PixArt / Mbed OS 5101_referenceCode

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Welcome to the code repository for PixArt's PAA5101 sensor and evaluation board.

For general information about this product, please visit this product's components page here:
https://os.mbed.com/components/PAA5101-Floor-Tracking-Sensor-with-Wide-/

For guides and tips on how to setup and evaluate the PAA5101 sensor with the Nordic nRF52-DK microcontroller using this reference code, please visit this guide:
https://os.mbed.com/teams/PixArt/code/5101_referenceCode/wiki/Guide-for-nRF52-DK-Platform

For guides and tips on how to setup and evaluate the PAA5101 sensor with any microcontroller using this reference code, please visit this guide:
https://os.mbed.com/teams/PixArt/code/5101_referenceCode/wiki/Guide-for-Any-Platform

main.cpp@1:469063631a05, 2018-05-01 (annotated)

Committer:
PixArtVY
Date:
Tue May 01 22:45:34 2018 +0000
Revision:
1:469063631a05
Parent:
0:2c144b6813d1
Child:
2:045cc9f995ae
Changed image quality algorithm.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PixArtVY 0:2c144b6813d1 1 // PAA5101 Optical Tracking Minuature Chip reference code.
PixArtVY 0:2c144b6813d1 2 // Version: 1.0
PixArtVY 0:2c144b6813d1 3 // Latest Revision Date: 29 Jan. 2018
PixArtVY 0:2c144b6813d1 4 // By PixArt Imaging Inc.
PixArtVY 0:2c144b6813d1 5 // Primary Engineer: Vincent Yeh (PixArt USA)
PixArtVY 0:2c144b6813d1 6
PixArtVY 0:2c144b6813d1 7 /*
PixArtVY 0:2c144b6813d1 8 //=======================
PixArtVY 0:2c144b6813d1 9 //Revision History
PixArtVY 0:2c144b6813d1 10 //=======================
PixArtVY 0:2c144b6813d1 11 Version 1.0 -- ????????????????????????????????????
PixArtVY 0:2c144b6813d1 12 First release.
PixArtVY 0:2c144b6813d1 13 */
PixArtVY 0:2c144b6813d1 14
PixArtVY 0:2c144b6813d1 15 #include "mbed.h"
PixArtVY 0:2c144b6813d1 16 #include "registerArrays.h"
PixArtVY 0:2c144b6813d1 17 #include "SPIcommFunctions.h"
PixArtVY 0:2c144b6813d1 18
PixArtVY 0:2c144b6813d1 19 int main()
PixArtVY 0:2c144b6813d1 20 {
PixArtVY 0:2c144b6813d1 21 pc.baud(115200); // Set baud rate to 115200. Remember to sync serial terminal baud rate to the same value.
PixArtVY 0:2c144b6813d1 22
PixArtVY 0:2c144b6813d1 23 spi.format(8,3); // Set SPI to 8 bits with inverted polarity and phase-shifted to second edge.
PixArtVY 0:2c144b6813d1 24 spi.frequency(10000000); // Set frequency for SPI communication.
PixArtVY 0:2c144b6813d1 25 cs = 1; // Initialize chip-select pin to be HIGH (inactive).
PixArtVY 0:2c144b6813d1 26
PixArtVY 0:2c144b6813d1 27 pc.printf("Program START\n\r");
PixArtVY 0:2c144b6813d1 28
PixArtVY 0:2c144b6813d1 29 writeRegister(0x7F, 0x00); //Reset to bank 0 before initializing again
PixArtVY 0:2c144b6813d1 30
PixArtVY 0:2c144b6813d1 31 pc.printf("ID Check: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly.
PixArtVY 0:2c144b6813d1 32 if(readRegister(0x00) != 0x31)
PixArtVY 0:2c144b6813d1 33 {
PixArtVY 0:2c144b6813d1 34 pc.printf("Communication protocol error! Terminating program.\n\r");
PixArtVY 0:2c144b6813d1 35 return 0;
PixArtVY 0:2c144b6813d1 36 }
PixArtVY 0:2c144b6813d1 37
PixArtVY 0:2c144b6813d1 38 writeRegister(0x06, 0x80); //Resets the chip now that we have verified that the communication works.
PixArtVY 0:2c144b6813d1 39 wait_ms(1); //Wait at least 1 millisecond after resetting for timing.
PixArtVY 0:2c144b6813d1 40
PixArtVY 0:2c144b6813d1 41 pc.printf("ID Check #2: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly after the reset.
PixArtVY 0:2c144b6813d1 42 if(readRegister(0x00) != 0x31)
PixArtVY 0:2c144b6813d1 43 {
PixArtVY 0:2c144b6813d1 44 pc.printf("Communication protocol error! Terminating program.\n\r");
PixArtVY 0:2c144b6813d1 45 return 0;
PixArtVY 0:2c144b6813d1 46 }
PixArtVY 0:2c144b6813d1 47
PixArtVY 0:2c144b6813d1 48 writeRegister(0x09, 0x5A); //Disables write-protect
PixArtVY 0:2c144b6813d1 49 writeRegister(0x51, 0x06); //Sets laser diode power. Value should be <= 6
PixArtVY 0:2c144b6813d1 50
PixArtVY 0:2c144b6813d1 51 load(initialize, initialize_size); //Loads initial register settings
PixArtVY 0:2c144b6813d1 52
PixArtVY 0:2c144b6813d1 53 writeRegister(0x5D, 0x3E); //Unlisted register. Internal recommendation...
PixArtVY 0:2c144b6813d1 54 wait_ms(10);
PixArtVY 0:2c144b6813d1 55 writeRegister(0x5D, 0x3F); //Unlisted register. Internal recommendation...
PixArtVY 0:2c144b6813d1 56
PixArtVY 0:2c144b6813d1 57 load(modeLaser, modeLaser_size); //Goes into laser mode which is the default mode (not LED)
PixArtVY 0:2c144b6813d1 58 mode = 0; //This variable tracks if we are in laser mode or LED mode. 0 = laser, 1 = LED
PixArtVY 0:2c144b6813d1 59 LDP = 0; //Change GPIO pin to the laser diode to be LOW to activate the laser.
PixArtVY 0:2c144b6813d1 60
PixArtVY 0:2c144b6813d1 61 writeRegister(0x09, 0x00); //Enables write-protect
PixArtVY 0:2c144b6813d1 62
PixArtVY 0:2c144b6813d1 63
PixArtVY 0:2c144b6813d1 64
PixArtVY 0:2c144b6813d1 65 while(1) //After all setup/initialization is done, we can loop for interrupts and mode detection.
PixArtVY 0:2c144b6813d1 66 {
PixArtVY 0:2c144b6813d1 67 checkMode(); //Checks image quality and switches to laser or LED mode accordingly.
PixArtVY 0:2c144b6813d1 68
PixArtVY 0:2c144b6813d1 69 if(imageQualityOK && readRegister(0x02) & 0x80) //If motion bit (bit 7 of register 0x02) is 1, movement has been detected. Also checks if imageQuality is good enough.
PixArtVY 0:2c144b6813d1 70 {
PixArtVY 0:2c144b6813d1 71 grabData(); //Grabs data into variables deltaX and deltaY.
PixArtVY 0:2c144b6813d1 72 printData(); //Prints deltaX and deltaY, but only if they have changed from their previous values.
PixArtVY 0:2c144b6813d1 73 }
PixArtVY 0:2c144b6813d1 74 }
PixArtVY 0:2c144b6813d1 75 }