Diff: PX4Flow.h

Revision:

0:4b02060af95b

Child:

1:562a583eb77c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PX4Flow.h	Fri Aug 02 14:15:07 2019 +0000
@@ -0,0 +1,130 @@
+#ifndef _PX4FLOW_MBED_H
+#define _PX4FLOW_MBED_H
+
+# include <stdint.h>
+# include "mbed.h"
+
+// 7 Bit I2C Address of the Flow Module: Default 0x42 (user selectable bits 0,1,2)
+#define PX4FLOW_ADDRESS 0x42<<1
+
+// Commands
+#define    FRAME 0x00
+#define    INTEGRAL_FRAME 0x16
+
+// define buffer indicees
+// simple frame
+#define    FRAME_COUNT 0
+#define    PIXEL_FLOW_X_SUM 2
+#define    PIXEL_FLOW_Y_SUM 4
+#define    FLOW_COMP_M_X 6
+#define    FLOW_COMP_M_Y 8
+#define    QUAL 10
+#define    GYRO_X_RATE 12
+#define    GYRO_Y_RATE 14
+#define    GYRO_Z_RATE 16
+#define    GYRO_RANGE 18
+#define    SONAR_TIMESTAMP 19
+#define    GROUND_DISTANCE 20
+
+// integral frame
+#define    FRAME_COUNT_SINCE_LAST_READOUT 0
+#define    PIXEL_FLOW_X_INTEGRAL 2
+#define    PIXEL_FLOW_Y_INTEGRAL 4
+#define    GYRO_X_RATE_INTEGRAL 6
+#define    GYRO_Y_RATE_INTEGRAL 8
+#define    GYRO_Z_RATE_INTEGRAL 10
+#define    INTEGRATION_TIMESPAN 12
+#define    SONAR_TIMESTAMP_INTEGRAL 16
+#define    GROUND_DISTANCE_INTEGRAL 20
+#define    GYRO_TEMPERATURE 22
+#define    QUALITY_INTEGRAL 24
+
+typedef struct i2c_integral_frame {
+    uint16_t frame_count;       // counts created I2C frames 0
+    int16_t pixel_flow_x_sum;   // accumulated x flow in pixels*10 since last I2C frame 2
+    int16_t pixel_flow_y_sum;   // accumulated y flow in pixels*10 since last I2C frame 4 
+    int16_t flow_comp_m_x;      // x velocity*1000 in meters / timestep 6
+    int16_t flow_comp_m_y;      // y velocity*1000 in meters / timestep 8 
+    int16_t qual;               // Optical flow quality / confidence 0: bad, 255: maximum quality 10
+    int16_t gyro_x_rate;        //gyro x rate 12
+    int16_t gyro_y_rate;        //gyro y rate 14
+    int16_t gyro_z_rate;        //gyro z rate 16
+    uint8_t gyro_range;         // gyro range 18
+    uint8_t sonar_timestamp;    // timestep in milliseconds between I2C frames 19
+    int16_t ground_distance;    // Ground distance in meters*1000. Positive value: distance known. Negative value: Unknown distance 20
+} i2c_frame;
+
+typedef struct i2c_integral_frame {
+    uint16_t frame_count_since_last_readout;//number of flow measurements since last I2C readout [#frames] 22
+    int16_t pixel_flow_x_integral;          //accumulated flow in radians*10000 around x axis since last I2C readout [rad*10000] 24
+    int16_t pixel_flow_y_integral;          //accumulated flow in radians*10000 around y axis since last I2C readout [rad*10000] 26
+    int16_t gyro_x_rate_integral;           //accumulated gyro x rates in radians*10000 since last I2C readout [rad*10000] 28
+    int16_t gyro_y_rate_integral;           //accumulated gyro y rates in radians*10000 since last I2C readout [rad*10000] 30 
+    int16_t gyro_z_rate_integral;           //accumulated gyro z rates in radians*10000 since last I2C readout [rad*10000] 32
+    uint32_t integration_timespan;          //accumulation timespan in microseconds since last I2C readout [microseconds] 34
+    uint32_t sonar_timestamp;               // time since last sonar update [microseconds] 38
+    int16_t ground_distance;                // Ground distance in meters*1000 [meters*1000] 42
+    int16_t gyro_temperature;               // Temperature * 100 in centi-degrees Celsius [degcelsius*100] 44
+    uint8_t quality;                        // averaged quality of accumulated flow values [0:bad quality;255: max quality] 46
+} i2c_integral_frame;
+
+
+class PX4Flow
+{
+public:
+    // Constructor
+    PX4Flow(I2C& i2c, Serial& pc);
+    // Deconstructor
+    virtual ~PX4Flow();
+
+    // Methods
+    bool update();
+    bool update_integral();
+
+    // Simple frame
+    uint16_t frame_count();
+    int16_t pixel_flow_x_sum();
+    int16_t pixel_flow_y_sum();
+    int16_t flow_comp_m_x();
+    int16_t flow_comp_m_y();
+    int16_t qual();
+    int16_t gyro_x_rate();
+    int16_t gyro_y_rate();
+    int16_t gyro_z_rate();
+    uint8_t gyro_range();
+    uint8_t sonar_timestamp();
+    int16_t ground_distance();
+
+    // Integral frame
+    uint16_t frame_count_since_last_readout();
+    int16_t  pixel_flow_x_integral();
+    int16_t  pixel_flow_y_integral();
+    int16_t  gyro_x_rate_integral();
+    int16_t  gyro_y_rate_integral();
+    int16_t  gyro_z_rate_integral();
+    uint32_t integration_timespan();
+    uint32_t sonar_timestamp_integral();
+    int16_t  ground_distance_integral();
+    int16_t  gyro_temperature();
+    uint8_t  quality_integral();
+
+
+protected:
+    I2C i2c;
+    Serial pc;
+    
+    // Buffer to read in the sensordata
+    char bufferS[22];
+    char bufferI[26];
+
+    char i2c_commands[2];
+    
+    struct i2c_frame frame;
+    struct i2c_integral_frame iframe;
+
+    uint8_t  read8(char *buffer, const unsigned int& idx = 0);
+    uint16_t read16(char *buffer, const unsigned int& idx = 0);
+    uint32_t read32(char *buffer, const unsigned int& idx = 0);
+};
+
+#endif