opticflow_pmw3901.c File Reference

#include "modules/sensors/opticflow_pmw3901.h"
#include "subsystems/abi.h"
#include "subsystems/datalink/downlink.h"
#include "generated/modules.h"
#include "state.h"
#include "std.h"
#include <math.h>

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Macros
#define	OPTICFLOW_PMW3901_SENSOR_ANGLE   270
#define	OPTICFLOW_PMW3901_SUBPIXEL_FACTOR   100
#define	OPTICFLOW_PMW3901_STD_PX   50
#define	OPTICFLOW_PMW3901_AGL_ID   ABI_BROADCAST
#define	OPTICFLOW_PMW3901_AGL_TIMEOUT_US   500000

Functions
static void	agl_cb (uint8_t sender_id, uint32_t stamp, float distance)
static bool	agl_valid (uint32_t at_ts)
static void	opticflow_pmw3901_publish (int16_t delta_x, int16_t delta_y, uint32_t ts_usec)
void	opticflow_pmw3901_init (void)
void	opticflow_pmw3901_periodic (void)
void	opticflow_pmw3901_event (void)

Variables
struct opticflow_pmw3901_t	of_pmw
abi_event	agl_ev
static float	agl_dist
static uint32_t	agl_ts

Detailed Description

Author

Tom van Dijk Driver for PMW3901 optical flow sensor

Definition in file opticflow_pmw3901.c.

Macro Definition Documentation

#define OPTICFLOW_PMW3901_AGL_ID   ABI_BROADCAST

Definition at line 52 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

#define OPTICFLOW_PMW3901_AGL_TIMEOUT_US   500000

Definition at line 57 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

#define OPTICFLOW_PMW3901_SENSOR_ANGLE   270

Definition at line 40 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

#define OPTICFLOW_PMW3901_STD_PX   50

Definition at line 48 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

#define OPTICFLOW_PMW3901_SUBPIXEL_FACTOR   100

Definition at line 44 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

Function Documentation

static void agl_cb ( uint8_t  sender_id, uint32_t  stamp, float  distance  )

static

Definition at line 68 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_init().

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static bool agl_valid ( uint32_t  at_ts )

static

Definition at line 74 of file opticflow_pmw3901.c.

References opticflow_pmw3901_t::agl_timeout, agl_ts, and of_pmw.

Referenced by opticflow_pmw3901_publish().

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void opticflow_pmw3901_event

(

void

)

Definition at line 184 of file opticflow_pmw3901.c.

References get_sys_time_usec(), of_pmw, opticflow_pmw3901_publish(), opticflow_pmw3901_t::pmw, pmw3901_data_available(), pmw3901_event(), and pmw3901_get_data().

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void opticflow_pmw3901_init

(

void

)

Definition at line 166 of file opticflow_pmw3901.c.

References agl_cb(), opticflow_pmw3901_t::agl_timeout, of_pmw, OPTICFLOW_PMW3901_AGL_ID, OPTICFLOW_PMW3901_AGL_TIMEOUT_US, OPTICFLOW_PMW3901_SENSOR_ANGLE, OPTICFLOW_PMW3901_STD_PX, OPTICFLOW_PMW3901_SUBPIXEL_FACTOR, opticflow_pmw3901_t::pmw, pmw3901_init(), pmw3901_t::rad_per_px, opticflow_pmw3901_t::sensor_angle, opticflow_pmw3901_t::std_px, and opticflow_pmw3901_t::subpixel_factor.

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void opticflow_pmw3901_periodic

(

void

)

Definition at line 178 of file opticflow_pmw3901.c.

References of_pmw, opticflow_pmw3901_t::pmw, pmw3901_is_idle(), and pmw3901_start_read().

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static void opticflow_pmw3901_publish ( int16_t  delta_x, int16_t  delta_y, uint32_t  ts_usec  )

static

Definition at line 81 of file opticflow_pmw3901.c.

References agl_dist, agl_valid(), DefaultChannel, DefaultDevice, FLOW_OPTICFLOW_PMW3901_ID, of_pmw, FloatRates::p, opticflow_pmw3901_t::pmw, FloatRates::q, pmw3901_t::rad_per_px, s, opticflow_pmw3901_t::sensor_angle, stateGetBodyRates_f(), opticflow_pmw3901_t::std_px, opticflow_pmw3901_t::subpixel_factor, and VEL_OPTICFLOW_PMW3901_ID.

Referenced by opticflow_pmw3901_event().

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Variable Documentation

float agl_dist

static

Definition at line 64 of file opticflow_pmw3901.c.

Referenced by opticflow_pmw3901_publish().

abi_event agl_ev

Definition at line 63 of file opticflow_pmw3901.c.

uint32_t agl_ts

static

Definition at line 65 of file opticflow_pmw3901.c.

Referenced by agl_valid().

struct opticflow_pmw3901_t of_pmw

Definition at line 61 of file opticflow_pmw3901.c.

Referenced by agl_valid(), opticflow_pmw3901_event(), opticflow_pmw3901_init(), opticflow_pmw3901_periodic(), and opticflow_pmw3901_publish().