Only imu output
Fork of FYDP_Final2 by
drivers/ADNS5090/ADNS5090.cpp
- Committer:
- tntmarket
- Date:
- 2015-03-25
- Revision:
- 5:d2e955a94940
- Parent:
- 0:21019d94ad33
File content as of revision 5:d2e955a94940:
#include "ADNS5090.h" ADNS5090::ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_) : spi(mosi_pin, miso_pin, sclk_pin), ncs(ncs_pin), dx_px(0), dy_px(0), pxPerMM(pxPerMM_) { ncs = 1; spi.format(8,3); spi.frequency(1000000); reset(); } bool ADNS5090::updateMotion() { bool ret = false; dx_px = 0; dy_px = 0; ncs = 0; spi.write(ADNS5090_MOTION_ST_REG); if(0x80 & spi.write(0)) { spi.write(ADNS5090_MOTION_BURST_REG); dx_px = (int8_t)spi.write(0); dy_px = (int8_t)spi.write(0); sq = (uint8_t)spi.write(0); ret = true; } ncs = 1; return ret; } float ADNS5090::dx() { return dx_px/pxPerMM; } float ADNS5090::dy() { return dy_px/pxPerMM; } void ADNS5090::reset() { ncs = 0; spi.write(ADNS5090_WRITE_VAL | ADNS5090_RESET_REG); spi.write(ADNS5090_RESET_VAL); ncs = 1; } void ADNS5090::powerDown() { ncs = 0; spi.write(ADNS5090_WRITE_VAL | ADNS5090_MOUSE_CTRL_REG); spi.write(ADNS5090_POWERDOWN_VAL); ncs = 1; } void ADNS5090::setDPI() { ncs = 0; spi.write(ADNS5090_WRITE_VAL| ADNS5090_MOUSE_CTRL_REG); spi.write(0x24); ncs = 1; ncs = 0; spi.write(ADNS5090_WRITE_VAL| 0x21); spi.write(0x10); ncs = 1; }