mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Gautier Hattenberger
50 lines
2.9 KiB
XML
50 lines
2.9 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="opticflow_pmw3901" dir="sensors">
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<doc>
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<description>Driver for PMW3901 optical flow sensor</description>
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<configure name="OPTICFLOW_PMW3901_SPI_DEV" value="SPIx" description="SPI device"/>
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<configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="2" description="SPI slave index"/>
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<define name="OPTICFLOW_PMW3901_SENSOR_ANGLE" value="90" description="Sensor mounting angle in degrees"/>
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<define name="OPTICFLOW_PMW3901_SUBPIXEL_FACTOR" value="100" description="Subpixel factor"/>
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<define name="OPTICFLOW_PMW3901_STD_PX" value="50" description="Standard deviation of flow measurement in px"/>
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<define name="OPTICFLOW_PMW3901_AGL_ID" value="ABI_BROADCAST" description="AGL source to listen to for velocity estimation"/>
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<define name="OPTICFLOW_PMW3901_AGL_TIMEOUT_US" value="500000" description="Lifetime of AGL measurements"/>
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<define name="PMW3901_RAD_PER_PX" value="0.002443389" description="Rad-per-px for ALL PMW3901 sensors"/>
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<define name="PMW3901_SPI_CDIV" value="SPIDiv256" description="SPI Clock divisor to adjust according to PCLK, don't exceeed 2MHz"/>
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<define name="OPTICFLOW_PMW3901_RAD_PER_PX" value="(undefined)" description="Override rad-per-px only for the PMW3901 used by this module"/>
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<define name="SENSOR_SYNC_SEND_OPTICFLOW_PMW3901" value="FALSE" description="Send all new measurements over telemetry"/>
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</doc>
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<settings>
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<dl_settings>
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<dl_settings name="OF_PMW3901">
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<dl_setting shortname="sensor_angle" var="of_pmw.sensor_angle" min="0" step="1" max="360"/>
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<dl_setting shortname="subpixel_factor" var="of_pmw.subpixel_factor" min="0" step="1" max="500"/>
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<dl_setting shortname="std_px" var="of_pmw.std_px" min="0.0" max="100.0" step="0.1"/>
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<dl_setting shortname="agl_timeout" var="of_pmw.agl_timeout" min="0" step="1000" max="1000000"/>
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<dl_setting shortname="rad_per_px" var="of_pmw.pmw.rad_per_px" min="0.000" max="0.010" step="0.001"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<dep>
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<depends>spi_master</depends>
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</dep>
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<header>
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<file name="opticflow_pmw3901.h"/>
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</header>
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<init fun="opticflow_pmw3901_init()"/>
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<periodic fun="opticflow_pmw3901_periodic()" freq="100"/>
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<event fun="opticflow_pmw3901_event()"/>
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<makefile target="ap">
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<configure name="OPTICFLOW_PMW3901_SPI_DEV" default="SPI2" case="upper|lower"/>
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<configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" default="1"/>
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<define name="USE_$(OPTICFLOW_PMW3901_SPI_DEV_UPPER)"/>
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<define name="USE_SPI_SLAVE$(OPTICFLOW_PMW3901_SPI_SLAVE_IDX)"/>
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<define name="OPTICFLOW_PMW3901_SPI_DEV" value="$(OPTICFLOW_PMW3901_SPI_DEV_LOWER)"/>
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<define name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" value="$(OPTICFLOW_PMW3901_SPI_SLAVE_IDX)"/>
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<file name="opticflow_pmw3901.c"/>
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<file name="pmw3901.c" dir="peripherals"/>
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</makefile>
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</module>
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