Diff: KXP84.cpp

Revision:

0:ca2662a35eb0

Child:

1:0637595215b4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/KXP84.cpp	Mon Jan 24 06:07:01 2011 +0000
@@ -0,0 +1,136 @@
+#include "KXP84.h"
+#include "mbed.h"
+
+#define VERSION 0
+#define REVISION 1
+
+Ticker  t;
+
+KXX::KXX()
+{
+    gT = 0;
+    gX = 0;
+    gY = 0;
+    gZ = 0;
+    risther = NULL;
+}
+
+void KXX::Set_d( int x, int y, int z )
+{
+    d.x.sample = x; d.x.buffer = 0;
+    d.y.sample = y; d.y.buffer = 0;
+    d.z.sample = z; d.z.buffer = 0;
+}
+
+int KXX::Get_X()
+{
+    return gX;
+}
+
+int KXX::Get_Y()
+{
+    return gY;
+}
+
+int KXX::Get_Z()
+{
+    return gZ;
+}
+
+void KXX::tickProc()
+{
+    int i;
+
+    funcTick();
+    // Average (radian sampling)
+    if( SAMPLES<=gT ){
+        gT = 0;
+        gX = gD[SAMPLES/2].x.sample;
+        gY = gD[SAMPLES/2].y.sample;
+        gZ = gD[SAMPLES/2].z.sample;
+        if(risther) risther();
+    }
+
+    for(i=0;i<gT;i++)
+    {
+        if ( gD[i].x.sample > d.x.sample ){
+            gD[i].x.buffer ++;
+        }else{
+            d.x.buffer++;
+        }
+        if ( gD[i].y.sample > d.y.sample ){
+            gD[i].y.buffer ++;
+        }else{
+            d.y.buffer++;
+        }
+        if ( gD[i].z.sample > d.z.sample ){
+            gD[i].z.buffer ++;
+        }else{
+            d.z.buffer++;
+        }
+    }
+    gD[i] = d;
+    gT++;
+}
+
+void KXX::Start()
+{
+    initial();
+    t.attach_us(this, &KXX::tickProc, 250); // 250ms
+}
+
+void KXP84_2050::funcTick()
+{
+    int iX0,iX1;
+    int iY0,iY1;
+    int iZ0,iZ1;
+
+    _cs = 0;            /* Select KXP84-2040 */
+    _spi.write(0x80);   /* send Command */
+    wait_us(200);       /* Wait 200ms (for sampling) */
+
+    iX0 = _spi.write(0x00); iX1 = _spi.write(0x00);  /* recive Status (with auto increment) */
+    iY0 = _spi.write(0x00); iY1 = _spi.write(0x00);  /* recive Status (with auto increment) */
+    iZ0 = _spi.write(0x00); iZ1 = _spi.write(0x00);  /* recive Status (with auto increment) */
+    _cs = 1;            /* UnSelect KXP84-2040 */
+
+    Set_d( (iX0<<8) + iX1, (iY0<<8) + iY1, (iZ0<<8) + iZ1 );
+}
+
+KXP84_2050::KXP84_2050(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName rst):
+    _spi(mosi, miso, sclk), _cs(cs), _rst(rst)
+{
+    _rst = 1;
+    _cs  = 1;
+}
+
+void KXP84_2050::initial()
+{
+    // Setup the spi for 8 bit data, high steady state clock,
+    // second edge capture, with a 2MHz clock rate
+    _spi.format(8,1);
+    _spi.frequency(2000000);
+
+    _rst = 0;    /* WakeUp KXP84-2040 */
+    wait_us(1);  /* wait > 130ns */
+
+    _cs = 0;     /* Select KXP84-2040 */
+    _spi.write(0x0A); _spi.write(0x00);
+    _spi.write(0x0B); _spi.write(0x00);
+    _cs = 1;    /* UnSelect KXP84-2040 */
+    wait_us(1);  /* wait > 130ns */
+}
+
+void KXM52_1050::funcTick()
+{
+    Set_d( _aiX.read_u16(), _aiY.read_u16(), _aiZ.read_u16() );
+}
+
+KXM52_1050::KXM52_1050(PinName pwr, PinName ix, PinName iy, PinName iz):
+    _power(pwr), _aiX(ix), _aiY(iy), _aiZ(iz)
+{}
+
+void KXM52_1050::initial()
+{
+    _power = 1;
+}