Driver and example for PAT9125EL motion sensor

examples/nucleo_f429zi/pat9125el/main.cpp

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+/*
+ * Copyright (c) 2018 Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+#include <modm/processing/timer.hpp>
+#include <modm/processing/protothread.hpp>
+#include <modm/driver/motion/pat9125el.hpp>
+
+using I2c = I2cMaster1;
+using Scl = GpioB8;
+using Sda = GpioB9;
+
+// int pin is optional, set to void for polling mode
+using Int = GpioInputA5;
+
+class Thread : public modm::pt::Protothread
+{
+public:
+	Thread() : sensor{0x75}
+	{
+	}
+
+	bool
+	update()
+	{
+		PT_BEGIN();
+
+		MODM_LOG_INFO << "Ping device" << modm::endl;
+		// ping the device until it responds
+		while(true)
+		{
+			if (PT_CALL(sensor.ping())) {
+				break;
+			}
+			// otherwise, try again in 100ms
+			this->timeout.restart(100);
+			PT_WAIT_UNTIL(this->timeout.isExpired());
+		}
+		MODM_LOG_INFO << "Ping successful" << modm::endl;
+
+		// set x and y resolution
+		PT_CALL(sensor.configure(0x14, 0x14));
+
+		while (true)
+		{
+			PT_CALL(sensor.readData());
+			if(sensor.hasMoved()) {
+				position += sensor.getData();
+
+				Board::Leds::write(0b111);
+				MODM_LOG_INFO << "Position: " << position.x << ", " << position.y << modm::endl;
+				sensor.resetMoved();
+			} else {
+				Board::Leds::write(0b000);
+			}
+		}
+
+		PT_END();
+	}
+
+private:
+	modm::ShortTimeout timeout;
+	modm::pat9125el::Motion2D position;
+	modm::Pat9125el<modm::Pat9125elI2cTransport<I2c>, Int> sensor;
+};
+
+Thread thread;
+
+// ----------------------------------------------------------------------------
+int
+main()
+{
+	Board::initialize();
+	Board::Leds::setOutput();
+
+	MODM_LOG_INFO << "\n\nPAT9125EL I2C example\n\n";
+
+	I2c::connect<Sda::Sda, Scl::Scl>();
+	I2c::initialize<Board::systemClock, 400'000, modm::Tolerance::TwentyPercent>();
+
+	while (1) {
+		thread.update();
+	}
+
+	return 0;
+}

examples/nucleo_f429zi/pat9125el/project.xml

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+<library>
+  <extends>modm:board:nucleo-f429zi</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/nucleo_f429zi/pat9125el</option>
+  </options>
+  <modules>
+    <module>modm:driver:pat9125el</module>
+    <module>modm:io</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:processing:protothread</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/driver/motion/pat9125el.hpp

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+/*
+ * Copyright (c) 2018, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_PAT9125EL_HPP
+#define MODM_PAT9125EL_HPP
+
+#include <array>
+#include <type_traits>
+#include <modm/driver/motion/pat9125el_transport.hpp>
+#include <modm/math/geometry/vector2.hpp>
+
+namespace modm
+{
+
+/// @ingroup modm_driver_pat9125el
+struct pat9125el
+{
+	enum class Register : uint8_t
+	{
+		ProductId1 		= 0x00,
+		ProductId2 		= 0x01,
+		MotionStatus	= 0x02,
+		DeltaXLow		= 0x03,
+		DeltaYLow		= 0x04,
+		OperationMode	= 0x05,
+		Configuration	= 0x06,
+		WriteProtect	= 0x09,
+		Sleep1			= 0x0A,
+		Sleep2			= 0x0B,
+		ResolutionX		= 0x0D,
+		ResolutionY		= 0x0E,
+		DeltaXYHigh		= 0x12,
+		ShutterTime		= 0x14,
+		AvgBrightness	= 0x17,
+		Orientation		= 0x19
+	};
+
+	enum class MotionStatus : uint8_t
+	{
+		DataAvailable = (1 << 7)
+	};
+	MODM_FLAGS8(MotionStatus);
+
+	enum class WriteProtect : uint8_t
+	{
+		Enabled = 0,
+		Disabled = 0x5A
+	};
+	MODM_FLAGS8(WriteProtect);
+
+	static constexpr uint8_t ProductId1 = 0x31;
+
+	using Motion2D = modm::Vector<int16_t, 2>;
+};
+
+/**
+ * Driver for PAT9125EL motion sensor. Currently only the I2C version
+ * is supported.
+ *
+ * @tparam Transport Either I2C or SPi transport layer
+ * @see Pat9125elI2cTransport
+ *
+ * @tparam IntPin Optional interrupt pin. If pin is not connected, set to void.
+ *
+ * @todo implement SPI transport layer
+ * @todo add sensor sleep modes
+ *
+ * @author Christopher Durand
+ * @ingroup modm_driver_pat9125el
+ */
+template<typename Transport, typename IntPin = void>
+class Pat9125el : public pat9125el, public Transport
+{
+public:
+	static constexpr bool UseInterruptPin = !std::is_void_v<IntPin>;
+
+	/**
+	 * @tparam TransportArgs Arguments forwarded to transport layer
+	 * @see Pat9125elI2cTransport
+	 */
+	template<typename... TransportArgs>
+	Pat9125el(TransportArgs&&... args);
+
+	/**
+	 * Configure sensor resolution
+	 *
+	 * @param xResolution x resolution in unit of 5 counts per inch
+	 * @param yResolution y resolution in unit of 5 counts per inch
+	 */
+	modm::ResumableResult<bool>
+	configure(uint8_t xResolution = 0x14, uint8_t yResolution = 0x14);
+
+	/**
+	 * Check if the device is available
+	 */
+	modm::ResumableResult<bool>
+	ping();
+
+	/**
+	 * Returns the last measured movement data read from the device
+	 */
+	Motion2D
+	getData() const;
+
+	/**
+	 * Read movement measurement from the device
+	 */
+	modm::ResumableResult<bool>
+	readData();
+
+	/**
+	 * Check if non-zero movement data has been read form the device
+	 */
+	bool
+	hasMoved() const;
+
+	void
+	resetMoved();
+
+private:
+	modm::ResumableResult<bool>
+	writeRegister(Register reg, uint8_t data);
+
+	modm::ResumableResult<bool>
+	readRegister(Register reg, uint8_t& data);
+
+	modm::ResumableResult<bool>
+	readRegister(Register reg, uint8_t* data, size_t size);
+
+	void
+	updateData();
+
+	Motion2D data = {};
+	bool moved = false;
+	uint8_t status = 0;
+	bool success = true;
+	std::array<uint8_t, 3> readBuffer = {};
+};
+
+}
+
+#include "pat9125el_impl.hpp"
+
+#endif // MODM_PAT9125EL_HPP

src/modm/driver/motion/pat9125el.lb

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+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2018, Christopher Durand
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+
+def init(module):
+    module.parent = "driver"
+    module.name = "pat9125el"
+    module.description = "Driver for PAT9125EL motion sensor"
+
+def prepare(module, options):
+    module.depends(
+        ":architecture:delay",
+        ":architecture:spi",
+        ":architecture:i2c.device",
+        ":math:geometry",
+        ":debug")
+    return True
+
+def build(env):
+    env.outbasepath = "modm/src/modm/driver/motion"
+    env.copy("pat9125el.hpp")
+    env.copy("pat9125el_impl.hpp")
+    env.copy("pat9125el_transport.hpp")
+    env.copy("pat9125el_transport_impl.hpp")