src/main/drivers/opticalflow/opticalflow.h

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #pragma once
  23
  24 #include <stdint.h>
  25 #include "common/vector.h"
  26
  27 #define OPTICALFLOW_OUT_OF_RANGE        -1
  28 #define OPTICALFLOW_HARDWARE_FAILURE    -2
  29 #define OPTICALFLOW_NO_NEW_DATA         -3
  30
  31 #define OPTICALFLOW_HARDWARE_TIMEOUT_US  100000     // 100ms
  32
  33 typedef struct opticalflowData_s {
  34     uint32_t timeStampUs;
  35     int16_t quality;
  36     vector2_t flowRate;
  37 } opticalflowData_t;
  38
  39 struct opticalflowDev_s;
  40 typedef void opflowOpInitFunc(struct opticalflowDev_s * dev);
  41 typedef void opflowOpUpdateFunc(struct opticalflowDev_s * dev);
  42 typedef void opflowOpReadFunc(struct opticalflowDev_s * dev, opticalflowData_t * result);
  43
  44 typedef struct opticalflowDev_s {
  45     unsigned delayMs;
  46     int16_t minRangeCm;
  47     uint8_t minQualityThreshold;
  48
  49     opflowOpInitFunc  *init;
  50     opflowOpUpdateFunc *update;
  51     opflowOpReadFunc  *read;
  52 } opticalflowDev_t;