Revision 0:462017ee2a5b, committed 2012-05-23

Comitter:

clemente

Date:

Wed May 23 06:56:50 2012 +0000

Commit message:

Changed in this revision

diff -r 000000000000 -r 462017ee2a5b ADNS2051.cpp
--- /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);
+
+}    

diff -r 000000000000 -r 462017ee2a5b ADNS2051.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ADNS2051.h	Wed May 23 06:56:50 2012 +0000
@@ -0,0 +1,230 @@
+/* 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.
+*/
+
+#ifndef __ADNS2051_H
+#define __ADNS2051_H
+
+#include "mbed.h"
+
+
+//
+#define PRODUCTID_REG    0x00    // Product ID = 2 (Fixed value)
+#define REVISIONID_REG    0x01    // Revision of IC [0xNN]
+#define MOTION_REG        0x02    // Register 0x02 allows the user to determine if motion has occurred since the last time it was read
+#define DELTAX_REG        0x03    // X movement is counts since last report. Absolute value is determined by resolution. Reading clears the register.
+#define DELTAY_REG        0x04    // Y movement is counts since last report. Absolute value is determined by resolution. Reading clears the register.
+#define SQUAL_REG        0x05    // Surface Quality. 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.
+#define AVRPXL_REG        0x06    // Average Pixel value in current frame. Minimum value = 0, maximum = 63. The average pixel value can be adjusted every frame.
+#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.
+#define CONFIGBIT_REG    0x0A    // Configuration bits. Register 0x0a allows the user to change the configuration of the sensor.
+#define DTOUTLW_REG        0x0C    
+#define DTOUTUP_REG        0x0D    // Once the pixel dump command is given, the sensor
+                                // writes the address and the value for the first pixel into
+                                // the Data_Out_Upper and Data_Out_Lower registers.
+#define SHUTTERLW_REG    0x0E    
+#define SHUTTERUP_REG    0x0F    // Shutter register.
+#define FRMPRDLW_REG    0x10
+#define FRMPRDUP_REG    0x11    // The frame period counter counts up until it overflows. Units are clock cycles.
+
+// Motion register bits
+#define MOTION_BIT        0x07    // Motion since last report: 0=no motion, 1=motion occurred, data ready on deltaX and Y regs.
+#define LEDFAULT_BIT    0x05    // LED Fault detected: 0=no, 1=Fault detected
+#define OVERFY_BIT        0x04    // Motion overflow Y, dY buffer has overflowed since last report: 0=no, 1=overflow
+#define OVERFX_BIT        0x03    // Motion overflow X, dX buffer has overflowed since last report: 0=no, 1=overflow
+#define RESOLUTION_BIT    0x00    // Resolution in counts x inch: 0=400, 1=800
+
+// Confiuration register bits
+#define RESET_BIT        0x07
+#define LEDMODE_BIT        0x06
+#define RESOLMODE_BIT    0x04
+#define PIXDUMP_BIT        0x03
+#define SLEEP_BIT        0x00
+
+//
+#define PIXDATAVALID_BIT    0x07
+
+// Product ID value
+#define PRODUCTID_VAL    0x02    // The value in this register does not change, it can be used to verify that the
+                                // serial communications link is OK.
+
+/** ADNS2051 Optical Sensor
+* For this project I used an old Apple mouse. 
+* Obviously modified for this project has made it unusable as a mouse for the PC.
+*
+* From the datasheet:
+*   The ADNS-2051 is a low cost optical sensor used to
+*   implement a non-mechanical tracking engine for
+*   computer mice.
+*   It is based on optical navigation technology, which
+*   measures changes in position by optically acquiring
+*   sequential surface images (frames) and mathematically
+*   determining the direction and magnitude of
+*   movement.
+*   The sensor is housed in a 16-pin staggered dual inline
+*   package (DIP).
+*   
+*   Features
+*   . Precise optical navigation technology
+*   . No mechanical moving parts
+*   . Complete 2D motion sensor
+*   . Serial interface and/or quadrature interface
+*   . Smooth surface navigation
+*   . Programmable frame speed up to 2300 frames per sec (fps)
+*   . Accurate motion up to 14 ips
+*   . 800 cpi resolution
+*   . High reliability
+*   . High speed motion detector
+*   . No precision optical alignment
+*   . On chip LED drive with regulated current
+*   . Serial port registers
+*   – Programming
+*   – Data transfer
+*
+* Example code
+*
+* @code
+* #include "ADNS2051.h"
+*
+* // pin configuration: p19: sout, p20: sclk
+* ADNS2051 optical( p19, p20);
+*
+* // image buffer 
+* unsigned char tmpmap[256];
+*
+* int main( void)
+* {
+*   printf( "Images from optical mouse: Init");
+*   
+*   // wait until the ADNS chip become ready...
+*   while( optical.init() );
+*   
+*   optical.setframerate();
+*   
+*   printf("Images from optical mouse: PixelDump [Chip rev: 0x%X]", optical.get_revisionID());
+*   wait( 1.0);
+*   
+*   optical.pixeldump( &tmpmap[0]);
+*   // may be... do something with tmpmap...
+*   while(1);
+*   
+* }
+*/
+
+class ADNS2051 {
+
+public:
+    /** ADNS2051 pin assignement.
+     * 
+     * @param sout  This pin is used as data in and data out.
+     * @param sclk  This is the serial clock.
+     */
+    ADNS2051(  PinName sout, PinName sclk);
+    
+    /** Initialize the ADNS2051 chip.
+     *
+     * @param none
+     * @return 0 for OK, 1 for bad.
+     */
+    unsigned char init( void);
+    
+    /** Read the motion register and update the deltaX and deltaY variable with the register value.
+     *
+     * @param none
+     * @return a byte 0 = no motion, no led fault, no overflow
+     *                1 =  motion
+     *                2 =  led fault
+     *                4 =  overflow
+     */
+    unsigned char readmotion( void);
+    
+    /** Get revision ID
+     */
+    unsigned char get_revisionID( void);
+    
+    /** Get product ID
+     */
+    unsigned char get_productID( void);
+    
+    /**  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.
+     *
+     * @param the SQUAL value.
+     */
+    unsigned char surfacequality( void);
+    
+    /** Average Pixel value in current frame. Minimum value = 0,
+     *  maximum = 63. The average pixel value can be adjusted every frame.
+     *
+     * @param none
+     */
+    unsigned char averagepixel( void);
+    
+    /** Maximum Pixel value in current frame. Minimum value = 0,
+     *  maximum value = 63. The maximum pixel value can be adjusted every frame.
+     *
+     * @param none     
+     */
+    unsigned char maxpixelval( void);
+    
+    /** Change the default frame rate (1500 f/s) to 2300 f/s
+     *
+     * @param none     
+     */    
+    void setframerate( void);
+    
+    /** Verify the ADNS 2051 connection. 
+     *
+     * @param none
+     * @return 0 OK, 1 Bad connection
+     */
+    unsigned char chkconn( void);
+    
+    /** Start the dump of the pixel map. Store the value to the array pixmap
+     *
+     * @param buffer array of 256 chars
+     */
+    void pixeldump( unsigned char *buffer);
+    
+    /** this values are updates every readmotion call.
+     */
+    signed char deltaX, deltaY;
+    
+    /** This value is the current resolution in count per inch. Can be 400 or 800 cpi
+     */
+    unsigned int currentresolution;
+    
+private:
+    void sync( void);
+    unsigned char read(unsigned char address);
+    void write(unsigned char address, unsigned char value);
+    //
+    DigitalInOut _sout;
+    DigitalOut _sclk;
+    
+};
+
+#endif