initial wip

Author: avtoku

boards/varmint_h7/common/CommonConfig.h

@@ -149,6 +149,7 @@ extern TIM_HandleTypeDef htim7;
 extern TIM_HandleTypeDef htim8;
 extern TIM_HandleTypeDef htim12;
 extern TIM_HandleTypeDef htim15;
+extern TIM_HandleTypeDef htim17;
 
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart2;

boards/varmint_h7/common/Varmint.cpp

@@ -221,6 +221,17 @@ bool Varmint::sonar_read(rosflight_firmware::RangeStruct * range)
   return false;
 }
 
+///////////////////////////////////////////////////////////////////////////////////////////////
+// Optical Flow Sensor
+bool Varmint::flow_read(rosflight_firmware::OpticalFlowStruct * oflow)
+{
+  if (range_.read((uint8_t *) oflow, sizeof(rosflight_firmware::OpticalFlowStruct))) {
+    return true;
+  }
+
+  return false;
+}
+
 ///////////////////////////////////////////////////////////////////////////////////////////////
 // Battery
 bool Varmint::battery_read(rosflight_firmware::BatteryStruct * batt)

boards/varmint_h7/common/Varmint.h

@@ -57,6 +57,7 @@
 #include "Ubx.h"
 #include "Vcp.h"
 #include "Lidarlitev3hp.h"
+#include "Pmw3901.h"
 #include "interface/board.h"
 
 /*
@@ -123,6 +124,8 @@ class Varmint : public rosflight_firmware::Board
 
   bool sonar_read(rosflight_firmware::RangeStruct * sonar) override;
 
+  bool flow_read(rosflight_firmware::OpticalFlowStruct * flow) override;
+
   // Battery
   bool battery_read(rosflight_firmware::BatteryStruct * bat) override;
   void battery_voltage_set_multiplier(double multiplier) override;

boards/varmint_h7/common/drivers/Mpu.cpp

@@ -47,6 +47,7 @@ void MpuConfig(void)
   HAL_MPU_Disable();
 
   /** Initializes and configures the Region and the memory to be protected
+   * SRAM3
   */
   MPU_InitStruct.Enable = MPU_REGION_ENABLE;
   MPU_InitStruct.Number = MPU_REGION_NUMBER0;
@@ -63,6 +64,7 @@ void MpuConfig(void)
   HAL_MPU_ConfigRegion(&MPU_InitStruct);
 
   /** Initializes and configures the Region and the memory to be protected
+   * SRAM4
   */
   MPU_InitStruct.Number = MPU_REGION_NUMBER1;
   MPU_InitStruct.BaseAddress = 0x38000000;

boards/varmint_h7/common/drivers/Packets.h

@@ -118,5 +118,6 @@ typedef struct //__attribute__((__packed__))
 } GnssPacket;
 
 typedef rosflight_firmware::RangeStruct RangePacket;
+typedef rosflight_firmware::OpticalFlowStruct OpticalFlowPacket;
 
 #endif /* DRIVERPACKETS_H_ */