Jesús Torres / Mbed 2 deprecated ADNS9500

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

Dependencies:   mbed

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

Committer:
aplatanado
Date:
Sat Apr 20 12:50:42 2013 +0000
Revision:
16:0f8e730f3272
Parent:
6:1969574dee8b 
apply some coding style rules to macros

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aplatanado 6:1969574dee8b 1 /*
aplatanado 6:1969574dee8b 2 * sample.hpp - Example of access to Avago ADNS-9500 laser mouse sensors
aplatanado 6:1969574dee8b 3 *
aplatanado 6:1969574dee8b 4 * Copyright 2012 Jesus Torres <jmtorres@ull.es>
aplatanado 6:1969574dee8b 5 *
aplatanado 6:1969574dee8b 6 * Licensed under the Apache License, Version 2.0 (the "License");
aplatanado 6:1969574dee8b 7 * you may not use this file except in compliance with the License.
aplatanado 6:1969574dee8b 8 * You may obtain a copy of the License at
aplatanado 6:1969574dee8b 9 *
aplatanado 6:1969574dee8b 10 * http://www.apache.org/licenses/LICENSE-2.0
aplatanado 6:1969574dee8b 11 *
aplatanado 6:1969574dee8b 12 * Unless required by applicable law or agreed to in writing, software
aplatanado 6:1969574dee8b 13 * distributed under the License is distributed on an "AS IS" BASIS,
aplatanado 6:1969574dee8b 14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
aplatanado 6:1969574dee8b 15 * See the License for the specific language governing permissions and
aplatanado 6:1969574dee8b 16 * limitations under the License.
aplatanado 6:1969574dee8b 17 */
aplatanado 6:1969574dee8b 18
aplatanado 6:1969574dee8b 19 #include <mbed.h>
aplatanado 6:1969574dee8b 20 #include <stdint.h>
aplatanado 6:1969574dee8b 21
aplatanado 6:1969574dee8b 22 #include "adns9500.hpp"
aplatanado 6:1969574dee8b 23
aplatanado 6:1969574dee8b 24 #define USE_MOTION_BURST
aplatanado 6:1969574dee8b 25 //#define FRAME_CAPTURE
aplatanado 6:1969574dee8b 26
aplatanado 6:1969574dee8b 27 const char* FIRMWARE_FILENAME = "/local/adns9500.fw";
aplatanado 6:1969574dee8b 28 LocalFileSystem local("local");
aplatanado 6:1969574dee8b 29
aplatanado 6:1969574dee8b 30 Ticker printData;
aplatanado 6:1969574dee8b 31 adns9500::ADNS9500 sensor(p11, p12, p13, p15, adns9500::MAX_SPI_FREQUENCY, p14);
aplatanado 6:1969574dee8b 32
aplatanado 6:1969574dee8b 33 bool motionTriggered = false;
aplatanado 6:1969574dee8b 34 bool printDataTriggered = false;
aplatanado 6:1969574dee8b 35
aplatanado 6:1969574dee8b 36 int motionCallbackCounter = 0;
aplatanado 6:1969574dee8b 37
aplatanado 6:1969574dee8b 38 void printDataCallback()
aplatanado 6:1969574dee8b 39 {
aplatanado 6:1969574dee8b 40 printDataTriggered = true;
aplatanado 6:1969574dee8b 41 }
aplatanado 6:1969574dee8b 42
aplatanado 6:1969574dee8b 43 void motionCallback()
aplatanado 6:1969574dee8b 44 {
aplatanado 6:1969574dee8b 45 motionTriggered = true;
aplatanado 6:1969574dee8b 46 motionCallbackCounter++;
aplatanado 6:1969574dee8b 47 }
aplatanado 6:1969574dee8b 48
aplatanado 6:1969574dee8b 49 int main()
aplatanado 6:1969574dee8b 50 {
aplatanado 6:1969574dee8b 51 int dataReadCounter = 0;
aplatanado 6:1969574dee8b 52 float totalMotionDx = 0.0;
aplatanado 6:1969574dee8b 53 float totalMotionDy = 0.0;
aplatanado 6:1969574dee8b 54
aplatanado 6:1969574dee8b 55 #if defined (USE_MOTION_BURST)
aplatanado 6:1969574dee8b 56 adns9500::MotionData data;
aplatanado 6:1969574dee8b 57 sensor.attach(&motionCallback);
aplatanado 6:1969574dee8b 58 #elif defined (FRAME_CAPTURE)
aplatanado 6:1969574dee8b 59 uint8_t frame[adns9500::NUMBER_OF_PIXELS_PER_FRAME];
aplatanado 6:1969574dee8b 60 #else
aplatanado 6:1969574dee8b 61 sensor.attach(&motionCallback);
aplatanado 6:1969574dee8b 62 #endif
aplatanado 6:1969574dee8b 63
aplatanado 6:1969574dee8b 64 sensor.reset();
aplatanado 6:1969574dee8b 65
aplatanado 6:1969574dee8b 66 #if ! defined (FRAME_CAPTURE)
aplatanado 6:1969574dee8b 67 // Firmware upload
aplatanado 6:1969574dee8b 68 int crc = sensor.sromDownload(FIRMWARE_FILENAME);
aplatanado 6:1969574dee8b 69 printf("Firmware CRC: 0x%x (%s)\r\n", crc, FIRMWARE_FILENAME);
aplatanado 6:1969574dee8b 70 #endif
aplatanado 6:1969574dee8b 71
aplatanado 6:1969574dee8b 72 // Enable laser
aplatanado 6:1969574dee8b 73 sensor.enableLaser();
aplatanado 6:1969574dee8b 74 printf("Laser enabled\r\n");
aplatanado 6:1969574dee8b 75
aplatanado 6:1969574dee8b 76 #if ! defined (FRAME_CAPTURE)
aplatanado 6:1969574dee8b 77 printData.attach_us(&printDataCallback, 500);
aplatanado 6:1969574dee8b 78 #endif
aplatanado 6:1969574dee8b 79
aplatanado 6:1969574dee8b 80 while(true) {
aplatanado 6:1969574dee8b 81 if (motionTriggered) {
aplatanado 6:1969574dee8b 82 motionTriggered = false;
aplatanado 6:1969574dee8b 83
aplatanado 6:1969574dee8b 84 #if defined (USE_MOTION_BURST)
aplatanado 6:1969574dee8b 85 sensor.getMotionData(data);
aplatanado 6:1969574dee8b 86 totalMotionDx += data.dxMM;
aplatanado 6:1969574dee8b 87 totalMotionDy += data.dyMM;
aplatanado 6:1969574dee8b 88 #else
aplatanado 6:1969574dee8b 89 float dx, dy;
aplatanado 6:1969574dee8b 90 sensor.getMotionDeltaMM(dx, dy);
aplatanado 6:1969574dee8b 91 totalMotionDx += dx;
aplatanado 6:1969574dee8b 92 totalMotionDy += dy;
aplatanado 6:1969574dee8b 93 #endif
aplatanado 6:1969574dee8b 94 dataReadCounter++;
aplatanado 6:1969574dee8b 95 }
aplatanado 6:1969574dee8b 96
aplatanado 6:1969574dee8b 97 if (printDataTriggered) {
aplatanado 6:1969574dee8b 98 printDataTriggered = false;
aplatanado 6:1969574dee8b 99 #if defined (USE_MOTION_BURST)
aplatanado 6:1969574dee8b 100 printf("Motion burst: %f, %f, quality=%d, average=%f, maximum=%d, minimum=%d, "
aplatanado 6:1969574dee8b 101 "shutter=%d, periodo=%d, read=%d, irq=%d\r\n",
aplatanado 6:1969574dee8b 102 totalMotionDx, totalMotionDy,
aplatanado 6:1969574dee8b 103 data.surfaceQuality, data.averagePixel, data.maximumPixel, data.minimumPixel,
aplatanado 6:1969574dee8b 104 data.shutter, data.framePeriod, dataReadCounter,
aplatanado 6:1969574dee8b 105 motionCallbackCounter);
aplatanado 6:1969574dee8b 106 #else
aplatanado 6:1969574dee8b 107 printf("Motion delta: %f, %f, read=%d, irq=%d\r\n",
aplatanado 6:1969574dee8b 108 totalMotionDx, totalMotionDy, dataReadCounter, motionCallbackCounter);
aplatanado 6:1969574dee8b 109 #endif
aplatanado 6:1969574dee8b 110 }
aplatanado 6:1969574dee8b 111
aplatanado 6:1969574dee8b 112 #if defined (FRAME_CAPTURE)
aplatanado 6:1969574dee8b 113 printf("FRAME:%d:", dataReadCounter);
aplatanado 6:1969574dee8b 114 sensor.captureFrame(frame);
aplatanado 6:1969574dee8b 115 for(uint8_t *p = frame; p != frame + sizeof(frame); ++p)
aplatanado 6:1969574dee8b 116 printf("%x", *p);
aplatanado 6:1969574dee8b 117 printf("\r\n");
aplatanado 6:1969574dee8b 118 dataReadCounter++;
aplatanado 6:1969574dee8b 119 #endif
aplatanado 6:1969574dee8b 120 }
aplatanado 6:1969574dee8b 121 }