PixArt / Mbed OS 5100_referenceCode

Reference firmware for PixArt's PAA5100 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.

commHeaders/SPIcommFunctions.h@1:782127a132a3, 2018-07-18 (annotated)

Committer:
PixArtVY
Date:
Wed Jul 18 18:37:03 2018 +0000
Revision:
1:782127a132a3
Parent:
0:c8a2256e02c2 
Added Apache License notice.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PixArtVY 0:c8a2256e02c2 1 //=========================================================================
PixArtVY 0:c8a2256e02c2 2 //Communication pinouts for serial COM port, SPI, and interrupts
PixArtVY 0:c8a2256e02c2 3 //=========================================================================
PixArtVY 0:c8a2256e02c2 4 static Serial pc(USBTX, USBRX); //PC comm
PixArtVY 0:c8a2256e02c2 5 static SPI spi(p23, p24, p25); //mosi, miso, sclk
PixArtVY 0:c8a2256e02c2 6 static DigitalOut cs(p22); //chip select
PixArtVY 0:c8a2256e02c2 7
PixArtVY 0:c8a2256e02c2 8
PixArtVY 0:c8a2256e02c2 9 //=========================================================================
PixArtVY 0:c8a2256e02c2 10 //Variables and arrays used for communications and data storage
PixArtVY 0:c8a2256e02c2 11 //=========================================================================
PixArtVY 0:c8a2256e02c2 12 int8_t deltaX_low, deltaY_low; //Stores the low-bits of movement data.
PixArtVY 0:c8a2256e02c2 13 int16_t deltaX_high, deltaY_high; //Stores the high-bits of movement data.
PixArtVY 0:c8a2256e02c2 14 int16_t deltaX, deltaY; //Stores the combined value of low and high bits.
PixArtVY 0:c8a2256e02c2 15 int16_t totalX, totalY = 0; //Stores the total deltaX and deltaY moved during runtime.
PixArtVY 0:c8a2256e02c2 16 int startupFail;
PixArtVY 0:c8a2256e02c2 17
PixArtVY 0:c8a2256e02c2 18
PixArtVY 0:c8a2256e02c2 19 //=========================================================================
PixArtVY 0:c8a2256e02c2 20 //Functions used to communicate with the sensor and grab/print data
PixArtVY 0:c8a2256e02c2 21 //=========================================================================
PixArtVY 0:c8a2256e02c2 22 uint8_t readRegister(uint8_t addr);
PixArtVY 0:c8a2256e02c2 23 //This function takes an 8-bit address in the form 0x00 and returns an 8-bit value in the form 0x00.
PixArtVY 0:c8a2256e02c2 24
PixArtVY 0:c8a2256e02c2 25 void writeRegister(uint8_t addr, uint8_t data);
PixArtVY 0:c8a2256e02c2 26 //This function takes an 8-bit address and 8-bit data. Writes the given data to the given address.
PixArtVY 0:c8a2256e02c2 27
PixArtVY 0:c8a2256e02c2 28 void startupCheck(void);
PixArtVY 1:782127a132a3 29 //Checks whether or not the sensor was started up properly.
PixArtVY 0:c8a2256e02c2 30
PixArtVY 0:c8a2256e02c2 31 void initializeSensor(void);
PixArtVY 0:c8a2256e02c2 32 //Sets all of the registers needed for initialization and performance optimization.
PixArtVY 0:c8a2256e02c2 33
PixArtVY 0:c8a2256e02c2 34 void grabData(void);
PixArtVY 0:c8a2256e02c2 35 //Grabs the deltaX and deltaY information from the proper registers and formats it into the proper format.
PixArtVY 0:c8a2256e02c2 36
PixArtVY 0:c8a2256e02c2 37 void printData(void);
PixArtVY 0:c8a2256e02c2 38 //Prints the data out to a serial terminal.
PixArtVY 0:c8a2256e02c2 39
PixArtVY 0:c8a2256e02c2 40
PixArtVY 0:c8a2256e02c2 41
PixArtVY 0:c8a2256e02c2 42
PixArtVY 0:c8a2256e02c2 43
PixArtVY 0:c8a2256e02c2 44 //=========================================================================
PixArtVY 0:c8a2256e02c2 45 //Functions definitions
PixArtVY 0:c8a2256e02c2 46 //=========================================================================
PixArtVY 0:c8a2256e02c2 47 uint8_t readRegister(uint8_t addr)
PixArtVY 0:c8a2256e02c2 48 {
PixArtVY 0:c8a2256e02c2 49 cs = 0; //Set chip select low/active
PixArtVY 0:c8a2256e02c2 50 addr = addr & 0x7F; //Set MSB to 0 to indicate read operation
PixArtVY 0:c8a2256e02c2 51 spi.write(addr); //Write the given address
PixArtVY 0:c8a2256e02c2 52 wait_us(35); //Add a tiny delay after sending address for some internal cycle timing.
PixArtVY 0:c8a2256e02c2 53 uint8_t data_read = spi.write(0x00); //Throw dummy byte after sending address to receieve data
PixArtVY 0:c8a2256e02c2 54 cs = 1; //Set chip select back to high/inactive
PixArtVY 0:c8a2256e02c2 55 return data_read; //Returns 8-bit data from register
PixArtVY 0:c8a2256e02c2 56 }
PixArtVY 0:c8a2256e02c2 57
PixArtVY 0:c8a2256e02c2 58
PixArtVY 0:c8a2256e02c2 59 //=========================================================================
PixArtVY 0:c8a2256e02c2 60 void writeRegister(uint8_t addr, uint8_t data)
PixArtVY 0:c8a2256e02c2 61 {
PixArtVY 0:c8a2256e02c2 62 cs = 0; //Set chip select low/active
PixArtVY 0:c8a2256e02c2 63 addr = addr | 0x80; //Set MSB to 1 to indicate write operation
PixArtVY 0:c8a2256e02c2 64 spi.write(addr); //Write the given address
PixArtVY 0:c8a2256e02c2 65 spi.write(data); //Write the given data
PixArtVY 0:c8a2256e02c2 66 cs = 1; //Set chip select back to high/inactive
PixArtVY 0:c8a2256e02c2 67
PixArtVY 0:c8a2256e02c2 68 //pc.printf("R:%2X, D:%2X\n\r", addr, readRegister(addr));
PixArtVY 0:c8a2256e02c2 69 //Uncomment this line for debugging. Prints every register write operation.
PixArtVY 0:c8a2256e02c2 70 }
PixArtVY 0:c8a2256e02c2 71
PixArtVY 0:c8a2256e02c2 72
PixArtVY 0:c8a2256e02c2 73 //=========================================================================
PixArtVY 0:c8a2256e02c2 74 void startupCheck(void)
PixArtVY 0:c8a2256e02c2 75 {
PixArtVY 0:c8a2256e02c2 76 startupFail = 0;
PixArtVY 0:c8a2256e02c2 77 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 78 writeRegister(0x55, 0x01);
PixArtVY 0:c8a2256e02c2 79 writeRegister(0x50, 0x07);
PixArtVY 0:c8a2256e02c2 80 writeRegister(0x7F, 0x0E);
PixArtVY 0:c8a2256e02c2 81 writeRegister(0x43, 0x10);
PixArtVY 0:c8a2256e02c2 82
PixArtVY 1:782127a132a3 83 if(readRegister(0x47) != 0x08)
PixArtVY 0:c8a2256e02c2 84 {
PixArtVY 1:782127a132a3 85 for(int i=0; i<3; i++) //Checks register 0x47 three times. If the value is incorrect 3 times, throw a fail condition.
PixArtVY 0:c8a2256e02c2 86 {
PixArtVY 1:782127a132a3 87 if(readRegister(0x47) != 0x08)
PixArtVY 1:782127a132a3 88 {
PixArtVY 1:782127a132a3 89 writeRegister(0x43, 0x10)
PixArtVY 1:782127a132a3 90 startupFail++;
PixArtVY 1:782127a132a3 91 }
PixArtVY 0:c8a2256e02c2 92 }
PixArtVY 0:c8a2256e02c2 93 }
PixArtVY 0:c8a2256e02c2 94 }
PixArtVY 0:c8a2256e02c2 95
PixArtVY 0:c8a2256e02c2 96
PixArtVY 0:c8a2256e02c2 97 //=========================================================================
PixArtVY 0:c8a2256e02c2 98 void initializeSensor(void)
PixArtVY 0:c8a2256e02c2 99 {
PixArtVY 0:c8a2256e02c2 100 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 101 writeRegister(0x51, 0x7B);
PixArtVY 0:c8a2256e02c2 102 writeRegister(0x50, 0x00);
PixArtVY 0:c8a2256e02c2 103 writeRegister(0x55, 0x00);
PixArtVY 0:c8a2256e02c2 104 writeRegister(0x7F, 0x0E);
PixArtVY 0:c8a2256e02c2 105
PixArtVY 0:c8a2256e02c2 106 if(readRegister(0x73) == 0x00)
PixArtVY 0:c8a2256e02c2 107 {
PixArtVY 0:c8a2256e02c2 108 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 109 writeRegister(0x61, 0xAD);
PixArtVY 0:c8a2256e02c2 110 writeRegister(0x51, 0x70);
PixArtVY 0:c8a2256e02c2 111 writeRegister(0x7F, 0x0E);
PixArtVY 0:c8a2256e02c2 112
PixArtVY 0:c8a2256e02c2 113 if(readRegister(0x70) <= 28)
PixArtVY 0:c8a2256e02c2 114 writeRegister(0x70, readRegister(0x70) + 14);
PixArtVY 0:c8a2256e02c2 115
PixArtVY 0:c8a2256e02c2 116 else
PixArtVY 0:c8a2256e02c2 117 writeRegister(0x70, readRegister(0x70) + 11);
PixArtVY 0:c8a2256e02c2 118
PixArtVY 0:c8a2256e02c2 119 writeRegister(0x71, readRegister(0x71) * 45/100);
PixArtVY 0:c8a2256e02c2 120 }
PixArtVY 0:c8a2256e02c2 121
PixArtVY 0:c8a2256e02c2 122 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 123 writeRegister(0x61, 0xAD);
PixArtVY 0:c8a2256e02c2 124 writeRegister(0x7F, 0x03);
PixArtVY 0:c8a2256e02c2 125 writeRegister(0x40, 0x00);
PixArtVY 0:c8a2256e02c2 126 writeRegister(0x7F, 0x05);
PixArtVY 0:c8a2256e02c2 127
PixArtVY 0:c8a2256e02c2 128 writeRegister(0x41, 0xB3);
PixArtVY 0:c8a2256e02c2 129 writeRegister(0x43, 0xF1);
PixArtVY 0:c8a2256e02c2 130 writeRegister(0x45, 0x14);
PixArtVY 0:c8a2256e02c2 131 writeRegister(0x5B, 0x32);
PixArtVY 0:c8a2256e02c2 132 writeRegister(0x5F, 0x34);
PixArtVY 0:c8a2256e02c2 133 writeRegister(0x7B, 0x08);
PixArtVY 0:c8a2256e02c2 134 writeRegister(0x5E, 0x34);
PixArtVY 0:c8a2256e02c2 135 writeRegister(0x70, 0xE5);
PixArtVY 0:c8a2256e02c2 136 writeRegister(0x71, 0xE5);
PixArtVY 0:c8a2256e02c2 137 writeRegister(0x7F, 0x06);
PixArtVY 0:c8a2256e02c2 138 writeRegister(0x44, 0x1B);
PixArtVY 0:c8a2256e02c2 139 writeRegister(0x40, 0xBF);
PixArtVY 0:c8a2256e02c2 140 writeRegister(0x4E, 0x3F);
PixArtVY 0:c8a2256e02c2 141 writeRegister(0x7F, 0x08);
PixArtVY 0:c8a2256e02c2 142 writeRegister(0x66, 0x44);
PixArtVY 0:c8a2256e02c2 143 writeRegister(0x65, 0x20);
PixArtVY 0:c8a2256e02c2 144 writeRegister(0x6A, 0x3A);
PixArtVY 0:c8a2256e02c2 145 writeRegister(0x61, 0x01);
PixArtVY 0:c8a2256e02c2 146 writeRegister(0x62, 0x01);
PixArtVY 0:c8a2256e02c2 147 writeRegister(0x7F, 0x09);
PixArtVY 0:c8a2256e02c2 148 writeRegister(0x4F, 0xAF);
PixArtVY 0:c8a2256e02c2 149 writeRegister(0x5F, 0x40);
PixArtVY 0:c8a2256e02c2 150 writeRegister(0x48, 0x80);
PixArtVY 0:c8a2256e02c2 151 writeRegister(0x49, 0x80);
PixArtVY 0:c8a2256e02c2 152 writeRegister(0x57, 0x77);
PixArtVY 0:c8a2256e02c2 153 writeRegister(0x60, 0x78);
PixArtVY 0:c8a2256e02c2 154 writeRegister(0x61, 0x78);
PixArtVY 0:c8a2256e02c2 155 writeRegister(0x62, 0x08);
PixArtVY 0:c8a2256e02c2 156 writeRegister(0x63, 0x50);
PixArtVY 0:c8a2256e02c2 157 writeRegister(0x7F, 0x0A);
PixArtVY 0:c8a2256e02c2 158 writeRegister(0x45, 0x60);
PixArtVY 0:c8a2256e02c2 159 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 160 writeRegister(0x4D, 0x11);
PixArtVY 0:c8a2256e02c2 161 writeRegister(0x55, 0x80);
PixArtVY 0:c8a2256e02c2 162 writeRegister(0x74, 0x1F);
PixArtVY 0:c8a2256e02c2 163 writeRegister(0x75, 0x1F);
PixArtVY 0:c8a2256e02c2 164 writeRegister(0x4A, 0x78);
PixArtVY 0:c8a2256e02c2 165 writeRegister(0x4B, 0x78);
PixArtVY 0:c8a2256e02c2 166 writeRegister(0x44, 0x08);
PixArtVY 0:c8a2256e02c2 167 writeRegister(0x45, 0x50);
PixArtVY 0:c8a2256e02c2 168 writeRegister(0x64, 0xFF);
PixArtVY 0:c8a2256e02c2 169 writeRegister(0x65, 0x1F);
PixArtVY 0:c8a2256e02c2 170 writeRegister(0x7F, 0x14);
PixArtVY 0:c8a2256e02c2 171 writeRegister(0x65, 0x67);
PixArtVY 0:c8a2256e02c2 172 writeRegister(0x66, 0x08);
PixArtVY 0:c8a2256e02c2 173 writeRegister(0x63, 0x70);
PixArtVY 0:c8a2256e02c2 174 writeRegister(0x6F, 0x1C);
PixArtVY 0:c8a2256e02c2 175 writeRegister(0x7F, 0x15);
PixArtVY 0:c8a2256e02c2 176 writeRegister(0x48, 0x48);
PixArtVY 0:c8a2256e02c2 177 writeRegister(0x7F, 0x07);
PixArtVY 0:c8a2256e02c2 178 writeRegister(0x41, 0x0D);
PixArtVY 0:c8a2256e02c2 179 writeRegister(0x43, 0x14);
PixArtVY 0:c8a2256e02c2 180 writeRegister(0x4B, 0x0E);
PixArtVY 0:c8a2256e02c2 181 writeRegister(0x45, 0x0F);
PixArtVY 0:c8a2256e02c2 182 writeRegister(0x44, 0x42);
PixArtVY 0:c8a2256e02c2 183 writeRegister(0x4C, 0x80);
PixArtVY 0:c8a2256e02c2 184 writeRegister(0x7F, 0x10);
PixArtVY 0:c8a2256e02c2 185 writeRegister(0x5B, 0x02);
PixArtVY 0:c8a2256e02c2 186 writeRegister(0x7F, 0x07);
PixArtVY 0:c8a2256e02c2 187 writeRegister(0x40, 0x41);
PixArtVY 0:c8a2256e02c2 188
PixArtVY 0:c8a2256e02c2 189 wait_ms(10);
PixArtVY 0:c8a2256e02c2 190
PixArtVY 0:c8a2256e02c2 191 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 192 writeRegister(0x32, 0x00);
PixArtVY 0:c8a2256e02c2 193 writeRegister(0x7F, 0x07);
PixArtVY 0:c8a2256e02c2 194 writeRegister(0x68, 0xF0);
PixArtVY 0:c8a2256e02c2 195 writeRegister(0x69, 0x00);
PixArtVY 0:c8a2256e02c2 196 writeRegister(0x7F, 0x0D);
PixArtVY 0:c8a2256e02c2 197 writeRegister(0x48, 0xC0);
PixArtVY 0:c8a2256e02c2 198 writeRegister(0x6F, 0xD5);
PixArtVY 0:c8a2256e02c2 199 writeRegister(0x7F, 0x00);
PixArtVY 0:c8a2256e02c2 200 writeRegister(0x5B, 0xA0);
PixArtVY 0:c8a2256e02c2 201 writeRegister(0x4E, 0xA8);
PixArtVY 0:c8a2256e02c2 202 writeRegister(0x5A, 0x90);
PixArtVY 0:c8a2256e02c2 203 writeRegister(0x40, 0x80);
PixArtVY 0:c8a2256e02c2 204 writeRegister(0x7F, 0x08);
PixArtVY 0:c8a2256e02c2 205 writeRegister(0x6F, 0x9F);
PixArtVY 0:c8a2256e02c2 206
PixArtVY 0:c8a2256e02c2 207 wait_ms(10):
PixArtVY 0:c8a2256e02c2 208
PixArtVY 0:c8a2256e02c2 209 writeRegister(0x6F, 0x00);
PixArtVY 0:c8a2256e02c2 210 writeRegister(0x7F, 0x14);
PixArtVY 0:c8a2256e02c2 211 writeRegister(0x6F, 0x1C);
PixArtVY 0:c8a2256e02c2 212 }
PixArtVY 0:c8a2256e02c2 213
PixArtVY 0:c8a2256e02c2 214
PixArtVY 0:c8a2256e02c2 215 //=========================================================================
PixArtVY 0:c8a2256e02c2 216 void grabData(void)
PixArtVY 0:c8a2256e02c2 217 {
PixArtVY 0:c8a2256e02c2 218 deltaX_low = readRegister(0x03); //Grabs data from the proper registers.
PixArtVY 0:c8a2256e02c2 219 deltaX_high = (readRegister(0x04)<<8) & 0xFF00; //Grabs data and shifts it to make space to be combined with lower bits.
PixArtVY 0:c8a2256e02c2 220 deltaY_low = readRegister(0x05);
PixArtVY 0:c8a2256e02c2 221 deltaY_high = (readRegister(0x06)<<8) & 0xFF00;
PixArtVY 0:c8a2256e02c2 222
PixArtVY 0:c8a2256e02c2 223 deltaX = deltaX_high | deltaX_low; //Combines the low and high bits.
PixArtVY 0:c8a2256e02c2 224 deltaY = deltaY_high | deltaY_low;
PixArtVY 0:c8a2256e02c2 225 }
PixArtVY 0:c8a2256e02c2 226
PixArtVY 0:c8a2256e02c2 227
PixArtVY 0:c8a2256e02c2 228 //=========================================================================
PixArtVY 0:c8a2256e02c2 229 void printData(void)
PixArtVY 0:c8a2256e02c2 230 {
PixArtVY 0:c8a2256e02c2 231 if((deltaX != 0) || (deltaY != 0)) //If there is deltaX or deltaY movement, print the data.
PixArtVY 0:c8a2256e02c2 232 {
PixArtVY 0:c8a2256e02c2 233 totalX += deltaX;
PixArtVY 0:c8a2256e02c2 234 totalY += deltaY;
PixArtVY 0:c8a2256e02c2 235
PixArtVY 0:c8a2256e02c2 236 pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY); //Prints each individual count of deltaX and deltaY.
PixArtVY 0:c8a2256e02c2 237 pc.printf("X-axis Counts: %d\t\tY-axis Counts: %d\n\r", totalX, totalY); //Prints the total movement made during runtime.
PixArtVY 0:c8a2256e02c2 238 }
PixArtVY 0:c8a2256e02c2 239
PixArtVY 0:c8a2256e02c2 240 deltaX = 0; //Resets deltaX and Y values to zero, otherwise previous data is stored until overwritten.
PixArtVY 0:c8a2256e02c2 241 deltaY = 0;
PixArtVY 0:c8a2256e02c2 242 }