PixArt / Mbed OS 5101_referenceCode

Reference firmware for PixArt's PAA5101 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 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@5:e6cc13f2fc8b, 2018-07-18 (annotated)

Committer:
PixArtVY
Date:
Wed Jul 18 18:36:47 2018 +0000
Revision:
5:e6cc13f2fc8b
Parent:
4:234a8616c0a6 
Added Apache License notice.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
PixArtVY 0:2c144b6813d1 1 // PAA5101 Optical Tracking Minuature Chip reference code.
PixArtVY 5:e6cc13f2fc8b 2 // Version: 1.11
PixArtVY 5:e6cc13f2fc8b 3 // Latest Revision Date: 18 July 2018
PixArtVY 0:2c144b6813d1 4 // By PixArt Imaging Inc.
PixArtVY 0:2c144b6813d1 5 // Primary Engineer: Vincent Yeh (PixArt USA)
PixArtVY 0:2c144b6813d1 6
PixArtVY 5:e6cc13f2fc8b 7 // Copyright [2018] [Vincent Yeh]
PixArtVY 5:e6cc13f2fc8b 8 // Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at:
PixArtVY 5:e6cc13f2fc8b 9 // http://www.apache.org/licenses/LICENSE-2.0
PixArtVY 5:e6cc13f2fc8b 10
PixArtVY 5:e6cc13f2fc8b 11
PixArtVY 0:2c144b6813d1 12 /*
PixArtVY 0:2c144b6813d1 13 //=======================
PixArtVY 0:2c144b6813d1 14 //Revision History
PixArtVY 0:2c144b6813d1 15 //=======================
PixArtVY 5:e6cc13f2fc8b 16 Version 1.11 -- 18 July 2018
PixArtVY 5:e6cc13f2fc8b 17 Added apache license notice.
PixArtVY 5:e6cc13f2fc8b 18
PixArtVY 5:e6cc13f2fc8b 19 Version 1.1
PixArtVY 5:e6cc13f2fc8b 20 Fixed SPI frequency from 10MHz to 2MHz.
PixArtVY 5:e6cc13f2fc8b 21
PixArtVY 5:e6cc13f2fc8b 22 Version 1.0
PixArtVY 5:e6cc13f2fc8b 23 First release.
PixArtVY 0:2c144b6813d1 24 */
PixArtVY 0:2c144b6813d1 25
PixArtVY 0:2c144b6813d1 26 #include "mbed.h"
PixArtVY 0:2c144b6813d1 27 #include "registerArrays.h"
PixArtVY 0:2c144b6813d1 28 #include "SPIcommFunctions.h"
PixArtVY 0:2c144b6813d1 29
PixArtVY 0:2c144b6813d1 30 int main()
PixArtVY 0:2c144b6813d1 31 {
PixArtVY 0:2c144b6813d1 32 pc.baud(115200); // Set baud rate to 115200. Remember to sync serial terminal baud rate to the same value.
PixArtVY 0:2c144b6813d1 33
PixArtVY 0:2c144b6813d1 34 spi.format(8,3); // Set SPI to 8 bits with inverted polarity and phase-shifted to second edge.
PixArtVY 3:1d5c2956f415 35 spi.frequency(2000000); // Set frequency for SPI communication.
PixArtVY 0:2c144b6813d1 36 cs = 1; // Initialize chip-select pin to be HIGH (inactive).
PixArtVY 0:2c144b6813d1 37
PixArtVY 0:2c144b6813d1 38 pc.printf("Program START\n\r");
PixArtVY 0:2c144b6813d1 39
PixArtVY 0:2c144b6813d1 40 writeRegister(0x7F, 0x00); //Reset to bank 0 before initializing again
PixArtVY 0:2c144b6813d1 41
PixArtVY 0:2c144b6813d1 42 pc.printf("ID Check: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly.
PixArtVY 0:2c144b6813d1 43 if(readRegister(0x00) != 0x31)
PixArtVY 0:2c144b6813d1 44 {
PixArtVY 0:2c144b6813d1 45 pc.printf("Communication protocol error! Terminating program.\n\r");
PixArtVY 0:2c144b6813d1 46 return 0;
PixArtVY 0:2c144b6813d1 47 }
PixArtVY 0:2c144b6813d1 48
PixArtVY 0:2c144b6813d1 49 writeRegister(0x06, 0x80); //Resets the chip now that we have verified that the communication works.
PixArtVY 0:2c144b6813d1 50 wait_ms(1); //Wait at least 1 millisecond after resetting for timing.
PixArtVY 0:2c144b6813d1 51
PixArtVY 0:2c144b6813d1 52 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 53 if(readRegister(0x00) != 0x31)
PixArtVY 0:2c144b6813d1 54 {
PixArtVY 0:2c144b6813d1 55 pc.printf("Communication protocol error! Terminating program.\n\r");
PixArtVY 0:2c144b6813d1 56 return 0;
PixArtVY 0:2c144b6813d1 57 }
PixArtVY 0:2c144b6813d1 58
PixArtVY 0:2c144b6813d1 59 writeRegister(0x09, 0x5A); //Disables write-protect
PixArtVY 0:2c144b6813d1 60 writeRegister(0x51, 0x06); //Sets laser diode power. Value should be <= 6
PixArtVY 0:2c144b6813d1 61
PixArtVY 0:2c144b6813d1 62 load(initialize, initialize_size); //Loads initial register settings
PixArtVY 0:2c144b6813d1 63
PixArtVY 0:2c144b6813d1 64 writeRegister(0x5D, 0x3E); //Unlisted register. Internal recommendation...
PixArtVY 0:2c144b6813d1 65 wait_ms(10);
PixArtVY 0:2c144b6813d1 66 writeRegister(0x5D, 0x3F); //Unlisted register. Internal recommendation...
PixArtVY 0:2c144b6813d1 67
PixArtVY 0:2c144b6813d1 68 load(modeLaser, modeLaser_size); //Goes into laser mode which is the default mode (not LED)
PixArtVY 0:2c144b6813d1 69 mode = 0; //This variable tracks if we are in laser mode or LED mode. 0 = laser, 1 = LED
PixArtVY 0:2c144b6813d1 70 LDP = 0; //Change GPIO pin to the laser diode to be LOW to activate the laser.
PixArtVY 0:2c144b6813d1 71
PixArtVY 0:2c144b6813d1 72 writeRegister(0x09, 0x00); //Enables write-protect
PixArtVY 0:2c144b6813d1 73
PixArtVY 0:2c144b6813d1 74
PixArtVY 0:2c144b6813d1 75
PixArtVY 0:2c144b6813d1 76 while(1) //After all setup/initialization is done, we can loop for interrupts and mode detection.
PixArtVY 0:2c144b6813d1 77 {
PixArtVY 0:2c144b6813d1 78 checkMode(); //Checks image quality and switches to laser or LED mode accordingly.
PixArtVY 0:2c144b6813d1 79
PixArtVY 2:045cc9f995ae 80 if(readRegister(0x02) & 0x80) //If motion bit (bit 7 of register 0x02) is 1, movement has been detected.
PixArtVY 0:2c144b6813d1 81 {
PixArtVY 0:2c144b6813d1 82 grabData(); //Grabs data into variables deltaX and deltaY.
PixArtVY 0:2c144b6813d1 83 printData(); //Prints deltaX and deltaY, but only if they have changed from their previous values.
PixArtVY 0:2c144b6813d1 84 }
PixArtVY 0:2c144b6813d1 85 }
PixArtVY 0:2c144b6813d1 86 }