Fabio Bobrow / CrazyflieSensors

Library containing Crazyflie 2.0 sensors drivers: - LPS25H (barometer) - MPU9250 (IMU) - PMW3901 (optical flow) - VL53L0X (range)

Dependents:   Drones-Controlador controladoatitude_cteste Drone_Controlador_Atitude optical_test

PMW3901/PMW3901.h@6:c7bc001826ba, 2018-05-08 (annotated)

Committer:
fbob
Date:
Tue May 08 13:35:42 2018 +0000
Revision:
6:c7bc001826ba
Parent:
5:1ef8b91a0318
Child:
7:56608cce81ee
Updated optical flow library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fbob 5:1ef8b91a0318 1 #ifndef PMW3901_h
fbob 5:1ef8b91a0318 2 #define PMW3901_h
fbob 5:1ef8b91a0318 3
fbob 5:1ef8b91a0318 4 #include "mbed.h"
fbob 5:1ef8b91a0318 5
fbob 6:c7bc001826ba 6 //
fbob 6:c7bc001826ba 7 #define PRODUCT_ID 0x00
fbob 6:c7bc001826ba 8 //
fbob 5:1ef8b91a0318 9 #define MOTION 0x02
fbob 5:1ef8b91a0318 10 // Accelerometer output register addresses
fbob 5:1ef8b91a0318 11 #define DELTA_X_L 0x03
fbob 5:1ef8b91a0318 12 #define DELTA_X_H 0x04
fbob 5:1ef8b91a0318 13 #define DELTA_Y_L 0x05
fbob 5:1ef8b91a0318 14 #define DELTA_Y_H 0x06
fbob 5:1ef8b91a0318 15
fbob 5:1ef8b91a0318 16 /** PMW3901 (optical flow sensor) class
fbob 5:1ef8b91a0318 17 *
fbob 5:1ef8b91a0318 18 * Example code (print optical flow data on serial port every 1 second):
fbob 5:1ef8b91a0318 19 * @code
fbob 5:1ef8b91a0318 20 * #include "mbed.h"
fbob 5:1ef8b91a0318 21 * #include "USBSerial.h"
fbob 5:1ef8b91a0318 22 * #include "PMW3901.h"
fbob 5:1ef8b91a0318 23 *
fbob 6:c7bc001826ba 24 * // Declare serial object
fbob 5:1ef8b91a0318 25 * USBSerial pc;
fbob 6:c7bc001826ba 26 * // Declare sensor object with correpondent SPI pins (miso, mosi, sclk, csel)
fbob 5:1ef8b91a0318 27 * PMW3901 flow(PA_7,PA_6,PA_5,PB_4);
fbob 5:1ef8b91a0318 28 *
fbob 6:c7bc001826ba 29 * // Main program
fbob 5:1ef8b91a0318 30 * int main()
fbob 5:1ef8b91a0318 31 * {
fbob 6:c7bc001826ba 32 * // Initialize sensor
fbob 5:1ef8b91a0318 33 * flow.init();
fbob 6:c7bc001826ba 34 * // Infinite loop
fbob 5:1ef8b91a0318 35 * while(1);
fbob 5:1ef8b91a0318 36 * {
fbob 6:c7bc001826ba 37 * // Read data from sensor
fbob 5:1ef8b91a0318 38 * flow.read();
fbob 6:c7bc001826ba 39 * // Print data from sensor
fbob 6:c7bc001826ba 40 * pc.printf("Optical flow []: %6.2f %6.2f \n\n", flow.x, flow.y);
fbob 6:c7bc001826ba 41 * // Wait 0.5 seconds
fbob 6:c7bc001826ba 42 * wait(0.5);
fbob 5:1ef8b91a0318 43 * }
fbob 5:1ef8b91a0318 44 * }
fbob 5:1ef8b91a0318 45 * @endcode
fbob 5:1ef8b91a0318 46 * (Need to target to NUCLEO-F401RE board platform)
fbob 5:1ef8b91a0318 47 */
fbob 5:1ef8b91a0318 48 class PMW3901
fbob 5:1ef8b91a0318 49 {
fbob 5:1ef8b91a0318 50 public:
fbob 5:1ef8b91a0318 51 /** Class constructor */
fbob 5:1ef8b91a0318 52 PMW3901(PinName mosi, PinName miso, PinName sclk, PinName csel);
fbob 5:1ef8b91a0318 53
fbob 5:1ef8b91a0318 54 /** Initialize optical flow */
fbob 6:c7bc001826ba 55 bool init();
fbob 5:1ef8b91a0318 56 /** **/
fbob 5:1ef8b91a0318 57 void read();
fbob 5:1ef8b91a0318 58
fbob 6:c7bc001826ba 59 /** Optical flow data in x-axis (px) **/
fbob 6:c7bc001826ba 60 float x;
fbob 6:c7bc001826ba 61 /** Optical flow data in y-axis (px) **/
fbob 6:c7bc001826ba 62 float y;
fbob 5:1ef8b91a0318 63 private:
fbob 5:1ef8b91a0318 64 /** SPI bus */
fbob 5:1ef8b91a0318 65 SPI spi;
fbob 5:1ef8b91a0318 66 /** Chip select */
fbob 5:1ef8b91a0318 67 DigitalOut cs;
fbob 5:1ef8b91a0318 68
fbob 6:c7bc001826ba 69 /** **/
fbob 6:c7bc001826ba 70 void setup_spi();
fbob 6:c7bc001826ba 71 /** **/
fbob 6:c7bc001826ba 72 bool test_spi();
fbob 5:1ef8b91a0318 73 /** **/
fbob 5:1ef8b91a0318 74 void setup_flow();
fbob 5:1ef8b91a0318 75 /** **/
fbob 5:1ef8b91a0318 76 void read_flow();
fbob 5:1ef8b91a0318 77 };
fbob 5:1ef8b91a0318 78
fbob 5:1ef8b91a0318 79 #endif