driver_pmw3901mb_interrupt.c

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#include "driver_pmw3901mb_interrupt.h"
 
static pmw3901mb_handle_t gs_handle;                                                           
static void (*gs_irq)(pmw3901mb_motion_t *motion, float delta_x, float delta_y) = NULL;        

uint8_t pmw3901mb_interrupt_irq_handler(float height_m)
{
    uint8_t res;
    float delta_x;
    float delta_y;
    pmw3901mb_motion_t motion;
 
    /* burst read */
    res = pmw3901mb_burst_read(&gs_handle, &motion);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: burst read failed.\n");
        (void)pmw3901mb_set_motion(&gs_handle, 0x00);
 
        return 1;
    }
 
    /* check the result */
    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)
        {
            pmw3901mb_interface_debug_print("pmw3901mb: delta raw to delta cm failed.\n");
            (void)pmw3901mb_set_motion(&gs_handle, 0x00);
 
            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)
        {
            pmw3901mb_interface_debug_print("pmw3901mb: delta raw to delta cm failed.\n");
            (void)pmw3901mb_set_motion(&gs_handle, 0x00);
 
            return 1;
        }
 
        /* run the callback */
        if (gs_irq != NULL)
        {
            gs_irq(&motion, delta_x, delta_y);
        }
    }
 
    /* clear the interrupt flag */
    res = pmw3901mb_set_motion(&gs_handle, 0x00);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: set motion failed.\n");
 
        return 1;
    }
 
    return 0;
}

uint8_t pmw3901mb_interrupt_init(void (*callback)(pmw3901mb_motion_t *motion, float delta_x, float delta_y))
{
    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;
    }
 
    /* set callback */
    gs_irq = callback;
 
    return 0;
}

uint8_t pmw3901mb_interrupt_deinit(void)
{
    gs_irq = NULL;
 
    if (pmw3901mb_deinit(&gs_handle) != 0)
    {
        return 1;
    }
    else
    {
        return 0;
    }
}