Evo Bot / ADNS5090

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Dependencies:   SWSPI

Fork of SWSPI by Dave Van Wagner

ADNS5090.cpp@1:98a9d6fc60ae, 2014-05-08 (annotated)

Committer:
Throwbot
Date:
Thu May 08 19:10:37 2014 +0000
Revision:
1:98a9d6fc60ae
Parent:
SWSPI.cpp@0:6a500a08c7fd
Child:
2:4612564007c0
good version, just intergrated mouse sensor, has shell, has rc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Throwbot 1:98a9d6fc60ae 1 #include "ADNS5090.h"
davervw 0:6a500a08c7fd 2
Throwbot 1:98a9d6fc60ae 3 ADNS5090::ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_) :
Throwbot 1:98a9d6fc60ae 4 spi(mosi_pin, miso_pin, sclk_pin),
Throwbot 1:98a9d6fc60ae 5 ncs(ncs_pin),
Throwbot 1:98a9d6fc60ae 6 dx_px(0), dy_px(0),
Throwbot 1:98a9d6fc60ae 7 pxPerMM(pxPerMM_)
davervw 0:6a500a08c7fd 8 {
Throwbot 1:98a9d6fc60ae 9 ncs = 1;
Throwbot 1:98a9d6fc60ae 10 spi.format(8,3);
Throwbot 1:98a9d6fc60ae 11 spi.frequency(1000000);
Throwbot 1:98a9d6fc60ae 12 reset();
davervw 0:6a500a08c7fd 13 }
davervw 0:6a500a08c7fd 14
Throwbot 1:98a9d6fc60ae 15
Throwbot 1:98a9d6fc60ae 16 bool ADNS5090::updateMotion()
davervw 0:6a500a08c7fd 17 {
Throwbot 1:98a9d6fc60ae 18 bool ret = false;
Throwbot 1:98a9d6fc60ae 19 dx_px = 0;
Throwbot 1:98a9d6fc60ae 20 dy_px = 0;
Throwbot 1:98a9d6fc60ae 21
Throwbot 1:98a9d6fc60ae 22 ncs = 0;
Throwbot 1:98a9d6fc60ae 23 spi.write(ADNS5090_MOTION_ST_REG);
Throwbot 1:98a9d6fc60ae 24
Throwbot 1:98a9d6fc60ae 25 if(0x80 & spi.write(0))
Throwbot 1:98a9d6fc60ae 26 {
Throwbot 1:98a9d6fc60ae 27 spi.write(ADNS5090_MOTION_BURST_REG);
Throwbot 1:98a9d6fc60ae 28 dx_px = (int8_t)spi.write(0);
Throwbot 1:98a9d6fc60ae 29 dy_px = (int8_t)spi.write(0);
Throwbot 1:98a9d6fc60ae 30 sq = (uint8_t)spi.write(0);
Throwbot 1:98a9d6fc60ae 31 ret = true;
Throwbot 1:98a9d6fc60ae 32 }
Throwbot 1:98a9d6fc60ae 33 ncs = 1;
Throwbot 1:98a9d6fc60ae 34 return ret;
davervw 0:6a500a08c7fd 35 }
davervw 0:6a500a08c7fd 36
Throwbot 1:98a9d6fc60ae 37 float ADNS5090::dx()
davervw 0:6a500a08c7fd 38 {
Throwbot 1:98a9d6fc60ae 39 return dx_px/pxPerMM;
davervw 0:6a500a08c7fd 40 }
davervw 0:6a500a08c7fd 41
Throwbot 1:98a9d6fc60ae 42 float ADNS5090::dy()
davervw 0:6a500a08c7fd 43 {
Throwbot 1:98a9d6fc60ae 44 return dy_px/pxPerMM;
Throwbot 1:98a9d6fc60ae 45 }
Throwbot 1:98a9d6fc60ae 46
Throwbot 1:98a9d6fc60ae 47 void ADNS5090::reset()
Throwbot 1:98a9d6fc60ae 48 {
Throwbot 1:98a9d6fc60ae 49 ncs = 0;
Throwbot 1:98a9d6fc60ae 50 spi.write(ADNS5090_WRITE_VAL |
Throwbot 1:98a9d6fc60ae 51 ADNS5090_RESET_REG);
Throwbot 1:98a9d6fc60ae 52 spi.write(ADNS5090_RESET_VAL);
Throwbot 1:98a9d6fc60ae 53 ncs = 1;
davervw 0:6a500a08c7fd 54 }
davervw 0:6a500a08c7fd 55
Throwbot 1:98a9d6fc60ae 56 void ADNS5090::powerDown()
davervw 0:6a500a08c7fd 57 {
Throwbot 1:98a9d6fc60ae 58 ncs = 0;
Throwbot 1:98a9d6fc60ae 59 spi.write(ADNS5090_WRITE_VAL |
Throwbot 1:98a9d6fc60ae 60 ADNS5090_MOUSE_CTRL_REG);
Throwbot 1:98a9d6fc60ae 61 spi.write(ADNS5090_POWERDOWN_VAL);
Throwbot 1:98a9d6fc60ae 62 ncs = 1;
davervw 0:6a500a08c7fd 63 }
davervw 0:6a500a08c7fd 64
Throwbot 1:98a9d6fc60ae 65 void ADNS5090::setDPI()
Throwbot 1:98a9d6fc60ae 66 {
Throwbot 1:98a9d6fc60ae 67 ncs = 0;
Throwbot 1:98a9d6fc60ae 68 spi.write(ADNS5090_WRITE_VAL|
Throwbot 1:98a9d6fc60ae 69 ADNS5090_MOUSE_CTRL_REG);
Throwbot 1:98a9d6fc60ae 70 spi.write(0x24);
Throwbot 1:98a9d6fc60ae 71 ncs = 1;
Throwbot 1:98a9d6fc60ae 72
Throwbot 1:98a9d6fc60ae 73 ncs = 0;
Throwbot 1:98a9d6fc60ae 74 spi.write(ADNS5090_WRITE_VAL|
Throwbot 1:98a9d6fc60ae 75 0x21);
Throwbot 1:98a9d6fc60ae 76 spi.write(0x10);
Throwbot 1:98a9d6fc60ae 77 ncs = 1;
Throwbot 1:98a9d6fc60ae 78 }