Diff: adns9500.cpp

Revision:

3:898ed1944119

Parent:

2:ee0c13ef1320

Child:

8:97e5df54b8bb

--- a/adns9500.cpp	Thu Mar 22 15:04:33 2012 +0000
+++ b/adns9500.cpp	Thu Mar 22 17:36:49 2012 +0000
@@ -431,7 +431,7 @@
         yCpi_ = y_resolution * CPI_CHANGE_UNIT;
     }
     
-    void ADNS9500::captureFrame(uint8_t pixels[NUMBER_OF_PIXELS_PER_FRAME])
+    void ADNS9500::captureFrame(uint8_t* pixels)
     {
         if (! enabled_)
             error("ADNS9500::captureFrame : the sensor is not enabled\n");
@@ -445,24 +445,22 @@
         LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
 
         // check for first pixel reading motion bit
-        while(true) {
+        int motion = spiReceive(MOTION);
+        WAIT_TSRR();
+        while(! ADNS9500_IF_FRAME_FIRST_PIXEL(motion)) {
             int motion = spiReceive(MOTION);
-            if (ADNS9500_IF_MOTION(motion))
-                break;
             WAIT_TSRR();
         }
-        WAIT_TSRR();
 
         // read pixel values
         spi_.write(PIXEL_BURST);
         WAIT_TSRAD();
-        for (uint8_t* p = pixels; p != pixels + sizeof(pixels); ++p) {
+        for (uint8_t* p = pixels; p != pixels + NUMBER_OF_PIXELS_PER_FRAME; ++p) {
+            *p = spi_.write(0x00);
             WAIT_TLOAD();
-            *p = spi_.write(PIXEL_BURST);
         }
 
-        // burst exit        
-        WAIT_TSCLKNCS();
+        // burst exit
         ncs_.write(1);
         WAIT_TBEXIT();
     }