The PMW3901MB is PixArt Imaging's latest optical navigation chip designed with far field optics technology that enables navigation in the air. It is housed in a 28-pin chip-on-board (COB) package that provides X-Y motion information with a wide working range of 80 mm to infinity. It is most suitable for far field application for motion detection.
LibDriver PMW3901MB is the full function driver of pmw3901mb launched by LibDriver. It provides frame reading, navigation reading, interrupt reading and other functions.
/src includes LibDriver PMW3901MB source files.
/interface includes LibDriver PMW3901MB SPI platform independent template。
/test includes LibDriver PMW3901MB driver test code and this code can test the chip necessary function simply。
/example includes LibDriver PMW3901MB sample code.
/doc includes LibDriver PMW3901MB offline document.
/datasheet includes PMW3901MB datasheet。
/project includes the common Linux and MCU development board sample code. All projects use the shell script to debug the driver and the detail instruction can be found in each project's README.md.
Reference /interface SPI platform independent template and finish your platform SPI driver.
Add /src, /interface and /example to your project.
volatile uint8_t res;
volatile float height;
volatile float delta_x;
volatile float delta_y;
volatile uint32_t i, times;
pmw3901mb_motion_t motion;
height = 1.0f;
times = 3;
res = pmw3901mb_basic_init();
if (res)
{
return 1;
}
...
for (i = 0; i < times; i++)
{
read:
res = pmw3901mb_basic_read(height, &motion, (float *)&delta_x, (float *)&delta_y);
if (res)
{
pmw3901mb_basic_deinit();
return 1;
}
/* check the result */
if (motion.is_valid == 1)
{
/* print the result */
pmw3901mb_interface_debug_print("pmw3901mb: %d/%d.\n", i + 1, times);
pmw3901mb_interface_debug_print("pmw3901mb: delta_x: %0.3fcm delta_y: %0.3fcm.\n", delta_x, delta_y);
pmw3901mb_interface_debug_print("pmw3901mb: raw_average is 0x%02X.\n", motion.raw_average);
pmw3901mb_interface_debug_print("pmw3901mb: raw_max is 0x%02X.\n", motion.raw_max);
pmw3901mb_interface_debug_print("pmw3901mb: raw_min is 0x%02X.\n", motion.raw_min);
pmw3901mb_interface_debug_print("pmw3901mb: observation is 0x%02X.\n", motion.observation);
pmw3901mb_interface_debug_print("pmw3901mb: shutter is 0x%04X.\n", motion.shutter);
pmw3901mb_interface_debug_print("pmw3901mb: surface quality is 0x%04X.\n\n", motion.surface_quality);
}
else
{
pmw3901mb_interface_delay_ms(500);
goto read;
}
/* delay 1000 ms */
pmw3901mb_interface_delay_ms(1000);
...
}
...
pmw3901mb_basic_deinit();
return 0;volatile uint8_t res;
volatile uint32_t k, times;
volatile uint32_t i, j;
static uint8_t gs_frame[35][35];
times = 3;
res = pmw3901mb_frame_init();
if (res)
{
return 1;
}
...
for (k = 0; k < times; k++)
{
res = pmw3901mb_frame_read(gs_frame);
if (res)
{
pmw3901mb_frame_deinit();
return 1;
}
pmw3901mb_interface_debug_print("pmw3901mb: %d/%d.\n", k + 1, times);
/* print frame */
for (i = 0; i < 35; i++)
{
for (j = 0; j < 35; j++)
{
pmw3901mb_interface_debug_print("0x%02X ", gs_frame[i][j]);
}
pmw3901mb_interface_debug_print("\n");
}
pmw3901mb_interface_debug_print("\n");
/* delay 1000 ms */
pmw3901mb_interface_delay_ms(1000);
...
}
...
pmw3901mb_frame_deinit();
return 0;uint8_t (*g_gpio_irq)(float height_m) = NULL;
volatile static uint8_t gs_flag;
volatile uint8_t res;
volatile uint32_t i, times;
static uint8_t _callback(pmw3901mb_motion_t *motion, float delta_x, float delta_y)
{
/* check the result */
if (motion->is_valid == 1)
{
/* print the result */
pmw3901mb_interface_debug_print("pmw3901mb: find interrupt.\n");
pmw3901mb_interface_debug_print("pmw3901mb: delta_x: %0.3fcm delta_y: %0.3fcm.\n", delta_x, delta_y);
pmw3901mb_interface_debug_print("pmw3901mb: raw_average is 0x%02X.\n", motion->raw_average);
pmw3901mb_interface_debug_print("pmw3901mb: raw_max is 0x%02X.\n", motion->raw_max);
pmw3901mb_interface_debug_print("pmw3901mb: raw_min is 0x%02X.\n", motion->raw_min);
pmw3901mb_interface_debug_print("pmw3901mb: observation is 0x%02X.\n", motion->observation);
pmw3901mb_interface_debug_print("pmw3901mb: shutter is 0x%04X.\n", motion->shutter);
pmw3901mb_interface_debug_print("pmw3901mb: surface quality is 0x%04X.\n\n", motion->surface_quality);
/* set flag */
gs_flag = 1;
}
return 0;
}
...
times = 3;
res = gpio_interrupt_init();
if (res)
{
return 1;
}
g_gpio_irq = pmw3901mb_interrupt_irq_handler;
...
res = pmw3901mb_interrupt_init(_callback);
if (res)
{
pmw3901mb_interrupt_deinit();
return 1;
}
...
for (i = 0; i < times; i++)
{
pmw3901mb_interface_debug_print("pmw3901mb: %d/%d.\n", i + 1, times);
gs_flag = 0;
while (gs_flag == 0)
{
pmw3901mb_interface_delay_ms(10);
}
...
}
...
pmw3901mb_interrupt_deinit();
gpio_interrupt_deinit();
g_gpio_irq = NULL;
return 0;Online documents: https://www.libdriver.com/docs/pmw3901mb/index.html
Offline documents: /doc/html/index.html
Please sent an e-mail to lishifenging@outlook.com
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