Diff: main.cpp

Revision:

0:7a6a7374b6d7

Child:

1:b6f857ea3ce2

--- /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;
+        }
+    }
+}