Jesús Torres / Mbed 2 deprecated ADNS9500

Interface to access to Avago ADNS-9500 laser mouse sensors.

Dependencies:   mbed

adns9500.cpp@16:0f8e730f3272, 2013-04-20 (annotated)

Committer:
aplatanado
Date:
Sat Apr 20 12:50:42 2013 +0000
Revision:
16:0f8e730f3272
Parent:
15:096f5e07d159 
apply some coding style rules to macros

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aplatanado 0:782f2061a8f5 1 /*
aplatanado 1:fa3052be61b5 2 * adns9500.hpp - Interface to access to Avago ADNS-9500 laser mouse sensors
aplatanado 0:782f2061a8f5 3 *
aplatanado 0:782f2061a8f5 4 * Copyright 2012 Jesus Torres <jmtorres@ull.es>
aplatanado 0:782f2061a8f5 5 *
aplatanado 0:782f2061a8f5 6 * Licensed under the Apache License, Version 2.0 (the "License");
aplatanado 0:782f2061a8f5 7 * you may not use this file except in compliance with the License.
aplatanado 0:782f2061a8f5 8 * You may obtain a copy of the License at
aplatanado 0:782f2061a8f5 9 *
aplatanado 0:782f2061a8f5 10 * http://www.apache.org/licenses/LICENSE-2.0
aplatanado 0:782f2061a8f5 11 *
aplatanado 0:782f2061a8f5 12 * Unless required by applicable law or agreed to in writing, software
aplatanado 0:782f2061a8f5 13 * distributed under the License is distributed on an "AS IS" BASIS,
aplatanado 0:782f2061a8f5 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
aplatanado 0:782f2061a8f5 15 * See the License for the specific language governing permissions and
aplatanado 0:782f2061a8f5 16 * limitations under the License.
aplatanado 0:782f2061a8f5 17 */
aplatanado 0:782f2061a8f5 18
aplatanado 13:6d0642367fc1 19 #include <cstdio>
aplatanado 2:ee0c13ef1320 20 #include <cstdlib>
aplatanado 0:782f2061a8f5 21 #include <mbed.h>
aplatanado 0:782f2061a8f5 22 #include <string>
aplatanado 0:782f2061a8f5 23
aplatanado 1:fa3052be61b5 24 #include <adns9500.hpp>
aplatanado 0:782f2061a8f5 25
aplatanado 0:782f2061a8f5 26 #define WAIT_TSRAD() wait_us(100)
aplatanado 2:ee0c13ef1320 27 #define WAIT_TSRR() wait_us(20)
aplatanado 2:ee0c13ef1320 28 #define WAIT_TSRW() wait_us(20)
aplatanado 2:ee0c13ef1320 29 #define WAIT_TSWR() wait_us(120)
aplatanado 2:ee0c13ef1320 30 #define WAIT_TSWW() wait_us(120)
aplatanado 0:782f2061a8f5 31 #define WAIT_TBEXIT() wait_us(1) // 500ns
aplatanado 0:782f2061a8f5 32 #define WAIT_TNCSSCLK() wait_us(1) // 120ns
aplatanado 0:782f2061a8f5 33 #define WAIT_TSCLKNCS() wait_us(20)
aplatanado 0:782f2061a8f5 34 #define WAIT_TLOAD() wait_us(15)
aplatanado 0:782f2061a8f5 35
aplatanado 2:ee0c13ef1320 36 #define LONG_WAIT_MS(x) \
aplatanado 2:ee0c13ef1320 37 WAIT_TSCLKNCS(); ncs_.write(1); wait_ms(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 38 #define LONG_WAIT_US(x) \
aplatanado 2:ee0c13ef1320 39 WAIT_TSCLKNCS(); ncs_.write(1); wait_us(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 40
aplatanado 0:782f2061a8f5 41 #define DEFAULT_MAX_FPS 1958
aplatanado 13:6d0642367fc1 42 #define DEFAULT_MAX_FRAME_PERIOD (1000000 / DEFAULT_MAX_FPS + 1) // in us
aplatanado 0:782f2061a8f5 43 #define DEFAULT_X_CPI 1620
aplatanado 0:782f2061a8f5 44 #define DEFAULT_Y_CPI 1620
aplatanado 0:782f2061a8f5 45 #define CPI_CHANGE_UNIT 90
aplatanado 0:782f2061a8f5 46
aplatanado 2:ee0c13ef1320 47 #define SPI_BITS_PER_FRAME 8
aplatanado 2:ee0c13ef1320 48 #define SPI_MODE 3
aplatanado 2:ee0c13ef1320 49 #define SPI_WRITE_MODE 0x80
aplatanado 2:ee0c13ef1320 50
aplatanado 0:782f2061a8f5 51 #define SET_BIT(word, mask) (word | mask)
aplatanado 0:782f2061a8f5 52 #define CLEAR_BIT(word, mask) (word & (~mask))
aplatanado 0:782f2061a8f5 53
aplatanado 0:782f2061a8f5 54 namespace adns9500 {
aplatanado 0:782f2061a8f5 55
aplatanado 0:782f2061a8f5 56 ADNS9500::ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
aplatanado 0:782f2061a8f5 57 int spi_frequency, PinName motion)
aplatanado 0:782f2061a8f5 58 : spi_(mosi, miso, sclk),
aplatanado 0:782f2061a8f5 59 motion_(motion),
aplatanado 0:782f2061a8f5 60 ncs_(ncs),
aplatanado 0:782f2061a8f5 61 enabled_(false),
aplatanado 0:782f2061a8f5 62 xCpi_(DEFAULT_X_CPI), yCpi_(DEFAULT_Y_CPI)
aplatanado 0:782f2061a8f5 63 {
aplatanado 2:ee0c13ef1320 64 spi_.format(SPI_BITS_PER_FRAME, SPI_MODE);
aplatanado 10:bbf9ff378632 65 spi_.frequency(spi_frequency);
aplatanado 2:ee0c13ef1320 66
aplatanado 2:ee0c13ef1320 67 motion_.mode(PullUp);
aplatanado 0:782f2061a8f5 68 motion_.fall(this, &ADNS9500::motionTrigger);
aplatanado 0:782f2061a8f5 69 }
aplatanado 0:782f2061a8f5 70
aplatanado 0:782f2061a8f5 71 ADNS9500::~ADNS9500()
aplatanado 0:782f2061a8f5 72 {
aplatanado 0:782f2061a8f5 73 shutdown();
aplatanado 0:782f2061a8f5 74 }
aplatanado 0:782f2061a8f5 75
aplatanado 0:782f2061a8f5 76 void ADNS9500::reset(const char* firmware)
aplatanado 0:782f2061a8f5 77 {
aplatanado 0:782f2061a8f5 78 // SPI port reset
aplatanado 0:782f2061a8f5 79 ncs_.write(1);
aplatanado 0:782f2061a8f5 80 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 81 ncs_.write(0);
aplatanado 0:782f2061a8f5 82 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 83
aplatanado 9:8b1e889e94fe 84 // send 0x5a to POWER_UP_RESET and wait for at least 50ms
aplatanado 2:ee0c13ef1320 85 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 86 LONG_WAIT_MS(50);
aplatanado 0:782f2061a8f5 87
aplatanado 0:782f2061a8f5 88 // clear observation register. Only required to deassert shutdown mode.
aplatanado 2:ee0c13ef1320 89 spiSend(OBSERVATION, 0x00);
aplatanado 2:ee0c13ef1320 90 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 8:97e5df54b8bb 91
aplatanado 0:782f2061a8f5 92 // check observation register bits [5:0]
aplatanado 2:ee0c13ef1320 93 int observation = spiReceive(OBSERVATION);
aplatanado 16:0f8e730f3272 94 if (! ADNS9500_PASS_OBSERVATION_TEST(observation)) {
aplatanado 9:8b1e889e94fe 95 WAIT_TSCLKNCS();
aplatanado 9:8b1e889e94fe 96 ncs_.write(1);
aplatanado 9:8b1e889e94fe 97
aplatanado 0:782f2061a8f5 98 error("ADNS9500::reset : observation register test failed: 0x%x\n", observation);
aplatanado 9:8b1e889e94fe 99 }
aplatanado 0:782f2061a8f5 100
aplatanado 0:782f2061a8f5 101 // read motion data
aplatanado 2:ee0c13ef1320 102 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 103 spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 104 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 105 spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 106 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 107 spiReceive(DELTA_X_H);
aplatanado 2:ee0c13ef1320 108 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 109 spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 110 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 111 spiReceive(DELTA_Y_H);
aplatanado 0:782f2061a8f5 112
aplatanado 2:ee0c13ef1320 113 // read product and revision id to test the connection
aplatanado 2:ee0c13ef1320 114 WAIT_TSRR();
aplatanado 11:07a39997a421 115 int product_id = spiReceive(PRODUCT_ID);
aplatanado 2:ee0c13ef1320 116 WAIT_TSRR();
aplatanado 11:07a39997a421 117 int revision_id = spiReceive(REVISION_ID);
aplatanado 2:ee0c13ef1320 118
aplatanado 0:782f2061a8f5 119 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 120 ncs_.write(1);
aplatanado 0:782f2061a8f5 121
aplatanado 0:782f2061a8f5 122 if (product_id != 0x33) {
aplatanado 0:782f2061a8f5 123 error("ADNS9500::reset : bad product ID: 0x%x\n", product_id);
aplatanado 0:782f2061a8f5 124 }
aplatanado 0:782f2061a8f5 125
aplatanado 0:782f2061a8f5 126 if (revision_id != 0x03) {
aplatanado 0:782f2061a8f5 127 error("ADNS9500::reset : bad revision ID: 0x%x\n", revision_id);
aplatanado 0:782f2061a8f5 128 }
aplatanado 0:782f2061a8f5 129
aplatanado 0:782f2061a8f5 130 enabled_ = true;
aplatanado 0:782f2061a8f5 131
aplatanado 15:096f5e07d159 132 if (firmware != NULL) {
aplatanado 0:782f2061a8f5 133 sromDownload(firmware);
aplatanado 0:782f2061a8f5 134 enableLaser();
aplatanado 0:782f2061a8f5 135 }
aplatanado 0:782f2061a8f5 136 }
aplatanado 0:782f2061a8f5 137
aplatanado 0:782f2061a8f5 138 void ADNS9500::shutdown()
aplatanado 0:782f2061a8f5 139 {
aplatanado 0:782f2061a8f5 140 if (! enabled_)
aplatanado 0:782f2061a8f5 141 error("ADNS9500::shutdown : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 142
aplatanado 0:782f2061a8f5 143 ncs_.write(0);
aplatanado 0:782f2061a8f5 144 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 145
aplatanado 9:8b1e889e94fe 146 // send 0x5a to POWER_UP_RESET
aplatanado 2:ee0c13ef1320 147 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 148
aplatanado 0:782f2061a8f5 149 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 150 ncs_.write(1);
aplatanado 0:782f2061a8f5 151
aplatanado 0:782f2061a8f5 152 enabled_ = false;
aplatanado 0:782f2061a8f5 153 }
aplatanado 0:782f2061a8f5 154
aplatanado 0:782f2061a8f5 155 int ADNS9500::read(Register lregister)
aplatanado 0:782f2061a8f5 156 {
aplatanado 0:782f2061a8f5 157 if (! enabled_)
aplatanado 0:782f2061a8f5 158 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 159
aplatanado 0:782f2061a8f5 160 ncs_.write(0);
aplatanado 0:782f2061a8f5 161 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 162
aplatanado 0:782f2061a8f5 163 // send the command to read the register
aplatanado 2:ee0c13ef1320 164 int value = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 165
aplatanado 0:782f2061a8f5 166 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 167 ncs_.write(1);
aplatanado 2:ee0c13ef1320 168
aplatanado 0:782f2061a8f5 169 return value;
aplatanado 0:782f2061a8f5 170 }
aplatanado 0:782f2061a8f5 171
aplatanado 0:782f2061a8f5 172 int ADNS9500::read(Register uregister, Register lregister)
aplatanado 0:782f2061a8f5 173 {
aplatanado 0:782f2061a8f5 174 if (! enabled_)
aplatanado 0:782f2061a8f5 175 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 176
aplatanado 0:782f2061a8f5 177 ncs_.write(0);
aplatanado 0:782f2061a8f5 178 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 179
aplatanado 0:782f2061a8f5 180 // send the command to read the registers
aplatanado 2:ee0c13ef1320 181 int lvalue = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 182 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 183 int uvalue = spiReceive(uregister);
aplatanado 2:ee0c13ef1320 184
aplatanado 0:782f2061a8f5 185 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 186 ncs_.write(1);
aplatanado 0:782f2061a8f5 187
aplatanado 0:782f2061a8f5 188 return ADNS9500_UINT16(uvalue, lvalue);
aplatanado 0:782f2061a8f5 189 }
aplatanado 0:782f2061a8f5 190
aplatanado 0:782f2061a8f5 191 int ADNS9500::sromDownload(const char* filename)
aplatanado 0:782f2061a8f5 192 {
aplatanado 0:782f2061a8f5 193 if (! enabled_)
aplatanado 0:782f2061a8f5 194 error("ADNS9500::sromDownload : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 195
aplatanado 0:782f2061a8f5 196 ncs_.write(0);
aplatanado 0:782f2061a8f5 197 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 198
aplatanado 0:782f2061a8f5 199 // SROM download
aplatanado 2:ee0c13ef1320 200 spiSend(CONFIGURATION_IV, ADNS9500_CONFIGURATION_IV_SROM_SIZE);
aplatanado 2:ee0c13ef1320 201 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 202 spiSend(SROM_ENABLE, 0x1d);
aplatanado 2:ee0c13ef1320 203 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 204
aplatanado 2:ee0c13ef1320 205 spiSend(SROM_ENABLE, 0x18);
aplatanado 2:ee0c13ef1320 206 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 207 spi_.write(SET_BIT(SROM_LOAD_BURST, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 208
aplatanado 2:ee0c13ef1320 209 // we expect a line per byte in hex without 0x prefix
aplatanado 13:6d0642367fc1 210 FILE *fp = fopen(filename, "r");
aplatanado 15:096f5e07d159 211 if (fp == NULL)
aplatanado 13:6d0642367fc1 212 error("ADNS9500::sromDownload : file %s could not be opened\n", filename);
aplatanado 13:6d0642367fc1 213
aplatanado 13:6d0642367fc1 214 unsigned int byte;
aplatanado 14:dc9badf3c6e9 215 while (fscanf(fp, "%2x", &byte) == 1) {
aplatanado 0:782f2061a8f5 216 WAIT_TLOAD();
aplatanado 2:ee0c13ef1320 217 spi_.write(byte);
aplatanado 0:782f2061a8f5 218 }
aplatanado 0:782f2061a8f5 219 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 220 ncs_.write(1);
aplatanado 0:782f2061a8f5 221 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 222
aplatanado 13:6d0642367fc1 223 if (ferror(fp))
aplatanado 0:782f2061a8f5 224 error("ADNS9500::sromDownload : error reading from file: %s\n", filename);
aplatanado 0:782f2061a8f5 225
aplatanado 15:096f5e07d159 226 fclose(fp);
aplatanado 15:096f5e07d159 227
aplatanado 0:782f2061a8f5 228 // test if SROM was downloaded successfully
aplatanado 0:782f2061a8f5 229 wait_us(160);
aplatanado 0:782f2061a8f5 230 ncs_.write(0);
aplatanado 0:782f2061a8f5 231 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 232
aplatanado 2:ee0c13ef1320 233 int srom_id = spiReceive(SROM_ID);
aplatanado 2:ee0c13ef1320 234
aplatanado 0:782f2061a8f5 235 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 236 ncs_.write(1);
aplatanado 0:782f2061a8f5 237
aplatanado 15:096f5e07d159 238 if (srom_id == 0x00)
aplatanado 0:782f2061a8f5 239 error("ADNS9500::sromDownload : the firmware was not successful downloaded\n");
aplatanado 0:782f2061a8f5 240
aplatanado 0:782f2061a8f5 241 // test laser fault condition
aplatanado 0:782f2061a8f5 242 ncs_.write(0);
aplatanado 0:782f2061a8f5 243 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 244
aplatanado 2:ee0c13ef1320 245 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 246
aplatanado 0:782f2061a8f5 247 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 248 ncs_.write(1);
aplatanado 0:782f2061a8f5 249
aplatanado 16:0f8e730f3272 250 if (ADNS9500_HAS_LASER_FAULT(motion))
aplatanado 0:782f2061a8f5 251 error("ADNS9500::sromDownload : laser fault condition detected\n");
aplatanado 0:782f2061a8f5 252
aplatanado 0:782f2061a8f5 253 // return the SROM CRC value
aplatanado 0:782f2061a8f5 254 ncs_.write(0);
aplatanado 0:782f2061a8f5 255 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 256
aplatanado 2:ee0c13ef1320 257 spiSend(SROM_ENABLE, 0x15);
aplatanado 2:ee0c13ef1320 258 LONG_WAIT_MS(10);
aplatanado 2:ee0c13ef1320 259
aplatanado 2:ee0c13ef1320 260 int lcrc = spiReceive(DATA_OUT_LOWER);
aplatanado 2:ee0c13ef1320 261 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 262 int ucrc = spiReceive(DATA_OUT_UPPER);
aplatanado 0:782f2061a8f5 263
aplatanado 0:782f2061a8f5 264 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 265 ncs_.write(1);
aplatanado 0:782f2061a8f5 266
aplatanado 0:782f2061a8f5 267 return ADNS9500_UINT16(ucrc, lcrc);
aplatanado 0:782f2061a8f5 268 }
aplatanado 0:782f2061a8f5 269
aplatanado 0:782f2061a8f5 270 void ADNS9500::enableLaser(bool enable)
aplatanado 0:782f2061a8f5 271 {
aplatanado 0:782f2061a8f5 272 if (! enabled_)
aplatanado 0:782f2061a8f5 273 error("ADNS9500::enableLaser : the sensor is not enabled\n");
aplatanado 2:ee0c13ef1320 274
aplatanado 0:782f2061a8f5 275 ncs_.write(0);
aplatanado 0:782f2061a8f5 276 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 277
aplatanado 0:782f2061a8f5 278 if (enable) {
aplatanado 0:782f2061a8f5 279 int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 280 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 281 }
aplatanado 0:782f2061a8f5 282 else {
aplatanado 0:782f2061a8f5 283 int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 284 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 285 }
aplatanado 0:782f2061a8f5 286
aplatanado 0:782f2061a8f5 287 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 288 ncs_.write(1);
aplatanado 0:782f2061a8f5 289 }
aplatanado 0:782f2061a8f5 290
aplatanado 0:782f2061a8f5 291 bool ADNS9500::getMotionDelta(int& dx, int& dy)
aplatanado 0:782f2061a8f5 292 {
aplatanado 0:782f2061a8f5 293 if (! enabled_)
aplatanado 0:782f2061a8f5 294 error("ADNS9500::getMotionDelta : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 295
aplatanado 0:782f2061a8f5 296 ncs_.write(0);
aplatanado 0:782f2061a8f5 297 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 298
aplatanado 2:ee0c13ef1320 299 dx = 0;
aplatanado 2:ee0c13ef1320 300 dy = 0;
aplatanado 2:ee0c13ef1320 301
aplatanado 2:ee0c13ef1320 302 int motion = spiReceive(MOTION);
aplatanado 16:0f8e730f3272 303 if (ADNS9500_HAS_MOTION_DETECTED(motion)) {
aplatanado 2:ee0c13ef1320 304 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 305 int dxl = spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 306 WAIT_TSRR();
aplatanado 12:61b07ad45dc1 307 dx = ADNS9500_INT16(spiReceive(DELTA_X_H), dxl);
aplatanado 0:782f2061a8f5 308
aplatanado 2:ee0c13ef1320 309 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 310 int dyl = spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 311 WAIT_TSRR();
aplatanado 12:61b07ad45dc1 312 dy = ADNS9500_INT16(spiReceive(DELTA_Y_H), dyl);
aplatanado 0:782f2061a8f5 313 }
aplatanado 0:782f2061a8f5 314
aplatanado 0:782f2061a8f5 315 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 316 ncs_.write(1);
aplatanado 2:ee0c13ef1320 317
aplatanado 16:0f8e730f3272 318 return ADNS9500_HAS_MOTION_DETECTED(motion);
aplatanado 0:782f2061a8f5 319 }
aplatanado 0:782f2061a8f5 320
aplatanado 0:782f2061a8f5 321 bool ADNS9500::getMotionDeltaMM(float& dx, float& dy)
aplatanado 0:782f2061a8f5 322 {
aplatanado 0:782f2061a8f5 323 int rawDx, rawDy;
aplatanado 0:782f2061a8f5 324
aplatanado 0:782f2061a8f5 325 bool motion = getMotionDelta(rawDx, rawDy);
aplatanado 0:782f2061a8f5 326 dx = (float)rawDx / xCpi_ * 25.4;
aplatanado 0:782f2061a8f5 327 dy = (float)rawDy / yCpi_ * 25.4;
aplatanado 0:782f2061a8f5 328
aplatanado 0:782f2061a8f5 329 return motion;
aplatanado 0:782f2061a8f5 330 }
aplatanado 0:782f2061a8f5 331
aplatanado 0:782f2061a8f5 332 bool ADNS9500::getMotionData(MotionData& data)
aplatanado 0:782f2061a8f5 333 {
aplatanado 0:782f2061a8f5 334 if (! enabled_)
aplatanado 0:782f2061a8f5 335 error("ADNS9500::getMotionData : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 336
aplatanado 0:782f2061a8f5 337 ncs_.write(0);
aplatanado 0:782f2061a8f5 338 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 339
aplatanado 0:782f2061a8f5 340 // activate motion burst mode
aplatanado 0:782f2061a8f5 341 spi_.write(0x50);
aplatanado 2:ee0c13ef1320 342 WAIT_TSRAD(); // see the chronogram
aplatanado 0:782f2061a8f5 343
aplatanado 0:782f2061a8f5 344 // read motion burst data
aplatanado 0:782f2061a8f5 345 data.motion = spi_.write(0x00);
aplatanado 0:782f2061a8f5 346 data.observation = spi_.write(0x00);
aplatanado 0:782f2061a8f5 347
aplatanado 0:782f2061a8f5 348 int ldx = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 349 data.dx = ADNS9500_INT16(spi_.write(0x00), ldx);
aplatanado 0:782f2061a8f5 350
aplatanado 0:782f2061a8f5 351 int ldy = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 352 data.dy = ADNS9500_INT16(spi_.write(0x00), ldy);
aplatanado 0:782f2061a8f5 353
aplatanado 2:ee0c13ef1320 354 data.surfaceQuality = spi_.write(0x00) * 4;
aplatanado 2:ee0c13ef1320 355 data.averagePixel = spi_.write(0x00) / 1.76;
aplatanado 0:782f2061a8f5 356 data.maximumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 357 data.minimumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 358
aplatanado 0:782f2061a8f5 359 int ushutter = spi_.write(0x00);
aplatanado 0:782f2061a8f5 360 data.shutter = ADNS9500_UINT16(ushutter, spi_.write(0x00));
aplatanado 0:782f2061a8f5 361
aplatanado 0:782f2061a8f5 362 int uframe_period = spi_.write(0x00);
aplatanado 0:782f2061a8f5 363 data.framePeriod = ADNS9500_UINT16(uframe_period, spi_.write(0x00));
aplatanado 0:782f2061a8f5 364
aplatanado 0:782f2061a8f5 365 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 366 ncs_.write(1);
aplatanado 0:782f2061a8f5 367 WAIT_TBEXIT();
aplatanado 2:ee0c13ef1320 368
aplatanado 2:ee0c13ef1320 369 data.dxMM = (float)data.dx / xCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 370 data.dyMM = (float)data.dy / yCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 371
aplatanado 2:ee0c13ef1320 372 // write a value to Motion register to clear motion bit
aplatanado 2:ee0c13ef1320 373 ncs_.write(0);
aplatanado 2:ee0c13ef1320 374 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 375
aplatanado 2:ee0c13ef1320 376 spiSend(MOTION, 0x00);
aplatanado 2:ee0c13ef1320 377
aplatanado 2:ee0c13ef1320 378 WAIT_TSCLKNCS();
aplatanado 2:ee0c13ef1320 379 ncs_.write(1);
aplatanado 2:ee0c13ef1320 380
aplatanado 16:0f8e730f3272 381 return ADNS9500_HAS_MOTION_DETECTED(data.motion);
aplatanado 0:782f2061a8f5 382 }
aplatanado 0:782f2061a8f5 383
aplatanado 0:782f2061a8f5 384 void ADNS9500::setResolution(Resolution xy_resolution)
aplatanado 0:782f2061a8f5 385 {
aplatanado 0:782f2061a8f5 386 if (! enabled_)
aplatanado 0:782f2061a8f5 387 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 388
aplatanado 0:782f2061a8f5 389 ncs_.write(0);
aplatanado 0:782f2061a8f5 390 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 391
aplatanado 0:782f2061a8f5 392 // enable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 393 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 394 rpt_mod = CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 395 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 396 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 397
aplatanado 0:782f2061a8f5 398 // set resolution for X-axis and Y-axis
aplatanado 2:ee0c13ef1320 399 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 400 spiSend(CONFIGURATION_I, xy_resolution);
aplatanado 0:782f2061a8f5 401
aplatanado 0:782f2061a8f5 402 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 403 ncs_.write(1);
aplatanado 0:782f2061a8f5 404
aplatanado 0:782f2061a8f5 405 xCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 406 yCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 407 }
aplatanado 0:782f2061a8f5 408
aplatanado 0:782f2061a8f5 409 void ADNS9500::setResolution(Resolution x_resolution, Resolution y_resolution)
aplatanado 0:782f2061a8f5 410 {
aplatanado 0:782f2061a8f5 411 if (! enabled_)
aplatanado 0:782f2061a8f5 412 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 413
aplatanado 0:782f2061a8f5 414 ncs_.write(0);
aplatanado 0:782f2061a8f5 415 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 416
aplatanado 0:782f2061a8f5 417 // disable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 418 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 419 rpt_mod = SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 420 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 421 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 422
aplatanado 0:782f2061a8f5 423 // set resolution for X-axis
aplatanado 2:ee0c13ef1320 424 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 425 spiSend(CONFIGURATION_I, x_resolution);
aplatanado 0:782f2061a8f5 426
aplatanado 0:782f2061a8f5 427 // set resolution for Y-axis
aplatanado 2:ee0c13ef1320 428 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 429 spiSend(CONFIGURATION_V, y_resolution);
aplatanado 0:782f2061a8f5 430
aplatanado 0:782f2061a8f5 431 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 432 ncs_.write(1);
aplatanado 0:782f2061a8f5 433
aplatanado 0:782f2061a8f5 434 xCpi_ = x_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 435 yCpi_ = y_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 436 }
aplatanado 0:782f2061a8f5 437
aplatanado 3:898ed1944119 438 void ADNS9500::captureFrame(uint8_t* pixels)
aplatanado 0:782f2061a8f5 439 {
aplatanado 0:782f2061a8f5 440 if (! enabled_)
aplatanado 0:782f2061a8f5 441 error("ADNS9500::captureFrame : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 442
aplatanado 0:782f2061a8f5 443 ncs_.write(0);
aplatanado 0:782f2061a8f5 444 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 445
aplatanado 2:ee0c13ef1320 446 spiSend(FRAME_CAPTURE, 0x93);
aplatanado 2:ee0c13ef1320 447 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 448 spiSend(FRAME_CAPTURE, 0xc5);
aplatanado 2:ee0c13ef1320 449 LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 450
aplatanado 0:782f2061a8f5 451 // check for first pixel reading motion bit
aplatanado 3:898ed1944119 452 int motion = spiReceive(MOTION);
aplatanado 3:898ed1944119 453 WAIT_TSRR();
aplatanado 16:0f8e730f3272 454 while(! ADNS9500_HAS_FIRST_PIXEL(motion)) {
aplatanado 2:ee0c13ef1320 455 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 456 WAIT_TSRR();
aplatanado 0:782f2061a8f5 457 }
aplatanado 2:ee0c13ef1320 458
aplatanado 0:782f2061a8f5 459 // read pixel values
aplatanado 0:782f2061a8f5 460 spi_.write(PIXEL_BURST);
aplatanado 0:782f2061a8f5 461 WAIT_TSRAD();
aplatanado 3:898ed1944119 462 for (uint8_t* p = pixels; p != pixels + NUMBER_OF_PIXELS_PER_FRAME; ++p) {
aplatanado 3:898ed1944119 463 *p = spi_.write(0x00);
aplatanado 0:782f2061a8f5 464 WAIT_TLOAD();
aplatanado 0:782f2061a8f5 465 }
aplatanado 0:782f2061a8f5 466
aplatanado 3:898ed1944119 467 // burst exit
aplatanado 0:782f2061a8f5 468 ncs_.write(1);
aplatanado 0:782f2061a8f5 469 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 470 }
aplatanado 2:ee0c13ef1320 471
aplatanado 2:ee0c13ef1320 472 void ADNS9500::spiSend(Register address, int value)
aplatanado 2:ee0c13ef1320 473 {
aplatanado 2:ee0c13ef1320 474 spi_.write(SET_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 475 spi_.write(value);
aplatanado 2:ee0c13ef1320 476 }
aplatanado 2:ee0c13ef1320 477
aplatanado 2:ee0c13ef1320 478 int ADNS9500::spiReceive(Register address)
aplatanado 2:ee0c13ef1320 479 {
aplatanado 2:ee0c13ef1320 480 spi_.write(CLEAR_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 481 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 482 return spi_.write(0x00);
aplatanado 2:ee0c13ef1320 483 }
aplatanado 0:782f2061a8f5 484 }