pimoroni-pico/drivers/pmw3901/pmw3901.hpp

120 lines
3.6 KiB
C++

#pragma once
#include "hardware/spi.h"
#include "hardware/gpio.h"
#include "../../common/pimoroni_common.hpp"
namespace pimoroni {
class PMW3901 {
spi_inst_t *spi = PIMORONI_SPI_DEFAULT_INSTANCE;
//--------------------------------------------------
// Constants
//--------------------------------------------------
public:
static const uint8_t FRAME_SIZE = 35;
static const uint16_t FRAME_BYTES = 1225;
static const uint16_t DEFAULT_MOTION_TIMEOUT_MS = 5000;
static const uint16_t DEFAULT_FRAME_CAPTURE_TIMEOUT_MS = 10000;
protected:
static const uint8_t WAIT = -1;
//--------------------------------------------------
// Enums
//--------------------------------------------------
public:
enum Degrees {
DEGREES_0 = 0,
DEGREES_90,
DEGREES_180,
DEGREES_270,
};
//--------------------------------------------------
// Variables
//--------------------------------------------------
private:
// interface pins with our standard defaults where appropriate
uint cs = SPI_BG_FRONT_CS;
uint sck = SPI_DEFAULT_SCK;
uint mosi = SPI_DEFAULT_MOSI;
uint miso = SPI_DEFAULT_MISO;
uint interrupt = SPI_BG_FRONT_PWM;
uint32_t spi_baud = 400000;
//--------------------------------------------------
// Constructors/Destructor
//--------------------------------------------------
public:
PMW3901() {}
PMW3901(BG_SPI_SLOT slot) {
switch(slot) {
case PICO_EXPLORER_ONBOARD: // Don't read too much into this, the case is just here to avoid a compile error
cs = SPI_BG_FRONT_CS;
interrupt = PIN_UNUSED;
break;
case BG_SPI_FRONT:
cs = SPI_BG_FRONT_CS;
interrupt = SPI_BG_FRONT_PWM;
break;
case BG_SPI_BACK:
cs = SPI_BG_BACK_CS;
interrupt = SPI_BG_BACK_PWM;
break;
}
}
PMW3901(spi_inst_t *spi,
uint cs, uint sck, uint mosi, uint miso, uint interrupt) :
spi(spi),
cs(cs), sck(sck), mosi(mosi), miso(miso), interrupt(interrupt) {}
virtual ~PMW3901() {}
//--------------------------------------------------
// Methods
//--------------------------------------------------
public:
bool init();
spi_inst_t* get_spi() const;
int get_cs() const;
int get_sck() const;
int get_mosi() const;
int get_miso() const;
int get_int() const;
uint8_t get_id();
uint8_t get_revision();
void set_rotation(Degrees degrees = DEGREES_0);
void set_orientation(bool invert_x = true, bool invert_y = true, bool swap_xy = true);
bool get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
bool get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms = DEFAULT_MOTION_TIMEOUT_MS);
bool frame_capture(uint8_t (&data_out)[FRAME_BYTES], uint16_t& data_size_out, uint16_t timeout_ms = DEFAULT_FRAME_CAPTURE_TIMEOUT_MS);
protected:
virtual void secret_sauce();
void cs_select();
void cs_deselect();
void write_register(uint8_t reg, uint8_t data);
void write_buffer(uint8_t *buf, uint16_t len);
void read_registers(uint8_t reg, uint8_t *buf, uint16_t len);
uint8_t read_register(uint8_t reg);
uint32_t millis();
};
class PAA5100 : public PMW3901 {
public:
virtual ~PAA5100() {}
protected:
virtual void secret_sauce();
};
}