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">
   <define name="OPTICFLOW_PMW3901_SENSOR_ANGLE" value="90" />
   <define name="OPTICFLOW_PMW3901_SUBPIXEL_FACTOR" value="100" />
   <define name="OPTICFLOW_PMW3901_STD_PX" value="50" />
   <define name="OPTICFLOW_PMW3901_AGL_ID" value="ABI_BROADCAST" />
   <define name="OPTICFLOW_PMW3901_AGL_TIMEOUT_US" value="500000" />
   <define name="PMW3901_RAD_PER_PX" value="0.002443389" />
   <define name="PMW3901_SPI_CDIV" value="SPIDiv256" />
   <define name="OPTICFLOW_PMW3901_RAD_PER_PX" value="(undefined)" />
   <define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901" value="FALSE" />
   <configure name="OPTICFLOW_PMW3901_SPI_DEV" value="SPIx" />
   <configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="2" />
 </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.

opticflow_pmw3901_init()

Event Functions

These event functions are called in each cycle of the module event loop.

opticflow_pmw3901_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

opticflow_pmw3901_periodic()
- Frequency in Hz: 100
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

opticflow_pmw3901.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>
  <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>
    <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"/>
    <raw>
      include $(CFG_SHARED)/spi_master.makefile
    </raw>
  </makefile>
</module>