Revision 0:7a6a7374b6d7, committed 2017-01-09

Comitter:

gigabite

Date:

Mon Jan 09 15:55:05 2017 +0000

Child:

1:b6f857ea3ce2

Commit message:

Event based implementation

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/adns9800.cpp	Mon Jan 09 15:55:05 2017 +0000
@@ -0,0 +1,150 @@
+#include "mbed.h"
+#include "adns9800.h"
+#include "firmware.h"
+
+ADNS9800::ADNS9800(PinName MOSI, PinName MISO, PinName SCK, PinName NCS):mySPI(MOSI, MISO, SCK), ncs(NCS)
+{
+    // initialize
+    initComplete = 0;
+    mySPI.format(8, 3);
+    mySPI.frequency(1000000);
+}
+
+void ADNS9800::initialize()
+{
+    comm_end();
+    comm_begin();
+    comm_end();
+
+    write_reg(REG_Power_Up_Reset, 0x5a); // force reset
+    wait_ms(50);
+
+    // read registers and discard data
+    read_reg(REG_Motion);
+    read_reg(REG_Delta_X_L);
+    read_reg(REG_Delta_X_H);
+    read_reg(REG_Delta_Y_L);
+    read_reg(REG_Delta_Y_H);
+    
+    // upload firmware
+    printf("Uploading firmware... \r\n");
+    upload_firmware();
+    wait_ms(10);
+    printf("Done... \r\n");
+    
+    // enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b)
+    // reading the actual value of the register is important because the real
+    // default value is different from what is said in the datasheet, and if you
+    // change the reserved bytes (like by writing 0x00...) it would not work.
+    uint8_t laser_ctrl0 = read_reg(REG_LASER_CTRL0);
+    write_reg(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
+
+    wait_ms(1);
+
+    // initialized!
+    initComplete = 1;
+}
+
+
+void ADNS9800::comm_begin()
+{
+    ncs = 0;
+}
+
+void ADNS9800::comm_end()
+{
+    ncs = 1;
+}
+
+void ADNS9800::reset_movePin()
+{
+    // writes movement register to reset pin
+    write_reg(REG_Motion, 1);
+}
+
+uint8_t ADNS9800::read_reg(uint8_t reg_addr)
+{
+    uint8_t val;
+    comm_begin();
+    mySPI.write(reg_addr);      // send register address to read
+    wait_us(100);
+    val = mySPI.write(0x00);    // read value
+    comm_end();
+    return val;
+}
+
+void ADNS9800::write_reg(uint8_t reg_addr, uint8_t val)
+{
+    comm_begin();
+    mySPI.write(reg_addr | 0x80);
+    mySPI.write(val);
+    wait_us(20);
+    comm_end();
+    wait_us(100);
+}
+
+void ADNS9800::upload_firmware()
+{
+    write_reg(REG_Configuration_IV, 0x02);
+    write_reg(REG_SROM_Enable, 0x1d);
+    wait_ms(10);
+    
+    write_reg(REG_SROM_Enable, 0x18);
+    comm_begin();
+
+    mySPI.write(REG_SROM_Load_Burst | 0x80);
+    wait_us(15);
+
+    uint8_t c;
+    for (int i=0; i<FIRMWARE_LENGTH; i++) {
+        c = firmware_data[i];
+        mySPI.write(c);
+        wait_us(15);
+    }
+    comm_end();
+}
+
+void ADNS9800::getMovement(uint8_t *mot, int* x, int* y)
+{
+    uint8_t dx_lo, dx_hi, dy_lo, dy_hi;
+    
+    if(initComplete == 1)
+    {
+        comm_begin();
+        *mot = read_reg(REG_Motion);
+        dx_lo = read_reg(REG_Delta_X_L);
+        dx_hi = read_reg(REG_Delta_X_H);
+        dy_lo = read_reg(REG_Delta_Y_L);
+        dy_hi = read_reg(REG_Delta_Y_H);
+        comm_end();
+        
+        *x = (dx_hi << 8 | dx_lo);
+        *y = (dy_hi << 8 | dy_lo);        
+    }
+}
+
+void ADNS9800::read_burst(int* movement, int* observe, int* delta_x, int* delta_y)
+{
+    uint8_t dx_lo, dx_hi, dy_lo, dy_hi;
+    
+    // reads multiple registers in a burst
+    comm_begin();
+    mySPI.write(REG_Motion_Burst);
+    wait_us(500);
+    
+    // first reg is movement, followed by obervation, dx_lo, dx_hi, dy_lo, dy_hi, 
+    // squal, pixel_sum, max_px, min_px, shutter_upper, shutter_lower, frame_period_upper, frame_period_lower
+    // we only read the first 6 bytes
+    
+    *movement = mySPI.write(0);
+    *observe = mySPI.write(0);
+    dx_lo = mySPI.write(0);
+    dx_hi = mySPI.write(0);
+    dy_lo = mySPI.write(0);
+    dy_hi = mySPI.write(0);
+    
+    comm_end();
+    
+    *delta_x = (dx_hi << 8 | dx_lo);
+    *delta_y = (dy_hi << 8 | dy_lo);    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/adns9800.h	Mon Jan 09 15:55:05 2017 +0000
@@ -0,0 +1,79 @@
+#ifndef ADNS9800_H
+#define ADNS9800_H
+
+#include "mbed.h"
+
+// Registers
+#define REG_Product_ID                           0x00
+#define REG_Revision_ID                          0x01
+#define REG_Motion                               0x02
+#define REG_Delta_X_L                            0x03
+#define REG_Delta_X_H                            0x04
+#define REG_Delta_Y_L                            0x05
+#define REG_Delta_Y_H                            0x06
+#define REG_SQUAL                                0x07
+#define REG_Pixel_Sum                            0x08
+#define REG_Maximum_Pixel                        0x09
+#define REG_Minimum_Pixel                        0x0a
+#define REG_Shutter_Lower                        0x0b
+#define REG_Shutter_Upper                        0x0c
+#define REG_Frame_Period_Lower                   0x0d
+#define REG_Frame_Period_Upper                   0x0e
+#define REG_Configuration_I                      0x0f
+#define REG_Configuration_II                     0x10
+#define REG_Frame_Capture                        0x12
+#define REG_SROM_Enable                          0x13
+#define REG_Run_Downshift                        0x14
+#define REG_Rest1_Rate                           0x15
+#define REG_Rest1_Downshift                      0x16
+#define REG_Rest2_Rate                           0x17
+#define REG_Rest2_Downshift                      0x18
+#define REG_Rest3_Rate                           0x19
+#define REG_Frame_Period_Max_Bound_Lower         0x1a
+#define REG_Frame_Period_Max_Bound_Upper         0x1b
+#define REG_Frame_Period_Min_Bound_Lower         0x1c
+#define REG_Frame_Period_Min_Bound_Upper         0x1d
+#define REG_Shutter_Max_Bound_Lower              0x1e
+#define REG_Shutter_Max_Bound_Upper              0x1f
+#define REG_LASER_CTRL0                          0x20
+#define REG_Observation                          0x24
+#define REG_Data_Out_Lower                       0x25
+#define REG_Data_Out_Upper                       0x26
+#define REG_SROM_ID                              0x2a
+#define REG_Lift_Detection_Thr                   0x2e
+#define REG_Configuration_V                      0x2f
+#define REG_Configuration_IV                     0x39
+#define REG_Power_Up_Reset                       0x3a
+#define REG_Shutdown                             0x3b
+#define REG_Inverse_Product_ID                   0x3f
+#define REG_Motion_Burst                         0x50
+#define REG_SROM_Load_Burst                      0x62
+#define REG_Pixel_Burst                          0x64
+
+
+class ADNS9800
+{
+public:
+    // constructor
+    ADNS9800(PinName MOSI, PinName MISO, PinName SCK, PinName NCS);
+    void initialize();
+    void read_burst(int *movement, int *observe, int *delta_x, int *delta_y);
+    void getMovement(uint8_t *mot, int *delta_x, int *delta_y);  
+    uint8_t read_reg(uint8_t);
+    void write_reg(uint8_t, uint8_t);  
+    void comm_begin();
+    void comm_end();
+    void reset_movePin();
+    
+private:
+    int initComplete;
+    SPI mySPI;
+    DigitalOut ncs;
+    
+    void upload_firmware();
+};
+
+
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/firmware.h	Mon Jan 09 15:55:05 2017 +0000
@@ -0,0 +1,3083 @@
+#ifndef FIRMWARE_H
+#define FIRMWARE_H
+
+#include "mbed.h"
+#define FIRMWARE_LENGTH 3070
+
+// Firmware "adns9800_srom_A4.txt" from 
+// This firmware is Copyright Avago, please refer to them concerning modifications.
+
+const unsigned char firmware_data[] = {
+0x03,
+0xa6,
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+0xe5,
+0xc0,
+0x1e,
+0xc2,
+0x37,
+0x9e,
+0x2a,
+0x26,
+0xa5,
+0xa0,
+0xbd,
+0x24,
+0x5f,
+0xb9,
+0xc1,
+0xab,
+0x34,
+0x48,
+0xb9,
+0x5d,
+0x98,
+0xb4,
+0x65,
+0x18,
+0xf3,
+0x63,
+0x19,
+0x44,
+0x1b,
+0x11,
+0x16,
+0xff,
+0xdc,
+0xf1,
+0x79,
+0x08,
+0x86,
+0x0f,
+0x52,
+0x98,
+0x73,
+0xc4,
+0x92,
+0x90,
+0x2b,
+0x47,
+0x09,
+0xd0,
+0x43,
+0x6c,
+0x2f,
+0x20,
+0xeb,
+0xdc,
+0xda,
+0xc5,
+0x08,
+0x7b,
+0x94,
+0x42,
+0x30,
+0x6a,
+0xc7,
+0xda,
+0x8c,
+0xc3,
+0x76,
+0xa7,
+0xa5,
+0xcc,
+0x62,
+0x13,
+0x00,
+0x60,
+0x31,
+0x58,
+0x44,
+0x9b,
+0xf5,
+0x64,
+0x14,
+0xf5,
+0x11,
+0xc5,
+0x54,
+0x52,
+0x83,
+0xd4,
+0x73,
+0x01,
+0x16,
+0x0e,
+0xb3,
+0x7a,
+0x29,
+0x69,
+0x35,
+0x56,
+0xd4,
+0xee,
+0x8a,
+0x17,
+0xa2,
+0x99,
+0x24,
+0x9c,
+0xd7,
+0x8f,
+0xdb,
+0x55,
+0xb5,
+0x3e
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 09 15:55:05 2017 +0000
@@ -0,0 +1,133 @@
+#include "mbed.h"
+#include "adns9800.h"
+
+InterruptIn pulse(p8); // connects to FPGA and listens for start recording pulse
+DigitalOut gndPin(p7);
+DigitalOut ledPin(LED1);
+ADNS9800 adns(p11,p12,p13,p10);
+Serial pc(USBTX, USBRX);
+int dx, dy, movementFlag, recFlag;
+Ticker tmr;
+uint32_t time_start, time_now, time_elapsed;
+
+void displayRegisters()
+{
+  int oreg[4] = {0x00,0x3F,0x2A,0x02};
+  char* oregname[] = {"Product_ID:","Inverse_Product_ID:","SROM_Version:","Motion:"};
+  uint8_t regres;
+  
+  int rctr;
+  
+  for(rctr=0; rctr<4; rctr++){
+    pc.printf("---\r\n");
+    regres = adns.read_reg(oreg[rctr]);
+    pc.printf(oregname[rctr]);
+    pc.printf("%02x\r\n", regres);
+    wait_ms(1);
+  }
+}
+
+void read_motion()
+{
+    int motion, obs;
+    adns.read_burst(&motion, &obs, &dx, &dy);
+    if(recFlag == 1 && (dx > 0 || dy > 0))
+    {
+        time_now = us_ticker_read();
+        time_elapsed = time_now - time_start;
+        time_start = time_now;
+        
+        movementFlag = 1;
+    }
+}
+
+void start_rec()
+{
+    recFlag = 1;
+    ledPin = 1;
+    time_start = us_ticker_read();
+}
+
+void stop_rec()
+{
+    ledPin = 0;
+    recFlag = 0;
+}
+
+void format_and_send()
+{
+    // follow LSA's packet format
+    /*
+     * Data format from microblaze to PC:
+     * 1PZZZMTT_0TTTTTTT_0TTTTTTT_00XXXXXX_00YYYYYY
+     * Where T = timestamp, P = polarity, X = xcoord, Y = ycoord, Z = type of spike, M = mouse pkt bit
+     * Only first byte has MSB set
+     * M bit will be used to indicate this is a mouse sensor data
+     * timestamp in 100us per increment
+     * dx = 0(PX)XXXXXX where 2nd bit is polarity
+     */ 
+     
+     uint8_t outPkt[5];
+     time_elapsed = time_elapsed / 100;
+     
+     outPkt[0] = 0x84 | ((time_elapsed >> 14) & 0x00000003);
+     outPkt[1] = ((time_elapsed >> 7) & 0x0000007F);
+     outPkt[2] = (time_elapsed & 0x0000007F);
+     
+     if(dx & 0x8000)
+     {
+         dx = (dx^0xFFFF) + 1;
+         outPkt[3] = 0x40 | (dx & 0x3F); // negative
+     }
+     else
+     {
+         outPkt[3] = dx & 0x3F;
+     }
+     
+     if(dy & 0x8000)
+     {
+         dy = (dy^0xFFFF) + 1;
+         outPkt[4] = 0x40 | (dy & 0x3F);
+     }
+     else
+     {
+         outPkt[4] = dy & 0x3F;
+     }
+     
+     // send packet
+     for (int i=0; i<5; i++)
+     {
+        pc.putc(outPkt[i]);
+     }        
+}
+
+int main() {
+    gndPin = 0; // lazy to connect to true ground pin
+    movementFlag = 0;
+    recFlag = 0;
+    
+    pc.baud(115200);
+    pc.printf("ADNS9800 test\r\n");
+    
+    adns.initialize();
+    
+    // display registers
+    displayRegisters();
+    
+    pc.printf("Sensor initialized\r\n");
+    
+    // for sync with FPGA
+    pulse.rise(&start_rec);
+    pulse.fall(&stop_rec);
+    
+    tmr.attach_us(&read_motion, 1000); // timer interrupt to read registers
+    
+    while(1) {
+        
+        if(movementFlag == 1)
+        {
+            format_and_send();
+            movementFlag = 0;
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jan 09 15:55:05 2017 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/2241e3a39974
\ No newline at end of file