driver_pmw3901mb_read_test.c

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#include "driver_pmw3901mb_read_test.h"
 
static pmw3901mb_handle_t gs_handle;        

uint8_t pmw3901mb_read_test(float height_m, uint32_t times)
{
    uint8_t res;
    pmw3901mb_info_t info;
 
    /* 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);
 
    /* get information */
    res = pmw3901mb_info(&info);
    if (res != 0)
    {
        pmw3901mb_interface_debug_print("pmw3901mb: get info failed.\n");
 
        return 1;
    }
    else
    {
        /* print chip info */
        pmw3901mb_interface_debug_print("pmw3901mb: chip is %s.\n", info.chip_name);
        pmw3901mb_interface_debug_print("pmw3901mb: manufacturer is %s.\n", info.manufacturer_name);
        pmw3901mb_interface_debug_print("pmw3901mb: interface is %s.\n", info.interface);
        pmw3901mb_interface_debug_print("pmw3901mb: driver version is %d.%d.\n", info.driver_version / 1000, (info.driver_version % 1000) / 100);
        pmw3901mb_interface_debug_print("pmw3901mb: min supply voltage is %0.1fV.\n", info.supply_voltage_min_v);
        pmw3901mb_interface_debug_print("pmw3901mb: max supply voltage is %0.1fV.\n", info.supply_voltage_max_v);
        pmw3901mb_interface_debug_print("pmw3901mb: max current is %0.2fmA.\n", info.max_current_ma);
        pmw3901mb_interface_debug_print("pmw3901mb: max temperature is %0.1fC.\n", info.temperature_max);
        pmw3901mb_interface_debug_print("pmw3901mb: min temperature is %0.1fC.\n", info.temperature_min);
    }
 
    /* start the read test */
    pmw3901mb_interface_debug_print("pmw3901mb: start the read test.\n");
 
    /* 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;
    }
 
    /* wait */
    while (times != 0)
    {
        float delta_x;
        float delta_y;
        pmw3901mb_motion_t motion;
 
        start:
 
        /* burst read */
        res = pmw3901mb_burst_read(&gs_handle, &motion);
        if (res != 0)
        {
            pmw3901mb_interface_debug_print("pmw3901mb: burst read failed.\n");
 
            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");
 
                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");
 
                return 1;
            }
 
            /* print the result */
            pmw3901mb_interface_debug_print("pmw3901mb: delta_x: %0.3fcm delta_y: %0.3fcm.\n", delta_x, delta_y);
            pmw3901mb_interface_debug_print("pmw3901mb: raw_average is 0x%02X.\n", motion.raw_average);
            pmw3901mb_interface_debug_print("pmw3901mb: raw_max is 0x%02X.\n", motion.raw_max);
            pmw3901mb_interface_debug_print("pmw3901mb: raw_min is 0x%02X.\n", motion.raw_min);
            pmw3901mb_interface_debug_print("pmw3901mb: observation is 0x%02X.\n", motion.observation);
            pmw3901mb_interface_debug_print("pmw3901mb: shutter is 0x%04X.\n", motion.shutter);
            pmw3901mb_interface_debug_print("pmw3901mb: surface quality is 0x%04X.\n", motion.surface_quality);
        }
        else
        {
            pmw3901mb_interface_delay_ms(500);
 
            goto start;
        }
 
        times--;
    }
 
    /* finish the read test */
    pmw3901mb_interface_debug_print("pmw3901mb: finish the read test.\n");
    (void)pmw3901mb_deinit(&gs_handle);
 
    return 0;
}