clemente di caprio
ADNS2051 Optical Sensor library
Diff: ADNS2051.cpp
- Revision:
- 0:462017ee2a5b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ADNS2051.cpp Wed May 23 06:56:50 2012 +0000
@@ -0,0 +1,328 @@
+/* mbed ADNS2051 Optical Sensor library.
+
+ Copyright (c) 2011 NXP 3787
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy
+ of this software and associated documentation files (the "Software"), to deal
+ in the Software without restriction, including without limitation the rights
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in
+ all copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ THE SOFTWARE.
+*/
+
+#include "mbed.h"
+#include "ADNS2051.h"
+
+
+#define SCLK_HIGH _sclk=1;
+#define SCLK_LOW _sclk=0;
+//
+#define SOUT_HIGH _sout=1;
+#define SOUT_LOW _sout=0;
+//
+#define CLKSPEED_100KHZ 10
+#define CLKSPEED_200KHZ 5
+#define CLKSPEED_500KHZ 2
+#define CLKSPEED_1MHZ 1
+#define CLKSPEED CLKSPEED_1MHZ
+
+// unsigned char pixmap[256];
+
+ADNS2051::ADNS2051( PinName sout, PinName sclk) : _sout( sout), _sclk( sclk) {
+
+ _sout.output();
+
+}
+
+/*
+ Init the ADNS 2051 connection.
+ @return
+ 0 = OK
+ 1 = BAD connection
+*/
+unsigned char ADNS2051::init( void)
+{
+ // sync the communication line to the ADNS chip
+ sync();
+ // check the connection
+ return ( chkconn());
+
+ // for now I use the ADNS's default values.
+}
+
+/*
+ * Sync the communication to the ADNS.
+ * Start a sequence, and then wait the watchdog timer expire.
+ * After this sequence the sout and sclk are HIGH and ready to star a correct
+ * write to or read from the ADNS chip.
+*/
+void ADNS2051::sync( void)
+{
+ // let the data pin as output!
+ _sout.output();
+ //
+ SOUT_HIGH;
+ SCLK_HIGH;
+ wait_us(100);
+ SCLK_LOW;
+ wait_us(100);
+ SCLK_HIGH;
+ wait_us(100);
+
+ /* the program wait until the ADNS's serial watchdog timer expire */
+ wait_ms( 1200); // Serial Port Transaction Timer [Tsptt] value: 1s (DS pag:10)
+}
+
+/*
+ Verify the ADNS 2051 connection.
+ return:
+ 0 = OK
+ 1 = BAD connection
+*/
+unsigned char ADNS2051::chkconn( void)
+{
+ if ( read( PRODUCTID_REG) == PRODUCTID_VAL)
+ return 0;
+ else
+ return 1;
+}
+
+/* */
+unsigned char ADNS2051::get_productID( void)
+{
+ return read( PRODUCTID_REG);
+}
+
+/* */
+unsigned char ADNS2051::get_revisionID( void)
+{
+ return read( REVISIONID_REG);
+}
+
+/** Change the default frame rate (1500 f/s) to 2300 f/s
+*/
+void ADNS2051::setframerate( void)
+{
+ // write to the lower reg first.
+ // the values are 2's compl hex for 2300 f/s (DS pag:38)
+ write( FRMPRDLW_REG, 0x6E);
+ write( FRMPRDUP_REG, 0xE1);
+}
+
+
+/** Return the SQUAL value.
+ *
+ * SQUAL is a measure of the number of features visible by the sensor in the
+ * current frame. The maximum value is 255. Since small changes in the current frame
+ * can result in changes in SQUAL, variations in SQUAL when looking at a surface are
+ * expected. SQUAL is nearly equal to zero, if there is no surface below the sensor.
+*/
+unsigned char ADNS2051::surfacequality( void)
+{
+ return read( SQUAL_REG);
+}
+
+/** Return the Average pixel value
+ *
+ * Average Pixel value in current frame. Minimum value = 0,
+ * maximum = 63. The average pixel value can be adjusted every frame.
+*/
+unsigned char ADNS2051::averagepixel( void)
+{
+ return read( AVRPXL_REG);
+}
+
+/** Return the Maximum Pixel value
+ *
+ * Maximum Pixel value in current frame. Minimum value = 0,
+ * maximum value = 63. The maximum pixel value can be adjusted every frame.
+*/
+unsigned char ADNS2051::maxpixelval( void)
+{
+ return read( MAXPXL_REG);
+}
+
+
+/**
+ * read the motion register and update the deltaX and deltaY variable with the register value
+ *
+ * @return :
+ * value 0 => no motion, no led fault, no overflow
+ * bit 0 == 1 => motion
+ * bit 1 == 1 => led fault
+ * bit 3 == 1 => overflow
+*/
+unsigned char ADNS2051::readmotion( void)
+{
+ unsigned char status;
+ unsigned char res=0; // no motion, no LED fault...
+
+ // Avago RECOMMENDS that registers 0x02, 0x03 and 0x04 be read sequentially
+ status = read( MOTION_REG);
+ deltaX = read( DELTAX_REG);
+ deltaY = read( DELTAY_REG);
+
+ //
+ if ( status & (1<<OVERFY_BIT) || status & (1<<OVERFX_BIT) ) {
+ res|=4;
+ }
+ //
+ if ( status & (1<<RESOLUTION_BIT) )
+ currentresolution=800;
+ else
+ currentresolution=400;
+ //
+ if ( status & (1<<MOTION_BIT) )
+ res|=1;
+ if ( status & (1<<LEDFAULT_BIT) )
+ res|=2;
+
+ return( res);
+}
+
+/*
+ Start the dump of the pixel map. Store the value to the array pixmap
+*/
+void ADNS2051::pixeldump( unsigned char *buffer)
+{
+
+ unsigned char res;
+ unsigned char i;
+
+ // set no sleep and start pixdump
+ write( CONFIGBIT_REG, 0x00 | (1<<SLEEP_BIT) | (1<<PIXDUMP_BIT));
+
+ i=0;
+ while( 1) {
+ // read the pix address...
+ res=read( DTOUTUP_REG);
+ // read the pix value
+ res=read( DTOUTLW_REG);
+ // if the MSB is set: no valid data...
+ if ( res & (1<<PIXDATAVALID_BIT))
+ continue;
+ // store the pix value
+ buffer[i++]=res;
+ // check if the pixel counter overflow...
+ if ( i==0)
+ break;
+ }
+
+ // reset PixDump bit.
+ write( CONFIGBIT_REG, 0x00);
+
+}
+
+
+/*
+ * Read a register from the ADNS2051 sensor.
+ * Before to return wait 120us as required and set the IO pin as output.
+*/
+unsigned char ADNS2051::read(unsigned char address)
+{
+ unsigned char value;
+ int bit_pos;
+
+ SCLK_HIGH; // Set the clock high.
+ address &= 0x7F; // A '0' as its MSB to indicate data direction as "READ".
+
+ /* Send the Address to the ADNS2051 */
+ for( bit_pos=7; bit_pos >=0; bit_pos--){
+ SCLK_LOW; // Set the clock LOW
+
+ // SDIO is changed on falling edges of SCLK
+ if(address & (1<<bit_pos)){
+ SOUT_HIGH;
+ }
+ else{
+ SOUT_LOW;
+ }
+ //
+ wait_us( CLKSPEED);
+ SCLK_HIGH;
+ wait_us( CLKSPEED);
+ }
+ /*
+ SCLK will need to be delayed after the last address data bit to ensure that
+ the ADNS-2051 has at least 100 µs to prepare the requested data (DS pag.19)
+ */
+ wait_us(120);
+ // Change the sout to input...
+ _sout.input();
+ _sout.mode( PullUp);
+
+ /* Read the data byte from the ADNS2051 */
+ value=0;
+ for( bit_pos=7; bit_pos >= 0; bit_pos--){
+ SCLK_LOW;
+ wait_us( CLKSPEED);
+ SCLK_HIGH; // data is ready on rising edge of clock signal.
+ wait_us( CLKSPEED);
+ /* read the input pin */
+ if ( _sout)
+ value |= (1<<bit_pos);
+
+ }
+ //
+ _sout.output();
+ // Timing between read and either write or subsequent read commands must be >120us
+ wait_us( 120);
+
+ return value;
+}
+
+void ADNS2051::write(unsigned char address, unsigned char value)
+{
+ int bit_pos;
+
+ SCLK_HIGH; // Set the clock high.
+ address |= 0x80; // A '1' as its MSB to indicate data direction as "WRITE".
+
+ /* Send the Address to the ADNS2051 */
+ for( bit_pos=7; bit_pos >=0; bit_pos--){
+ SCLK_LOW; // Set the clock LOW
+
+ // SDIO is changed on falling edges of SCLK
+ if(address & (1<<bit_pos)){
+ SOUT_HIGH;
+ }
+ else{
+ SOUT_LOW;
+ }
+ //
+ wait_us( CLKSPEED);
+ SCLK_HIGH;
+ wait_us( CLKSPEED);
+ }
+
+ /* Send the value to the ADNS2051 */
+ for( bit_pos=7; bit_pos >=0; bit_pos--){
+ SCLK_LOW; // Set the clock LOW
+
+ // SDIO is changed on falling edges of SCLK
+ if(value & (1<<bit_pos)){
+ SOUT_HIGH;
+ }
+ else{
+ SOUT_LOW;
+ }
+ //
+ wait_us( CLKSPEED);
+ SCLK_HIGH;
+ wait_us( CLKSPEED);
+ }
+ // Timing between read and either write or subsequent read commands must be >120us
+ wait_us( 120);
+
+}