From 026cd4e64f2cc6c6e6681e64fc0df86e7c50ce03 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Sat, 21 Apr 2012 20:09:15 +0900
Subject: [PATCH] AP_OpticalFlow - moved most pin definitions into .cpp file
---
.../AP_OpticalFlow_ADNS3080.cpp | 11 ++++++++++
.../AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h | 20 ++++---------------
2 files changed, 15 insertions(+), 16 deletions(-)
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
index b4fb52ddd..f3e377cdb 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.cpp
@@ -33,6 +33,17 @@
#define AP_SPI_TIMEOUT 1000
+// We use Serial Port 2 in SPI Mode
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+ #define AP_SPI_DATAIN 50 // MISO // PB3
+ #define AP_SPI_DATAOUT 51 // MOSI // PB2
+ #define AP_SPI_CLOCK 52 // SCK // PB1
+#else // normal arduino SPI pins...these need to be checked
+ #define AP_SPI_DATAIN 12 //MISO
+ #define AP_SPI_DATAOUT 11 //MOSI
+ #define AP_SPI_CLOCK 13 //SCK
+#endif
+
union NumericIntType
{
int intValue;
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
index fc998e139..60a26f57d 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_ADNS3080.h
@@ -3,6 +3,10 @@
#include "AP_OpticalFlow.h"
+// default pin settings
+#define ADNS3080_CHIP_SELECT 34 // PC3
+#define ADNS3080_RESET 0 // reset pin is unattached by default
+
// orientations for ADNS3080 sensor
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD ROTATION_YAW_180
#define AP_OPTICALFLOW_ADNS3080_PINS_FORWARD_RIGHT ROTATION_YAW_135
@@ -19,21 +23,6 @@
// scaler - value returned when sensor is moved equivalent of 1 pixel
#define AP_OPTICALFLOW_ADNS3080_SCALER 1.1
-// We use Serial Port 2 in SPI Mode
-#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- #define AP_SPI_DATAIN 50 // MISO // PB3
- #define AP_SPI_DATAOUT 51 // MOSI // PB2
- #define AP_SPI_CLOCK 52 // SCK // PB1
- #define ADNS3080_CHIP_SELECT 34 // PC3
- #define ADNS3080_RESET 0 // reset pin is unattached by default
-#else // normal arduino SPI pins...these need to be checked
- #define AP_SPI_DATAIN 12 //MISO
- #define AP_SPI_DATAOUT 11 //MOSI
- #define AP_SPI_CLOCK 13 //SCK
- #define ADNS3080_CHIP_SELECT 10 //SS
- #define ADNS3080_RESET 9 //RESET
-#endif
-
// ADNS3080 hardware config
#define ADNS3080_PIXELS_X 30
#define ADNS3080_PIXELS_Y 30
@@ -85,7 +74,6 @@
#define ADNS3080_FRAME_RATE_MAX 6469
#define ADNS3080_FRAME_RATE_MIN 2000
-
class AP_OpticalFlow_ADNS3080 : public AP_OpticalFlow
{
private:
--
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