Diff: commHeaders/SPIcommFunctions.h

Revision:

0:c00f2464eee3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/commHeaders/SPIcommFunctions.h	Wed Mar 14 21:22:43 2018 +0000
@@ -0,0 +1,216 @@
+//=========================================================================
+//Communication pinouts for serial COM port, SPI, and interrupts
+//=========================================================================
+static Serial pc(USBTX, USBRX);                     //PC comm
+static SPI spi(p23, p24, p25);                      //mosi, miso, sclk
+static DigitalOut cs(p22);                          //chip select
+
+
+//=========================================================================
+//Variables and arrays used for communications and data storage
+//=========================================================================
+int8_t deltaX_low, deltaY_low;                      //Stores the low-bits of movement data.
+int16_t deltaX_high, deltaY_high;                   //Stores the high-bits of movement data.
+int16_t deltaX, deltaY;                             //Stores the combined value of low and high bits.
+int16_t totalX, totalY = 0;                         //Stores the total deltaX and deltaY moved during runtime.
+
+
+//=========================================================================
+//Functions used to communicate with the sensor and grab/print data
+//=========================================================================
+uint8_t readRegister(uint8_t addr);
+//This function takes an 8-bit address in the form 0x00 and returns an 8-bit value in the form 0x00.
+
+void writeRegister(uint8_t addr, uint8_t data);
+//This function takes an 8-bit address and 8-bit data. Writes the given data to the given address.
+
+void initializeSensor(void);
+//Sets all of the registers needed for initialization and performance optimization.
+
+void grabData(void);
+//Grabs the deltaX and deltaY information from the proper registers and formats it into the proper format.
+
+void printData(void);
+//Prints the data out to a serial terminal.
+
+
+
+
+
+//=========================================================================
+//Functions definitions
+//=========================================================================
+uint8_t readRegister(uint8_t addr)
+{
+    cs = 0;                                 //Set chip select low/active
+    addr = addr & 0x7F;                     //Set MSB to 0 to indicate read operation
+    spi.write(addr);                        //Write the given address
+    wait_us(35);                             //Add a tiny delay after sending address for some internal cycle timing.
+    uint8_t data_read = spi.write(0x00);    //Throw dummy byte after sending address to receieve data
+    cs = 1;                                 //Set chip select back to high/inactive
+    return data_read;                       //Returns 8-bit data from register
+}
+
+
+//=========================================================================
+void writeRegister(uint8_t addr, uint8_t data)
+{
+    cs = 0;                         //Set chip select low/active
+    addr = addr | 0x80;             //Set MSB to 1 to indicate write operation
+    spi.write(addr);                //Write the given address
+    spi.write(data);                //Write the given data
+    cs = 1;                         //Set chip select back to high/inactive
+    
+    //pc.printf("R:%2X, D:%2X\n\r", addr, readRegister(addr));
+            //Uncomment this line for debugging. Prints every register write operation.
+}
+
+
+//=========================================================================
+void initializeSensor(void)
+{
+    writeRegister(0x7F, 0x00);
+    writeRegister(0x55, 0x01);
+    writeRegister(0x50, 0x07);
+    writeRegister(0x7F, 0x0E);
+    writeRegister(0x43, 0x10);
+    
+    if(readRegister(0x67) & 0x40)
+        writeRegister(0x48, 0x04);
+        
+    else
+        writeRegister(0x48, 0x02);
+    
+    writeRegister(0x7F, 0x00);
+    writeRegister(0x51, 0x7B);
+    writeRegister(0x50, 0x00);
+    writeRegister(0x55, 0x00);
+    writeRegister(0x7F, 0x0E);
+    
+    if(readRegister(0x73) == 0x00)
+    {
+        writeRegister(0x7F, 0x00);
+        writeRegister(0x61, 0xAD);
+        writeRegister(0x51, 0x70);
+        writeRegister(0x7F, 0x0E);
+        
+        if(readRegister(0x70) <= 28)
+            writeRegister(0x70, readRegister(0x70) + 14);
+            
+        else
+            writeRegister(0x70, readRegister(0x70) + 11);
+            
+        writeRegister(0x71, readRegister(0x71) * 45/100);
+    }
+    
+    writeRegister(0x7F, 0x00);
+    writeRegister(0x61, 0xAD);
+    writeRegister(0x7F, 0x03);
+    writeRegister(0x40, 0x00);
+    writeRegister(0x7F, 0x05);
+    writeRegister(0x41, 0xB3);
+    writeRegister(0x43, 0xF1);
+    writeRegister(0x45, 0x14);
+    writeRegister(0x5B, 0x32);
+    writeRegister(0x5F, 0x34);
+    writeRegister(0x7B, 0x08);
+    writeRegister(0x7F, 0x06);
+    writeRegister(0x44, 0x1B);
+    writeRegister(0x40, 0xBF);
+    writeRegister(0x4E, 0x3F);
+    writeRegister(0x7F, 0x06);
+    writeRegister(0x44, 0x1B);
+    writeRegister(0x40, 0xBF);
+    writeRegister(0x4E, 0x3F);
+    writeRegister(0x7F, 0x08);
+    writeRegister(0x65, 0x20);
+    writeRegister(0x6A, 0x18);
+    writeRegister(0x7F, 0x09);
+    writeRegister(0x4F, 0xAF);
+    writeRegister(0x5F, 0x40);
+    writeRegister(0x48, 0x80);
+    writeRegister(0x49, 0x80);
+    writeRegister(0x57, 0x77);
+    writeRegister(0x60, 0x78);
+    writeRegister(0x61, 0x78);
+    writeRegister(0x62, 0x08);
+    writeRegister(0x63, 0x50);
+    writeRegister(0x7F, 0x0A);
+    writeRegister(0x45, 0x60);
+    writeRegister(0x7F, 0x00);
+    writeRegister(0x4D, 0x11);
+    writeRegister(0x55, 0x80);
+    writeRegister(0x74, 0x21);
+    writeRegister(0x75, 0x1F);
+    writeRegister(0x4A, 0x78);
+    writeRegister(0x4B, 0x78);
+    writeRegister(0x44, 0x08);
+    writeRegister(0x45, 0x50);
+    writeRegister(0x64, 0xFF);
+    writeRegister(0x65, 0x1F);
+    writeRegister(0x7F, 0x14);
+    writeRegister(0x65, 0x67);
+    writeRegister(0x66, 0x08);
+    writeRegister(0x63, 0x70);
+    writeRegister(0x7F, 0x15);
+    writeRegister(0x48, 0x48);
+    writeRegister(0x7F, 0x07);
+    writeRegister(0x41, 0x0D);
+    writeRegister(0x43, 0x14);
+    writeRegister(0x4B, 0x0E);
+    writeRegister(0x45, 0x0F);
+    writeRegister(0x44, 0x42);
+    writeRegister(0x4C, 0x80);
+    writeRegister(0x7F, 0x10);
+    writeRegister(0x5B, 0x02);
+    writeRegister(0x7F, 0x07);
+    writeRegister(0x40, 0x41);
+    writeRegister(0x70, 0x00);
+    
+    wait_ms(10);
+    
+    writeRegister(0x32, 0x44);
+    writeRegister(0x7F, 0x07);
+    writeRegister(0x40, 0x40);
+    writeRegister(0x7F, 0x06);
+    writeRegister(0x62, 0xF0);
+    writeRegister(0x63, 0x00);
+    writeRegister(0x7F, 0x0D);
+    writeRegister(0x48, 0xC0);
+    writeRegister(0x6F, 0xD5);
+    writeRegister(0x7F, 0x00);
+    writeRegister(0x5B, 0xA0);
+    writeRegister(0x4E, 0xA8);
+    writeRegister(0x5A, 0x50);
+    writeRegister(0x40, 0x80);
+}
+
+
+//=========================================================================
+void grabData(void)
+{
+    deltaX_low = readRegister(0x03);        //Grabs data from the proper registers.
+    deltaX_high = (readRegister(0x04)<<8) & 0xFF00;      //Grabs data and shifts it to make space to be combined with lower bits.
+    deltaY_low = readRegister(0x05);
+    deltaY_high = (readRegister(0x06)<<8) & 0xFF00;
+        
+    deltaX = deltaX_high | deltaX_low;      //Combines the low and high bits.
+    deltaY = deltaY_high | deltaY_low;
+}
+
+
+//=========================================================================
+void printData(void)
+{
+    if((deltaX != 0) || (deltaY != 0))      //If there is deltaX or deltaY movement, print the data.
+    {
+        totalX += deltaX;
+        totalY += deltaY;
+        
+        pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY);    //Prints each individual count of deltaX and deltaY.
+        pc.printf("X-axis Counts: %d\t\tY-axis Counts: %d\n\r", totalX, totalY);  //Prints the total movement made during runtime.
+    }
+    
+    deltaX = 0;                             //Resets deltaX and Y values to zero, otherwise previous data is stored until overwritten.
+    deltaY = 0;
+}