Driver for PMW3901 optical flow sensor
No detailed description...
Example for airframe file
Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!
<module name="opticflow_pmw3901">
b'<define name="OPTICFLOW_PMW3901_SENSOR_ANGLE" value="90" />\n '
b'<define name="OPTICFLOW_PMW3901_SUBPIXEL_FACTOR" value="100" />\n '
b'<define name="OPTICFLOW_PMW3901_STD_PX" value="50" />\n '
b'<define name="OPTICFLOW_PMW3901_AGL_ID" value="ABI_BROADCAST" />\n '
b'<define name="OPTICFLOW_PMW3901_AGL_TIMEOUT_US" value="500000" />\n '
b'<define name="PMW3901_RAD_PER_PX" value="0.002443389" />\n '
b'<define name="PMW3901_SPI_CDIV" value="SPIDiv256" />\n '
b'<define name="OPTICFLOW_PMW3901_RAD_PER_PX" value="(undefined)" />\n '
b'<define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901" value="FALSE" />\n '
b'<configure name="OPTICFLOW_PMW3901_SPI_DEV" value="SPIx" />\n '
b'<configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="2" />\n '
</module>
Module configuration options
Configure Options
- name:
OPTICFLOW_PMW3901_SPI_DEV
value: SPIx
Description: SPI device
- name:
OPTICFLOW_PMW3901_SPI_SLAVE_IDX
value: 2
Description: SPI slave index
Define Options
- name:
OPTICFLOW_PMW3901_SENSOR_ANGLE
value: 90
Description: Sensor mounting angle in degrees
- name:
OPTICFLOW_PMW3901_SUBPIXEL_FACTOR
value: 100
Description: Subpixel factor
- name:
OPTICFLOW_PMW3901_STD_PX
value: 50
Description: Standard deviation of flow measurement in px
- name:
OPTICFLOW_PMW3901_AGL_ID
value: ABI_BROADCAST
Description: AGL source to listen to for velocity estimation
- name:
OPTICFLOW_PMW3901_AGL_TIMEOUT_US
value: 500000
Description: Lifetime of AGL measurements
- name:
PMW3901_RAD_PER_PX
value: 0.002443389
Description: Rad-per-px for ALL PMW3901 sensors
- name:
PMW3901_SPI_CDIV
value: SPIDiv256
Description: SPI Clock divisor to adjust according to PCLK, don't exceeed 2MHz
- name:
OPTICFLOW_PMW3901_RAD_PER_PX
value: (undefined)
Description: Override rad-per-px only for the PMW3901 used by this module
- name:
SENSOR_SYNC_SEND_OPTICFLOW_PMW3901
value: FALSE
Description: Send all new measurements over telemetry
Module functions
Init Functions
These initialization functions are called once on startup.
Event Functions
These event functions are called in each cycle of the module event loop.
Periodic Functions
These functions are called periodically at the specified frequency from the module periodic loop.
Files
Header Files
The following headers are automatically included in modules.h
Source Files
Raw opticflow_pmw3901.xml file:
<!DOCTYPE module SYSTEM "module.dtd">
<module name="opticflow_pmw3901" dir="sensors">
<doc>
<description>Driver for PMW3901 optical flow sensor</description>
<configure name="OPTICFLOW_PMW3901_SPI_DEV" value="SPIx" description="SPI device"/>
<configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="2" description="SPI slave index"/>
<define name="OPTICFLOW_PMW3901_SENSOR_ANGLE" value="90" description="Sensor mounting angle in degrees"/>
<define name="OPTICFLOW_PMW3901_SUBPIXEL_FACTOR" value="100" description="Subpixel factor"/>
<define name="OPTICFLOW_PMW3901_STD_PX" value="50" description="Standard deviation of flow measurement in px"/>
<define name="OPTICFLOW_PMW3901_AGL_ID" value="ABI_BROADCAST" description="AGL source to listen to for velocity estimation"/>
<define name="OPTICFLOW_PMW3901_AGL_TIMEOUT_US" value="500000" description="Lifetime of AGL measurements"/>
<define name="PMW3901_RAD_PER_PX" value="0.002443389" description="Rad-per-px for ALL PMW3901 sensors"/>
<define name="PMW3901_SPI_CDIV" value="SPIDiv256" description="SPI Clock divisor to adjust according to PCLK, don't exceeed 2MHz"/>
<define name="OPTICFLOW_PMW3901_RAD_PER_PX" value="(undefined)" description="Override rad-per-px only for the PMW3901 used by this module"/>
<define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901" value="FALSE" description="Send all new measurements over telemetry"/>
</doc>
<settings>
<dl_settings>
<dl_settings name="OF_PMW3901">
<dl_setting shortname="sensor_angle" var="of_pmw.sensor_angle" min="0" step="1" max="360"/>
<dl_setting shortname="subpixel_factor" var="of_pmw.subpixel_factor" min="0" step="1" max="500"/>
<dl_setting shortname="std_px" var="of_pmw.std_px" min="0.0" max="100.0" step="0.1"/>
<dl_setting shortname="agl_timeout" var="of_pmw.agl_timeout" min="0" step="1000" max="1000000"/>
<dl_setting shortname="rad_per_px" var="of_pmw.pmw.rad_per_px" min="0.000" max="0.010" step="0.001"/>
</dl_settings>
</dl_settings>
</settings>
<dep>
<depends>spi_master</depends>
</dep>
<header>
<file name="opticflow_pmw3901.h"/>
</header>
<init fun="opticflow_pmw3901_init()"/>
<periodic fun="opticflow_pmw3901_periodic()" freq="100"/>
<event fun="opticflow_pmw3901_event()"/>
<makefile target="ap">
<configure name="OPTICFLOW_PMW3901_SPI_DEV" default="SPI2" case="upper|lower"/>
<configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" default="1"/>
<define name="USE_$(OPTICFLOW_PMW3901_SPI_DEV_UPPER)"/>
<define name="USE_SPI_SLAVE$(OPTICFLOW_PMW3901_SPI_SLAVE_IDX)"/>
<define name="OPTICFLOW_PMW3901_SPI_DEV" value="$(OPTICFLOW_PMW3901_SPI_DEV_LOWER)"/>
<define name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="$(OPTICFLOW_PMW3901_SPI_SLAVE_IDX)"/>
<file name="opticflow_pmw3901.c"/>
<file name="pmw3901.c" dir="peripherals"/>
</makefile>
</module>