Diff: adns9500.hpp

Revision:

15:85ea51a56fdc

Parent:

10:bbf9ff378632

Child:

16:de76a70defb3

--- a/adns9500.hpp	Wed Oct 17 12:27:40 2012 +0000
+++ b/adns9500.hpp	Sun Dec 09 05:27:51 2012 +0000
@@ -22,6 +22,7 @@
 #include <mbed.h>
 #include <stdint.h>
 #include <string>
+#include "adns9500_firmware.hpp"
 
 #define ADNS9500_CONFIGURATION_II_RPT_MOD   (1 << 2)
 #define ADNS9500_CONFIGURATION_IV_SROM_SIZE (1 << 1)
@@ -36,6 +37,17 @@
 #define ADNS9500_UINT16(ub, lb)             (uint16_t)(((ub & 0xff) << 8) | (lb & 0xff))
 #define ADNS9500_INT16(ub, lb)              (int16_t)(((ub & 0xff) << 8) | (lb & 0xff))
 
+#define BYTETOBINARYPATTERN "%d%d%d%d%d%d%d%d"
+#define BYTETOBINARY(byte)  \
+  (byte & 0x80 ? 1 : 0), \
+  (byte & 0x40 ? 1 : 0), \
+  (byte & 0x20 ? 1 : 0), \
+  (byte & 0x10 ? 1 : 0), \
+  (byte & 0x08 ? 1 : 0), \
+  (byte & 0x04 ? 1 : 0), \
+  (byte & 0x02 ? 1 : 0), \
+  (byte & 0x01 ? 1 : 0) 
+
 namespace adns9500
 {
     // Maximum SPI clock frequency supported by the sensor
@@ -160,7 +172,7 @@
             // @param firmware If the firmware has to be downloaded, C-string containing the name
             //                 of the file where it is stored, or NULL in other case
             //
-            void reset(const char* firmware = NULL);
+            void reset(const uint8_t* fw = NULL, uint16_t fw_len = 0 );
 
             //
             // Shutdown the sensor
@@ -202,7 +214,7 @@
             // @param filename The name of the file which contains the sensor firmware
             // @return The SROM CRC value
             //
-            int sromDownload(const char* filename);
+            int sromDownload(const uint8_t*, uint16_t);
 
             //
             // Enable the laser
@@ -210,6 +222,7 @@
             // @param enable True if laser must be enabled, or false if laser must be disabled
             //
             void enableLaser(bool enable=true);
+            void getLaser(void);
 
             //
             // Get motion deltas from sensor