driver_pmw3901mb_basic.c

Go to the documentation of this file.

 
#include "driver_pmw3901mb_basic.h"
 
static pmw3901mb_handle_t gs_handle;        

uint8_t pmw3901mb_basic_init(void)
{
    uint8_t res;
 
    /* link interface function */
    DRIVER_PMW3901MB_LINK_INIT(&gs_handle, pmw3901mb_handle_t);
    DRIVER_PMW3901MB_LINK_SPI_INIT(&gs_handle, pmw3901mb_interface_spi_init);
    DRIVER_PMW3901MB_LINK_SPI_DEINIT(&gs_handle, pmw3901mb_interface_spi_deinit);
    DRIVER_PMW3901MB_LINK_SPI_READ(&gs_handle, pmw3901mb_interface_spi_read);
    DRIVER_PMW3901MB_LINK_SPI_WRITE(&gs_handle, pmw3901mb_interface_spi_write);
    DRIVER_PMW3901MB_LINK_RESET_GPIO_INIT(&gs_handle, pmw3901mb_interface_reset_gpio_init);
    DRIVER_PMW3901MB_LINK_RESET_GPIO_DEINIT(&gs_handle, pmw3901mb_interface_reset_gpio_deinit);
    DRIVER_PMW3901MB_LINK_RESET_GPIO_WRITE(&gs_handle, pmw3901mb_interface_reset_gpio_write);
    DRIVER_PMW3901MB_LINK_DELAY_MS(&gs_handle, pmw3901mb_interface_delay_ms);
    DRIVER_PMW3901MB_LINK_DEBUG_PRINT(&gs_handle, pmw3901mb_interface_debug_print);
 
    /* init pmw3901mb */
    res = pmw3901mb_init(&gs_handle);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: init failed.\n");
 
        return 1;
    }
 
    /* chip power up */
    res = pmw3901mb_power_up(&gs_handle);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: power up failed.\n");
        (void)pmw3901mb_deinit(&gs_handle);
 
        return 1;
    }
 
    /* set optimum performance */
    res = pmw3901mb_set_optimum_performance(&gs_handle);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: set optimum performance failed.\n");
        (void)pmw3901mb_deinit(&gs_handle);
 
        return 1;
    }
 
    return 0;
}

uint8_t pmw3901mb_basic_read(float height_m, pmw3901mb_motion_t *motion, float *delta_x, float *delta_y)
{
    uint8_t res;
 
    if (pmw3901mb_burst_read(&gs_handle, motion) != 0)
    {
        return 1;
    }
    else
    {
        if (motion->is_valid == 1)
        {
            /* convert the delta x */
            res = pmw3901mb_delta_raw_to_delta_cm(&gs_handle, motion->delta_x, height_m, (float *)delta_x);
            if (res != 0)
            {
                return 1;
            }
 
            /* convert the delta y */
            res = pmw3901mb_delta_raw_to_delta_cm(&gs_handle, motion->delta_y, height_m, (float *)delta_y);
            if (res != 0)
            {
                return 1;
            }
        }
        else
        {
            *delta_x = 0;
            *delta_y = 0;
        }
 
        return 0;
    }
}

uint8_t pmw3901mb_basic_deinit(void)
{
    if (pmw3901mb_deinit(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}