pmw3901.c File Reference

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

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Macros
#define	PMW3901_RAD_PER_PX   0.002443389
#define	PMW3901_SPI_CDIV   SPIDiv32
#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 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)
static void	pmw3901_thd (void *arg)
void	pmw3901_init (struct pmw3901_t *pmw, struct spi_periph *periph, uint8_t slave_idx)
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 38 of file pmw3901.c.

PMW3901_REG_DELTA_X_H

#define PMW3901_REG_DELTA_X_H   0x04

Definition at line 49 of file pmw3901.c.

PMW3901_REG_DELTA_X_L

#define PMW3901_REG_DELTA_X_L   0x03

Definition at line 48 of file pmw3901.c.

PMW3901_REG_DELTA_Y_H

#define PMW3901_REG_DELTA_Y_H   0x06

Definition at line 51 of file pmw3901.c.

PMW3901_REG_DELTA_Y_L

#define PMW3901_REG_DELTA_Y_L   0x05

Definition at line 50 of file pmw3901.c.

PMW3901_REG_MOTION

#define PMW3901_REG_MOTION   0x02

Definition at line 47 of file pmw3901.c.

PMW3901_SPI_CDIV

#define PMW3901_SPI_CDIV   SPIDiv32

Definition at line 44 of file pmw3901.c.

readRegister

#define readRegister

(

_addr

)

readRegister_blocking(pmw, (_addr))

Definition at line 100 of file pmw3901.c.

wait_ms

#define wait_ms

(

_ms

)

sys_time_usleep((_ms) * 1000)

Definition at line 101 of file pmw3901.c.

writeRegister

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

Definition at line 99 of file pmw3901.c.

Function Documentation

initializeSensor()

static void initializeSensor ( struct pmw3901_t *  pmw )

static

Definition at line 104 of file pmw3901.c.

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

Referenced by pmw3901_init().

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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 260 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 232 of file pmw3901.c.

References spi_transaction::after_cb, spi_transaction::before_cb, spi_transaction::bitorder, pmw3901_t::bsem, 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_thd(), pprz_bsem_init(), PPRZ_NORMAL_PRIO, pprz_thread_create(), pmw3901_t::rad_per_px, spi_transaction::select, spi_transaction::slave_idx, pmw3901_t::spi_input_buf, pmw3901_t::spi_output_buf, SPICphaEdge2, SPICpolIdleHigh, SPIDss8bit, SPIMSBFirst, SPINoSelect, SPITransDone, pmw3901_t::state, spi_transaction::status, pmw3901_t::thd_handle, and pmw3901_t::trans.

Referenced by opticflow_pmw3901_init().

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pmw3901_thd()

static void pmw3901_thd ( void *  arg )

static

Definition at line 211 of file pmw3901.c.

References pmw3901_t::bsem, pmw3901_t::data_available, pmw3901_t::delta_x, pmw3901_t::delta_y, foo, PMW3901_REG_DELTA_X_H, PMW3901_REG_DELTA_X_L, PMW3901_REG_DELTA_Y_H, PMW3901_REG_DELTA_Y_L, PMW3901_REG_MOTION, pprz_bsem_wait(), and readRegister_blocking().

Referenced by pmw3901_init().

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readRegister_blocking()

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

static

Definition at line 55 of file pmw3901.c.

References foo, 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(), spi_slave_select(), spi_slave_unselect(), SPINoSelect, sys_time_usleep(), and pmw3901_t::trans.

Referenced by pmw3901_thd().

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writeRegister_blocking()

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

static

Definition at line 77 of file pmw3901.c.

References foo, spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, pmw3901_t::periph, spi_transaction::select, spi_blocking_transceive(), spi_slave_select(), spi_slave_unselect(), SPINoSelect, sys_time_usleep(), and pmw3901_t::trans.

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