Kouichi Iijima / Mbed 2 deprecated KXP84-2050_test

Dependencies:   mbed

KXP84.cpp@0:ca2662a35eb0, 2011-01-24 (annotated)

Committer:
mr11451
Date:
Mon Jan 24 06:07:01 2011 +0000
Revision:
0:ca2662a35eb0
Child:
1:0637595215b4
test version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mr11451 0:ca2662a35eb0 1 #include "KXP84.h"
mr11451 0:ca2662a35eb0 2 #include "mbed.h"
mr11451 0:ca2662a35eb0 3
mr11451 0:ca2662a35eb0 4 #define VERSION 0
mr11451 0:ca2662a35eb0 5 #define REVISION 1
mr11451 0:ca2662a35eb0 6
mr11451 0:ca2662a35eb0 7 Ticker t;
mr11451 0:ca2662a35eb0 8
mr11451 0:ca2662a35eb0 9 KXX::KXX()
mr11451 0:ca2662a35eb0 10 {
mr11451 0:ca2662a35eb0 11 gT = 0;
mr11451 0:ca2662a35eb0 12 gX = 0;
mr11451 0:ca2662a35eb0 13 gY = 0;
mr11451 0:ca2662a35eb0 14 gZ = 0;
mr11451 0:ca2662a35eb0 15 risther = NULL;
mr11451 0:ca2662a35eb0 16 }
mr11451 0:ca2662a35eb0 17
mr11451 0:ca2662a35eb0 18 void KXX::Set_d( int x, int y, int z )
mr11451 0:ca2662a35eb0 19 {
mr11451 0:ca2662a35eb0 20 d.x.sample = x; d.x.buffer = 0;
mr11451 0:ca2662a35eb0 21 d.y.sample = y; d.y.buffer = 0;
mr11451 0:ca2662a35eb0 22 d.z.sample = z; d.z.buffer = 0;
mr11451 0:ca2662a35eb0 23 }
mr11451 0:ca2662a35eb0 24
mr11451 0:ca2662a35eb0 25 int KXX::Get_X()
mr11451 0:ca2662a35eb0 26 {
mr11451 0:ca2662a35eb0 27 return gX;
mr11451 0:ca2662a35eb0 28 }
mr11451 0:ca2662a35eb0 29
mr11451 0:ca2662a35eb0 30 int KXX::Get_Y()
mr11451 0:ca2662a35eb0 31 {
mr11451 0:ca2662a35eb0 32 return gY;
mr11451 0:ca2662a35eb0 33 }
mr11451 0:ca2662a35eb0 34
mr11451 0:ca2662a35eb0 35 int KXX::Get_Z()
mr11451 0:ca2662a35eb0 36 {
mr11451 0:ca2662a35eb0 37 return gZ;
mr11451 0:ca2662a35eb0 38 }
mr11451 0:ca2662a35eb0 39
mr11451 0:ca2662a35eb0 40 void KXX::tickProc()
mr11451 0:ca2662a35eb0 41 {
mr11451 0:ca2662a35eb0 42 int i;
mr11451 0:ca2662a35eb0 43
mr11451 0:ca2662a35eb0 44 funcTick();
mr11451 0:ca2662a35eb0 45 // Average (radian sampling)
mr11451 0:ca2662a35eb0 46 if( SAMPLES<=gT ){
mr11451 0:ca2662a35eb0 47 gT = 0;
mr11451 0:ca2662a35eb0 48 gX = gD[SAMPLES/2].x.sample;
mr11451 0:ca2662a35eb0 49 gY = gD[SAMPLES/2].y.sample;
mr11451 0:ca2662a35eb0 50 gZ = gD[SAMPLES/2].z.sample;
mr11451 0:ca2662a35eb0 51 if(risther) risther();
mr11451 0:ca2662a35eb0 52 }
mr11451 0:ca2662a35eb0 53
mr11451 0:ca2662a35eb0 54 for(i=0;i<gT;i++)
mr11451 0:ca2662a35eb0 55 {
mr11451 0:ca2662a35eb0 56 if ( gD[i].x.sample > d.x.sample ){
mr11451 0:ca2662a35eb0 57 gD[i].x.buffer ++;
mr11451 0:ca2662a35eb0 58 }else{
mr11451 0:ca2662a35eb0 59 d.x.buffer++;
mr11451 0:ca2662a35eb0 60 }
mr11451 0:ca2662a35eb0 61 if ( gD[i].y.sample > d.y.sample ){
mr11451 0:ca2662a35eb0 62 gD[i].y.buffer ++;
mr11451 0:ca2662a35eb0 63 }else{
mr11451 0:ca2662a35eb0 64 d.y.buffer++;
mr11451 0:ca2662a35eb0 65 }
mr11451 0:ca2662a35eb0 66 if ( gD[i].z.sample > d.z.sample ){
mr11451 0:ca2662a35eb0 67 gD[i].z.buffer ++;
mr11451 0:ca2662a35eb0 68 }else{
mr11451 0:ca2662a35eb0 69 d.z.buffer++;
mr11451 0:ca2662a35eb0 70 }
mr11451 0:ca2662a35eb0 71 }
mr11451 0:ca2662a35eb0 72 gD[i] = d;
mr11451 0:ca2662a35eb0 73 gT++;
mr11451 0:ca2662a35eb0 74 }
mr11451 0:ca2662a35eb0 75
mr11451 0:ca2662a35eb0 76 void KXX::Start()
mr11451 0:ca2662a35eb0 77 {
mr11451 0:ca2662a35eb0 78 initial();
mr11451 0:ca2662a35eb0 79 t.attach_us(this, &KXX::tickProc, 250); // 250ms
mr11451 0:ca2662a35eb0 80 }
mr11451 0:ca2662a35eb0 81
mr11451 0:ca2662a35eb0 82 void KXP84_2050::funcTick()
mr11451 0:ca2662a35eb0 83 {
mr11451 0:ca2662a35eb0 84 int iX0,iX1;
mr11451 0:ca2662a35eb0 85 int iY0,iY1;
mr11451 0:ca2662a35eb0 86 int iZ0,iZ1;
mr11451 0:ca2662a35eb0 87
mr11451 0:ca2662a35eb0 88 _cs = 0; /* Select KXP84-2040 */
mr11451 0:ca2662a35eb0 89 _spi.write(0x80); /* send Command */
mr11451 0:ca2662a35eb0 90 wait_us(200); /* Wait 200ms (for sampling) */
mr11451 0:ca2662a35eb0 91
mr11451 0:ca2662a35eb0 92 iX0 = _spi.write(0x00); iX1 = _spi.write(0x00); /* recive Status (with auto increment) */
mr11451 0:ca2662a35eb0 93 iY0 = _spi.write(0x00); iY1 = _spi.write(0x00); /* recive Status (with auto increment) */
mr11451 0:ca2662a35eb0 94 iZ0 = _spi.write(0x00); iZ1 = _spi.write(0x00); /* recive Status (with auto increment) */
mr11451 0:ca2662a35eb0 95 _cs = 1; /* UnSelect KXP84-2040 */
mr11451 0:ca2662a35eb0 96
mr11451 0:ca2662a35eb0 97 Set_d( (iX0<<8) + iX1, (iY0<<8) + iY1, (iZ0<<8) + iZ1 );
mr11451 0:ca2662a35eb0 98 }
mr11451 0:ca2662a35eb0 99
mr11451 0:ca2662a35eb0 100 KXP84_2050::KXP84_2050(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName rst):
mr11451 0:ca2662a35eb0 101 _spi(mosi, miso, sclk), _cs(cs), _rst(rst)
mr11451 0:ca2662a35eb0 102 {
mr11451 0:ca2662a35eb0 103 _rst = 1;
mr11451 0:ca2662a35eb0 104 _cs = 1;
mr11451 0:ca2662a35eb0 105 }
mr11451 0:ca2662a35eb0 106
mr11451 0:ca2662a35eb0 107 void KXP84_2050::initial()
mr11451 0:ca2662a35eb0 108 {
mr11451 0:ca2662a35eb0 109 // Setup the spi for 8 bit data, high steady state clock,
mr11451 0:ca2662a35eb0 110 // second edge capture, with a 2MHz clock rate
mr11451 0:ca2662a35eb0 111 _spi.format(8,1);
mr11451 0:ca2662a35eb0 112 _spi.frequency(2000000);
mr11451 0:ca2662a35eb0 113
mr11451 0:ca2662a35eb0 114 _rst = 0; /* WakeUp KXP84-2040 */
mr11451 0:ca2662a35eb0 115 wait_us(1); /* wait > 130ns */
mr11451 0:ca2662a35eb0 116
mr11451 0:ca2662a35eb0 117 _cs = 0; /* Select KXP84-2040 */
mr11451 0:ca2662a35eb0 118 _spi.write(0x0A); _spi.write(0x00);
mr11451 0:ca2662a35eb0 119 _spi.write(0x0B); _spi.write(0x00);
mr11451 0:ca2662a35eb0 120 _cs = 1; /* UnSelect KXP84-2040 */
mr11451 0:ca2662a35eb0 121 wait_us(1); /* wait > 130ns */
mr11451 0:ca2662a35eb0 122 }
mr11451 0:ca2662a35eb0 123
mr11451 0:ca2662a35eb0 124 void KXM52_1050::funcTick()
mr11451 0:ca2662a35eb0 125 {
mr11451 0:ca2662a35eb0 126 Set_d( _aiX.read_u16(), _aiY.read_u16(), _aiZ.read_u16() );
mr11451 0:ca2662a35eb0 127 }
mr11451 0:ca2662a35eb0 128
mr11451 0:ca2662a35eb0 129 KXM52_1050::KXM52_1050(PinName pwr, PinName ix, PinName iy, PinName iz):
mr11451 0:ca2662a35eb0 130 _power(pwr), _aiX(ix), _aiY(iy), _aiZ(iz)
mr11451 0:ca2662a35eb0 131 {}
mr11451 0:ca2662a35eb0 132
mr11451 0:ca2662a35eb0 133 void KXM52_1050::initial()
mr11451 0:ca2662a35eb0 134 {
mr11451 0:ca2662a35eb0 135 _power = 1;
mr11451 0:ca2662a35eb0 136 }