ofn.cpp

00001 
00002 //@Authors: Guru Das Srinagesh, Neha Kadam
00003 /* Copyright (c) March, 2015 MIT License
00004  *
00005  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00006  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00007  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00008  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in all copies or 
00012  * substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00015  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00016  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00017  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
00018  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00019  */
00020 
00021 #include "ofn.h"
00022 
00023 OFN::OFN(PinName sda, PinName scl): i2c(sda, scl){
00024     i2c.frequency(400000);  // Set I2C frequency to 400kHz (as per datasheet)
00025     MOTREG_ADDR = 0x02;
00026     DELTA_X_ADDR = 0x03;
00027     DELTA_Y_ADDR = 0x04; 
00028 }
00029 
00030 bool OFN::checkMotion(){
00031     char tx[1], rx[1];
00032     tx[0] = MOTREG_ADDR;
00033     i2c.write((DEVICE_ADDR<<1)&0xFE, tx, 1, true);
00034     i2c.read((DEVICE_ADDR<<1)|0x01, rx, 1);
00035     MotReg = rx[0];
00036     
00037     moved = MotReg & 0x80; 
00038    
00039     return moved;    
00040 }
00041 
00042 int OFN::readX(){
00043     char dxAdd[1]; 
00044     dxAdd[0] = DELTA_X_ADDR;
00045     if(moved){
00046         i2c.write((DEVICE_ADDR<<1)&0xFE, dxAdd , 1, true);
00047         i2c.read((DEVICE_ADDR<<1)|0x01, raw_delta_X, 1);
00048         delta_X = (raw_delta_X[0] > 127)? raw_delta_X[0] - 255 : raw_delta_X[0];          
00049     }    
00050     return delta_X;
00051 }
00052 
00053 int OFN::readY(){
00054     char dyAdd[1];
00055     dyAdd[0] = DELTA_Y_ADDR;
00056     if(moved){
00057         i2c.write((DEVICE_ADDR<<1)&0xFE, dyAdd, 1, true);
00058         i2c.read((DEVICE_ADDR<<1)|0x01, raw_delta_Y, 1);                  
00059         delta_Y = (raw_delta_Y[0] > 127)? raw_delta_Y[0] - 255 : raw_delta_Y[0];
00060     }
00061     return delta_Y;
00062 }    
00063 
00064 int OFN::readOrientation(){
00065     char tx[1], rx[1];
00066     int orientReg;
00067     tx[0] = OFN_ORIENTATION_CTRL;
00068     i2c.write((DEVICE_ADDR<<1)&0xFE, tx, 1, true);
00069     i2c.read((DEVICE_ADDR<<1)|0x01, rx, 1);
00070     orientReg = rx[0];    
00071     return orientReg;    
00072 }