Evo Bot
Software SPI allows non-standard SPI pins to be used for interfacing with SPI devices
Fork of
SWSPI
by 
Dave Van Wagner
Revision 1:98a9d6fc60ae, committed 2014-05-08
- Comitter:
- Throwbot
- Date:
- Thu May 08 19:10:37 2014 +0000
- Parent:
- 0:6a500a08c7fd
- Child:
- 2:4612564007c0
- Commit message:
- good version, just intergrated mouse sensor, has shell, has rc
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADNS5090.cpp Thu May 08 19:10:37 2014 +0000
@@ -0,0 +1,78 @@
+#include "ADNS5090.h"
+
+ADNS5090::ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_) :
+ spi(mosi_pin, miso_pin, sclk_pin),
+ ncs(ncs_pin),
+ dx_px(0), dy_px(0),
+ pxPerMM(pxPerMM_)
+{
+ ncs = 1;
+ spi.format(8,3);
+ spi.frequency(1000000);
+ reset();
+}
+
+
+bool ADNS5090::updateMotion()
+{
+ bool ret = false;
+ dx_px = 0;
+ dy_px = 0;
+
+ ncs = 0;
+ spi.write(ADNS5090_MOTION_ST_REG);
+
+ if(0x80 & spi.write(0))
+ {
+ spi.write(ADNS5090_MOTION_BURST_REG);
+ dx_px = (int8_t)spi.write(0);
+ dy_px = (int8_t)spi.write(0);
+ sq = (uint8_t)spi.write(0);
+ ret = true;
+ }
+ ncs = 1;
+ return ret;
+}
+
+float ADNS5090::dx()
+{
+ return dx_px/pxPerMM;
+}
+
+float ADNS5090::dy()
+{
+ return dy_px/pxPerMM;
+}
+
+void ADNS5090::reset()
+{
+ ncs = 0;
+ spi.write(ADNS5090_WRITE_VAL |
+ ADNS5090_RESET_REG);
+ spi.write(ADNS5090_RESET_VAL);
+ ncs = 1;
+}
+
+void ADNS5090::powerDown()
+{
+ ncs = 0;
+ spi.write(ADNS5090_WRITE_VAL |
+ ADNS5090_MOUSE_CTRL_REG);
+ spi.write(ADNS5090_POWERDOWN_VAL);
+ ncs = 1;
+}
+
+void ADNS5090::setDPI()
+{
+ ncs = 0;
+ spi.write(ADNS5090_WRITE_VAL|
+ ADNS5090_MOUSE_CTRL_REG);
+ spi.write(0x24);
+ ncs = 1;
+
+ ncs = 0;
+ spi.write(ADNS5090_WRITE_VAL|
+ 0x21);
+ spi.write(0x10);
+ ncs = 1;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADNS5090.h Thu May 08 19:10:37 2014 +0000
@@ -0,0 +1,41 @@
+#ifndef ADNS5090_H
+#define ADNS5090_H
+
+#include "stdint.h"
+#include "mbed.h"
+#include "SWSPI.h"
+
+#define ADNS5090_WRITE_VAL (0x80)
+#define ADNS5090_MOTION_ST_REG (0x02)
+#define ADNS5090_MOTION_BURST_REG (0x63)
+#define ADNS5090_RESET_REG (0x3a)
+#define ADNS5090_RESET_VAL (0x5a)
+#define ADNS5090_MOUSE_CTRL_REG (0x0d)
+#define ADNS5090_POWERDOWN_VAL (0x02)
+
+
+class ADNS5090
+{
+private:
+
+ SWSPI spi;
+ DigitalOut ncs;
+
+public:
+
+ ADNS5090(PinName mosi_pin, PinName miso_pin, PinName sclk_pin, PinName ncs_pin, float pxPerMM_);
+
+ int8_t dx_px, dy_px;
+ uint8_t sq; //surface quality, higher better, ~30 is good, 0= no surface
+ float pxPerMM;
+
+ float dx();
+ float dy();
+
+ bool updateMotion();
+ void reset();
+ void powerDown();
+ void setDPI();
+};
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ADNS5090.lib Thu May 08 19:10:37 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/davervw/code/SWSPI/#6a500a08c7fd
--- a/SWSPI.cpp Tue Feb 04 06:54:01 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,86 +0,0 @@
-/* SWSPI, Software SPI library
- * Copyright (c) 2012-2014, David R. Van Wagner, http://techwithdave.blogspot.com
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <mbed.h>
-#include "SWSPI.h"
-
-SWSPI::SWSPI(PinName mosi_pin, PinName miso_pin, PinName sclk_pin)
-{
- mosi = new DigitalOut(mosi_pin);
- miso = new DigitalIn(miso_pin);
- sclk = new DigitalOut(sclk_pin);
- format(8);
- frequency();
-}
-
-SWSPI::~SWSPI()
-{
- delete mosi;
- delete miso;
- delete sclk;
-}
-
-void SWSPI::format(int bits, int mode)
-{
- this->bits = bits;
- this->mode = mode;
- polarity = (mode >> 1) & 1;
- phase = mode & 1;
- sclk->write(polarity);
-}
-
-void SWSPI::frequency(int hz)
-{
- this->freq = hz;
-}
-
-int SWSPI::write(int value)
-{
- int read = 0;
- for (int bit = bits-1; bit >= 0; --bit)
- {
- mosi->write(((value >> bit) & 0x01) != 0);
-
- if (phase == 0)
- {
- if (miso->read())
- read |= (1 << bit);
- }
-
- sclk->write(!polarity);
-
- wait(1.0/freq/2);
-
- if (phase == 1)
- {
- if (miso->read())
- read |= (1 << bit);
- }
-
- sclk->write(polarity);
-
- wait(1.0/freq/2);
- }
-
- return read;
-}
-
--- a/SWSPI.h Tue Feb 04 06:54:01 2014 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,95 +0,0 @@
-/* SWSPI, Software SPI library
- * Copyright (c) 2012-2014, David R. Van Wagner, http://techwithdave.blogspot.com
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#ifndef SWSPI_H
-#define SWSPI_H
-
-/** A software implemented SPI that can use any digital pins
- *
- * Useful when don't want to share a single SPI hardware among attached devices
- * or when pinout doesn't match exactly to the target's SPI pins
- *
- * @code
- * #include "mbed.h"
- * #include "SWSPI.h"
- *
- * SWSPI spi(p5, p6, p7); // mosi, miso, sclk
- *
- * int main()
- * {
- * DigitalOut cs(p8);
- * spi.format(8, 0);
- * spi.frequency(10000000);
- * cs.write(0);
- * spi.write(0x9f);
- * int jedecid = (spi.write(0) << 16) | (spi.write(0) << 8) | spi.write(0);
- * cs.write(1);
- * }
- * @endcode
- */
-class SWSPI
-{
-private:
- DigitalOut* mosi;
- DigitalIn* miso;
- DigitalOut* sclk;
- int port;
- int bits;
- int mode;
- int polarity; // idle clock value
- int phase; // 0=sample on leading (first) clock edge, 1=trailing (second)
- int freq;
-
-public:
- /** Create SWSPI object
- *
- * @param mosi_pin
- * @param miso_pin
- * @param sclk_pin
- */
- SWSPI(PinName mosi_pin, PinName miso_pin, PinName sclk_pin);
-
- /** Destructor */
- ~SWSPI();
-
- /** Specify SPI format
- *
- * @param bits 8 or 16 are typical values
- * @param mode 0, 1, 2, or 3 phase (bit1) and idle clock (bit0)
- */
- void format(int bits, int mode = 0);
-
- /** Specify SPI clock frequency
- *
- * @param hz frequency (optional, defaults to 10000000)
- */
- void frequency(int hz = 10000000);
-
- /** Write data and read result
- *
- * @param value data to write (see format for bit size)
- * returns value read from device
- */
- int write(int value);
-};
-
-#endif // SWSPI_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SWSPI.lib Thu May 08 19:10:37 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/davervw/code/SWSPI/#6a500a08c7fd