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@15:e07de535b86f, 2018-10-17 (annotated)

Committer:
fbob
Date:
Wed Oct 17 13:26:29 2018 +0000
Revision:
15:e07de535b86f
Parent:
12:2bbe233d25fb 
Changed range and optical flow parameters names

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 7:56608cce81ee 18 * Example code (print optical flow data on serial port every 0.2 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 5:1ef8b91a0318 24 * USBSerial pc;
fbob 5:1ef8b91a0318 25 * PMW3901 flow(PA_7,PA_6,PA_5,PB_4);
fbob 5:1ef8b91a0318 26 *
fbob 5:1ef8b91a0318 27 * int main()
fbob 7:56608cce81ee 28 * {
fbob 12:2bbe233d25fb 29 * flow.init();
fbob 12:2bbe233d25fb 30 * while(1)
fbob 5:1ef8b91a0318 31 * {
fbob 5:1ef8b91a0318 32 * flow.read();
fbob 7:56608cce81ee 33 * pc.printf("Optical flow [px]: %6.2f %6.2f \n\n", flow.x, flow.y);
fbob 7:56608cce81ee 34 * wait(0.2);
fbob 5:1ef8b91a0318 35 * }
fbob 5:1ef8b91a0318 36 * }
fbob 5:1ef8b91a0318 37 * @endcode
fbob 5:1ef8b91a0318 38 * (Need to target to NUCLEO-F401RE board platform)
fbob 5:1ef8b91a0318 39 */
fbob 5:1ef8b91a0318 40 class PMW3901
fbob 5:1ef8b91a0318 41 {
fbob 5:1ef8b91a0318 42 public:
fbob 5:1ef8b91a0318 43 /** Class constructor */
fbob 5:1ef8b91a0318 44 PMW3901(PinName mosi, PinName miso, PinName sclk, PinName csel);
fbob 5:1ef8b91a0318 45
fbob 5:1ef8b91a0318 46 /** Initialize optical flow */
fbob 6:c7bc001826ba 47 bool init();
fbob 5:1ef8b91a0318 48 /** **/
fbob 5:1ef8b91a0318 49 void read();
fbob 5:1ef8b91a0318 50
fbob 6:c7bc001826ba 51 /** Optical flow data in x-axis (px) **/
fbob 15:e07de535b86f 52 float px;
fbob 6:c7bc001826ba 53 /** Optical flow data in y-axis (px) **/
fbob 15:e07de535b86f 54 float py;
fbob 5:1ef8b91a0318 55 private:
fbob 5:1ef8b91a0318 56 /** SPI bus */
fbob 5:1ef8b91a0318 57 SPI spi;
fbob 5:1ef8b91a0318 58 /** Chip select */
fbob 5:1ef8b91a0318 59 DigitalOut cs;
fbob 5:1ef8b91a0318 60
fbob 6:c7bc001826ba 61 /** **/
fbob 6:c7bc001826ba 62 void setup_spi();
fbob 6:c7bc001826ba 63 /** **/
fbob 6:c7bc001826ba 64 bool test_spi();
fbob 5:1ef8b91a0318 65 /** **/
fbob 5:1ef8b91a0318 66 void setup_flow();
fbob 5:1ef8b91a0318 67 /** **/
fbob 5:1ef8b91a0318 68 void read_flow();
fbob 5:1ef8b91a0318 69 };
fbob 5:1ef8b91a0318 70
fbob 5:1ef8b91a0318 71 #endif