Diff: PMW3901/PMW3901.h

Revision:

6:c7bc001826ba

Parent:

5:1ef8b91a0318

Child:

7:56608cce81ee

--- a/PMW3901/PMW3901.h	Fri May 04 23:03:00 2018 +0000
+++ b/PMW3901/PMW3901.h	Tue May 08 13:35:42 2018 +0000
@@ -3,6 +3,9 @@
 
 #include "mbed.h"
 
+//
+#define PRODUCT_ID 0x00
+//
 #define MOTION 0x02
 // Accelerometer output register addresses
 #define DELTA_X_L 0x03
@@ -18,17 +21,25 @@
  * #include "USBSerial.h"
  * #include "PMW3901.h"
  *
+ * // Declare serial object
  * USBSerial pc;
+ * // Declare sensor object with correpondent SPI pins (miso, mosi, sclk, csel)
  * PMW3901 flow(PA_7,PA_6,PA_5,PB_4);
  * 
+ * // Main program
  * int main() 
  * {
+ *     // Initialize sensor     
  *     flow.init();
+ *     // Infinite loop
  *     while(1);
  *     {
+ *          // Read data from sensor   
  *          flow.read();
-            pc.printf("Optical flow []: %d %d \n\n", flow.x, flow.y);
- *          wait(1);
+ *          // Print data from sensor
+ *          pc.printf("Optical flow []: %6.2f %6.2f \n\n", flow.x, flow.y);
+ *          // Wait 0.5 seconds
+ *          wait(0.5);
  *     }
  * }
  * @endcode
@@ -41,20 +52,24 @@
         PMW3901(PinName mosi, PinName miso, PinName sclk, PinName csel);
         
         /** Initialize optical flow */
-        int init();
+        bool init();
         /** **/
         void read();
         
-        /** Optical flow data in x-axis **/
-        int16_t x;
-        /** Optical flow data in y-axis **/
-        int16_t y;
+        /** Optical flow data in x-axis (px) **/
+        float x;
+        /** Optical flow data in y-axis (px) **/
+        float y;
     private:
         /** SPI bus */
         SPI spi;
         /** Chip select */
         DigitalOut cs;
         
+        /** **/
+        void setup_spi();
+        /** **/
+        bool test_spi();
          /** **/
         void setup_flow();
         /** **/