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