Diff: main.cpp

Revision:

0:2c144b6813d1

Child:

2:045cc9f995ae

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 19 21:18:40 2018 +0000
@@ -0,0 +1,75 @@
+// PAA5101 Optical Tracking Minuature Chip reference code.
+// Version: 1.0
+// Latest Revision Date: 29 Jan. 2018
+// By PixArt Imaging Inc.
+// Primary Engineer: Vincent Yeh (PixArt USA)
+
+/*
+//=======================
+//Revision History
+//=======================
+Version 1.0 -- ????????????????????????????????????
+First release.
+*/
+
+#include "mbed.h"
+#include "registerArrays.h"
+#include "SPIcommFunctions.h"
+
+int main()
+{
+    pc.baud(115200);                    // Set baud rate to 115200. Remember to sync serial terminal baud rate to the same value.
+
+    spi.format(8,3);                    // Set SPI to 8 bits with inverted polarity and phase-shifted to second edge.
+    spi.frequency(10000000);            // Set frequency for SPI communication.
+    cs = 1;                             // Initialize chip-select pin to be HIGH (inactive).
+    
+    pc.printf("Program START\n\r");
+    
+    writeRegister(0x7F, 0x00);          //Reset to bank 0 before initializing again
+    
+    pc.printf("ID Check: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly.
+    if(readRegister(0x00) != 0x31)
+    {
+        pc.printf("Communication protocol error! Terminating program.\n\r");
+        return 0;
+    }
+    
+    writeRegister(0x06, 0x80);          //Resets the chip now that we have verified that the communication works.
+    wait_ms(1);                         //Wait at least 1 millisecond after resetting for timing.
+    
+    pc.printf("ID Check #2: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly after the reset.
+    if(readRegister(0x00) != 0x31)
+    {
+        pc.printf("Communication protocol error! Terminating program.\n\r");
+        return 0;
+    }
+    
+    writeRegister(0x09, 0x5A);          //Disables write-protect
+    writeRegister(0x51, 0x06);          //Sets laser diode power. Value should be <= 6
+    
+    load(initialize, initialize_size);  //Loads initial register settings
+    
+    writeRegister(0x5D, 0x3E);          //Unlisted register. Internal recommendation...
+    wait_ms(10);
+    writeRegister(0x5D, 0x3F);          //Unlisted register. Internal recommendation...
+
+    load(modeLaser, modeLaser_size);    //Goes into laser mode which is the default mode (not LED)
+    mode = 0;                           //This variable tracks if we are in laser mode or LED mode. 0 = laser, 1 = LED
+    LDP = 0;                            //Change GPIO pin to the laser diode to be LOW to activate the laser.
+    
+    writeRegister(0x09, 0x00);          //Enables write-protect
+    
+    
+    
+    while(1)                            //After all setup/initialization is done, we can loop for interrupts and mode detection.
+    {   
+        checkMode();                    //Checks image quality and switches to laser or LED mode accordingly.
+        
+        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.
+        {
+            grabData();                 //Grabs data into variables deltaX and deltaY.
+            printData();                //Prints deltaX and deltaY, but only if they have changed from their previous values.
+        }
+    }
+}