFlow_Pixart.h.

◆ last_update_ms

uint32_t AP_OpticalFlow_Pixart::last_update_ms

private

Definition at line 76 of file AP_OpticalFlow_Pixart.h.

Referenced by update().

◆ model

enum { ... } AP_OpticalFlow_Pixart::model

Referenced by motion_burst(), and setup_sensor().

◆ srom_data

const uint8_t AP_OpticalFlow_Pixart::srom_data

staticprivate

Definition at line 54 of file AP_OpticalFlow_Pixart.h.

Referenced by srom_download().

◆ srom_id

const uint8_t AP_OpticalFlow_Pixart::srom_id = 0xED

staticprivate

Definition at line 55 of file AP_OpticalFlow_Pixart.h.

Referenced by setup_sensor().

◆ sum

Vector2l AP_OpticalFlow_Pixart::sum

Definition at line 48 of file AP_OpticalFlow_Pixart.h.

◆ sum_us

uint32_t AP_OpticalFlow_Pixart::sum_us

Definition at line 50 of file AP_OpticalFlow_Pixart.h.

The documentation for this class was generated from the following files:

libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart_SROM.h

Classes

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ AP_OpticalFlow_Pixart()

Member Function Documentation

◆ detect()

◆ init()

◆ load_configuration()

◆ motion_burst()

◆ reg_read()

◆ reg_read16s()

◆ reg_read16u()

◆ reg_write()

◆ setup_sensor()

◆ srom_download()

◆ timer()

◆ update()

Member Data Documentation

◆ _dev

◆ burst

◆ flow_pixel_scaling

◆ gyro

◆ init_data_3900

◆ init_data_3901_1

◆ init_data_3901_2

◆ integral

◆ last_burst_us

◆ last_frame_us

◆ last_update_ms

◆ model

◆ srom_data

◆ srom_id

◆ sum

◆ sum_us