Jesús Torres
Interface to access to Avago ADNS-9500 laser mouse sensors.
Diff: adns9500.cpp
- Revision:
- 2:ee0c13ef1320
- Parent:
- 1:fa3052be61b5
- Child:
- 3:898ed1944119
--- a/adns9500.cpp Mon Feb 13 11:39:24 2012 +0000
+++ b/adns9500.cpp Thu Mar 22 15:04:33 2012 +0000
@@ -16,6 +16,7 @@
* limitations under the License.
*/
+#include <cstdlib>
#include <fstream>
#include <math.h>
#include <mbed.h>
@@ -24,18 +25,30 @@
#include <adns9500.hpp>
#define WAIT_TSRAD() wait_us(100)
-#define WAIT_TSRWR() wait_us(20)
+#define WAIT_TSRR() wait_us(20)
+#define WAIT_TSRW() wait_us(20)
+#define WAIT_TSWR() wait_us(120)
+#define WAIT_TSWW() wait_us(120)
#define WAIT_TBEXIT() wait_us(1) // 500ns
#define WAIT_TNCSSCLK() wait_us(1) // 120ns
#define WAIT_TSCLKNCS() wait_us(20)
#define WAIT_TLOAD() wait_us(15)
+#define LONG_WAIT_MS(x) \
+ WAIT_TSCLKNCS(); ncs_.write(1); wait_ms(x); ncs_.write(0); WAIT_TNCSSCLK()
+#define LONG_WAIT_US(x) \
+ WAIT_TSCLKNCS(); ncs_.write(1); wait_us(x); ncs_.write(0); WAIT_TNCSSCLK()
+
#define DEFAULT_MAX_FPS 1958
-#define DEFAULT_MAX_FRAME_PERIOD ceil(1.0e6 / DEFAULT_MAX_FPS) // in us
+#define DEFAULT_MAX_FRAME_PERIOD ((int)ceil(1e6 / DEFAULT_MAX_FPS)) // in us
#define DEFAULT_X_CPI 1620
#define DEFAULT_Y_CPI 1620
#define CPI_CHANGE_UNIT 90
+#define SPI_BITS_PER_FRAME 8
+#define SPI_MODE 3
+#define SPI_WRITE_MODE 0x80
+
#define SET_BIT(word, mask) (word | mask)
#define CLEAR_BIT(word, mask) (word & (~mask))
@@ -47,9 +60,11 @@
motion_(motion),
ncs_(ncs),
enabled_(false),
- dx_(0), dy_(0),
xCpi_(DEFAULT_X_CPI), yCpi_(DEFAULT_Y_CPI)
{
+ spi_.format(SPI_BITS_PER_FRAME, SPI_MODE);
+
+ motion_.mode(PullUp);
motion_.fall(this, &ADNS9500::motionTrigger);
}
@@ -67,46 +82,41 @@
WAIT_TNCSSCLK();
// send 0x3a to POWER_UP_RESET and wait for at least 50ms
- spi_.write(POWER_UP_RESET);
- WAIT_TSRAD();
- spi_.write(0x5a);
- wait_ms(50);
+ spiSend(POWER_UP_RESET, 0x5a);
+ LONG_WAIT_MS(50);
// clear observation register. Only required to deassert shutdown mode.
- spi_.write(OBSERVATION);
- WAIT_TSRAD();
- spi_.write(0x00);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
+ spiSend(OBSERVATION, 0x00);
+ LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
// check observation register bits [5:0]
- spi_.write(OBSERVATION);
- WAIT_TSRAD();
- int observation = spi_.write(0x00);
- WAIT_TSRAD();
-
+ int observation = spiReceive(OBSERVATION);
if (! ADNS9500_IF_OBSERVATION_TEST(observation))
error("ADNS9500::reset : observation register test failed: 0x%x\n", observation);
// read motion data
- spi_.write(MOTION);
- WAIT_TSRAD();
- spi_.write(DELTA_X_L);
- WAIT_TSRAD();
- spi_.write(DELTA_X_H);
- WAIT_TSRAD();
- spi_.write(DELTA_Y_L);
- WAIT_TSRAD();
- spi_.write(DELTA_Y_H);
- WAIT_TSRAD();
+ WAIT_TSRR();
+ spiReceive(MOTION);
+ WAIT_TSRR();
+ spiReceive(DELTA_X_L);
+ WAIT_TSRR();
+ spiReceive(DELTA_X_H);
+ WAIT_TSRR();
+ spiReceive(DELTA_Y_L);
+ WAIT_TSRR();
+ spiReceive(DELTA_Y_H);
- // read product and revision id to test the connection
+ // read product and revision id to test the connection
+ WAIT_TSRR();
spi_.write(PRODUCT_ID);
WAIT_TSRAD();
- int product_id = spi_.write(REVISION_ID);
+ int product_id = spi_.write(0x00);
+ WAIT_TSRR();
+ spi_.write(REVISION_ID);
WAIT_TSRAD();
int revision_id = spi_.write(0x00);
+
WAIT_TSCLKNCS();
-
ncs_.write(1);
if (product_id != 0x33) {
@@ -134,11 +144,9 @@
WAIT_TNCSSCLK();
// send 0x3a to POWER_UP_RESET
- spi_.write(POWER_UP_RESET);
- WAIT_TSRAD();
- spi_.write(0x5a);
+ spiSend(POWER_UP_RESET, 0x5a);
+
WAIT_TSCLKNCS();
-
ncs_.write(1);
enabled_ = false;
@@ -153,12 +161,11 @@
WAIT_TNCSSCLK();
// send the command to read the register
- spi_.write(lregister);
- WAIT_TSRAD();
- int value = spi_.write(0x00);
+ int value = spiReceive(lregister);
+
WAIT_TSCLKNCS();
-
ncs_.write(1);
+
return value;
}
@@ -171,13 +178,11 @@
WAIT_TNCSSCLK();
// send the command to read the registers
- spi_.write(lregister);
- WAIT_TSRAD();
- int lvalue = spi_.write(uregister);
- WAIT_TSRAD();
- int uvalue = spi_.write(0x00);
+ int lvalue = spiReceive(lregister);
+ WAIT_TSRR();
+ int uvalue = spiReceive(uregister);
+
WAIT_TSCLKNCS();
-
ncs_.write(1);
return ADNS9500_UINT16(uvalue, lvalue);
@@ -192,25 +197,22 @@
WAIT_TNCSSCLK();
// SROM download
- spi_.write(CONFIGURATION_IV);
- WAIT_TSRAD();
- spi_.write(ADNS9500_CONFIGURATION_IV_SROM_SIZE);
- WAIT_TSRAD();
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x1d);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x18);
- WAIT_TSRAD();
- spi_.write(SROM_LOAD_BURST);
-
- // TODO: Comprobar que pasa si el archivo no existe
+ spiSend(CONFIGURATION_IV, ADNS9500_CONFIGURATION_IV_SROM_SIZE);
+ WAIT_TSWW();
+ spiSend(SROM_ENABLE, 0x1d);
+ LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
+
+ spiSend(SROM_ENABLE, 0x18);
+ WAIT_TSWW();
+ spi_.write(SET_BIT(SROM_LOAD_BURST, SPI_WRITE_MODE));
+
+ // we expect a line per byte in hex without 0x prefix
+ char buffer[4];
ifstream ifs(filename, ifstream::in);
- while(ifs.good()) {
+ while(ifs.getline(buffer, sizeof(buffer)).good()) {
WAIT_TLOAD();
- spi_.write(ifs.get());
+ int byte = strtol(buffer, NULL, 16);
+ spi_.write(byte);
}
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -223,9 +225,9 @@
wait_us(160);
ncs_.write(0);
WAIT_TNCSSCLK();
- spi_.write(SROM_ID);
- WAIT_TSRAD();
- int srom_id = spi_.write(0x00);
+
+ int srom_id = spiReceive(SROM_ID);
+
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -235,9 +237,9 @@
// test laser fault condition
ncs_.write(0);
WAIT_TNCSSCLK();
- spi_.write(MOTION);
- WAIT_TSRAD();
- int motion = spi_.write(0x00);
+
+ int motion = spiReceive(MOTION);
+
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -248,15 +250,12 @@
ncs_.write(0);
WAIT_TNCSSCLK();
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x15);
- wait_us(10);
- spi_.write(DATA_OUT_LOWER);
- WAIT_TSRAD();
- int lcrc = spi_.write(DATA_OUT_UPPER);
- WAIT_TSRAD();
- int ucrc = spi_.write(0x00);
+ spiSend(SROM_ENABLE, 0x15);
+ LONG_WAIT_MS(10);
+
+ int lcrc = spiReceive(DATA_OUT_LOWER);
+ WAIT_TSRR();
+ int ucrc = spiReceive(DATA_OUT_UPPER);
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -268,19 +267,17 @@
{
if (! enabled_)
error("ADNS9500::enableLaser : the sensor is not enabled\n");
-
+
ncs_.write(0);
WAIT_TNCSSCLK();
- spi_.write(LASER_CTRL0);
- WAIT_TSRAD();
if (enable) {
int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
- spi_.write(laser_ctrl0);
+ spiSend(LASER_CTRL0, laser_ctrl0);
}
else {
int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
- spi_.write(laser_ctrl0);
+ spiSend(LASER_CTRL0, laser_ctrl0);
}
WAIT_TSCLKNCS();
@@ -294,34 +291,26 @@
ncs_.write(0);
WAIT_TNCSSCLK();
-
- spi_.write(MOTION);
- WAIT_TSRAD();
- int motion = spi_.write(DELTA_X_L);
- WAIT_TSRAD();
-
+
+ dx = 0;
+ dy = 0;
+
+ int motion = spiReceive(MOTION);
if (ADNS9500_IF_MOTION(motion)) {
- int tmp = spi_.write(DELTA_X_L);
- WAIT_TSRAD();
- dx = ADNS9500_UINT16(spi_.write(DELTA_X_H), tmp);
- WAIT_TSRAD();
- tmp = spi_.write(DELTA_Y_L);
- WAIT_TSRAD();
- dy = ADNS9500_UINT16(spi_.write(DELTA_Y_H), tmp);
+ WAIT_TSRR();
+ int dxl = spiReceive(DELTA_X_L);
+ WAIT_TSRR();
+ dx += ADNS9500_INT16(spiReceive(DELTA_X_H), dxl);
- dx_ = dx;
- dy_ = dy;
+ WAIT_TSRR();
+ int dyl = spiReceive(DELTA_Y_L);
+ WAIT_TSRR();
+ dy += ADNS9500_INT16(spiReceive(DELTA_Y_H), dyl);
}
- else {
- spi_.write(0x00);
- dx = dx_;
- dy = dy_;
- }
-
WAIT_TSCLKNCS();
ncs_.write(1);
-
+
return ADNS9500_IF_MOTION(motion);
}
@@ -345,25 +334,21 @@
WAIT_TNCSSCLK();
// activate motion burst mode
- spi_.write(MOTION_BURST);
- WAIT_TSRAD();
spi_.write(0x50);
-
- // if in run mode, wait for 1 frame
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
+ WAIT_TSRAD(); // see the chronogram
// read motion burst data
data.motion = spi_.write(0x00);
data.observation = spi_.write(0x00);
int ldx = spi_.write(0x00);
- data.dx = ADNS9500_UINT16(spi_.write(0x00), ldx);
+ data.dx = ADNS9500_INT16(spi_.write(0x00), ldx);
int ldy = spi_.write(0x00);
- data.dy = ADNS9500_UINT16(spi_.write(0x00), ldy);
+ data.dy = ADNS9500_INT16(spi_.write(0x00), ldy);
- data.squal = spi_.write(0x00);
- data.pixelSum = spi_.write(0x00);
+ data.surfaceQuality = spi_.write(0x00) * 4;
+ data.averagePixel = spi_.write(0x00) / 1.76;
data.maximumPixel = spi_.write(0x00);
data.minimumPixel = spi_.write(0x00);
@@ -376,7 +361,19 @@
WAIT_TSCLKNCS();
ncs_.write(1);
WAIT_TBEXIT();
+
+ data.dxMM = (float)data.dx / xCpi_ * 25.4;
+ data.dyMM = (float)data.dy / yCpi_ * 25.4;
+
+ // write a value to Motion register to clear motion bit
+ ncs_.write(0);
+ WAIT_TNCSSCLK();
+ spiSend(MOTION, 0x00);
+
+ WAIT_TSCLKNCS();
+ ncs_.write(1);
+
return ADNS9500_IF_MOTION(data.motion);
}
@@ -389,17 +386,14 @@
WAIT_TNCSSCLK();
// enable XY axes CPI in sync mode
- spi_.write(CONFIGURATION_II);
- WAIT_TSRAD();
- int rpt_mod = spi_.write(0x00);
- WAIT_TSRAD();
- spi_.write(CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD));
- WAIT_TSRAD();
+ int rpt_mod = spiReceive(CONFIGURATION_II);
+ rpt_mod = CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
+ WAIT_TSRW();
+ spiSend(CONFIGURATION_II, rpt_mod);
// set resolution for X-axis and Y-axis
- spi_.write(CONFIGURATION_I);
- WAIT_TSRAD();
- spi_.write(xy_resolution);
+ WAIT_TSWW();
+ spiSend(CONFIGURATION_I, xy_resolution);
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -417,23 +411,18 @@
WAIT_TNCSSCLK();
// disable XY axes CPI in sync mode
- spi_.write(CONFIGURATION_II);
- WAIT_TSRAD();
- int rpt_mod = spi_.write(0x00);
- WAIT_TSRAD();
- spi_.write(SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD));
- WAIT_TSRAD();
+ int rpt_mod = spiReceive(CONFIGURATION_II);
+ rpt_mod = SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
+ WAIT_TSRW();
+ spiSend(CONFIGURATION_II, rpt_mod);
// set resolution for X-axis
- spi_.write(CONFIGURATION_I);
- WAIT_TSRAD();
- spi_.write(x_resolution);
- WAIT_TSRAD();
+ WAIT_TSWW();
+ spiSend(CONFIGURATION_I, x_resolution);
// set resolution for Y-axis
- spi_.write(CONFIGURATION_V);
- WAIT_TSRAD();
- spi_.write(y_resolution);
+ WAIT_TSWW();
+ spiSend(CONFIGURATION_V, y_resolution);
WAIT_TSCLKNCS();
ncs_.write(1);
@@ -450,25 +439,20 @@
ncs_.write(0);
WAIT_TNCSSCLK();
- spi_.write(FRAME_CAPTURE);
- WAIT_TSRAD();
- spi_.write(0x93);
- WAIT_TSRAD();
- spi_.write(FRAME_CAPTURE);
- WAIT_TSRAD();
- spi_.write(0xc5);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
-
+ spiSend(FRAME_CAPTURE, 0x93);
+ WAIT_TSWW();
+ spiSend(FRAME_CAPTURE, 0xc5);
+ LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
+
// check for first pixel reading motion bit
- spi_.write(MOTION);
while(true) {
- WAIT_TSRAD();
- int motion = spi_.write(MOTION);
+ int motion = spiReceive(MOTION);
if (ADNS9500_IF_MOTION(motion))
break;
+ WAIT_TSRR();
}
-
+ WAIT_TSRR();
+
// read pixel values
spi_.write(PIXEL_BURST);
WAIT_TSRAD();
@@ -482,4 +466,17 @@
ncs_.write(1);
WAIT_TBEXIT();
}
+
+ void ADNS9500::spiSend(Register address, int value)
+ {
+ spi_.write(SET_BIT(address, SPI_WRITE_MODE));
+ spi_.write(value);
+ }
+
+ int ADNS9500::spiReceive(Register address)
+ {
+ spi_.write(CLEAR_BIT(address, SPI_WRITE_MODE));
+ WAIT_TSRAD();
+ return spi_.write(0x00);
+ }
}
\ No newline at end of file