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opticflow_pmw3901 module

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!

1 <module name="opticflow_pmw3901">
2  <define name="OPTICFLOW_PMW3901_SENSOR_ANGLE" value="90" />
3  <define name="OPTICFLOW_PMW3901_SUBPIXEL_FACTOR" value="100" />
4  <define name="OPTICFLOW_PMW3901_STD_PX" value="50" />
5  <define name="OPTICFLOW_PMW3901_AGL_ID" value="ABI_BROADCAST" />
6  <define name="OPTICFLOW_PMW3901_AGL_TIMEOUT_US" value="500000" />
7  <define name="PMW3901_RAD_PER_PX" value="0.002443389" />
8  <define name="PMW3901_SPI_CDIV" value="SPIDiv256" />
9  <define name="OPTICFLOW_PMW3901_RAD_PER_PX" value="(undefined)" />
10  <define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901" value="FALSE" />
11  <configure name="OPTICFLOW_PMW3901_SPI_DEV" value="SPIx" />
12  <configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="2" />
13 </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>