#include <PMW3901.hpp>

Inheritance diagram for PMW3901:

Collaboration diagram for PMW3901:

Public Member Functions
	PMW3901 (int bus=PMW3901_BUS, enum Rotation yaw_rotation=(enum Rotation) 0)

virtual	~PMW3901 ()

virtual int	init ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

Protected Member Functions
virtual int	probe ()

Private Member Functions
void	start ()
	Initialise the automatic measurement state machine and start it. More...

void	stop ()
	Stop the automatic measurement state machine. More...

void	Run () override
	Perform a poll cycle; collect from the previous measurement and start a new one. More...

int	readRegister (unsigned reg, uint8_t *data, unsigned count)

int	writeRegister (unsigned reg, uint8_t data)

int	sensorInit ()

int	readMotionCount (int16_t &deltaX, int16_t &deltaY, uint8_t &qual)

Private Attributes
const uint64_t	_collect_time {15000}

uORB::PublicationMulti< optical_flow_s >	_optical_flow_pub {ORB_ID(optical_flow)}

perf_counter_t	_sample_perf

perf_counter_t	_comms_errors

uint64_t	_previous_collect_timestamp {0}

enum Rotation	_yaw_rotation

int	_flow_sum_x {0}

int	_flow_sum_y {0}

uint64_t	_flow_dt_sum_usec {0}

uint16_t	_flow_quality_sum {0}

uint8_t	_flow_sample_counter {0}

Detailed Description

Definition at line 87 of file PMW3901.hpp.

Constructor & Destructor Documentation

◆ PMW3901()

PMW3901::PMW3901	(	int	bus = `PMW3901_BUS`,
		enum Rotation	yaw_rotation = `(enum Rotation)0`
	)

Definition at line 38 of file PMW3901.cpp.

◆ ~PMW3901()

PMW3901::~PMW3901 ( )

virtual

Definition at line 47 of file PMW3901.cpp.

References _comms_errors, _sample_perf, perf_free(), and stop().

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Member Function Documentation

◆ init()

int PMW3901::init ( )

virtual

Definition at line 211 of file PMW3901.cpp.

References _previous_collect_timestamp, _yaw_rotation, hrt_absolute_time(), ToneAlarmInterface::init(), OK, param_find(), param_get(), PARAM_INVALID, sensorInit(), and start().

Referenced by pmw3901::start().

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◆ print_info()

void PMW3901::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 417 of file PMW3901.cpp.

References _comms_errors, _sample_perf, and perf_print_counter().

Referenced by pmw3901::info().

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◆ probe()

int PMW3901::probe ( )

protectedvirtual

Definition at line 241 of file PMW3901.cpp.

References data, OK, and readRegister().

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◆ readMotionCount()

int PMW3901::readMotionCount	(	int16_t &	deltaX,
		int16_t &	deltaY,
		uint8_t &	qual
	)

private

Definition at line 372 of file PMW3901.cpp.

References _comms_errors, data, DEVICE_LOG, DIR_READ, OK, and perf_count().

Referenced by Run().

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◆ readRegister()

int PMW3901::readRegister	(	unsigned	reg,
		uint8_t *	data,
		unsigned	count
	)

private

Definition at line 257 of file PMW3901.cpp.

References _comms_errors, DEVICE_LOG, DIR_READ, OK, and perf_count().

Referenced by probe(), and sensorInit().

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◆ Run()

void PMW3901::Run ( )

overrideprivate

Perform a poll cycle; collect from the previous measurement and start a new one.

Definition at line 299 of file PMW3901.cpp.

References _collect_time, _flow_dt_sum_usec, _flow_quality_sum, _flow_sample_counter, _flow_sum_x, _flow_sum_y, _optical_flow_pub, _previous_collect_timestamp, _sample_perf, _yaw_rotation, f(), hrt_absolute_time(), perf_begin(), perf_end(), uORB::PublicationMulti< T >::publish(), readMotionCount(), rotate_3f(), and optical_flow_s::timestamp.

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◆ sensorInit()

int PMW3901::sensorInit ( )

private

Definition at line 58 of file PMW3901.cpp.

References data, readRegister(), and writeRegister().

Referenced by init().

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◆ start()

void PMW3901::start ( )

private

Initialise the automatic measurement state machine and start it.

Note: This function is called at open and error time. It might make sense to make it more aggressive about resetting the bus in case of errors.

Definition at line 404 of file PMW3901.cpp.

References PMW3901_SAMPLE_INTERVAL, and PMW3901_US.

Referenced by init().

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◆ stop()

void PMW3901::stop ( )

private

Stop the automatic measurement state machine.

Definition at line 411 of file PMW3901.cpp.

Referenced by ~PMW3901().

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◆ writeRegister()

int PMW3901::writeRegister	(	unsigned	reg,
		uint8_t	data
	)

private

Definition at line 277 of file PMW3901.cpp.

References _comms_errors, data, DEVICE_LOG, DIR_WRITE, OK, perf_count(), and TIME_us_TSWW.

Referenced by sensorInit().

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Member Data Documentation

◆ _collect_time

const uint64_t PMW3901::_collect_time {15000}

private

Definition at line 106 of file PMW3901.hpp.

Referenced by Run().

◆ _comms_errors

perf_counter_t PMW3901::_comms_errors

private

Definition at line 111 of file PMW3901.hpp.

Referenced by print_info(), readMotionCount(), readRegister(), writeRegister(), and ~PMW3901().

◆ _flow_dt_sum_usec

uint64_t PMW3901::_flow_dt_sum_usec {0}

private

Definition at line 119 of file PMW3901.hpp.

Referenced by Run().

◆ _flow_quality_sum

uint16_t PMW3901::_flow_quality_sum {0}

private

Definition at line 120 of file PMW3901.hpp.

Referenced by Run().

◆ _flow_sample_counter

uint8_t PMW3901::_flow_sample_counter {0}

private

Definition at line 121 of file PMW3901.hpp.

Referenced by Run().

◆ _flow_sum_x

int PMW3901::_flow_sum_x {0}

private

Definition at line 117 of file PMW3901.hpp.

Referenced by Run().

◆ _flow_sum_y

int PMW3901::_flow_sum_y {0}

private

Definition at line 118 of file PMW3901.hpp.

Referenced by Run().

◆ _optical_flow_pub

uORB::PublicationMulti<optical_flow_s> PMW3901::_optical_flow_pub {ORB_ID(optical_flow)}

private

Definition at line 108 of file PMW3901.hpp.

Referenced by Run().

◆ _previous_collect_timestamp

uint64_t PMW3901::_previous_collect_timestamp {0}

private

Definition at line 113 of file PMW3901.hpp.

Referenced by init(), and Run().

◆ _sample_perf

perf_counter_t PMW3901::_sample_perf

private

Definition at line 110 of file PMW3901.hpp.

Referenced by print_info(), Run(), and ~PMW3901().

◆ _yaw_rotation

enum Rotation PMW3901::_yaw_rotation

private

Definition at line 115 of file PMW3901.hpp.

Referenced by init(), and Run().

The documentation for this class was generated from the following files:

src/drivers/optical_flow/pmw3901/PMW3901.hpp
src/drivers/optical_flow/pmw3901/PMW3901.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PMW3901()

◆ ~PMW3901()

Member Function Documentation

◆ init()

◆ print_info()

◆ probe()

◆ readMotionCount()

◆ readRegister()

◆ Run()

◆ sensorInit()

◆ start()

◆ stop()

◆ writeRegister()

Member Data Documentation

◆ _collect_time

◆ _comms_errors

◆ _flow_dt_sum_usec

◆ _flow_quality_sum

◆ _flow_sample_counter

◆ _flow_sum_x

◆ _flow_sum_y

◆ _optical_flow_pub

◆ _previous_collect_timestamp

◆ _sample_perf

◆ _yaw_rotation