clemente di caprio
ADNS2051 Optical Sensor library
ADNS2051.h@0:462017ee2a5b, 2012-05-23 (annotated)
- Committer:
- clemente
- Date:
- Wed May 23 06:56:50 2012 +0000
- Revision:
- 0:462017ee2a5b
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| clemente | 0:462017ee2a5b | 1 | /* mbed ADNS2051 Optical Sensor library. |
| clemente | 0:462017ee2a5b | 2 | |
| clemente | 0:462017ee2a5b | 3 | Copyright (c) 2011 NXP 3787 |
| clemente | 0:462017ee2a5b | 4 | |
| clemente | 0:462017ee2a5b | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy |
| clemente | 0:462017ee2a5b | 6 | of this software and associated documentation files (the "Software"), to deal |
| clemente | 0:462017ee2a5b | 7 | in the Software without restriction, including without limitation the rights |
| clemente | 0:462017ee2a5b | 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| clemente | 0:462017ee2a5b | 9 | copies of the Software, and to permit persons to whom the Software is |
| clemente | 0:462017ee2a5b | 10 | furnished to do so, subject to the following conditions: |
| clemente | 0:462017ee2a5b | 11 | |
| clemente | 0:462017ee2a5b | 12 | The above copyright notice and this permission notice shall be included in |
| clemente | 0:462017ee2a5b | 13 | all copies or substantial portions of the Software. |
| clemente | 0:462017ee2a5b | 14 | |
| clemente | 0:462017ee2a5b | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| clemente | 0:462017ee2a5b | 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| clemente | 0:462017ee2a5b | 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| clemente | 0:462017ee2a5b | 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| clemente | 0:462017ee2a5b | 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| clemente | 0:462017ee2a5b | 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| clemente | 0:462017ee2a5b | 21 | THE SOFTWARE. |
| clemente | 0:462017ee2a5b | 22 | */ |
| clemente | 0:462017ee2a5b | 23 | |
| clemente | 0:462017ee2a5b | 24 | #ifndef __ADNS2051_H |
| clemente | 0:462017ee2a5b | 25 | #define __ADNS2051_H |
| clemente | 0:462017ee2a5b | 26 | |
| clemente | 0:462017ee2a5b | 27 | #include "mbed.h" |
| clemente | 0:462017ee2a5b | 28 | |
| clemente | 0:462017ee2a5b | 29 | |
| clemente | 0:462017ee2a5b | 30 | // |
| clemente | 0:462017ee2a5b | 31 | #define PRODUCTID_REG 0x00 // Product ID = 2 (Fixed value) |
| clemente | 0:462017ee2a5b | 32 | #define REVISIONID_REG 0x01 // Revision of IC [0xNN] |
| clemente | 0:462017ee2a5b | 33 | #define MOTION_REG 0x02 // Register 0x02 allows the user to determine if motion has occurred since the last time it was read |
| clemente | 0:462017ee2a5b | 34 | #define DELTAX_REG 0x03 // X movement is counts since last report. Absolute value is determined by resolution. Reading clears the register. |
| clemente | 0:462017ee2a5b | 35 | #define DELTAY_REG 0x04 // Y movement is counts since last report. Absolute value is determined by resolution. Reading clears the register. |
| clemente | 0:462017ee2a5b | 36 | #define SQUAL_REG 0x05 // Surface Quality. SQUAL is a measure of the number of features visible by the sensor in the |
| clemente | 0:462017ee2a5b | 37 | // current frame. The maximum value is 255. Since small changes in the current frame |
| clemente | 0:462017ee2a5b | 38 | // can result in changes in SQUAL, variations in SQUAL when looking at a surface are expected. |
| clemente | 0:462017ee2a5b | 39 | #define AVRPXL_REG 0x06 // Average Pixel value in current frame. Minimum value = 0, maximum = 63. The average pixel value can be adjusted every frame. |
| clemente | 0:462017ee2a5b | 40 | #define MAXPXL_REG 0x07 // Maximum Pixel value in current frame. Minimum value = 0, maximum value = 63. The maximum pixel value can be adjusted every frame. |
| clemente | 0:462017ee2a5b | 41 | #define CONFIGBIT_REG 0x0A // Configuration bits. Register 0x0a allows the user to change the configuration of the sensor. |
| clemente | 0:462017ee2a5b | 42 | #define DTOUTLW_REG 0x0C |
| clemente | 0:462017ee2a5b | 43 | #define DTOUTUP_REG 0x0D // Once the pixel dump command is given, the sensor |
| clemente | 0:462017ee2a5b | 44 | // writes the address and the value for the first pixel into |
| clemente | 0:462017ee2a5b | 45 | // the Data_Out_Upper and Data_Out_Lower registers. |
| clemente | 0:462017ee2a5b | 46 | #define SHUTTERLW_REG 0x0E |
| clemente | 0:462017ee2a5b | 47 | #define SHUTTERUP_REG 0x0F // Shutter register. |
| clemente | 0:462017ee2a5b | 48 | #define FRMPRDLW_REG 0x10 |
| clemente | 0:462017ee2a5b | 49 | #define FRMPRDUP_REG 0x11 // The frame period counter counts up until it overflows. Units are clock cycles. |
| clemente | 0:462017ee2a5b | 50 | |
| clemente | 0:462017ee2a5b | 51 | // Motion register bits |
| clemente | 0:462017ee2a5b | 52 | #define MOTION_BIT 0x07 // Motion since last report: 0=no motion, 1=motion occurred, data ready on deltaX and Y regs. |
| clemente | 0:462017ee2a5b | 53 | #define LEDFAULT_BIT 0x05 // LED Fault detected: 0=no, 1=Fault detected |
| clemente | 0:462017ee2a5b | 54 | #define OVERFY_BIT 0x04 // Motion overflow Y, dY buffer has overflowed since last report: 0=no, 1=overflow |
| clemente | 0:462017ee2a5b | 55 | #define OVERFX_BIT 0x03 // Motion overflow X, dX buffer has overflowed since last report: 0=no, 1=overflow |
| clemente | 0:462017ee2a5b | 56 | #define RESOLUTION_BIT 0x00 // Resolution in counts x inch: 0=400, 1=800 |
| clemente | 0:462017ee2a5b | 57 | |
| clemente | 0:462017ee2a5b | 58 | // Confiuration register bits |
| clemente | 0:462017ee2a5b | 59 | #define RESET_BIT 0x07 |
| clemente | 0:462017ee2a5b | 60 | #define LEDMODE_BIT 0x06 |
| clemente | 0:462017ee2a5b | 61 | #define RESOLMODE_BIT 0x04 |
| clemente | 0:462017ee2a5b | 62 | #define PIXDUMP_BIT 0x03 |
| clemente | 0:462017ee2a5b | 63 | #define SLEEP_BIT 0x00 |
| clemente | 0:462017ee2a5b | 64 | |
| clemente | 0:462017ee2a5b | 65 | // |
| clemente | 0:462017ee2a5b | 66 | #define PIXDATAVALID_BIT 0x07 |
| clemente | 0:462017ee2a5b | 67 | |
| clemente | 0:462017ee2a5b | 68 | // Product ID value |
| clemente | 0:462017ee2a5b | 69 | #define PRODUCTID_VAL 0x02 // The value in this register does not change, it can be used to verify that the |
| clemente | 0:462017ee2a5b | 70 | // serial communications link is OK. |
| clemente | 0:462017ee2a5b | 71 | |
| clemente | 0:462017ee2a5b | 72 | /** ADNS2051 Optical Sensor |
| clemente | 0:462017ee2a5b | 73 | * For this project I used an old Apple mouse. |
| clemente | 0:462017ee2a5b | 74 | * Obviously modified for this project has made it unusable as a mouse for the PC. |
| clemente | 0:462017ee2a5b | 75 | * |
| clemente | 0:462017ee2a5b | 76 | * From the datasheet: |
| clemente | 0:462017ee2a5b | 77 | * The ADNS-2051 is a low cost optical sensor used to |
| clemente | 0:462017ee2a5b | 78 | * implement a non-mechanical tracking engine for |
| clemente | 0:462017ee2a5b | 79 | * computer mice. |
| clemente | 0:462017ee2a5b | 80 | * It is based on optical navigation technology, which |
| clemente | 0:462017ee2a5b | 81 | * measures changes in position by optically acquiring |
| clemente | 0:462017ee2a5b | 82 | * sequential surface images (frames) and mathematically |
| clemente | 0:462017ee2a5b | 83 | * determining the direction and magnitude of |
| clemente | 0:462017ee2a5b | 84 | * movement. |
| clemente | 0:462017ee2a5b | 85 | * The sensor is housed in a 16-pin staggered dual inline |
| clemente | 0:462017ee2a5b | 86 | * package (DIP). |
| clemente | 0:462017ee2a5b | 87 | * |
| clemente | 0:462017ee2a5b | 88 | * Features |
| clemente | 0:462017ee2a5b | 89 | * . Precise optical navigation technology |
| clemente | 0:462017ee2a5b | 90 | * . No mechanical moving parts |
| clemente | 0:462017ee2a5b | 91 | * . Complete 2D motion sensor |
| clemente | 0:462017ee2a5b | 92 | * . Serial interface and/or quadrature interface |
| clemente | 0:462017ee2a5b | 93 | * . Smooth surface navigation |
| clemente | 0:462017ee2a5b | 94 | * . Programmable frame speed up to 2300 frames per sec (fps) |
| clemente | 0:462017ee2a5b | 95 | * . Accurate motion up to 14 ips |
| clemente | 0:462017ee2a5b | 96 | * . 800 cpi resolution |
| clemente | 0:462017ee2a5b | 97 | * . High reliability |
| clemente | 0:462017ee2a5b | 98 | * . High speed motion detector |
| clemente | 0:462017ee2a5b | 99 | * . No precision optical alignment |
| clemente | 0:462017ee2a5b | 100 | * . On chip LED drive with regulated current |
| clemente | 0:462017ee2a5b | 101 | * . Serial port registers |
| clemente | 0:462017ee2a5b | 102 | * – Programming |
| clemente | 0:462017ee2a5b | 103 | * – Data transfer |
| clemente | 0:462017ee2a5b | 104 | * |
| clemente | 0:462017ee2a5b | 105 | * Example code |
| clemente | 0:462017ee2a5b | 106 | * |
| clemente | 0:462017ee2a5b | 107 | * @code |
| clemente | 0:462017ee2a5b | 108 | * #include "ADNS2051.h" |
| clemente | 0:462017ee2a5b | 109 | * |
| clemente | 0:462017ee2a5b | 110 | * // pin configuration: p19: sout, p20: sclk |
| clemente | 0:462017ee2a5b | 111 | * ADNS2051 optical( p19, p20); |
| clemente | 0:462017ee2a5b | 112 | * |
| clemente | 0:462017ee2a5b | 113 | * // image buffer |
| clemente | 0:462017ee2a5b | 114 | * unsigned char tmpmap[256]; |
| clemente | 0:462017ee2a5b | 115 | * |
| clemente | 0:462017ee2a5b | 116 | * int main( void) |
| clemente | 0:462017ee2a5b | 117 | * { |
| clemente | 0:462017ee2a5b | 118 | * printf( "Images from optical mouse: Init"); |
| clemente | 0:462017ee2a5b | 119 | * |
| clemente | 0:462017ee2a5b | 120 | * // wait until the ADNS chip become ready... |
| clemente | 0:462017ee2a5b | 121 | * while( optical.init() ); |
| clemente | 0:462017ee2a5b | 122 | * |
| clemente | 0:462017ee2a5b | 123 | * optical.setframerate(); |
| clemente | 0:462017ee2a5b | 124 | * |
| clemente | 0:462017ee2a5b | 125 | * printf("Images from optical mouse: PixelDump [Chip rev: 0x%X]", optical.get_revisionID()); |
| clemente | 0:462017ee2a5b | 126 | * wait( 1.0); |
| clemente | 0:462017ee2a5b | 127 | * |
| clemente | 0:462017ee2a5b | 128 | * optical.pixeldump( &tmpmap[0]); |
| clemente | 0:462017ee2a5b | 129 | * // may be... do something with tmpmap... |
| clemente | 0:462017ee2a5b | 130 | * while(1); |
| clemente | 0:462017ee2a5b | 131 | * |
| clemente | 0:462017ee2a5b | 132 | * } |
| clemente | 0:462017ee2a5b | 133 | */ |
| clemente | 0:462017ee2a5b | 134 | |
| clemente | 0:462017ee2a5b | 135 | class ADNS2051 { |
| clemente | 0:462017ee2a5b | 136 | |
| clemente | 0:462017ee2a5b | 137 | public: |
| clemente | 0:462017ee2a5b | 138 | /** ADNS2051 pin assignement. |
| clemente | 0:462017ee2a5b | 139 | * |
| clemente | 0:462017ee2a5b | 140 | * @param sout This pin is used as data in and data out. |
| clemente | 0:462017ee2a5b | 141 | * @param sclk This is the serial clock. |
| clemente | 0:462017ee2a5b | 142 | */ |
| clemente | 0:462017ee2a5b | 143 | ADNS2051( PinName sout, PinName sclk); |
| clemente | 0:462017ee2a5b | 144 | |
| clemente | 0:462017ee2a5b | 145 | /** Initialize the ADNS2051 chip. |
| clemente | 0:462017ee2a5b | 146 | * |
| clemente | 0:462017ee2a5b | 147 | * @param none |
| clemente | 0:462017ee2a5b | 148 | * @return 0 for OK, 1 for bad. |
| clemente | 0:462017ee2a5b | 149 | */ |
| clemente | 0:462017ee2a5b | 150 | unsigned char init( void); |
| clemente | 0:462017ee2a5b | 151 | |
| clemente | 0:462017ee2a5b | 152 | /** Read the motion register and update the deltaX and deltaY variable with the register value. |
| clemente | 0:462017ee2a5b | 153 | * |
| clemente | 0:462017ee2a5b | 154 | * @param none |
| clemente | 0:462017ee2a5b | 155 | * @return a byte 0 = no motion, no led fault, no overflow |
| clemente | 0:462017ee2a5b | 156 | * 1 = motion |
| clemente | 0:462017ee2a5b | 157 | * 2 = led fault |
| clemente | 0:462017ee2a5b | 158 | * 4 = overflow |
| clemente | 0:462017ee2a5b | 159 | */ |
| clemente | 0:462017ee2a5b | 160 | unsigned char readmotion( void); |
| clemente | 0:462017ee2a5b | 161 | |
| clemente | 0:462017ee2a5b | 162 | /** Get revision ID |
| clemente | 0:462017ee2a5b | 163 | */ |
| clemente | 0:462017ee2a5b | 164 | unsigned char get_revisionID( void); |
| clemente | 0:462017ee2a5b | 165 | |
| clemente | 0:462017ee2a5b | 166 | /** Get product ID |
| clemente | 0:462017ee2a5b | 167 | */ |
| clemente | 0:462017ee2a5b | 168 | unsigned char get_productID( void); |
| clemente | 0:462017ee2a5b | 169 | |
| clemente | 0:462017ee2a5b | 170 | /** SQUAL is a measure of the number of features visible by the sensor in the |
| clemente | 0:462017ee2a5b | 171 | * current frame. The maximum value is 255. Since small changes in the current frame |
| clemente | 0:462017ee2a5b | 172 | * can result in changes in SQUAL, variations in SQUAL when looking at a surface are |
| clemente | 0:462017ee2a5b | 173 | * expected. SQUAL is nearly equal to zero, if there is no surface below the sensor. |
| clemente | 0:462017ee2a5b | 174 | * |
| clemente | 0:462017ee2a5b | 175 | * @param the SQUAL value. |
| clemente | 0:462017ee2a5b | 176 | */ |
| clemente | 0:462017ee2a5b | 177 | unsigned char surfacequality( void); |
| clemente | 0:462017ee2a5b | 178 | |
| clemente | 0:462017ee2a5b | 179 | /** Average Pixel value in current frame. Minimum value = 0, |
| clemente | 0:462017ee2a5b | 180 | * maximum = 63. The average pixel value can be adjusted every frame. |
| clemente | 0:462017ee2a5b | 181 | * |
| clemente | 0:462017ee2a5b | 182 | * @param none |
| clemente | 0:462017ee2a5b | 183 | */ |
| clemente | 0:462017ee2a5b | 184 | unsigned char averagepixel( void); |
| clemente | 0:462017ee2a5b | 185 | |
| clemente | 0:462017ee2a5b | 186 | /** Maximum Pixel value in current frame. Minimum value = 0, |
| clemente | 0:462017ee2a5b | 187 | * maximum value = 63. The maximum pixel value can be adjusted every frame. |
| clemente | 0:462017ee2a5b | 188 | * |
| clemente | 0:462017ee2a5b | 189 | * @param none |
| clemente | 0:462017ee2a5b | 190 | */ |
| clemente | 0:462017ee2a5b | 191 | unsigned char maxpixelval( void); |
| clemente | 0:462017ee2a5b | 192 | |
| clemente | 0:462017ee2a5b | 193 | /** Change the default frame rate (1500 f/s) to 2300 f/s |
| clemente | 0:462017ee2a5b | 194 | * |
| clemente | 0:462017ee2a5b | 195 | * @param none |
| clemente | 0:462017ee2a5b | 196 | */ |
| clemente | 0:462017ee2a5b | 197 | void setframerate( void); |
| clemente | 0:462017ee2a5b | 198 | |
| clemente | 0:462017ee2a5b | 199 | /** Verify the ADNS 2051 connection. |
| clemente | 0:462017ee2a5b | 200 | * |
| clemente | 0:462017ee2a5b | 201 | * @param none |
| clemente | 0:462017ee2a5b | 202 | * @return 0 OK, 1 Bad connection |
| clemente | 0:462017ee2a5b | 203 | */ |
| clemente | 0:462017ee2a5b | 204 | unsigned char chkconn( void); |
| clemente | 0:462017ee2a5b | 205 | |
| clemente | 0:462017ee2a5b | 206 | /** Start the dump of the pixel map. Store the value to the array pixmap |
| clemente | 0:462017ee2a5b | 207 | * |
| clemente | 0:462017ee2a5b | 208 | * @param buffer array of 256 chars |
| clemente | 0:462017ee2a5b | 209 | */ |
| clemente | 0:462017ee2a5b | 210 | void pixeldump( unsigned char *buffer); |
| clemente | 0:462017ee2a5b | 211 | |
| clemente | 0:462017ee2a5b | 212 | /** this values are updates every readmotion call. |
| clemente | 0:462017ee2a5b | 213 | */ |
| clemente | 0:462017ee2a5b | 214 | signed char deltaX, deltaY; |
| clemente | 0:462017ee2a5b | 215 | |
| clemente | 0:462017ee2a5b | 216 | /** This value is the current resolution in count per inch. Can be 400 or 800 cpi |
| clemente | 0:462017ee2a5b | 217 | */ |
| clemente | 0:462017ee2a5b | 218 | unsigned int currentresolution; |
| clemente | 0:462017ee2a5b | 219 | |
| clemente | 0:462017ee2a5b | 220 | private: |
| clemente | 0:462017ee2a5b | 221 | void sync( void); |
| clemente | 0:462017ee2a5b | 222 | unsigned char read(unsigned char address); |
| clemente | 0:462017ee2a5b | 223 | void write(unsigned char address, unsigned char value); |
| clemente | 0:462017ee2a5b | 224 | // |
| clemente | 0:462017ee2a5b | 225 | DigitalInOut _sout; |
| clemente | 0:462017ee2a5b | 226 | DigitalOut _sclk; |
| clemente | 0:462017ee2a5b | 227 | |
| clemente | 0:462017ee2a5b | 228 | }; |
| clemente | 0:462017ee2a5b | 229 | |
| clemente | 0:462017ee2a5b | 230 | #endif |