pmw3901.c File Reference

#include "pmw3901.h"
#include "mcu_periph/sys_time.h"

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Macros
#define	PMW3901_RAD_PER_PX   0.002443389
#define	PMW3901_SPI_CDIV   SPIDiv256
#define	PMW3901_REG_MOTION   0x02
#define	PMW3901_REG_DELTA_X_L   0x03
#define	PMW3901_REG_DELTA_X_H   0x04
#define	PMW3901_REG_DELTA_Y_L   0x05
#define	PMW3901_REG_DELTA_Y_H   0x06
#define	writeRegister(_addr, _data)   writeRegister_blocking(pmw, (_addr), (_data))
#define	readRegister(_addr)   readRegister_blocking(pmw, (_addr))
#define	wait_ms(_ms)   sys_time_usleep((_ms) * 1000)

Functions
static bool	readRegister_nonblocking (struct pmw3901_t *pmw, uint8_t addr, uint8_t *value)
static uint8_t	readRegister_blocking (struct pmw3901_t *pmw, uint8_t addr)
static void	writeRegister_blocking (struct pmw3901_t *pmw, uint8_t addr, uint8_t data)
static void	initializeSensor (struct pmw3901_t *pmw)
void	pmw3901_init (struct pmw3901_t *pmw, struct spi_periph *periph, uint8_t slave_idx)
void	pmw3901_event (struct pmw3901_t *pmw)
bool	pmw3901_is_idle (struct pmw3901_t *pmw)
void	pmw3901_start_read (struct pmw3901_t *pmw)
bool	pmw3901_data_available (struct pmw3901_t *pmw)
bool	pmw3901_get_data (struct pmw3901_t *pmw, int16_t *delta_x, int16_t *delta_y)

Macro Definition Documentation

PMW3901_RAD_PER_PX

#define PMW3901_RAD_PER_PX   0.002443389

Definition at line 37 of file pmw3901.c.

PMW3901_REG_DELTA_X_H

#define PMW3901_REG_DELTA_X_H   0x04

Definition at line 48 of file pmw3901.c.

PMW3901_REG_DELTA_X_L

#define PMW3901_REG_DELTA_X_L   0x03

Definition at line 47 of file pmw3901.c.

PMW3901_REG_DELTA_Y_H

#define PMW3901_REG_DELTA_Y_H   0x06

Definition at line 50 of file pmw3901.c.

PMW3901_REG_DELTA_Y_L

#define PMW3901_REG_DELTA_Y_L   0x05

Definition at line 49 of file pmw3901.c.

PMW3901_REG_MOTION

#define PMW3901_REG_MOTION   0x02

Definition at line 46 of file pmw3901.c.

PMW3901_SPI_CDIV

#define PMW3901_SPI_CDIV   SPIDiv256

Definition at line 43 of file pmw3901.c.

readRegister

#define readRegister

(

_addr

)

readRegister_blocking(pmw, (_addr))

Definition at line 120 of file pmw3901.c.

wait_ms

#define wait_ms

(

_ms

)

sys_time_usleep((_ms) * 1000)

Definition at line 121 of file pmw3901.c.

writeRegister

#define writeRegister	(		_addr,
			_data
	)		writeRegister_blocking(pmw, (_addr), (_data))

Definition at line 119 of file pmw3901.c.

Function Documentation

initializeSensor()

static void initializeSensor ( struct pmw3901_t *  pmw )

static

Definition at line 124 of file pmw3901.c.

References foo, readRegister, sys_time_usleep(), wait_ms, and writeRegister.

Referenced by pmw3901_init().

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pmw3901_data_available()

bool pmw3901_data_available

(

struct pmw3901_t *

pmw

)

Definition at line 322 of file pmw3901.c.

References pmw3901_t::data_available.

Referenced by opticflow_pmw3901_event().

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pmw3901_event()

void pmw3901_event

(

struct pmw3901_t *

pmw

)

Definition at line 274 of file pmw3901.c.

References pmw3901_t::data_available, pmw3901_t::delta_x, pmw3901_t::delta_y, PMW3901_IDLE, PMW3901_READ_DELTAXHIGH, PMW3901_READ_DELTAXLOW, PMW3901_READ_DELTAYHIGH, PMW3901_READ_DELTAYLOW, PMW3901_READ_MOTION, PMW3901_REG_DELTA_X_H, PMW3901_REG_DELTA_X_L, PMW3901_REG_DELTA_Y_H, PMW3901_REG_DELTA_Y_L, PMW3901_REG_MOTION, readRegister_nonblocking(), and pmw3901_t::state.

Referenced by opticflow_pmw3901_event().

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pmw3901_get_data()

bool pmw3901_get_data	(	struct pmw3901_t *	pmw,
		int16_t *	delta_x,
		int16_t *	delta_y
	)

Definition at line 326 of file pmw3901.c.

References pmw3901_t::data_available, pmw3901_t::delta_x, and pmw3901_t::delta_y.

Referenced by opticflow_pmw3901_event().

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pmw3901_init()

void pmw3901_init	(	struct pmw3901_t *	pmw,
		struct spi_periph *	periph,
		uint8_t	slave_idx
	)

Definition at line 249 of file pmw3901.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, spi_transaction::cdiv, spi_transaction::cpha, spi_transaction::cpol, pmw3901_t::data_available, pmw3901_t::delta_x, pmw3901_t::delta_y, spi_transaction::dss, foo, initializeSensor(), spi_transaction::input_buf, spi_transaction::output_buf, pmw3901_t::periph, PMW3901_IDLE, PMW3901_RAD_PER_PX, PMW3901_SPI_CDIV, pmw3901_t::rad_per_px, spi_transaction::select, spi_transaction::slave_idx, pmw3901_t::spi_input_buf, pmw3901_t::spi_output_buf, SPICphaEdge1, SPICpolIdleLow, SPIDss8bit, SPIMSBFirst, SPISelectUnselect, SPITransDone, pmw3901_t::state, spi_transaction::status, and pmw3901_t::trans.

Referenced by opticflow_pmw3901_init().

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pmw3901_is_idle()

bool pmw3901_is_idle

(

struct pmw3901_t *

pmw

)

Definition at line 312 of file pmw3901.c.

References PMW3901_IDLE, and pmw3901_t::state.

Referenced by opticflow_pmw3901_periodic(), and pmw3901_start_read().

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pmw3901_start_read()

void pmw3901_start_read

(

struct pmw3901_t *

pmw

)

Definition at line 316 of file pmw3901.c.

References pmw3901_is_idle(), PMW3901_READ_MOTION, and pmw3901_t::state.

Referenced by opticflow_pmw3901_periodic().

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readRegister_blocking()

static uint8_t readRegister_blocking ( struct pmw3901_t *  pmw, uint8_t  addr  )

static

Definition at line 95 of file pmw3901.c.

References spi_transaction::input_buf, spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, pmw3901_t::periph, spi_transaction::select, spi_blocking_transceive(), SPISelect, SPISelectUnselect, SPIUnselect, sys_time_usleep(), and pmw3901_t::trans.

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readRegister_nonblocking()

static bool readRegister_nonblocking ( struct pmw3901_t *  pmw, uint8_t  addr, uint8_t *  value  )

static

Definition at line 55 of file pmw3901.c.

References get_sys_time_usec(), spi_transaction::input_buf, spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, pmw3901_t::periph, pmw3901_t::readwrite_state, pmw3901_t::readwrite_timeout, spi_transaction::select, spi_submit(), SPISelect, SPISelectUnselect, SPITransPending, SPITransRunning, SPIUnselect, spi_transaction::status, and pmw3901_t::trans.

Referenced by pmw3901_event().

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writeRegister_blocking()

static void writeRegister_blocking ( struct pmw3901_t *  pmw, uint8_t  addr, uint8_t  data  )

static

Definition at line 110 of file pmw3901.c.

References spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, pmw3901_t::periph, spi_blocking_transceive(), and pmw3901_t::trans.

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