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modm-io · Jul 21, 2024 · cc26f13 · cc26f13
1 parent 29ac434
commit cc26f13
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Showing 3 changed files with 109 additions and 85 deletions.
diff --git a/src/modm/driver/motion/adns9800.hpp b/src/modm/driver/motion/adns9800.hpp
@@ -109,6 +109,8 @@ struct adns9800 {
   using PeriodType = uint16_t;
   using Duration = std::chrono::duration<PeriodType, std::ratio<1, 50_MHz>>;
 
+  using DeltaType = int16_t;
+
   // forward declarations
   struct Data;
   struct Data_Fails;
@@ -315,12 +317,12 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   requires std::is_base_of_v<Data, D>
   D
   read() {
-    uint8_t buffer[D::length];
+    std::array<uint8_t, D::length> buffer;
 
     readTransaction([this, &buffer]() {
       SpiMaster::transfer(static_cast<uint8_t>(Register::Motion_Burst));
       modm::this_fiber::sleep_for(shutter_config.getOneFrameTime());
-      SpiMaster::transfer(nullptr, buffer, sizeof(buffer));
+      SpiMaster::transfer(nullptr, std::begin(buffer), buffer.size());
     });
 
     return D(buffer);
@@ -341,8 +343,10 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   template<class Callable>
   void
   readTransaction(Callable&& closure) {
-    while(not ready_to_read.isExpired()) modm::this_fiber::yield();
-    while(not this->acquireMaster()) modm::this_fiber::yield();
+    while(not ready_to_read.isExpired())
+      modm::this_fiber::yield();
+    while(not this->acquireMaster())
+      modm::this_fiber::yield();
     Cs::reset();
 
     std::forward<Callable>(closure)();
@@ -357,8 +361,10 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   template<class Callable>
   void
   writeTransaction(Callable&& closure) {
-    while(not ready_to_write.isExpired()) modm::this_fiber::yield();
-    while(not this->acquireMaster()) modm::this_fiber::yield();
+    while(not ready_to_write.isExpired())
+      modm::this_fiber::yield();
+    while(not this->acquireMaster())
+      modm::this_fiber::yield();
     Cs::reset();
 
     std::forward<Callable>(closure)();
@@ -386,7 +392,7 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
 
   void
   writeRegister(const Register reg, const uint8_t data) {
-    writeTransaction([=]() {
+    writeTransaction([&]() {
       // Setting Bit7 indicates a write
       SpiMaster::transfer(static_cast<uint8_t>(reg) | Bit7);
       SpiMaster::transfer(data);
@@ -400,7 +406,7 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
     modm::this_fiber::sleep_for(shutter_config.getOneFrameTime());
 	  writeRegister(Register::SROM_Enable, 0x18); // Start SROM download
 
-    writeTransaction([=]() {
+    writeTransaction([&]() {
       // Setting Bit7 indicates a write
       SpiMaster::transfer(static_cast<uint8_t>(Register::SROM_Load_Burst) | Bit7);
 
@@ -413,7 +419,7 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
     });
     modm::this_fiber::sleep_for(shutter_config.getOneFrameTime());
 
-    // @optimize Request a CRC result of the firmware. @see datasheet P31
+    // Additionaly, a CRC of the firmware may be requested. @see datasheet P31
   }
 
 private:

diff --git a/src/modm/driver/motion/adns9800.lb b/src/modm/driver/motion/adns9800.lb
@@ -32,8 +32,7 @@ def prepare(module, options):
     module.depends(
         ":processing:resumable",
         ":architecture:spi.device",
-        ":math:geometry",
-        ":architecture:assert",
+        ":math:geometry"
         )
     return True
 

diff --git a/src/modm/driver/motion/adns9800_data.hpp b/src/modm/driver/motion/adns9800_data.hpp
@@ -25,91 +25,110 @@
  * @author  Thomas Sommer
  * @ingroup modm_driver_adns9800
  */
-namespace modm {
+namespace modm
+{
 
 /// @brief Relative motion since the last read
-struct adns9800::Data {
-  const modm::Vector<int16_t, 2> delta;
+struct adns9800::Data
+{
+	const modm::Vector<DeltaType, 2> delta;
 
 protected:
-  static constexpr size_t length = 6;
-  Data(std::span<uint8_t, length> buffer)
-      : delta{
-            buffer[3] << 8 | buffer[2], // delta x
-            buffer[5] << 8 | buffer[4]  // delta y
-        } {}
-
-  template <class, class>
-  friend class Adns9800;
+	static constexpr size_t length = 6;
+	Data(std::span<uint8_t, length> buffer)
+		: delta{
+      static_cast<DeltaType>(buffer[3] << 8 | buffer[2]),
+			static_cast<DeltaType>(buffer[5] << 8 | buffer[4])
+    }
+	{}
+
+	template<class, class>
+	friend class Adns9800;
 };
 
 /// @brief Relative motion and laser fault detection flags
-struct adns9800::Data_Fails : public adns9800::Data {
-  const bool LaserFaultDetected: 1;
-  const bool LaserPowerValid: 1;
-  const bool isRunningSROMCode: 1;
+struct adns9800::Data_Fails : public adns9800::Data
+{
+	const bool LaserFaultDetected : 1;
+	const bool LaserPowerValid : 1;
+	const bool isRunningSROMCode : 1;
 
 protected:
-  Data_Fails(std::span<uint8_t, length> buffer)
-      : Data(buffer),
-        LaserFaultDetected(buffer[0] & Bit6),
-        LaserPowerValid(buffer[0] & Bit5),
-        isRunningSROMCode(buffer[1] & Bit6) {
-  }
-
-  template <class, class>
-  friend class Adns9800;
+	Data_Fails(std::span<uint8_t, length> buffer)
+		: Data(buffer),
+		  LaserFaultDetected(buffer[0] & Bit6),
+		  LaserPowerValid(buffer[0] & Bit5),
+		  isRunningSROMCode(buffer[1] & Bit6)
+	{}
+
+	template<class, class>
+	friend class Adns9800;
 };
 
 /// @brief Relative motion, laser fault detection flags and metrics from the shutter unit.
-struct adns9800::Data_Fails_Monitoring
-    : public adns9800::Data_Fails {
-  struct Statistics {
-    /**
-     * Number of features visible by the sensor in the current frame. Range 0 to 169.
-     * Total number of features: 4 * surface_quality.
-     * Changes are expected when moving over a surface.
-     * Convergates to 0 if there is no surface below the sensor.
-     * surface_quality remains fairly high throughout the Z-height.
-     */
-    const uint8_t surface_quality;
-    // pixel_sum containes the average pixel value. Range 0 to 223.
-    // It reports the upper byte of a 17-bit counter which sums all 900 pixels in the current frame
-    const uint8_t pixel_sum;
-    // Minium and maximum Pixel value in current frame. Range: 0 to 127.
-    const uint8_t max_pixel;
-    const uint8_t min_pixel;
-  } statistics;
-
-  uint8_t getAveragePixelValue() const {
-    return statistics.pixel_sum << 9 / FrameSize;
-  }
-
-  struct Shutter {
-    // exposure <= ShutterConfig::exposure_max!
-    const PeriodType exposure;
-    // ShutterConfig::period_min <= period <= ShutterConfig::period_max!
-    const PeriodType period;
-  } shutter;
-
-  Duration getExposureTime() const { return Duration(shutter.exposure); };
-  Duration getFrameTime() const { return Duration(shutter.period); };
+struct adns9800::Data_Fails_Monitoring : public adns9800::Data_Fails
+{
+	struct Statistics
+	{
+		/**
+		 * Number of features visible by the sensor in the current frame. Range 0 to 169.
+		 * Total number of features: 4 * surface_quality.
+		 * Changes are expected when moving over a surface.
+		 * Convergates to 0 if there is no surface below the sensor.
+		 * surface_quality remains fairly high throughout the Z-height.
+		 */
+		const uint8_t surface_quality;
+		// pixel_sum containes the average pixel value. Range 0 to 223.
+		// It reports the upper byte of a 17-bit counter which sums all 900 pixels in the current
+		// frame
+		const uint8_t pixel_sum;
+		// Minium and maximum Pixel value in current frame. Range: 0 to 127.
+		const uint8_t max_pixel;
+		const uint8_t min_pixel;
+	} statistics;
+
+	uint8_t
+	getAveragePixelValue() const
+	{
+		return statistics.pixel_sum << 9 / FrameSize;
+	}
+
+	struct Shutter
+	{
+		// exposure <= ShutterConfig::exposure_max!
+		const PeriodType exposure;
+		// ShutterConfig::period_min <= period <= ShutterConfig::period_max!
+		const PeriodType period;
+	} shutter;
+
+	Duration
+	getExposureTime() const
+	{
+		return Duration(shutter.exposure);
+	};
+	Duration
+	getFrameTime() const
+	{
+		return Duration(shutter.period);
+	};
+
 protected:
-  static constexpr size_t length = 14;
-  Data_Fails_Monitoring(std::span<uint8_t, length> buffer)
-      : Data_Fails(buffer.subspan<0, Data_Fails::length>()),
-        statistics{
-          surface_quality : buffer[6],
-          pixel_sum : buffer[7],
-          max_pixel : buffer[8],
-          min_pixel : buffer[9]
-        },
-        shutter{
-          exposure : buffer[10] << 8 | buffer[11],
-          period : buffer[12] << 8 | buffer[13],
-        } {}
-
-  template <class, class>
-  friend class Adns9800;
+	static constexpr size_t length = 14;
+	Data_Fails_Monitoring(std::span<uint8_t, length> buffer)
+		: Data_Fails(buffer.subspan<0, Data_Fails::length>()),
+		  statistics{
+			  surface_quality : buffer[6],
+			  pixel_sum : buffer[7],
+			  max_pixel : buffer[8],
+			  min_pixel : buffer[9]
+		  },
+		  shutter{
+			  exposure : static_cast<PeriodType>(buffer[10] << 8 | buffer[11]),
+			  period : static_cast<PeriodType>(buffer[12] << 8 | buffer[13])
+		  }
+	{}
+
+	template<class, class>
+	friend class Adns9800;
 };
-} // namespace modm
+}  // namespace modm