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[computer vision] Driver addition for mateksys_PMW3901_l0x (#2655)

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Pietro Campolucci
2021-01-30 22:54:08 +01:00
committed by GitHub
parent c6c33572db
commit 9230b506be
9 changed files with 540 additions and 29 deletions
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conf/modules/optical_flow_mateksys_3901_l0x.xml
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<!DOCTYPE module SYSTEM "module.dtd">
<module name="mateksys_3901_l0x">
<doc>
<description>
Transfers flow X and Y and range data of the Mateksys3901-l0X sensor to the autopilot
This by the default serial connection not by connecting the debug pins on ther sensor
The Data is in MSP compatible output.
</description>
<configure name="MATEKSYS_3901_L0X_PORT" value="UART1" description="Set to which UART the sensor serial stream pin is connected to"/>
<configure name="MATEKSYS_3901_L0X_BAUD" value="115200" description="Sets the baudrate of the UART"/>
<define name="MATEKSYS_3901_L0X_MOTION_THRES" value="120" description="Sets the minimum motion quality to accept the flow measurement [0-255]"/>
<define name="MATEKSYS_3901_L0X_DISTANCE_THRES" value="200" description="Sets the minimum distance quality to accept the distance measurement [0-255]"/>
<define name="USE_MATEKSYS_3901_L0X_AGL" value="0" description="Send AGL measurements on ABI bus"/>
<define name="USE_MATEKSYS_3901_L0X_OPTICAL_FLOW" value="0" description="Send optical flow measurements on ABI bus"/>
<define name="MATEKSYS_3901_L0X_COMPENSATE_ROTATION" value="0" description="Adjust distance from ground by compensating body rotation"/>
</doc>
<header>
<file name="mateksys_3901_l0x.h" dir="modules/optical_flow"/>
</header>
<init fun="mateksys3901l0x_init()"/>
<event fun="mateksys3901l0x_event()"/>
<makefile>
<!-- Configure default UART port and baudrate -->
<configure name="MATEKSYS_3901_L0X_PORT" default="UART3" case="upper|lower"/>
<configure name="MATEKSYS_3901_L0X_BAUD" default="B115200"/>
<!-- Enable UART and set baudrate -->
<define name="USE_$(MATEKSYS_3901_L0X_PORT_UPPER)"/>
<!-- If the driver is used on a serial port where the TX pin is not available, since the TX is not needed for this sensor it can be disabled -->
<define name="USE_$(MATEKSYS_3901_L0X_PORT)_TX" value="FALSE"/>
<define name="$(MATEKSYS_3901_L0X_PORT_UPPER)_BAUD" value="$(MATEKSYS_3901_L0X_BAUD)"/>
<define name="MATEKSYS_3901_L0X_PORT" value="$(MATEKSYS_3901_L0X_PORT_LOWER)"/>
<!-- Data processing configuration parameters -->
<define name="MATEKSYS_3901_L0X_MOTION_THRES" value="120"/>
<define name="MATEKSYS_3901_L0X_DISTANCE_THRES" value="200"/>
<define name="USE_MATEKSYS_3901_L0X_AGL" value="1"/>
<define name="USE_MATEKSYS_3901_L0X_OPTICAL_FLOW" value="1"/>
<define name="MATEKSYS_3901_L0X_COMPENSATE_ROTATION" value="0"/>
<file name="mateksys_3901_l0x.c" dir="modules/optical_flow"/>
</makefile>
<makefile target="nps|sim">
<define name="USE_SONAR" value="1"/> <!-- in NPS use a virtual sonar to simulate lidar measurements -->
</makefile>
</module>