Reference firmware for PixArt's PMW3901MB sensor and evaluation board. "Hello World" and "Library" contain the exact same files. Please import just one of the two into your mBed compiler as a new program and not as a library.
Welcome to the code repository for PixArt's PMW3901MB sensor and evaluation board.
For general information about this product, please visit this product's components page here:
https://os.mbed.com/components/PMW3901MB-Far-Field-Optical-Motion-Track/
For guides and tips on how to setup and evaluate the PMW3901MB sensor with the Nordic nRF52-DK microcontroller using this reference code, please visit this guide:
https://os.mbed.com/teams/PixArt/code/3901_referenceFirmware/wiki/Guide-for-nRF52-DK-Platform
For guides and tips on how to setup and evaluate the PMW3901MB sensor with any microcontroller using this reference code, please visit this guide:
https://os.mbed.com/teams/PixArt/code/3901_referenceFirmware/wiki/Guide-for-Any-Platform
commHeaders/SPIcommFunctions.h@1:10365086d44e, 2018-07-18 (annotated)
- Committer:
- PixArtVY
- Date:
- Wed Jul 18 18:37:21 2018 +0000
- Revision:
- 1:10365086d44e
- Parent:
- 0:c00f2464eee3
Added Apache License notice.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
PixArtVY | 0:c00f2464eee3 | 1 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 2 | //Communication pinouts for serial COM port, SPI, and interrupts |
PixArtVY | 0:c00f2464eee3 | 3 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 4 | static Serial pc(USBTX, USBRX); //PC comm |
PixArtVY | 0:c00f2464eee3 | 5 | static SPI spi(p23, p24, p25); //mosi, miso, sclk |
PixArtVY | 0:c00f2464eee3 | 6 | static DigitalOut cs(p22); //chip select |
PixArtVY | 0:c00f2464eee3 | 7 | |
PixArtVY | 0:c00f2464eee3 | 8 | |
PixArtVY | 0:c00f2464eee3 | 9 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 10 | //Variables and arrays used for communications and data storage |
PixArtVY | 0:c00f2464eee3 | 11 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 12 | int8_t deltaX_low, deltaY_low; //Stores the low-bits of movement data. |
PixArtVY | 0:c00f2464eee3 | 13 | int16_t deltaX_high, deltaY_high; //Stores the high-bits of movement data. |
PixArtVY | 0:c00f2464eee3 | 14 | int16_t deltaX, deltaY; //Stores the combined value of low and high bits. |
PixArtVY | 0:c00f2464eee3 | 15 | int16_t totalX, totalY = 0; //Stores the total deltaX and deltaY moved during runtime. |
PixArtVY | 0:c00f2464eee3 | 16 | |
PixArtVY | 0:c00f2464eee3 | 17 | |
PixArtVY | 0:c00f2464eee3 | 18 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 19 | //Functions used to communicate with the sensor and grab/print data |
PixArtVY | 0:c00f2464eee3 | 20 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 21 | uint8_t readRegister(uint8_t addr); |
PixArtVY | 0:c00f2464eee3 | 22 | //This function takes an 8-bit address in the form 0x00 and returns an 8-bit value in the form 0x00. |
PixArtVY | 0:c00f2464eee3 | 23 | |
PixArtVY | 0:c00f2464eee3 | 24 | void writeRegister(uint8_t addr, uint8_t data); |
PixArtVY | 0:c00f2464eee3 | 25 | //This function takes an 8-bit address and 8-bit data. Writes the given data to the given address. |
PixArtVY | 0:c00f2464eee3 | 26 | |
PixArtVY | 0:c00f2464eee3 | 27 | void initializeSensor(void); |
PixArtVY | 0:c00f2464eee3 | 28 | //Sets all of the registers needed for initialization and performance optimization. |
PixArtVY | 0:c00f2464eee3 | 29 | |
PixArtVY | 0:c00f2464eee3 | 30 | void grabData(void); |
PixArtVY | 0:c00f2464eee3 | 31 | //Grabs the deltaX and deltaY information from the proper registers and formats it into the proper format. |
PixArtVY | 0:c00f2464eee3 | 32 | |
PixArtVY | 0:c00f2464eee3 | 33 | void printData(void); |
PixArtVY | 0:c00f2464eee3 | 34 | //Prints the data out to a serial terminal. |
PixArtVY | 0:c00f2464eee3 | 35 | |
PixArtVY | 0:c00f2464eee3 | 36 | |
PixArtVY | 0:c00f2464eee3 | 37 | |
PixArtVY | 0:c00f2464eee3 | 38 | |
PixArtVY | 0:c00f2464eee3 | 39 | |
PixArtVY | 0:c00f2464eee3 | 40 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 41 | //Functions definitions |
PixArtVY | 0:c00f2464eee3 | 42 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 43 | uint8_t readRegister(uint8_t addr) |
PixArtVY | 0:c00f2464eee3 | 44 | { |
PixArtVY | 0:c00f2464eee3 | 45 | cs = 0; //Set chip select low/active |
PixArtVY | 0:c00f2464eee3 | 46 | addr = addr & 0x7F; //Set MSB to 0 to indicate read operation |
PixArtVY | 0:c00f2464eee3 | 47 | spi.write(addr); //Write the given address |
PixArtVY | 0:c00f2464eee3 | 48 | wait_us(35); //Add a tiny delay after sending address for some internal cycle timing. |
PixArtVY | 0:c00f2464eee3 | 49 | uint8_t data_read = spi.write(0x00); //Throw dummy byte after sending address to receieve data |
PixArtVY | 0:c00f2464eee3 | 50 | cs = 1; //Set chip select back to high/inactive |
PixArtVY | 0:c00f2464eee3 | 51 | return data_read; //Returns 8-bit data from register |
PixArtVY | 0:c00f2464eee3 | 52 | } |
PixArtVY | 0:c00f2464eee3 | 53 | |
PixArtVY | 0:c00f2464eee3 | 54 | |
PixArtVY | 0:c00f2464eee3 | 55 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 56 | void writeRegister(uint8_t addr, uint8_t data) |
PixArtVY | 0:c00f2464eee3 | 57 | { |
PixArtVY | 0:c00f2464eee3 | 58 | cs = 0; //Set chip select low/active |
PixArtVY | 0:c00f2464eee3 | 59 | addr = addr | 0x80; //Set MSB to 1 to indicate write operation |
PixArtVY | 0:c00f2464eee3 | 60 | spi.write(addr); //Write the given address |
PixArtVY | 0:c00f2464eee3 | 61 | spi.write(data); //Write the given data |
PixArtVY | 0:c00f2464eee3 | 62 | cs = 1; //Set chip select back to high/inactive |
PixArtVY | 0:c00f2464eee3 | 63 | |
PixArtVY | 0:c00f2464eee3 | 64 | //pc.printf("R:%2X, D:%2X\n\r", addr, readRegister(addr)); |
PixArtVY | 0:c00f2464eee3 | 65 | //Uncomment this line for debugging. Prints every register write operation. |
PixArtVY | 0:c00f2464eee3 | 66 | } |
PixArtVY | 0:c00f2464eee3 | 67 | |
PixArtVY | 0:c00f2464eee3 | 68 | |
PixArtVY | 0:c00f2464eee3 | 69 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 70 | void initializeSensor(void) |
PixArtVY | 0:c00f2464eee3 | 71 | { |
PixArtVY | 0:c00f2464eee3 | 72 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 73 | writeRegister(0x55, 0x01); |
PixArtVY | 0:c00f2464eee3 | 74 | writeRegister(0x50, 0x07); |
PixArtVY | 0:c00f2464eee3 | 75 | writeRegister(0x7F, 0x0E); |
PixArtVY | 0:c00f2464eee3 | 76 | writeRegister(0x43, 0x10); |
PixArtVY | 0:c00f2464eee3 | 77 | |
PixArtVY | 0:c00f2464eee3 | 78 | if(readRegister(0x67) & 0x40) |
PixArtVY | 0:c00f2464eee3 | 79 | writeRegister(0x48, 0x04); |
PixArtVY | 0:c00f2464eee3 | 80 | |
PixArtVY | 0:c00f2464eee3 | 81 | else |
PixArtVY | 0:c00f2464eee3 | 82 | writeRegister(0x48, 0x02); |
PixArtVY | 0:c00f2464eee3 | 83 | |
PixArtVY | 0:c00f2464eee3 | 84 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 85 | writeRegister(0x51, 0x7B); |
PixArtVY | 0:c00f2464eee3 | 86 | writeRegister(0x50, 0x00); |
PixArtVY | 0:c00f2464eee3 | 87 | writeRegister(0x55, 0x00); |
PixArtVY | 0:c00f2464eee3 | 88 | writeRegister(0x7F, 0x0E); |
PixArtVY | 0:c00f2464eee3 | 89 | |
PixArtVY | 0:c00f2464eee3 | 90 | if(readRegister(0x73) == 0x00) |
PixArtVY | 0:c00f2464eee3 | 91 | { |
PixArtVY | 0:c00f2464eee3 | 92 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 93 | writeRegister(0x61, 0xAD); |
PixArtVY | 0:c00f2464eee3 | 94 | writeRegister(0x51, 0x70); |
PixArtVY | 0:c00f2464eee3 | 95 | writeRegister(0x7F, 0x0E); |
PixArtVY | 0:c00f2464eee3 | 96 | |
PixArtVY | 0:c00f2464eee3 | 97 | if(readRegister(0x70) <= 28) |
PixArtVY | 0:c00f2464eee3 | 98 | writeRegister(0x70, readRegister(0x70) + 14); |
PixArtVY | 0:c00f2464eee3 | 99 | |
PixArtVY | 0:c00f2464eee3 | 100 | else |
PixArtVY | 0:c00f2464eee3 | 101 | writeRegister(0x70, readRegister(0x70) + 11); |
PixArtVY | 0:c00f2464eee3 | 102 | |
PixArtVY | 0:c00f2464eee3 | 103 | writeRegister(0x71, readRegister(0x71) * 45/100); |
PixArtVY | 0:c00f2464eee3 | 104 | } |
PixArtVY | 0:c00f2464eee3 | 105 | |
PixArtVY | 0:c00f2464eee3 | 106 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 107 | writeRegister(0x61, 0xAD); |
PixArtVY | 0:c00f2464eee3 | 108 | writeRegister(0x7F, 0x03); |
PixArtVY | 0:c00f2464eee3 | 109 | writeRegister(0x40, 0x00); |
PixArtVY | 0:c00f2464eee3 | 110 | writeRegister(0x7F, 0x05); |
PixArtVY | 0:c00f2464eee3 | 111 | writeRegister(0x41, 0xB3); |
PixArtVY | 0:c00f2464eee3 | 112 | writeRegister(0x43, 0xF1); |
PixArtVY | 0:c00f2464eee3 | 113 | writeRegister(0x45, 0x14); |
PixArtVY | 0:c00f2464eee3 | 114 | writeRegister(0x5B, 0x32); |
PixArtVY | 0:c00f2464eee3 | 115 | writeRegister(0x5F, 0x34); |
PixArtVY | 0:c00f2464eee3 | 116 | writeRegister(0x7B, 0x08); |
PixArtVY | 0:c00f2464eee3 | 117 | writeRegister(0x7F, 0x06); |
PixArtVY | 0:c00f2464eee3 | 118 | writeRegister(0x44, 0x1B); |
PixArtVY | 0:c00f2464eee3 | 119 | writeRegister(0x40, 0xBF); |
PixArtVY | 0:c00f2464eee3 | 120 | writeRegister(0x4E, 0x3F); |
PixArtVY | 0:c00f2464eee3 | 121 | writeRegister(0x7F, 0x06); |
PixArtVY | 0:c00f2464eee3 | 122 | writeRegister(0x44, 0x1B); |
PixArtVY | 0:c00f2464eee3 | 123 | writeRegister(0x40, 0xBF); |
PixArtVY | 0:c00f2464eee3 | 124 | writeRegister(0x4E, 0x3F); |
PixArtVY | 0:c00f2464eee3 | 125 | writeRegister(0x7F, 0x08); |
PixArtVY | 0:c00f2464eee3 | 126 | writeRegister(0x65, 0x20); |
PixArtVY | 0:c00f2464eee3 | 127 | writeRegister(0x6A, 0x18); |
PixArtVY | 0:c00f2464eee3 | 128 | writeRegister(0x7F, 0x09); |
PixArtVY | 0:c00f2464eee3 | 129 | writeRegister(0x4F, 0xAF); |
PixArtVY | 0:c00f2464eee3 | 130 | writeRegister(0x5F, 0x40); |
PixArtVY | 0:c00f2464eee3 | 131 | writeRegister(0x48, 0x80); |
PixArtVY | 0:c00f2464eee3 | 132 | writeRegister(0x49, 0x80); |
PixArtVY | 0:c00f2464eee3 | 133 | writeRegister(0x57, 0x77); |
PixArtVY | 0:c00f2464eee3 | 134 | writeRegister(0x60, 0x78); |
PixArtVY | 0:c00f2464eee3 | 135 | writeRegister(0x61, 0x78); |
PixArtVY | 0:c00f2464eee3 | 136 | writeRegister(0x62, 0x08); |
PixArtVY | 0:c00f2464eee3 | 137 | writeRegister(0x63, 0x50); |
PixArtVY | 0:c00f2464eee3 | 138 | writeRegister(0x7F, 0x0A); |
PixArtVY | 0:c00f2464eee3 | 139 | writeRegister(0x45, 0x60); |
PixArtVY | 0:c00f2464eee3 | 140 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 141 | writeRegister(0x4D, 0x11); |
PixArtVY | 0:c00f2464eee3 | 142 | writeRegister(0x55, 0x80); |
PixArtVY | 0:c00f2464eee3 | 143 | writeRegister(0x74, 0x21); |
PixArtVY | 0:c00f2464eee3 | 144 | writeRegister(0x75, 0x1F); |
PixArtVY | 0:c00f2464eee3 | 145 | writeRegister(0x4A, 0x78); |
PixArtVY | 0:c00f2464eee3 | 146 | writeRegister(0x4B, 0x78); |
PixArtVY | 0:c00f2464eee3 | 147 | writeRegister(0x44, 0x08); |
PixArtVY | 0:c00f2464eee3 | 148 | writeRegister(0x45, 0x50); |
PixArtVY | 0:c00f2464eee3 | 149 | writeRegister(0x64, 0xFF); |
PixArtVY | 0:c00f2464eee3 | 150 | writeRegister(0x65, 0x1F); |
PixArtVY | 0:c00f2464eee3 | 151 | writeRegister(0x7F, 0x14); |
PixArtVY | 0:c00f2464eee3 | 152 | writeRegister(0x65, 0x67); |
PixArtVY | 0:c00f2464eee3 | 153 | writeRegister(0x66, 0x08); |
PixArtVY | 0:c00f2464eee3 | 154 | writeRegister(0x63, 0x70); |
PixArtVY | 0:c00f2464eee3 | 155 | writeRegister(0x7F, 0x15); |
PixArtVY | 0:c00f2464eee3 | 156 | writeRegister(0x48, 0x48); |
PixArtVY | 0:c00f2464eee3 | 157 | writeRegister(0x7F, 0x07); |
PixArtVY | 0:c00f2464eee3 | 158 | writeRegister(0x41, 0x0D); |
PixArtVY | 0:c00f2464eee3 | 159 | writeRegister(0x43, 0x14); |
PixArtVY | 0:c00f2464eee3 | 160 | writeRegister(0x4B, 0x0E); |
PixArtVY | 0:c00f2464eee3 | 161 | writeRegister(0x45, 0x0F); |
PixArtVY | 0:c00f2464eee3 | 162 | writeRegister(0x44, 0x42); |
PixArtVY | 0:c00f2464eee3 | 163 | writeRegister(0x4C, 0x80); |
PixArtVY | 0:c00f2464eee3 | 164 | writeRegister(0x7F, 0x10); |
PixArtVY | 0:c00f2464eee3 | 165 | writeRegister(0x5B, 0x02); |
PixArtVY | 0:c00f2464eee3 | 166 | writeRegister(0x7F, 0x07); |
PixArtVY | 0:c00f2464eee3 | 167 | writeRegister(0x40, 0x41); |
PixArtVY | 0:c00f2464eee3 | 168 | writeRegister(0x70, 0x00); |
PixArtVY | 0:c00f2464eee3 | 169 | |
PixArtVY | 0:c00f2464eee3 | 170 | wait_ms(10); |
PixArtVY | 0:c00f2464eee3 | 171 | |
PixArtVY | 0:c00f2464eee3 | 172 | writeRegister(0x32, 0x44); |
PixArtVY | 0:c00f2464eee3 | 173 | writeRegister(0x7F, 0x07); |
PixArtVY | 0:c00f2464eee3 | 174 | writeRegister(0x40, 0x40); |
PixArtVY | 0:c00f2464eee3 | 175 | writeRegister(0x7F, 0x06); |
PixArtVY | 0:c00f2464eee3 | 176 | writeRegister(0x62, 0xF0); |
PixArtVY | 0:c00f2464eee3 | 177 | writeRegister(0x63, 0x00); |
PixArtVY | 0:c00f2464eee3 | 178 | writeRegister(0x7F, 0x0D); |
PixArtVY | 0:c00f2464eee3 | 179 | writeRegister(0x48, 0xC0); |
PixArtVY | 0:c00f2464eee3 | 180 | writeRegister(0x6F, 0xD5); |
PixArtVY | 0:c00f2464eee3 | 181 | writeRegister(0x7F, 0x00); |
PixArtVY | 0:c00f2464eee3 | 182 | writeRegister(0x5B, 0xA0); |
PixArtVY | 0:c00f2464eee3 | 183 | writeRegister(0x4E, 0xA8); |
PixArtVY | 0:c00f2464eee3 | 184 | writeRegister(0x5A, 0x50); |
PixArtVY | 0:c00f2464eee3 | 185 | writeRegister(0x40, 0x80); |
PixArtVY | 0:c00f2464eee3 | 186 | } |
PixArtVY | 0:c00f2464eee3 | 187 | |
PixArtVY | 0:c00f2464eee3 | 188 | |
PixArtVY | 0:c00f2464eee3 | 189 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 190 | void grabData(void) |
PixArtVY | 0:c00f2464eee3 | 191 | { |
PixArtVY | 0:c00f2464eee3 | 192 | deltaX_low = readRegister(0x03); //Grabs data from the proper registers. |
PixArtVY | 0:c00f2464eee3 | 193 | deltaX_high = (readRegister(0x04)<<8) & 0xFF00; //Grabs data and shifts it to make space to be combined with lower bits. |
PixArtVY | 0:c00f2464eee3 | 194 | deltaY_low = readRegister(0x05); |
PixArtVY | 0:c00f2464eee3 | 195 | deltaY_high = (readRegister(0x06)<<8) & 0xFF00; |
PixArtVY | 0:c00f2464eee3 | 196 | |
PixArtVY | 0:c00f2464eee3 | 197 | deltaX = deltaX_high | deltaX_low; //Combines the low and high bits. |
PixArtVY | 0:c00f2464eee3 | 198 | deltaY = deltaY_high | deltaY_low; |
PixArtVY | 0:c00f2464eee3 | 199 | } |
PixArtVY | 0:c00f2464eee3 | 200 | |
PixArtVY | 0:c00f2464eee3 | 201 | |
PixArtVY | 0:c00f2464eee3 | 202 | //========================================================================= |
PixArtVY | 0:c00f2464eee3 | 203 | void printData(void) |
PixArtVY | 0:c00f2464eee3 | 204 | { |
PixArtVY | 0:c00f2464eee3 | 205 | if((deltaX != 0) || (deltaY != 0)) //If there is deltaX or deltaY movement, print the data. |
PixArtVY | 0:c00f2464eee3 | 206 | { |
PixArtVY | 0:c00f2464eee3 | 207 | totalX += deltaX; |
PixArtVY | 0:c00f2464eee3 | 208 | totalY += deltaY; |
PixArtVY | 0:c00f2464eee3 | 209 | |
PixArtVY | 0:c00f2464eee3 | 210 | pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY); //Prints each individual count of deltaX and deltaY. |
PixArtVY | 0:c00f2464eee3 | 211 | pc.printf("X-axis Counts: %d\t\tY-axis Counts: %d\n\r", totalX, totalY); //Prints the total movement made during runtime. |
PixArtVY | 0:c00f2464eee3 | 212 | } |
PixArtVY | 0:c00f2464eee3 | 213 | |
PixArtVY | 0:c00f2464eee3 | 214 | deltaX = 0; //Resets deltaX and Y values to zero, otherwise previous data is stored until overwritten. |
PixArtVY | 0:c00f2464eee3 | 215 | deltaY = 0; |
PixArtVY | 0:c00f2464eee3 | 216 | } |