Mark Vandermeulen / FYDP_Final2

This is for our FYDP project. 2 MPU6050s are used

Dependencies:   Servo mbed

drivers/ADNS5090/ADNS5090.h@4:05484073a641, 2015-03-22 (annotated)

Committer:
majik
Date:
Sun Mar 22 06:34:30 2015 +0000
Revision:
4:05484073a641
Parent:
0:21019d94ad33 
BOTH IMUs WORK NOW. Put them in separate threads. Servo is included.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 #ifndef ADNS5090_H
majik 0:21019d94ad33 2 #define ADNS5090_H
majik 0:21019d94ad33 3
majik 0:21019d94ad33 4 #include "stdint.h"
majik 0:21019d94ad33 5 #include "mbed.h"
majik 0:21019d94ad33 6 #include "SWSPI.h"
majik 0:21019d94ad33 7
majik 0:21019d94ad33 8 #define ADNS5090_WRITE_VAL (0x80)
majik 0:21019d94ad33 9 #define ADNS5090_MOTION_ST_REG (0x02)
majik 0:21019d94ad33 10 #define ADNS5090_MOTION_BURST_REG (0x63)
majik 0:21019d94ad33 11 #define ADNS5090_RESET_REG (0x3a)
majik 0:21019d94ad33 12 #define ADNS5090_RESET_VAL (0x5a)
majik 0:21019d94ad33 13 #define ADNS5090_MOUSE_CTRL_REG (0x0d)
majik 0:21019d94ad33 14 #define ADNS5090_POWERDOWN_VAL (0x02)
majik 0:21019d94ad33 15
majik 0:21019d94ad33 16
majik 0:21019d94ad33 17 class ADNS5090
majik 0:21019d94ad33 18 {
majik 0:21019d94ad33 19 private:
majik 0:21019d94ad33 20
majik 0:21019d94ad33 21 SWSPI spi;
majik 0:21019d94ad33 22 DigitalOut ncs;
majik 0:21019d94ad33 23
majik 0:21019d94ad33 24 public:
majik 0:21019d94ad33 25
majik 0:21019d94ad33 26 ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_);
majik 0:21019d94ad33 27
majik 0:21019d94ad33 28 int8_t dx_px, dy_px;
majik 0:21019d94ad33 29 uint8_t sq; //surface quality, higher better, ~30 is good, 0= no surface
majik 0:21019d94ad33 30 float pxPerMM;
majik 0:21019d94ad33 31
majik 0:21019d94ad33 32 float dx();
majik 0:21019d94ad33 33 float dy();
majik 0:21019d94ad33 34
majik 0:21019d94ad33 35 bool updateMotion();
majik 0:21019d94ad33 36 void reset();
majik 0:21019d94ad33 37 void powerDown();
majik 0:21019d94ad33 38 void setDPI();
majik 0:21019d94ad33 39 };
majik 0:21019d94ad33 40
majik 0:21019d94ad33 41 #endif