better basetypes, improved adns9800_data.hpp

src/modm/driver/motion/adns9800.hpp

@@ -13,6 +13,7 @@
 
 #include <modm/platform.hpp>
 #include <modm/processing/fiber.hpp>
+#include <modm/processing/timer/timeout.hpp>
 #include <modm/architecture/interface/spi_device.hpp>
 #include <modm/architecture/interface/accessor_flash.hpp>
 #include <modm/debug/logger.hpp>
@@ -101,6 +102,11 @@ struct adns9800 {
   };
   MODM_FLAGS8(ConfigurationII);
 
+  // Adns9800 takes periods up to 65535
+  using PeriodType = uint16_t;
+  // The internal timer is running at 50MHz, hence the ratio:
+  using Duration = std::chrono::duration<PeriodType, std::ratio<1, 50_MHz>>;
+
   // forward declarations
   struct Data;
   struct DataAndFaildetect;
@@ -120,7 +126,6 @@ template <class SpiMaster, class Cs>
 class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
 public:
   static constexpr size_t FrameSize = 30 * 30; // Size of CMOS
-
   /**
    * @brief                ShutterConfig boundaries which may be selected by the automatic frame rate control.
    *                       Periods are expressed as ticks of the device, running at 50MHz.
@@ -133,9 +138,6 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
    * @ingroup modm_driver_adns9800
    */
   struct ShutterConfig {
-    using PeriodType = uint16_t;
-    using Duration = std::chrono::duration<PeriodType, std::ratio<1, 50_MHz>>;
-
     PeriodType period_min, period_max, exposure_max;
 
     // The datasheet refers to "wait for one frame" without better specification.
@@ -234,7 +236,7 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
 	}
 
   void
-	set(const ShutterConfig shutter_new) {
+	set(ShutterConfig shutter_new) {
     if (shutter_new.isValid()) {
       shutter_config = shutter_new;
 
@@ -252,8 +254,8 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
 
   /// In fixed framerate mode (Register ConfigurationII::Fixed_FrameRate: 1), period_max selects the framerate
   void
-	setFramePeriodMax(const uint16_t period_max) {
-    const uint16_t recover = shutter_config.period_max;
+	setFramePeriodMax(const PeriodType period_max) {
+    const PeriodType recover = shutter_config.period_max;
     shutter_config.period_max = period_max;
 
     if (shutter_config.isValid()) {
@@ -266,8 +268,8 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   }
 
   void
-	setFramePeriodMin(const uint16_t period_min) {
-    const uint16_t recover = shutter_config.period_min;
+	setFramePeriodMin(const PeriodType period_min) {
+    const PeriodType recover = shutter_config.period_min;
     shutter_config.period_min = period_min;
 
     if (shutter_config.isValid()) {
@@ -280,8 +282,8 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
   }
 
   void
-  setExposureMax(const uint16_t shutter_max) {
-    const uint16_t recover = shutter_config.shutter_max;
+  setExposureMax(const PeriodType shutter_max) {
+    const PeriodType recover = shutter_config.shutter_max;
     shutter_config.shutter_max = shutter_max;
 
     if (shutter_config.assert()) {
@@ -413,7 +415,7 @@ class Adns9800 : public adns9800, public modm::SpiDevice<SpiMaster> {
     });
     modm::this_fiber::sleep_for(shutter_config.getOneFrameTime());
 
-    // Additionaly one could request a CRC check of the firmware. @see datasheet P31
+    // @optimize Request a CRC result of the firmware. @see datasheet P31
   }
 
 private:

src/modm/driver/motion/adns9800_data.hpp

@@ -20,19 +20,18 @@
 #include "adns9800.hpp"
 
 /**
- * You can stream Data in 3 levels of detail with increasing size: Data,
- * DataObserve and DataAnalysis. Of course, there's a tradeof with RAM
- * consumption and bus time.
+ * Choose the level of detail you need from your Adns9800.
+ * Of course, there's a tradeof with RAM and bus time.
  *
  * @author Thomas Sommer
  *
  * @ingroup modm_driver_adns9800
  */
 namespace modm {
 
-/// Minimum Payload: only retrieve relative movement from the sensor
+/// Bare minimum: Relative motion
 struct adns9800::Data {
-  modm::Vector<int16_t, 2> delta;
+  const modm::Vector<int16_t, 2> delta;
 
 
 protected:
@@ -47,7 +46,7 @@ struct adns9800::Data {
   friend class Adns9800;
 };
 
-/// Retrieve relative movement from the sensor plus Laser fault detection
+/// Relative motion And Laser fault detection flags:
 struct adns9800::DataAndFaildetect : public adns9800::Data {
   // @todo Looks wastefull - use a bitfield or similar instead
   const bool LaserFaultDetected;
@@ -66,8 +65,7 @@ struct adns9800::DataAndFaildetect : public adns9800::Data {
   friend class Adns9800;
 };
 
-/// Retrieve relative movement from the sensor, Laser fault detection
-/// and monitoring metrics from the shutter unit.
+/// Relative motion, Laser fault detection flags and metrics from the shutter unit:
 struct adns9800::DataAndFaildetectAndMonitoring
     : public adns9800::DataAndFaildetect {
   struct Statistics {
@@ -83,7 +81,7 @@ struct adns9800::DataAndFaildetectAndMonitoring
      * no surface below the sensor. SQUAL remains fairly high throughout the
      * Z-height range which allows illumination of most pixels in the sensor.
      */
-    uint8_t surface_quality;
+    const uint8_t surface_quality;
     /**
      * This register is used to find the average pixel value. It reports the
      * upper byte of a 17-bit counter which sums all 900 pixels in the current
@@ -93,24 +91,26 @@ struct adns9800::DataAndFaildetectAndMonitoring
      * 223 (127 * 900 / 512 truncated to an integer). The minimum register value
      * is 0. The pixel sum value can change every frame.
      */
-    uint8_t pixel_sum;
+    const uint8_t pixel_sum;
     /**
      * Minium and maximum Pixel value in current frame. Range:
      * 0 to 127.
      * The minimum and maximum pixel value can change every frame.
      */
-    uint8_t max_pixel;
-    uint8_t min_pixel;
+    const uint8_t max_pixel;
+    const uint8_t min_pixel;
   } statistics;
 
   // Automated shutter selections
   struct Shutter {
-    /// The current exposure in cycles of Clock.
-    /// exposure <= Adns9800::Shutter::exposure_max
-    uint16_t exposure;
-    /// The Frame period in cycles of Clock.
-    /// Adns9800::Shutter::period_min <= period <= Adns9800::Shutter::period_max
-    uint16_t period;
+    Duration getExposureTime() const { return Duration(exposure); };
+    Duration getFrameTime() const { return Duration(period); };
+
+  protected:
+    /// exposure <= ShutterConfig::exposure_max
+    const PeriodType exposure;
+    /// ShutterConfig::period_min <= period <= ShutterConfig::period_max
+    const PeriodType period;
   } shutter;
 
 protected: