Chris Majoros / ADNS9500

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

Fork of ADNS9500 by Chris Majoros

adns9500.cpp@12:61b07ad45dc1, 2012-09-29 (annotated)

Committer:
aplatanado
Date:
Sat Sep 29 22:36:29 2012 +0000
Revision:
12:61b07ad45dc1
Parent:
11:07a39997a421
Child:
13:6d0642367fc1
Fix legacy code detected thanks to Daniel ?kesson

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 2:ee0c13ef1320 19 #include <cstdlib>
aplatanado 0:782f2061a8f5 20 #include <fstream>
aplatanado 0:782f2061a8f5 21 #include <math.h>
aplatanado 0:782f2061a8f5 22 #include <mbed.h>
aplatanado 0:782f2061a8f5 23 #include <string>
aplatanado 0:782f2061a8f5 24
aplatanado 1:fa3052be61b5 25 #include <adns9500.hpp>
aplatanado 0:782f2061a8f5 26
aplatanado 0:782f2061a8f5 27 #define WAIT_TSRAD() wait_us(100)
aplatanado 2:ee0c13ef1320 28 #define WAIT_TSRR() wait_us(20)
aplatanado 2:ee0c13ef1320 29 #define WAIT_TSRW() wait_us(20)
aplatanado 2:ee0c13ef1320 30 #define WAIT_TSWR() wait_us(120)
aplatanado 2:ee0c13ef1320 31 #define WAIT_TSWW() wait_us(120)
aplatanado 0:782f2061a8f5 32 #define WAIT_TBEXIT() wait_us(1) // 500ns
aplatanado 0:782f2061a8f5 33 #define WAIT_TNCSSCLK() wait_us(1) // 120ns
aplatanado 0:782f2061a8f5 34 #define WAIT_TSCLKNCS() wait_us(20)
aplatanado 0:782f2061a8f5 35 #define WAIT_TLOAD() wait_us(15)
aplatanado 0:782f2061a8f5 36
aplatanado 2:ee0c13ef1320 37 #define LONG_WAIT_MS(x) \
aplatanado 2:ee0c13ef1320 38 WAIT_TSCLKNCS(); ncs_.write(1); wait_ms(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 39 #define LONG_WAIT_US(x) \
aplatanado 2:ee0c13ef1320 40 WAIT_TSCLKNCS(); ncs_.write(1); wait_us(x); ncs_.write(0); WAIT_TNCSSCLK()
aplatanado 2:ee0c13ef1320 41
aplatanado 0:782f2061a8f5 42 #define DEFAULT_MAX_FPS 1958
aplatanado 2:ee0c13ef1320 43 #define DEFAULT_MAX_FRAME_PERIOD ((int)ceil(1e6 / DEFAULT_MAX_FPS)) // in us
aplatanado 0:782f2061a8f5 44 #define DEFAULT_X_CPI 1620
aplatanado 0:782f2061a8f5 45 #define DEFAULT_Y_CPI 1620
aplatanado 0:782f2061a8f5 46 #define CPI_CHANGE_UNIT 90
aplatanado 0:782f2061a8f5 47
aplatanado 2:ee0c13ef1320 48 #define SPI_BITS_PER_FRAME 8
aplatanado 2:ee0c13ef1320 49 #define SPI_MODE 3
aplatanado 2:ee0c13ef1320 50 #define SPI_WRITE_MODE 0x80
aplatanado 2:ee0c13ef1320 51
aplatanado 0:782f2061a8f5 52 #define SET_BIT(word, mask) (word | mask)
aplatanado 0:782f2061a8f5 53 #define CLEAR_BIT(word, mask) (word & (~mask))
aplatanado 0:782f2061a8f5 54
aplatanado 0:782f2061a8f5 55 namespace adns9500 {
aplatanado 0:782f2061a8f5 56
aplatanado 0:782f2061a8f5 57 ADNS9500::ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
aplatanado 0:782f2061a8f5 58 int spi_frequency, PinName motion)
aplatanado 0:782f2061a8f5 59 : spi_(mosi, miso, sclk),
aplatanado 0:782f2061a8f5 60 motion_(motion),
aplatanado 0:782f2061a8f5 61 ncs_(ncs),
aplatanado 0:782f2061a8f5 62 enabled_(false),
aplatanado 0:782f2061a8f5 63 xCpi_(DEFAULT_X_CPI), yCpi_(DEFAULT_Y_CPI)
aplatanado 0:782f2061a8f5 64 {
aplatanado 2:ee0c13ef1320 65 spi_.format(SPI_BITS_PER_FRAME, SPI_MODE);
aplatanado 10:bbf9ff378632 66 spi_.frequency(spi_frequency);
aplatanado 2:ee0c13ef1320 67
aplatanado 2:ee0c13ef1320 68 motion_.mode(PullUp);
aplatanado 0:782f2061a8f5 69 motion_.fall(this, &ADNS9500::motionTrigger);
aplatanado 0:782f2061a8f5 70 }
aplatanado 0:782f2061a8f5 71
aplatanado 0:782f2061a8f5 72 ADNS9500::~ADNS9500()
aplatanado 0:782f2061a8f5 73 {
aplatanado 0:782f2061a8f5 74 shutdown();
aplatanado 0:782f2061a8f5 75 }
aplatanado 0:782f2061a8f5 76
aplatanado 0:782f2061a8f5 77 void ADNS9500::reset(const char* firmware)
aplatanado 0:782f2061a8f5 78 {
aplatanado 0:782f2061a8f5 79 // SPI port reset
aplatanado 0:782f2061a8f5 80 ncs_.write(1);
aplatanado 0:782f2061a8f5 81 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 82 ncs_.write(0);
aplatanado 0:782f2061a8f5 83 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 84
aplatanado 9:8b1e889e94fe 85 // send 0x5a to POWER_UP_RESET and wait for at least 50ms
aplatanado 2:ee0c13ef1320 86 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 87 LONG_WAIT_MS(50);
aplatanado 0:782f2061a8f5 88
aplatanado 0:782f2061a8f5 89 // clear observation register. Only required to deassert shutdown mode.
aplatanado 2:ee0c13ef1320 90 spiSend(OBSERVATION, 0x00);
aplatanado 2:ee0c13ef1320 91 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 8:97e5df54b8bb 92
aplatanado 0:782f2061a8f5 93 // check observation register bits [5:0]
aplatanado 2:ee0c13ef1320 94 int observation = spiReceive(OBSERVATION);
aplatanado 9:8b1e889e94fe 95 if (! ADNS9500_IF_OBSERVATION_TEST(observation)) {
aplatanado 9:8b1e889e94fe 96 WAIT_TSCLKNCS();
aplatanado 9:8b1e889e94fe 97 ncs_.write(1);
aplatanado 9:8b1e889e94fe 98
aplatanado 0:782f2061a8f5 99 error("ADNS9500::reset : observation register test failed: 0x%x\n", observation);
aplatanado 9:8b1e889e94fe 100 }
aplatanado 0:782f2061a8f5 101
aplatanado 0:782f2061a8f5 102 // read motion data
aplatanado 2:ee0c13ef1320 103 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 104 spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 105 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 106 spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 107 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 108 spiReceive(DELTA_X_H);
aplatanado 2:ee0c13ef1320 109 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 110 spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 111 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 112 spiReceive(DELTA_Y_H);
aplatanado 0:782f2061a8f5 113
aplatanado 2:ee0c13ef1320 114 // read product and revision id to test the connection
aplatanado 2:ee0c13ef1320 115 WAIT_TSRR();
aplatanado 11:07a39997a421 116 int product_id = spiReceive(PRODUCT_ID);
aplatanado 2:ee0c13ef1320 117 WAIT_TSRR();
aplatanado 11:07a39997a421 118 int revision_id = spiReceive(REVISION_ID);
aplatanado 2:ee0c13ef1320 119
aplatanado 0:782f2061a8f5 120 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 121 ncs_.write(1);
aplatanado 0:782f2061a8f5 122
aplatanado 0:782f2061a8f5 123 if (product_id != 0x33) {
aplatanado 0:782f2061a8f5 124 error("ADNS9500::reset : bad product ID: 0x%x\n", product_id);
aplatanado 0:782f2061a8f5 125 }
aplatanado 0:782f2061a8f5 126
aplatanado 0:782f2061a8f5 127 if (revision_id != 0x03) {
aplatanado 0:782f2061a8f5 128 error("ADNS9500::reset : bad revision ID: 0x%x\n", revision_id);
aplatanado 0:782f2061a8f5 129 }
aplatanado 0:782f2061a8f5 130
aplatanado 0:782f2061a8f5 131 enabled_ = true;
aplatanado 0:782f2061a8f5 132
aplatanado 0:782f2061a8f5 133 if (firmware) {
aplatanado 0:782f2061a8f5 134 sromDownload(firmware);
aplatanado 0:782f2061a8f5 135 enableLaser();
aplatanado 0:782f2061a8f5 136 }
aplatanado 0:782f2061a8f5 137 }
aplatanado 0:782f2061a8f5 138
aplatanado 0:782f2061a8f5 139 void ADNS9500::shutdown()
aplatanado 0:782f2061a8f5 140 {
aplatanado 0:782f2061a8f5 141 if (! enabled_)
aplatanado 0:782f2061a8f5 142 error("ADNS9500::shutdown : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 143
aplatanado 0:782f2061a8f5 144 ncs_.write(0);
aplatanado 0:782f2061a8f5 145 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 146
aplatanado 9:8b1e889e94fe 147 // send 0x5a to POWER_UP_RESET
aplatanado 2:ee0c13ef1320 148 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 149
aplatanado 0:782f2061a8f5 150 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 151 ncs_.write(1);
aplatanado 0:782f2061a8f5 152
aplatanado 0:782f2061a8f5 153 enabled_ = false;
aplatanado 0:782f2061a8f5 154 }
aplatanado 0:782f2061a8f5 155
aplatanado 0:782f2061a8f5 156 int ADNS9500::read(Register lregister)
aplatanado 0:782f2061a8f5 157 {
aplatanado 0:782f2061a8f5 158 if (! enabled_)
aplatanado 0:782f2061a8f5 159 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 160
aplatanado 0:782f2061a8f5 161 ncs_.write(0);
aplatanado 0:782f2061a8f5 162 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 163
aplatanado 0:782f2061a8f5 164 // send the command to read the register
aplatanado 2:ee0c13ef1320 165 int value = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 166
aplatanado 0:782f2061a8f5 167 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 168 ncs_.write(1);
aplatanado 2:ee0c13ef1320 169
aplatanado 0:782f2061a8f5 170 return value;
aplatanado 0:782f2061a8f5 171 }
aplatanado 0:782f2061a8f5 172
aplatanado 0:782f2061a8f5 173 int ADNS9500::read(Register uregister, Register lregister)
aplatanado 0:782f2061a8f5 174 {
aplatanado 0:782f2061a8f5 175 if (! enabled_)
aplatanado 0:782f2061a8f5 176 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 177
aplatanado 0:782f2061a8f5 178 ncs_.write(0);
aplatanado 0:782f2061a8f5 179 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 180
aplatanado 0:782f2061a8f5 181 // send the command to read the registers
aplatanado 2:ee0c13ef1320 182 int lvalue = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 183 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 184 int uvalue = spiReceive(uregister);
aplatanado 2:ee0c13ef1320 185
aplatanado 0:782f2061a8f5 186 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 187 ncs_.write(1);
aplatanado 0:782f2061a8f5 188
aplatanado 0:782f2061a8f5 189 return ADNS9500_UINT16(uvalue, lvalue);
aplatanado 0:782f2061a8f5 190 }
aplatanado 0:782f2061a8f5 191
aplatanado 0:782f2061a8f5 192 int ADNS9500::sromDownload(const char* filename)
aplatanado 0:782f2061a8f5 193 {
aplatanado 0:782f2061a8f5 194 if (! enabled_)
aplatanado 0:782f2061a8f5 195 error("ADNS9500::sromDownload : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 196
aplatanado 0:782f2061a8f5 197 ncs_.write(0);
aplatanado 0:782f2061a8f5 198 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 199
aplatanado 0:782f2061a8f5 200 // SROM download
aplatanado 2:ee0c13ef1320 201 spiSend(CONFIGURATION_IV, ADNS9500_CONFIGURATION_IV_SROM_SIZE);
aplatanado 2:ee0c13ef1320 202 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 203 spiSend(SROM_ENABLE, 0x1d);
aplatanado 2:ee0c13ef1320 204 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 205
aplatanado 2:ee0c13ef1320 206 spiSend(SROM_ENABLE, 0x18);
aplatanado 2:ee0c13ef1320 207 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 208 spi_.write(SET_BIT(SROM_LOAD_BURST, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 209
aplatanado 2:ee0c13ef1320 210 // we expect a line per byte in hex without 0x prefix
aplatanado 2:ee0c13ef1320 211 char buffer[4];
aplatanado 0:782f2061a8f5 212 ifstream ifs(filename, ifstream::in);
aplatanado 2:ee0c13ef1320 213 while(ifs.getline(buffer, sizeof(buffer)).good()) {
aplatanado 0:782f2061a8f5 214 WAIT_TLOAD();
aplatanado 2:ee0c13ef1320 215 int byte = strtol(buffer, NULL, 16);
aplatanado 2:ee0c13ef1320 216 spi_.write(byte);
aplatanado 0:782f2061a8f5 217 }
aplatanado 0:782f2061a8f5 218 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 219 ncs_.write(1);
aplatanado 0:782f2061a8f5 220 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 221
aplatanado 0:782f2061a8f5 222 if (! ifs.eof())
aplatanado 0:782f2061a8f5 223 error("ADNS9500::sromDownload : error reading from file: %s\n", filename);
aplatanado 0:782f2061a8f5 224
aplatanado 0:782f2061a8f5 225 // test if SROM was downloaded successfully
aplatanado 0:782f2061a8f5 226 wait_us(160);
aplatanado 0:782f2061a8f5 227 ncs_.write(0);
aplatanado 0:782f2061a8f5 228 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 229
aplatanado 2:ee0c13ef1320 230 int srom_id = spiReceive(SROM_ID);
aplatanado 2:ee0c13ef1320 231
aplatanado 0:782f2061a8f5 232 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 233 ncs_.write(1);
aplatanado 0:782f2061a8f5 234
aplatanado 0:782f2061a8f5 235 if (! srom_id)
aplatanado 0:782f2061a8f5 236 error("ADNS9500::sromDownload : the firmware was not successful downloaded\n");
aplatanado 0:782f2061a8f5 237
aplatanado 0:782f2061a8f5 238 // test laser fault condition
aplatanado 0:782f2061a8f5 239 ncs_.write(0);
aplatanado 0:782f2061a8f5 240 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 241
aplatanado 2:ee0c13ef1320 242 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 243
aplatanado 0:782f2061a8f5 244 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 245 ncs_.write(1);
aplatanado 0:782f2061a8f5 246
aplatanado 0:782f2061a8f5 247 if (ADNS9500_IF_LASER_FAULT(motion))
aplatanado 0:782f2061a8f5 248 error("ADNS9500::sromDownload : laser fault condition detected\n");
aplatanado 0:782f2061a8f5 249
aplatanado 0:782f2061a8f5 250 // return the SROM CRC value
aplatanado 0:782f2061a8f5 251 ncs_.write(0);
aplatanado 0:782f2061a8f5 252 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 253
aplatanado 2:ee0c13ef1320 254 spiSend(SROM_ENABLE, 0x15);
aplatanado 2:ee0c13ef1320 255 LONG_WAIT_MS(10);
aplatanado 2:ee0c13ef1320 256
aplatanado 2:ee0c13ef1320 257 int lcrc = spiReceive(DATA_OUT_LOWER);
aplatanado 2:ee0c13ef1320 258 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 259 int ucrc = spiReceive(DATA_OUT_UPPER);
aplatanado 0:782f2061a8f5 260
aplatanado 0:782f2061a8f5 261 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 262 ncs_.write(1);
aplatanado 0:782f2061a8f5 263
aplatanado 0:782f2061a8f5 264 return ADNS9500_UINT16(ucrc, lcrc);
aplatanado 0:782f2061a8f5 265 }
aplatanado 0:782f2061a8f5 266
aplatanado 0:782f2061a8f5 267 void ADNS9500::enableLaser(bool enable)
aplatanado 0:782f2061a8f5 268 {
aplatanado 0:782f2061a8f5 269 if (! enabled_)
aplatanado 0:782f2061a8f5 270 error("ADNS9500::enableLaser : the sensor is not enabled\n");
aplatanado 2:ee0c13ef1320 271
aplatanado 0:782f2061a8f5 272 ncs_.write(0);
aplatanado 0:782f2061a8f5 273 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 274
aplatanado 0:782f2061a8f5 275 if (enable) {
aplatanado 0:782f2061a8f5 276 int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 277 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 278 }
aplatanado 0:782f2061a8f5 279 else {
aplatanado 0:782f2061a8f5 280 int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 281 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 282 }
aplatanado 0:782f2061a8f5 283
aplatanado 0:782f2061a8f5 284 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 285 ncs_.write(1);
aplatanado 0:782f2061a8f5 286 }
aplatanado 0:782f2061a8f5 287
aplatanado 0:782f2061a8f5 288 bool ADNS9500::getMotionDelta(int& dx, int& dy)
aplatanado 0:782f2061a8f5 289 {
aplatanado 0:782f2061a8f5 290 if (! enabled_)
aplatanado 0:782f2061a8f5 291 error("ADNS9500::getMotionDelta : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 292
aplatanado 0:782f2061a8f5 293 ncs_.write(0);
aplatanado 0:782f2061a8f5 294 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 295
aplatanado 2:ee0c13ef1320 296 dx = 0;
aplatanado 2:ee0c13ef1320 297 dy = 0;
aplatanado 2:ee0c13ef1320 298
aplatanado 2:ee0c13ef1320 299 int motion = spiReceive(MOTION);
aplatanado 0:782f2061a8f5 300 if (ADNS9500_IF_MOTION(motion)) {
aplatanado 2:ee0c13ef1320 301 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 302 int dxl = spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 303 WAIT_TSRR();
aplatanado 12:61b07ad45dc1 304 dx = ADNS9500_INT16(spiReceive(DELTA_X_H), dxl);
aplatanado 0:782f2061a8f5 305
aplatanado 2:ee0c13ef1320 306 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 307 int dyl = spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 308 WAIT_TSRR();
aplatanado 12:61b07ad45dc1 309 dy = ADNS9500_INT16(spiReceive(DELTA_Y_H), dyl);
aplatanado 0:782f2061a8f5 310 }
aplatanado 0:782f2061a8f5 311
aplatanado 0:782f2061a8f5 312 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 313 ncs_.write(1);
aplatanado 2:ee0c13ef1320 314
aplatanado 0:782f2061a8f5 315 return ADNS9500_IF_MOTION(motion);
aplatanado 0:782f2061a8f5 316 }
aplatanado 0:782f2061a8f5 317
aplatanado 0:782f2061a8f5 318 bool ADNS9500::getMotionDeltaMM(float& dx, float& dy)
aplatanado 0:782f2061a8f5 319 {
aplatanado 0:782f2061a8f5 320 int rawDx, rawDy;
aplatanado 0:782f2061a8f5 321
aplatanado 0:782f2061a8f5 322 bool motion = getMotionDelta(rawDx, rawDy);
aplatanado 0:782f2061a8f5 323 dx = (float)rawDx / xCpi_ * 25.4;
aplatanado 0:782f2061a8f5 324 dy = (float)rawDy / yCpi_ * 25.4;
aplatanado 0:782f2061a8f5 325
aplatanado 0:782f2061a8f5 326 return motion;
aplatanado 0:782f2061a8f5 327 }
aplatanado 0:782f2061a8f5 328
aplatanado 0:782f2061a8f5 329 bool ADNS9500::getMotionData(MotionData& data)
aplatanado 0:782f2061a8f5 330 {
aplatanado 0:782f2061a8f5 331 if (! enabled_)
aplatanado 0:782f2061a8f5 332 error("ADNS9500::getMotionData : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 333
aplatanado 0:782f2061a8f5 334 ncs_.write(0);
aplatanado 0:782f2061a8f5 335 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 336
aplatanado 0:782f2061a8f5 337 // activate motion burst mode
aplatanado 0:782f2061a8f5 338 spi_.write(0x50);
aplatanado 2:ee0c13ef1320 339 WAIT_TSRAD(); // see the chronogram
aplatanado 0:782f2061a8f5 340
aplatanado 0:782f2061a8f5 341 // read motion burst data
aplatanado 0:782f2061a8f5 342 data.motion = spi_.write(0x00);
aplatanado 0:782f2061a8f5 343 data.observation = spi_.write(0x00);
aplatanado 0:782f2061a8f5 344
aplatanado 0:782f2061a8f5 345 int ldx = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 346 data.dx = ADNS9500_INT16(spi_.write(0x00), ldx);
aplatanado 0:782f2061a8f5 347
aplatanado 0:782f2061a8f5 348 int ldy = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 349 data.dy = ADNS9500_INT16(spi_.write(0x00), ldy);
aplatanado 0:782f2061a8f5 350
aplatanado 2:ee0c13ef1320 351 data.surfaceQuality = spi_.write(0x00) * 4;
aplatanado 2:ee0c13ef1320 352 data.averagePixel = spi_.write(0x00) / 1.76;
aplatanado 0:782f2061a8f5 353 data.maximumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 354 data.minimumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 355
aplatanado 0:782f2061a8f5 356 int ushutter = spi_.write(0x00);
aplatanado 0:782f2061a8f5 357 data.shutter = ADNS9500_UINT16(ushutter, spi_.write(0x00));
aplatanado 0:782f2061a8f5 358
aplatanado 0:782f2061a8f5 359 int uframe_period = spi_.write(0x00);
aplatanado 0:782f2061a8f5 360 data.framePeriod = ADNS9500_UINT16(uframe_period, spi_.write(0x00));
aplatanado 0:782f2061a8f5 361
aplatanado 0:782f2061a8f5 362 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 363 ncs_.write(1);
aplatanado 0:782f2061a8f5 364 WAIT_TBEXIT();
aplatanado 2:ee0c13ef1320 365
aplatanado 2:ee0c13ef1320 366 data.dxMM = (float)data.dx / xCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 367 data.dyMM = (float)data.dy / yCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 368
aplatanado 2:ee0c13ef1320 369 // write a value to Motion register to clear motion bit
aplatanado 2:ee0c13ef1320 370 ncs_.write(0);
aplatanado 2:ee0c13ef1320 371 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 372
aplatanado 2:ee0c13ef1320 373 spiSend(MOTION, 0x00);
aplatanado 2:ee0c13ef1320 374
aplatanado 2:ee0c13ef1320 375 WAIT_TSCLKNCS();
aplatanado 2:ee0c13ef1320 376 ncs_.write(1);
aplatanado 2:ee0c13ef1320 377
aplatanado 0:782f2061a8f5 378 return ADNS9500_IF_MOTION(data.motion);
aplatanado 0:782f2061a8f5 379 }
aplatanado 0:782f2061a8f5 380
aplatanado 0:782f2061a8f5 381 void ADNS9500::setResolution(Resolution xy_resolution)
aplatanado 0:782f2061a8f5 382 {
aplatanado 0:782f2061a8f5 383 if (! enabled_)
aplatanado 0:782f2061a8f5 384 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 385
aplatanado 0:782f2061a8f5 386 ncs_.write(0);
aplatanado 0:782f2061a8f5 387 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 388
aplatanado 0:782f2061a8f5 389 // enable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 390 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 391 rpt_mod = CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 392 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 393 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 394
aplatanado 0:782f2061a8f5 395 // set resolution for X-axis and Y-axis
aplatanado 2:ee0c13ef1320 396 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 397 spiSend(CONFIGURATION_I, xy_resolution);
aplatanado 0:782f2061a8f5 398
aplatanado 0:782f2061a8f5 399 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 400 ncs_.write(1);
aplatanado 0:782f2061a8f5 401
aplatanado 0:782f2061a8f5 402 xCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 403 yCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 404 }
aplatanado 0:782f2061a8f5 405
aplatanado 0:782f2061a8f5 406 void ADNS9500::setResolution(Resolution x_resolution, Resolution y_resolution)
aplatanado 0:782f2061a8f5 407 {
aplatanado 0:782f2061a8f5 408 if (! enabled_)
aplatanado 0:782f2061a8f5 409 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 410
aplatanado 0:782f2061a8f5 411 ncs_.write(0);
aplatanado 0:782f2061a8f5 412 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 413
aplatanado 0:782f2061a8f5 414 // disable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 415 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 416 rpt_mod = SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 417 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 418 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 419
aplatanado 0:782f2061a8f5 420 // set resolution for X-axis
aplatanado 2:ee0c13ef1320 421 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 422 spiSend(CONFIGURATION_I, x_resolution);
aplatanado 0:782f2061a8f5 423
aplatanado 0:782f2061a8f5 424 // set resolution for Y-axis
aplatanado 2:ee0c13ef1320 425 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 426 spiSend(CONFIGURATION_V, y_resolution);
aplatanado 0:782f2061a8f5 427
aplatanado 0:782f2061a8f5 428 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 429 ncs_.write(1);
aplatanado 0:782f2061a8f5 430
aplatanado 0:782f2061a8f5 431 xCpi_ = x_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 432 yCpi_ = y_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 433 }
aplatanado 0:782f2061a8f5 434
aplatanado 3:898ed1944119 435 void ADNS9500::captureFrame(uint8_t* pixels)
aplatanado 0:782f2061a8f5 436 {
aplatanado 0:782f2061a8f5 437 if (! enabled_)
aplatanado 0:782f2061a8f5 438 error("ADNS9500::captureFrame : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 439
aplatanado 0:782f2061a8f5 440 ncs_.write(0);
aplatanado 0:782f2061a8f5 441 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 442
aplatanado 2:ee0c13ef1320 443 spiSend(FRAME_CAPTURE, 0x93);
aplatanado 2:ee0c13ef1320 444 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 445 spiSend(FRAME_CAPTURE, 0xc5);
aplatanado 2:ee0c13ef1320 446 LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 447
aplatanado 0:782f2061a8f5 448 // check for first pixel reading motion bit
aplatanado 3:898ed1944119 449 int motion = spiReceive(MOTION);
aplatanado 3:898ed1944119 450 WAIT_TSRR();
aplatanado 3:898ed1944119 451 while(! ADNS9500_IF_FRAME_FIRST_PIXEL(motion)) {
aplatanado 2:ee0c13ef1320 452 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 453 WAIT_TSRR();
aplatanado 0:782f2061a8f5 454 }
aplatanado 2:ee0c13ef1320 455
aplatanado 0:782f2061a8f5 456 // read pixel values
aplatanado 0:782f2061a8f5 457 spi_.write(PIXEL_BURST);
aplatanado 0:782f2061a8f5 458 WAIT_TSRAD();
aplatanado 3:898ed1944119 459 for (uint8_t* p = pixels; p != pixels + NUMBER_OF_PIXELS_PER_FRAME; ++p) {
aplatanado 3:898ed1944119 460 *p = spi_.write(0x00);
aplatanado 0:782f2061a8f5 461 WAIT_TLOAD();
aplatanado 0:782f2061a8f5 462 }
aplatanado 0:782f2061a8f5 463
aplatanado 3:898ed1944119 464 // burst exit
aplatanado 0:782f2061a8f5 465 ncs_.write(1);
aplatanado 0:782f2061a8f5 466 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 467 }
aplatanado 2:ee0c13ef1320 468
aplatanado 2:ee0c13ef1320 469 void ADNS9500::spiSend(Register address, int value)
aplatanado 2:ee0c13ef1320 470 {
aplatanado 2:ee0c13ef1320 471 spi_.write(SET_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 472 spi_.write(value);
aplatanado 2:ee0c13ef1320 473 }
aplatanado 2:ee0c13ef1320 474
aplatanado 2:ee0c13ef1320 475 int ADNS9500::spiReceive(Register address)
aplatanado 2:ee0c13ef1320 476 {
aplatanado 2:ee0c13ef1320 477 spi_.write(CLEAR_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 478 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 479 return spi_.write(0x00);
aplatanado 2:ee0c13ef1320 480 }
aplatanado 0:782f2061a8f5 481 }