File content as of revision 9:be40afb750d3:

#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

// valid with original and modified firmware, but different scaling with modified firmware, see Git-branch IndNav of the Firmware itselt, pmic 12.09.2019
typedef struct i2c_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;

// only valid with original firmware, pmic 12.09.2019
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, valid with original and modified firmware, but different scaling with modified firmware, see Git-branch IndNav of the Firmware itselt, pmic 12.09.2019
    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, only valid with original firmware, pmic 12.09.2019
    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();

    /* IndNav Git-branch modifications, start here */
    // Integral frame, only valid with modified firmware, see Git-branch IndNav of the Firmware itselt, pmic 12.09.2019
    float avg_flowx();              // avg flow x in mm/s
    float avg_flowy();              // avg flow y in mm/s
    uint8_t valid_frame_count();    // nr. of valid frames (qual > 0) between i2c readings
    uint8_t all_frame_count();      // nr. of frames between i2c readings
    float update_fs();              // i2c averaging update rate in Hz
    float readout_fs();             // i2c readout update rate in Hz
    uint8_t avg_quality();          // avg 0-255 linear quality measurement 0=bad, 255=best
    float int_timespan();           // integration timespan in ms, now you can integrate flow values, if valid...
    float avg_gyro_x();             // avg gyro x in rad/s
    float avg_gyro_y();             // avg gyro y in rad/s
    float avg_gyro_z();             // avg gyro z in rad/s
    uint8_t avg_scaled_quality();   // avg 0-255 linear quality measurement 0=bad, 255=best, scaled with N_valid/N_frames
    /* IndNav Git-branch modifications, end here */

protected:
    I2C i2c;
    
    // 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