main.cpp

00001 // PAT9125EL: Miniature Optical Navigation Chip reference code.
00002 // Version: 1.2
00003 // Latest Revision Date: 23 July 2018
00004 // By PixArt Imaging Inc.
00005 // Primary Engineer: Vincent Yeh (PixArt USA)
00006 
00007 // Copyright [2018] [Vincent Yeh]
00008 // 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:
00009 // http://www.apache.org/licenses/LICENSE-2.0
00010 
00011 
00012 /*
00013 //=======================
00014 //Revision History
00015 //=======================
00016 Version 1.2 -- 23 July 2018
00017 -Changed SPI frequency to 2MHz.
00018 -Changed SPI timing for the readRegister function.
00019 
00020 Version 1.1 -- 18 July 2018
00021 -Added apache license notice.
00022 
00023 Version 1.0 -- 16 Feb. 2018
00024 -First release.
00025 */
00026 
00027 #include "mbed.h"
00028 #include "registerArrays.h"
00029 #include "SPIcommFunctions.h"
00030 //#include "I2CcommFunctions.h"
00031 //Make sure you only have SPIcommFunctions or I2CcommFunctions enabled. You cannot include both headers.
00032 
00033 int main()
00034 {
00035     pc.baud(115200);                    // Set baud rate to 115200. Remember to sync serial terminal baud rate to the same value.
00036 
00037     #ifdef SPImode
00038     spi.format(8,3);                    // Set SPI to 8 bits with inverted polarity and phase-shifted to second edge.
00039     spi.frequency(2000000);             // Set frequency for SPI communication.
00040     cs = 1;                             // Initialize chip select as inactive.
00041     #endif
00042     
00043     #ifdef I2Cmode
00044     i2c.frequency(400000);              // Set frequency for I2C communication.
00045     #endif
00046     
00047     pc.printf("Program START\n\r");
00048     
00049     pc.printf("ID Check: %2X\n\r", readRegister(0x00)); //Checks product ID to make sure communication protocol is working properly.
00050     if(readRegister(0x00) != 0x31)
00051     {
00052         pc.printf("Communication protocol error! Terminating program.\n\r");
00053         return 0;
00054     }
00055     
00056     writeRegister(0x06, 0x97);          //Software reset (i.e. set bit7 to 1)
00057     wait_ms(1);                         //Delay 1 ms for chip reset timing.
00058     writeRegister(0x06, 0x17);          //Ensure software reset is done and chip is no longer in that state.
00059     
00060     load(initialize, initialize_size);  //Load register settings from the "initialize" array
00061     
00062     
00063     
00064     if(readRegister(0x5E) == 0x04)      //These unlisted registers are used for internal recommended settings.
00065     {
00066         writeRegister(0x5E, 0x08);
00067         
00068         if(readRegister(0x5D) == 0x10)
00069             writeRegister(0x5D, 0x19);
00070     }
00071     
00072     writeRegister(0x09, 0x00);  // enable write protect.
00073     
00074     while(1)
00075     {
00076         //pc.printf("MOTION bit: %2X\n\r", (readRegister(0x02) & 0x80) >> 7);   //Prints motion bit for debugging. 1 = motion detected. 0 = no motion detected.
00077         
00078         if(readRegister(0x02) & 0x80)
00079         {
00080             grabData();
00081             printData();
00082         }
00083     }
00084 }