树莓派3B读取PMW3901光流模块摘要

上图是实际输出数据，晚上室内暖色台灯光线效果，看上去还算比较干净，但实际使用还需要做滤波计算速度和补偿等。主要是光线问题，需要多尝试。

不说废话，上代码。这里我使用的是第二个SPI1设备，可根据自己的实际情况修改为SPI0的。

树莓派3如何同时使用多个SPI外设，可以参考网上资料。管脚引用参考如下URL:

SPI at Raspberry Pi GPIO Pinout

#include <bcm2835.h>
#include <stdio.h>#define __packed __attribute__((packed))
/*** 突发模式结构体。通过外部中断触发后使用该结构体读取完整数据。* 因为Raspberry Pi 3B(+)的外部中断是伪轮询方式，所以这里没用。*/
typedef struct MotionBurst
{__packed union{uint8_t motion;__packed struct{uint8_t frameFrom0 : 1;uint8_t runMode : 2;uint8_t reserved1 : 1;uint8_t rawFrom0 : 1;uint8_t reserved2 : 2;uint8_t motionOccured : 1;};};uint8_t observation;int16_t deltaX;int16_t deltaY;uint8_t squal;uint8_t rawDataSum;uint8_t maxRawData;uint8_t minRawData;uint16_t shutter;
} MotionBurst;MotionBurst motionBurst;
int16_t x = 0;
int16_t y = 0;
/*** SPI设备，写从设备，bit 7必须位0*/
void registerWrite(uint8_t reg, uint8_t val)
{uint8_t buff[2] = {reg | 0x80, val};bcm2835_aux_spi_transfern((char *)buff, 2);// printf("%d::0x%02X 0x%02X\n", __LINE__, buff[0], buff[1]);
}
/*** SPI设备，读从设备，bit 7必须位1* 因为使用的是是spidev1.2，所以返回的数据第一个字节总是0xFF* Raspiberry 3B(+) 使用多个SPI从设备的管脚配置(pinout)可以参考以下官方URL：*  https://pinout.xyz/pinout/spi*/
uint8_t registerRead(uint8_t reg)
{unsigned char buff[2] = {reg & 0x7F, 0x00};bcm2835_aux_spi_transfern((char *)buff, 2);// printf("%d::0x%02X 0x%02X\n", __LINE__, buff[0], buff[1]);return buff[1];
}
/*** 初始化PMW3901相关寄存器* 详细参考datasheet。网上很多pmw3901初始化代码不完整，主要是pmw3901模块的版本太多了。
*/
void init()
{
#ifndef NORMALregisterWrite(0x7F, 0x00);registerWrite(0x55, 0x01);registerWrite(0x50, 0x07);registerWrite(0x7F, 0x0E);registerWrite(0x43, 0x10);int i = 0;for (i = 0; i < 3; i++){if (registerRead(0x47) != 0x08){registerWrite(0x43, 0x10);}else{break;}if (i == 2){exit(0);}}if ((registerRead(0x67) & 0x80) == 0x80)registerWrite(0x48, 0x04);elseregisterWrite(0x48, 0x02);registerWrite(0x7F, 0x00);registerWrite(0x51, 0x7B);registerWrite(0x50, 0x00);registerWrite(0x55, 0x00);registerWrite(0x7F, 0x0E);//uint8_t C1, C2;if (registerRead(0x73) == 0x00){C1 = registerRead(0x70);C2 = registerRead(0x71);if (C1 <= 28)C1 += 14;elseC1 += 11;if (C1 > 0x3F)C1 = 0x3F;C2 = ((unsigned short)C2 * 45) / 100;registerWrite(0x7F, 0x00);registerWrite(0x61, 0xAD);registerWrite(0x51, 0x70);registerWrite(0x7F, 0x0E);registerWrite(0x70, C1);registerWrite(0x71, C2);}
#endifregisterWrite(0x7F, 0x00);registerWrite(0x61, 0xAD);registerWrite(0x7F, 0x03);registerWrite(0x40, 0x00);registerWrite(0x7F, 0x05);registerWrite(0x41, 0xB3);registerWrite(0x43, 0xF1);registerWrite(0x45, 0x14);registerWrite(0x5B, 0x32);registerWrite(0x5F, 0x34);registerWrite(0x7B, 0x08);registerWrite(0x7F, 0x06);registerWrite(0x44, 0x1B);registerWrite(0x40, 0xBF);registerWrite(0x4E, 0x3F);registerWrite(0x7F, 0x08);registerWrite(0x65, 0x20);registerWrite(0x6A, 0x18);registerWrite(0x7F, 0x09);registerWrite(0x4F, 0xAF);registerWrite(0x5F, 0x40);registerWrite(0x48, 0x80);registerWrite(0x49, 0x80);registerWrite(0x57, 0x77);registerWrite(0x60, 0x78);registerWrite(0x61, 0x78);registerWrite(0x62, 0x08);registerWrite(0x63, 0x50);registerWrite(0x7F, 0x0A);registerWrite(0x45, 0x60);registerWrite(0x7F, 0x00);registerWrite(0x4D, 0x11);registerWrite(0x55, 0x80);registerWrite(0x74, 0x1F);registerWrite(0x75, 0x1F);registerWrite(0x4A, 0x78);registerWrite(0x4B, 0x78);registerWrite(0x44, 0x08);registerWrite(0x45, 0x50);registerWrite(0x64, 0xFF);registerWrite(0x65, 0x1F);registerWrite(0x7F, 0x14);registerWrite(0x65, 0x60);registerWrite(0x66, 0x08);registerWrite(0x63, 0x78);registerWrite(0x7F, 0x15);registerWrite(0x48, 0x58);registerWrite(0x7F, 0x07);registerWrite(0x41, 0x0D);registerWrite(0x43, 0x14);registerWrite(0x4B, 0x0E);registerWrite(0x45, 0x0F);registerWrite(0x44, 0x42);registerWrite(0x4C, 0x80);registerWrite(0x7F, 0x10);registerWrite(0x5B, 0x02);registerWrite(0x7F, 0x07);registerWrite(0x40, 0x41);registerWrite(0x70, 0x00);bcm2835_delay(10);registerWrite(0x32, 0x44);registerWrite(0x7F, 0x07);registerWrite(0x40, 0x40);registerWrite(0x7F, 0x06);registerWrite(0x62, 0xf0);registerWrite(0x63, 0x00);registerWrite(0x7F, 0x0D);registerWrite(0x48, 0xC0);registerWrite(0x6F, 0xd5);registerWrite(0x7F, 0x00);registerWrite(0x5B, 0xa0);registerWrite(0x4E, 0xA8);registerWrite(0x5A, 0x50);registerWrite(0x40, 0x80);
}
int16_t deltaX = 0;
int16_t deltaY = 0;/*** 主动读取偏移信息* deltaX和deltaY为检测到2帧之间的象素差* x和y为当前累积位移像素
*/
void readMotion()
{uint8_t motion, shutter_up, squal;motion = registerRead(0x02);// shutter_lo = registerRead(0x0B);if ((motion & 0x80) == 0x80){shutter_up = registerRead(0x0C);squal = registerRead(0x07);if (squal > 0x19 && shutter_up < 0x1F){deltaX = ((int16_t)registerRead(0x04) << 8) | registerRead(0x03);deltaY = ((int16_t)registerRead(0x06) << 8) | registerRead(0x05);x += deltaX;y += deltaY;}else{deltaX = 0;deltaY = 0;}}
}
/*** Do not use this method on Raspberry Pi
*/
void readMotionBurst(MotionBurst *motion)
{bcm2835_aux_spi_transfern((char *)motion, sizeof(MotionBurst));printf("Size count:%d\n", sizeof(MotionBurst));for (int i = 0; i < sizeof(MotionBurst); i++){printf("0x%02X ", *((uint8_t *)motion + i));}printf("\n");uint16_t realShutter = (motion->shutter >> 8) & 0x0FF;realShutter |= (motion->shutter & 0x0FF) << 8;motion->shutter = realShutter;if ((motion->squal < 25) && (motion->shutter >= 0x1F00)) // 数据质量不好舍弃{motion->deltaX = motion->deltaY = 0;}// x += motion->deltaX;// y += motion->deltaY;
}int main(int argc, char **argv)
{if (!bcm2835_init()){printf("bcm2835_init failed. Are you running as root??\n");return 1;}if (!bcm2835_aux_spi_begin()){printf("bcm2835_aux_spi_begin failed. Are you running as root??\n");return 1;}
//寄存器复位registerWrite(0x3a, 0x5a);bcm2835_delay(100);uint8_t pid = registerRead(0x5F);printf("Product ID: 0x%02X\n", pid);init();
//清空数据registerWrite(0x02, 0x00);while (1){readMotion();printf("x:%d,y:%d, deltaX:%d deltaY:%d\n", x, y, deltaX, deltaY);bcm2835_delay(100);}bcm2835_aux_spi_end();bcm2835_close();return 0;
}

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