diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp index a4af1d4c86c2c..44102c1329956 100644 --- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp +++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp @@ -49,9 +49,179 @@ #define UPFLOW_FOOTER (uint8_t)0x55 #define UPFLOW_PIXEL_SCALING (1e-4) #define UPFLOW_TIMEOUT_SEC 0.3f +#define UPFLOW_SENSOR_IIC_ADDR (uint8_t)0xDC extern const AP_HAL::HAL& hal; +// internal parameter configuration instructions +const static uint8_t upflow_internal_para[4] = {0x96, 0x26, 0xbc, 0x50}; + +// sensor parameter configuration +const static uint8_t upflow_sensor_cfg[]= { + //Address, Data + 0x12, 0x80, + 0x11, 0x30, + 0x1b, 0x06, + 0x6b, 0x43, + 0x12, 0x20, + 0x3a, 0x00, + 0x15, 0x02, + 0x62, 0x81, + 0x08, 0xa0, + 0x06, 0x68, + 0x2b, 0x20, + 0x92, 0x25, + 0x27, 0x97, + 0x17, 0x01, + 0x18, 0x79, + 0x19, 0x00, + 0x1a, 0xa0, + 0x03, 0x00, + 0x13, 0x00, + 0x01, 0x13, + 0x02, 0x20, + 0x87, 0x16, + 0x8c, 0x01, + 0x8d, 0xcc, + 0x13, 0x07, + 0x33, 0x10, + 0x34, 0x1d, + 0x35, 0x46, + 0x36, 0x40, + 0x37, 0xa4, + 0x38, 0x7c, + 0x65, 0x46, + 0x66, 0x46, + 0x6e, 0x20, + 0x9b, 0xa4, + 0x9c, 0x7c, + 0xbc, 0x0c, + 0xbd, 0xa4, + 0xbe, 0x7c, + 0x20, 0x09, + 0x09, 0x03, + 0x72, 0x2f, + 0x73, 0x2f, + 0x74, 0xa7, + 0x75, 0x12, + 0x79, 0x8d, + 0x7a, 0x00, + 0x7e, 0xfa, + 0x70, 0x0f, + 0x7c, 0x84, + 0x7d, 0xba, + 0x5b, 0xc2, + 0x76, 0x90, + 0x7b, 0x55, + 0x71, 0x46, + 0x77, 0xdd, + 0x13, 0x0f, + 0x8a, 0x10, + 0x8b, 0x20, + 0x8e, 0x21, + 0x8f, 0x40, + 0x94, 0x41, + 0x95, 0x7e, + 0x96, 0x7f, + 0x97, 0xf3, + 0x13, 0x07, + 0x24, 0x58, + 0x97, 0x48, + 0x25, 0x08, + 0x94, 0xb5, + 0x95, 0xc0, + 0x80, 0xf4, + 0x81, 0xe0, + 0x82, 0x1b, + 0x83, 0x37, + 0x84, 0x39, + 0x85, 0x58, + 0x86, 0xff, + 0x89, 0x15, + 0x8a, 0xb8, + 0x8b, 0x99, + 0x39, 0x98, + 0x3f, 0x98, + 0x90, 0xa0, + 0x91, 0xe0, + 0x40, 0x20, + 0x41, 0x28, + 0x42, 0x26, + 0x43, 0x25, + 0x44, 0x1f, + 0x45, 0x1a, + 0x46, 0x16, + 0x47, 0x12, + 0x48, 0x0f, + 0x49, 0x0d, + 0x4b, 0x0b, + 0x4c, 0x0a, + 0x4e, 0x08, + 0x4f, 0x06, + 0x50, 0x06, + 0x5a, 0x56, + 0x51, 0x1b, + 0x52, 0x04, + 0x53, 0x4a, + 0x54, 0x26, + 0x57, 0x75, + 0x58, 0x2b, + 0x5a, 0xd6, + 0x51, 0x28, + 0x52, 0x1e, + 0x53, 0x9e, + 0x54, 0x70, + 0x57, 0x50, + 0x58, 0x07, + 0x5c, 0x28, + 0xb0, 0xe0, + 0xb1, 0xc0, + 0xb2, 0xb0, + 0xb3, 0x4f, + 0xb4, 0x63, + 0xb4, 0xe3, + 0xb1, 0xf0, + 0xb2, 0xa0, + 0x55, 0x00, + 0x56, 0x40, + 0x96, 0x50, + 0x9a, 0x30, + 0x6a, 0x81, + 0x23, 0x33, + 0xa0, 0xd0, + 0xa1, 0x31, + 0xa6, 0x04, + 0xa2, 0x0f, + 0xa3, 0x2b, + 0xa4, 0x0f, + 0xa5, 0x2b, + 0xa7, 0x9a, + 0xa8, 0x1c, + 0xa9, 0x11, + 0xaa, 0x16, + 0xab, 0x16, + 0xac, 0x3c, + 0xad, 0xf0, + 0xae, 0x57, + 0xc6, 0xaa, + 0xd2, 0x78, + 0xd0, 0xb4, + 0xd1, 0x00, + 0xc8, 0x10, + 0xc9, 0x12, + 0xd3, 0x09, + 0xd4, 0x2a, + 0xee, 0x4c, + 0x7e, 0xfa, + 0x74, 0xa7, + 0x78, 0x4e, + 0x60, 0xe7, + 0x61, 0xc8, + 0x6d, 0x70, + 0x1e, 0x39, + 0x98, 0x1a +}; + // constructor AP_OpticalFlow_UPFLOW::AP_OpticalFlow_UPFLOW(AP_OpticalFlow &_frontend, AP_HAL::UARTDriver *_uart) : OpticalFlow_backend(_frontend), @@ -87,6 +257,85 @@ void AP_OpticalFlow_UPFLOW::init() } // open serial port with baud rate of 19200 uart->begin(19200); + + /* + LC306 or LC302-8B boards require initialization before use, but LC302-3C does not. + Initialization can divided into four parts + + (0xAA)start --> (0xAB)internal parameter configuration + --> (0xBB)sensor parameter configuration (Loop) --> (0xDD)End + ^--------------------------------------/ + + | command sent | returned status | + | ------------ | --------------- | + | 0xAA | none | 1. Start flag + | ------------ | --------------- | + | 0xAB | 0xAB | 2. internal parameter configuration flag + | 0x96 | | status code: 0x00 == success + | 0x26 | status code | 0x01 == IIC no response + | 0xbc | | 0x02 == XOR error + | 0x50 | | send: 0xAB, 0x96, 0x26, 0xbc, 0x50, 0x5c(BCC without 0xAB) + | BCC(0x5c) | 0xAB xor status | success response: 0xAB, 0x00, 0xAB + | ------------ | --------------- | + | 0xBB | 0xBB | 3. sensor parameter configuration + | 0xdc | | sending data in upflow_sensor_cfg + | address | status code | same status code above + | data | | send: 0xBB, 0xdc, 0xXX, 0xXX, 0xXX(BCC without 0xBB) + | BCC | 0xBB xor status | success response: 0xBB, 0x00, 0xBB + | ------------ | --------------- | + | 0xDD | none | 4. Stop flag + + !: Step 3 will run repeatedly until the sending is complete. + Each time the module receives an 0xBB instruction, it will return a corresponding status. + */ + + // uint32_t nbytes = 0; + uint8_t bcc_sum = 0; + uint8_t recv_buf[3]; + + //delay 100ms before initialization + hal.scheduler->delay(100); + + // (0xAA)start configuration + uart->write((uint8_t)0xAA); + + // (0xAB)internal parameter configuration + uart->write((uint8_t)0xAB); + for (int i = 0; i < 4; i++) { + uart->write(upflow_internal_para[i]); + bcc_sum ^= upflow_internal_para[i]; + } + uart->write(bcc_sum); + hal.scheduler->delay(10); + for (int i = 0; i < 3; i++) { + recv_buf[i] = uart->read(); + } + // if failed to receive response code, you can start over from 0xAA. + if ((recv_buf[0] ^ recv_buf[1]) != recv_buf[2]) { + return; + } + + // (0xBB)sensor parameter configuration + uint32_t cfg_cnt = 0; + while (cfg_cnt < sizeof(upflow_sensor_cfg) - 1) { + uart->write((uint8_t)0xBB); + uart->write(UPFLOW_SENSOR_IIC_ADDR); + uart->write(upflow_sensor_cfg[cfg_cnt]); // address + uart->write(upflow_sensor_cfg[cfg_cnt + 1]); // data + uart->write(UPFLOW_SENSOR_IIC_ADDR ^ upflow_sensor_cfg[cfg_cnt] ^ upflow_sensor_cfg[cfg_cnt + 1]); + hal.scheduler->delay(10); + for (int i = 0; i < 3; i++) { + recv_buf[i] = uart->read(); + } + // if failed to receive response code, you can start over from 0xBB. + if ((recv_buf[0] ^ recv_buf[1]) != recv_buf[2]) { + return; + } + cfg_cnt += 2; + } + + // (0xDD)End configuration + uart->write((uint8_t)0xDD); } // read latest values from sensor and fill in x,y and totals. @@ -191,4 +440,4 @@ void AP_OpticalFlow_UPFLOW::update(void) gyro_sum_count = 0; } -#endif // AP_OPTICALFLOW_UPFLOW_ENABLED +#endif // AP_OPTICALFLOW_UPFLOW_ENABLED \ No newline at end of file