Reference firmware for PixArt's PAT9130EW 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
- Committer:
- PixArtVY
- Date:
- 2018-07-18
- Revision:
- 1:efa5e5a1e308
- Parent:
- 0:5a34a4387fb0
File content as of revision 1:efa5e5a1e308:
//========================================================================= //Communication pinouts for serial COM port, SPI, and interrupts //========================================================================= static Serial pc(USBTX, USBRX); //PC comm static SPI spi(p23, p24, p25); //mosi, miso, sclk static DigitalOut cs(p22); //chip select //========================================================================= //Variables and arrays used for communications and data storage //========================================================================= int8_t deltaX_low, deltaY_low; //Stores the low-bits of movement data. int16_t deltaX_high, deltaY_high; //Stores the high-bits of movement data. int16_t deltaX, deltaY; //Stores the combined value of low and high bits. int16_t totalX, totalY = 0; //Stores the total deltaX and deltaY moved during runtime. int8_t currentBank; //Stores the current register bank (for tracking/debugging). //========================================================================= //Functions used to communicate with the sensor and grab/print data //========================================================================= uint8_t readRegister(uint8_t addr); //This function takes an 8-bit address in the form 0x00 and returns an 8-bit value in the form 0x00. void writeRegister(uint8_t addr, uint8_t data); //This function takes an 8-bit address and 8-bit data. Writes the given data to the given address. void load(const uint8_t array[][2], uint8_t arraySize); //Takes an array of registers/data (found in registerArrays.h) and their size and writes in all the values. void grabData(void); //Grabs the deltaX and deltaY information from the proper registers and formats it into the proper format. void printData(void); //Prints the data out to a serial terminal. //========================================================================= //Functions definitions //========================================================================= uint8_t readRegister(uint8_t addr) { cs = 0; //Set chip select low/active addr = addr & 0x7F; //Set MSB to 0 to indicate read operation spi.write(addr); //Write the given address wait_us(1); //Add a tiny delay after sending address for some internal cycle timing. uint8_t data_read = spi.write(0x00); //Throw dummy byte after sending address to receieve data cs = 1; //Set chip select back to high/inactive return data_read; //Returns 8-bit data from register } //========================================================================= void writeRegister(uint8_t addr, uint8_t data) { cs = 0; //Set chip select low/active addr = addr | 0x80; //Set MSB to 1 to indicate write operation spi.write(addr); //Write the given address spi.write(data); //Write the given data cs = 1; //Set chip select back to high/inactive if(addr == 0x7F) //You can't read register 0x7F for the current bank so we store the value before writing it { currentBank = data; //Store the current bank for printing later. //pc.printf("B:%2X, R:%2X, D:%2X\n\r", currentBank, addr, currentBank); //Uncomment this line and the other print line below for debugging. Prints every register bank change. } else { //pc.printf("B:%2X, R:%2X, D:%2X\n\r", currentBank, addr, readRegister(addr)); //Uncomment this line and the other print line above for debugging. Prints every register write operation. } } //========================================================================= void load(const uint8_t array[][2], uint8_t arraySize) { for(uint8_t q = 0; q < arraySize; q++) { writeRegister(array[q][0], array[q][1]); //Writes the given array of registers/data. } } //========================================================================= void grabData(void) { deltaX_low = readRegister(0x03); //Grabs data from the proper registers. deltaY_low = readRegister(0x04); deltaX_high = (readRegister(0x11)<<8) & 0xFF00; //Grabs data and shifts it to make space to be combined with lower bits. deltaY_high = (readRegister(0x12)<<8) & 0xFF00; if(deltaX_high & 0x8000) deltaX_high |= 0xf000; // 12-bit data convert to 16-bit (two's comp) if(deltaY_high & 0x8000) deltaY_high |= 0xf000; // 12-bit data convert to 16-bit (2's comp) deltaX = deltaX_high | deltaX_low; //Combined the low and high bits. deltaY = deltaY_high | deltaY_low; } //========================================================================= void printData(void) { if((deltaX != 0) || (deltaY != 0)) //If there is deltaX or deltaY movement, print the data. { totalX += deltaX; totalY += deltaY; pc.printf("deltaX: %d\t\t\tdeltaY: %d\n\r", deltaX, deltaY); //Prints each individual count of deltaX and deltaY. pc.printf("X-axis Counts: %d\t\tY-axis Counts: %d\n\r", totalX, totalY); //Prints the total movement made during runtime. } deltaX = 0; //Resets deltaX and Y values to zero, otherwise previous data is stored until overwritten. deltaY = 0; }