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!

<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.

• 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

• modules/sensors/opticflow_pmw3901.c
• peripherals/pmw3901.c

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>