ADNS5090.cpp

00001 #include "ADNS5090.h"
00002 
00003 ADNS5090::ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_) :
00004     spi(mosi_pin, miso_pin, sclk_pin),
00005     ncs(ncs_pin),
00006     dx_px(0), dy_px(0),
00007     pxPerMM(pxPerMM_)
00008 {
00009     ncs = 1;
00010     spi.format(8,3);
00011     spi.frequency(1000000);    
00012     reset();
00013 }
00014 
00015 
00016 bool ADNS5090::updateMotion()
00017 {
00018     bool ret = false;    
00019     dx_px = 0;
00020     dy_px = 0;    
00021     
00022     ncs = 0;    
00023     spi.write(ADNS5090_MOTION_ST_REG);    
00024     
00025     if(0x80 & spi.write(0))
00026     {
00027         spi.write(ADNS5090_MOTION_BURST_REG);
00028         dx_px = (int8_t)spi.write(0);
00029         dy_px = (int8_t)spi.write(0);
00030         sq = (uint8_t)spi.write(0);
00031         ret = true;
00032     }
00033     ncs = 1;    
00034     return ret;
00035 }
00036 
00037 float ADNS5090::dx()
00038 {
00039     return dx_px/pxPerMM;
00040 }
00041 
00042 float ADNS5090::dy()
00043 {
00044     return dy_px/pxPerMM;
00045 }
00046 
00047 void ADNS5090::reset()
00048 {
00049     ncs = 0;
00050     spi.write(ADNS5090_WRITE_VAL |
00051         ADNS5090_RESET_REG);
00052     spi.write(ADNS5090_RESET_VAL);
00053     ncs = 1;
00054 }
00055 
00056 void ADNS5090::powerDown()
00057 {
00058     ncs = 0;
00059     spi.write(ADNS5090_WRITE_VAL |
00060         ADNS5090_MOUSE_CTRL_REG);
00061     spi.write(ADNS5090_POWERDOWN_VAL);
00062     ncs = 1;
00063 }
00064 
00065 void ADNS5090::setDPI()
00066 {    
00067     ncs = 0;
00068     spi.write(ADNS5090_WRITE_VAL|
00069         ADNS5090_MOUSE_CTRL_REG);
00070     spi.write(0x24);
00071     ncs = 1;
00072     
00073     ncs = 0;
00074     spi.write(ADNS5090_WRITE_VAL|
00075         0x21);        
00076     spi.write(0x10);
00077     ncs = 1; 
00078 }