pmw3901.h

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/*
 * Copyright (C) Tom van Dijk
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef PMW3901_H_
#define PMW3901_H_
 
#include "mcu_periph/spi.h"
#include "modules/core/threads.h"
 
#include <stdbool.h>
#include <math.h>
 
 
#define SPI_BUFFER_SIZE 8
 
 
enum pmw3901_state {
  PMW3901_IDLE,
  PMW3901_READ_MOTION,
  PMW3901_READ_DELTAXHIGH,
  PMW3901_READ_DELTAXLOW,
  PMW3901_READ_DELTAYHIGH,
  PMW3901_READ_DELTAYLOW,
};
 
struct pmw3901_t {
  struct spi_periph *periph;
  pprz_thread_t thd_handle;
  pprz_bsem_t bsem;
  struct spi_transaction trans;
  volatile uint8_t spi_input_buf[SPI_BUFFER_SIZE];
  volatile uint8_t spi_output_buf[SPI_BUFFER_SIZE];
  enum pmw3901_state state;
  uint8_t readwrite_state;
  uint32_t readwrite_timeout;
  int16_t delta_x;
  int16_t delta_y;
  bool data_available;
  float rad_per_px;
};
 
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);
 
 
 
#endif // PMW3901_H_