Revision 2:899aa692d83f, committed 2017-01-11

Comitter:

DimpleB05

Date:

Wed Jan 11 07:51:10 2017 +0000

Parent:

1:b6f857ea3ce2

Child:

3:ca2c09c6fb48

Commit message:

velocitysensor_code_change;

Changed in this revision

--- a/main.cpp	Mon Jan 09 16:07:00 2017 +0000
+++ b/main.cpp	Wed Jan 11 07:51:10 2017 +0000
@@ -6,7 +6,10 @@
 DigitalOut ledPin(LED1);
 ADNS9800 adns(p11,p12,p13,p10);
 Serial pc(USBTX, USBRX);
-int dx, dy, movementFlag, recFlag;
+
+int dx, dy;
+
+int movementFlag, recFlag;
 Ticker tmr;
 uint32_t time_start, time_now, time_elapsed;
 
@@ -31,7 +34,8 @@
 {
     int motion, obs;
     adns.read_burst(&motion, &obs, &dx, &dy);
-    if(recFlag == 1 && (dx > 0 || dy > 0))
+   // if(recFlag == 1 && (dx > 0 || dy > 0))
+   if(recFlag == 1)
     {
         time_now = us_ticker_read();
         time_elapsed = time_now - time_start;
@@ -41,6 +45,8 @@
     }
 }
 
+
+
 void start_rec()
 {
     recFlag = 1;
@@ -55,16 +61,64 @@
 }
 
 void format_and_send()
+ {  
+
+/*/int outPkt_x, outPkt_y;
+   
+    if(dx & 0x8000)
+     {
+         dx = (dx^0xFFFF) + 1;
+         outPkt_x= 0x40 | (dx & 0x3F); // negative
+     }
+     else
+     {
+         outPkt_x = dx & 0x3F;
+     }
+     
+    if(dy & 0x8000)
+     {
+         dy = (dy^0xFFFF) + 1;
+         outPkt_y = 0x40 | (dy & 0x3F);
+     }
+     else
+     {
+         outPkt_y = dy & 0x3F;
+     }
+   pc.printf("Valuex= %d, Valuey = %d\r\n", outPkt_x, outPkt_y);*/
+   int outPkt_x;
+    if(dx & 0x8000)
+     {
+         dx = (dx^0xFFFF) + 1; //2's complement
+         outPkt_x= 0x40 | (dx & 0x3F); // negative
+     }
+     else
+     {
+         outPkt_x = dx & 0x3F;
+     }
+     /*if (dx &0x8000)
+     {
+         dx = -1 * ((dx ^ 0xff) + 1);
+     }
+     else
+     {
+         outPkt_x = dx;   
+     }*/
+   pc.printf("Valuex=%d\r\n", outPkt_x);
+}
+
+
+/*
+void format_and_send()
 {
     // follow LSA's packet format
-    /*
+    
      * Data format from microblaze to PC:
      * 100000TT_0TTTTTTT_0TTTTTTT_0PXXXXXX_0PYYYYYY
      * Where T = delta timestamp, P = polarity, X = delta x, Y = delta y
      * Only first byte has MSB set
      * timestamp in 100us per increment
      * dx = 0(P)XXXXXX where 2nd bit is polarity
-     */ 
+     
      
      uint8_t outPkt[5];
      time_elapsed = time_elapsed / 100;
@@ -73,37 +127,29 @@
      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++)
-     {
+
+    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;
+    //recFlag = 0;
+     recFlag = 1;
     
     pc.baud(115200);
     pc.printf("ADNS9800 test\r\n");
@@ -116,10 +162,11 @@
     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
+    //pulse.rise(&start_rec);
+    //pulse.fall(&stop_rec);
+    // current 1000
+    //tmr.attach_us(&read_motion, 100000); // timer interrupt to read registers, 2nd value time between calls in micro-seconds
+    tmr.attach (&read_motion, 0.01); // replace it with 0.01 to execute 100 tasks in one second
     
     while(1) {