Chris Majoros / ADNS9500

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

Fork of ADNS9500 by Chris Majoros

adns9500.cpp@10:bbf9ff378632, 2012-07-11 (annotated)

Committer:
aplatanado
Date:
Wed Jul 11 15:56:05 2012 +0000
Revision:
10:bbf9ff378632
Parent:
9:8b1e889e94fe
Child:
11:07a39997a421
spi_frequency was not setted in constructor

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 0:782f2061a8f5 116 spi_.write(PRODUCT_ID);
aplatanado 0:782f2061a8f5 117 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 118 int product_id = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 119 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 120 spi_.write(REVISION_ID);
aplatanado 0:782f2061a8f5 121 WAIT_TSRAD();
aplatanado 0:782f2061a8f5 122 int revision_id = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 123
aplatanado 0:782f2061a8f5 124 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 125 ncs_.write(1);
aplatanado 0:782f2061a8f5 126
aplatanado 0:782f2061a8f5 127 if (product_id != 0x33) {
aplatanado 0:782f2061a8f5 128 error("ADNS9500::reset : bad product ID: 0x%x\n", product_id);
aplatanado 0:782f2061a8f5 129 }
aplatanado 0:782f2061a8f5 130
aplatanado 0:782f2061a8f5 131 if (revision_id != 0x03) {
aplatanado 0:782f2061a8f5 132 error("ADNS9500::reset : bad revision ID: 0x%x\n", revision_id);
aplatanado 0:782f2061a8f5 133 }
aplatanado 0:782f2061a8f5 134
aplatanado 0:782f2061a8f5 135 enabled_ = true;
aplatanado 0:782f2061a8f5 136
aplatanado 0:782f2061a8f5 137 if (firmware) {
aplatanado 0:782f2061a8f5 138 sromDownload(firmware);
aplatanado 0:782f2061a8f5 139 enableLaser();
aplatanado 0:782f2061a8f5 140 }
aplatanado 0:782f2061a8f5 141 }
aplatanado 0:782f2061a8f5 142
aplatanado 0:782f2061a8f5 143 void ADNS9500::shutdown()
aplatanado 0:782f2061a8f5 144 {
aplatanado 0:782f2061a8f5 145 if (! enabled_)
aplatanado 0:782f2061a8f5 146 error("ADNS9500::shutdown : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 147
aplatanado 0:782f2061a8f5 148 ncs_.write(0);
aplatanado 0:782f2061a8f5 149 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 150
aplatanado 9:8b1e889e94fe 151 // send 0x5a to POWER_UP_RESET
aplatanado 2:ee0c13ef1320 152 spiSend(POWER_UP_RESET, 0x5a);
aplatanado 2:ee0c13ef1320 153
aplatanado 0:782f2061a8f5 154 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 155 ncs_.write(1);
aplatanado 0:782f2061a8f5 156
aplatanado 0:782f2061a8f5 157 enabled_ = false;
aplatanado 0:782f2061a8f5 158 }
aplatanado 0:782f2061a8f5 159
aplatanado 0:782f2061a8f5 160 int ADNS9500::read(Register lregister)
aplatanado 0:782f2061a8f5 161 {
aplatanado 0:782f2061a8f5 162 if (! enabled_)
aplatanado 0:782f2061a8f5 163 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 164
aplatanado 0:782f2061a8f5 165 ncs_.write(0);
aplatanado 0:782f2061a8f5 166 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 167
aplatanado 0:782f2061a8f5 168 // send the command to read the register
aplatanado 2:ee0c13ef1320 169 int value = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 170
aplatanado 0:782f2061a8f5 171 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 172 ncs_.write(1);
aplatanado 2:ee0c13ef1320 173
aplatanado 0:782f2061a8f5 174 return value;
aplatanado 0:782f2061a8f5 175 }
aplatanado 0:782f2061a8f5 176
aplatanado 0:782f2061a8f5 177 int ADNS9500::read(Register uregister, Register lregister)
aplatanado 0:782f2061a8f5 178 {
aplatanado 0:782f2061a8f5 179 if (! enabled_)
aplatanado 0:782f2061a8f5 180 error("ADNS9500::read : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 181
aplatanado 0:782f2061a8f5 182 ncs_.write(0);
aplatanado 0:782f2061a8f5 183 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 184
aplatanado 0:782f2061a8f5 185 // send the command to read the registers
aplatanado 2:ee0c13ef1320 186 int lvalue = spiReceive(lregister);
aplatanado 2:ee0c13ef1320 187 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 188 int uvalue = spiReceive(uregister);
aplatanado 2:ee0c13ef1320 189
aplatanado 0:782f2061a8f5 190 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 191 ncs_.write(1);
aplatanado 0:782f2061a8f5 192
aplatanado 0:782f2061a8f5 193 return ADNS9500_UINT16(uvalue, lvalue);
aplatanado 0:782f2061a8f5 194 }
aplatanado 0:782f2061a8f5 195
aplatanado 0:782f2061a8f5 196 int ADNS9500::sromDownload(const char* filename)
aplatanado 0:782f2061a8f5 197 {
aplatanado 0:782f2061a8f5 198 if (! enabled_)
aplatanado 0:782f2061a8f5 199 error("ADNS9500::sromDownload : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 200
aplatanado 0:782f2061a8f5 201 ncs_.write(0);
aplatanado 0:782f2061a8f5 202 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 203
aplatanado 0:782f2061a8f5 204 // SROM download
aplatanado 2:ee0c13ef1320 205 spiSend(CONFIGURATION_IV, ADNS9500_CONFIGURATION_IV_SROM_SIZE);
aplatanado 2:ee0c13ef1320 206 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 207 spiSend(SROM_ENABLE, 0x1d);
aplatanado 2:ee0c13ef1320 208 LONG_WAIT_US(DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 209
aplatanado 2:ee0c13ef1320 210 spiSend(SROM_ENABLE, 0x18);
aplatanado 2:ee0c13ef1320 211 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 212 spi_.write(SET_BIT(SROM_LOAD_BURST, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 213
aplatanado 2:ee0c13ef1320 214 // we expect a line per byte in hex without 0x prefix
aplatanado 2:ee0c13ef1320 215 char buffer[4];
aplatanado 0:782f2061a8f5 216 ifstream ifs(filename, ifstream::in);
aplatanado 2:ee0c13ef1320 217 while(ifs.getline(buffer, sizeof(buffer)).good()) {
aplatanado 0:782f2061a8f5 218 WAIT_TLOAD();
aplatanado 2:ee0c13ef1320 219 int byte = strtol(buffer, NULL, 16);
aplatanado 2:ee0c13ef1320 220 spi_.write(byte);
aplatanado 0:782f2061a8f5 221 }
aplatanado 0:782f2061a8f5 222 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 223 ncs_.write(1);
aplatanado 0:782f2061a8f5 224 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 225
aplatanado 0:782f2061a8f5 226 if (! ifs.eof())
aplatanado 0:782f2061a8f5 227 error("ADNS9500::sromDownload : error reading from file: %s\n", filename);
aplatanado 0:782f2061a8f5 228
aplatanado 0:782f2061a8f5 229 // test if SROM was downloaded successfully
aplatanado 0:782f2061a8f5 230 wait_us(160);
aplatanado 0:782f2061a8f5 231 ncs_.write(0);
aplatanado 0:782f2061a8f5 232 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 233
aplatanado 2:ee0c13ef1320 234 int srom_id = spiReceive(SROM_ID);
aplatanado 2:ee0c13ef1320 235
aplatanado 0:782f2061a8f5 236 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 237 ncs_.write(1);
aplatanado 0:782f2061a8f5 238
aplatanado 0:782f2061a8f5 239 if (! srom_id)
aplatanado 0:782f2061a8f5 240 error("ADNS9500::sromDownload : the firmware was not successful downloaded\n");
aplatanado 0:782f2061a8f5 241
aplatanado 0:782f2061a8f5 242 // test laser fault condition
aplatanado 0:782f2061a8f5 243 ncs_.write(0);
aplatanado 0:782f2061a8f5 244 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 245
aplatanado 2:ee0c13ef1320 246 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 247
aplatanado 0:782f2061a8f5 248 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 249 ncs_.write(1);
aplatanado 0:782f2061a8f5 250
aplatanado 0:782f2061a8f5 251 if (ADNS9500_IF_LASER_FAULT(motion))
aplatanado 0:782f2061a8f5 252 error("ADNS9500::sromDownload : laser fault condition detected\n");
aplatanado 0:782f2061a8f5 253
aplatanado 0:782f2061a8f5 254 // return the SROM CRC value
aplatanado 0:782f2061a8f5 255 ncs_.write(0);
aplatanado 0:782f2061a8f5 256 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 257
aplatanado 2:ee0c13ef1320 258 spiSend(SROM_ENABLE, 0x15);
aplatanado 2:ee0c13ef1320 259 LONG_WAIT_MS(10);
aplatanado 2:ee0c13ef1320 260
aplatanado 2:ee0c13ef1320 261 int lcrc = spiReceive(DATA_OUT_LOWER);
aplatanado 2:ee0c13ef1320 262 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 263 int ucrc = spiReceive(DATA_OUT_UPPER);
aplatanado 0:782f2061a8f5 264
aplatanado 0:782f2061a8f5 265 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 266 ncs_.write(1);
aplatanado 0:782f2061a8f5 267
aplatanado 0:782f2061a8f5 268 return ADNS9500_UINT16(ucrc, lcrc);
aplatanado 0:782f2061a8f5 269 }
aplatanado 0:782f2061a8f5 270
aplatanado 0:782f2061a8f5 271 void ADNS9500::enableLaser(bool enable)
aplatanado 0:782f2061a8f5 272 {
aplatanado 0:782f2061a8f5 273 if (! enabled_)
aplatanado 0:782f2061a8f5 274 error("ADNS9500::enableLaser : the sensor is not enabled\n");
aplatanado 2:ee0c13ef1320 275
aplatanado 0:782f2061a8f5 276 ncs_.write(0);
aplatanado 0:782f2061a8f5 277 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 278
aplatanado 0:782f2061a8f5 279 if (enable) {
aplatanado 0:782f2061a8f5 280 int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 281 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 282 }
aplatanado 0:782f2061a8f5 283 else {
aplatanado 0:782f2061a8f5 284 int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
aplatanado 2:ee0c13ef1320 285 spiSend(LASER_CTRL0, laser_ctrl0);
aplatanado 0:782f2061a8f5 286 }
aplatanado 0:782f2061a8f5 287
aplatanado 0:782f2061a8f5 288 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 289 ncs_.write(1);
aplatanado 0:782f2061a8f5 290 }
aplatanado 0:782f2061a8f5 291
aplatanado 0:782f2061a8f5 292 bool ADNS9500::getMotionDelta(int& dx, int& dy)
aplatanado 0:782f2061a8f5 293 {
aplatanado 0:782f2061a8f5 294 if (! enabled_)
aplatanado 0:782f2061a8f5 295 error("ADNS9500::getMotionDelta : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 296
aplatanado 0:782f2061a8f5 297 ncs_.write(0);
aplatanado 0:782f2061a8f5 298 WAIT_TNCSSCLK();
aplatanado 2:ee0c13ef1320 299
aplatanado 2:ee0c13ef1320 300 dx = 0;
aplatanado 2:ee0c13ef1320 301 dy = 0;
aplatanado 2:ee0c13ef1320 302
aplatanado 2:ee0c13ef1320 303 int motion = spiReceive(MOTION);
aplatanado 0:782f2061a8f5 304 if (ADNS9500_IF_MOTION(motion)) {
aplatanado 2:ee0c13ef1320 305 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 306 int dxl = spiReceive(DELTA_X_L);
aplatanado 2:ee0c13ef1320 307 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 308 dx += ADNS9500_INT16(spiReceive(DELTA_X_H), dxl);
aplatanado 0:782f2061a8f5 309
aplatanado 2:ee0c13ef1320 310 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 311 int dyl = spiReceive(DELTA_Y_L);
aplatanado 2:ee0c13ef1320 312 WAIT_TSRR();
aplatanado 2:ee0c13ef1320 313 dy += ADNS9500_INT16(spiReceive(DELTA_Y_H), dyl);
aplatanado 0:782f2061a8f5 314 }
aplatanado 0:782f2061a8f5 315
aplatanado 0:782f2061a8f5 316 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 317 ncs_.write(1);
aplatanado 2:ee0c13ef1320 318
aplatanado 0:782f2061a8f5 319 return ADNS9500_IF_MOTION(motion);
aplatanado 0:782f2061a8f5 320 }
aplatanado 0:782f2061a8f5 321
aplatanado 0:782f2061a8f5 322 bool ADNS9500::getMotionDeltaMM(float& dx, float& dy)
aplatanado 0:782f2061a8f5 323 {
aplatanado 0:782f2061a8f5 324 int rawDx, rawDy;
aplatanado 0:782f2061a8f5 325
aplatanado 0:782f2061a8f5 326 bool motion = getMotionDelta(rawDx, rawDy);
aplatanado 0:782f2061a8f5 327 dx = (float)rawDx / xCpi_ * 25.4;
aplatanado 0:782f2061a8f5 328 dy = (float)rawDy / yCpi_ * 25.4;
aplatanado 0:782f2061a8f5 329
aplatanado 0:782f2061a8f5 330 return motion;
aplatanado 0:782f2061a8f5 331 }
aplatanado 0:782f2061a8f5 332
aplatanado 0:782f2061a8f5 333 bool ADNS9500::getMotionData(MotionData& data)
aplatanado 0:782f2061a8f5 334 {
aplatanado 0:782f2061a8f5 335 if (! enabled_)
aplatanado 0:782f2061a8f5 336 error("ADNS9500::getMotionData : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 337
aplatanado 0:782f2061a8f5 338 ncs_.write(0);
aplatanado 0:782f2061a8f5 339 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 340
aplatanado 0:782f2061a8f5 341 // activate motion burst mode
aplatanado 0:782f2061a8f5 342 spi_.write(0x50);
aplatanado 2:ee0c13ef1320 343 WAIT_TSRAD(); // see the chronogram
aplatanado 0:782f2061a8f5 344
aplatanado 0:782f2061a8f5 345 // read motion burst data
aplatanado 0:782f2061a8f5 346 data.motion = spi_.write(0x00);
aplatanado 0:782f2061a8f5 347 data.observation = spi_.write(0x00);
aplatanado 0:782f2061a8f5 348
aplatanado 0:782f2061a8f5 349 int ldx = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 350 data.dx = ADNS9500_INT16(spi_.write(0x00), ldx);
aplatanado 0:782f2061a8f5 351
aplatanado 0:782f2061a8f5 352 int ldy = spi_.write(0x00);
aplatanado 2:ee0c13ef1320 353 data.dy = ADNS9500_INT16(spi_.write(0x00), ldy);
aplatanado 0:782f2061a8f5 354
aplatanado 2:ee0c13ef1320 355 data.surfaceQuality = spi_.write(0x00) * 4;
aplatanado 2:ee0c13ef1320 356 data.averagePixel = spi_.write(0x00) / 1.76;
aplatanado 0:782f2061a8f5 357 data.maximumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 358 data.minimumPixel = spi_.write(0x00);
aplatanado 0:782f2061a8f5 359
aplatanado 0:782f2061a8f5 360 int ushutter = spi_.write(0x00);
aplatanado 0:782f2061a8f5 361 data.shutter = ADNS9500_UINT16(ushutter, spi_.write(0x00));
aplatanado 0:782f2061a8f5 362
aplatanado 0:782f2061a8f5 363 int uframe_period = spi_.write(0x00);
aplatanado 0:782f2061a8f5 364 data.framePeriod = ADNS9500_UINT16(uframe_period, spi_.write(0x00));
aplatanado 0:782f2061a8f5 365
aplatanado 0:782f2061a8f5 366 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 367 ncs_.write(1);
aplatanado 0:782f2061a8f5 368 WAIT_TBEXIT();
aplatanado 2:ee0c13ef1320 369
aplatanado 2:ee0c13ef1320 370 data.dxMM = (float)data.dx / xCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 371 data.dyMM = (float)data.dy / yCpi_ * 25.4;
aplatanado 2:ee0c13ef1320 372
aplatanado 2:ee0c13ef1320 373 // write a value to Motion register to clear motion bit
aplatanado 2:ee0c13ef1320 374 ncs_.write(0);
aplatanado 2:ee0c13ef1320 375 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 376
aplatanado 2:ee0c13ef1320 377 spiSend(MOTION, 0x00);
aplatanado 2:ee0c13ef1320 378
aplatanado 2:ee0c13ef1320 379 WAIT_TSCLKNCS();
aplatanado 2:ee0c13ef1320 380 ncs_.write(1);
aplatanado 2:ee0c13ef1320 381
aplatanado 0:782f2061a8f5 382 return ADNS9500_IF_MOTION(data.motion);
aplatanado 0:782f2061a8f5 383 }
aplatanado 0:782f2061a8f5 384
aplatanado 0:782f2061a8f5 385 void ADNS9500::setResolution(Resolution xy_resolution)
aplatanado 0:782f2061a8f5 386 {
aplatanado 0:782f2061a8f5 387 if (! enabled_)
aplatanado 0:782f2061a8f5 388 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 389
aplatanado 0:782f2061a8f5 390 ncs_.write(0);
aplatanado 0:782f2061a8f5 391 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 392
aplatanado 0:782f2061a8f5 393 // enable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 394 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 395 rpt_mod = CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 396 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 397 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 398
aplatanado 0:782f2061a8f5 399 // set resolution for X-axis and Y-axis
aplatanado 2:ee0c13ef1320 400 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 401 spiSend(CONFIGURATION_I, xy_resolution);
aplatanado 0:782f2061a8f5 402
aplatanado 0:782f2061a8f5 403 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 404 ncs_.write(1);
aplatanado 0:782f2061a8f5 405
aplatanado 0:782f2061a8f5 406 xCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 407 yCpi_ = xy_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 408 }
aplatanado 0:782f2061a8f5 409
aplatanado 0:782f2061a8f5 410 void ADNS9500::setResolution(Resolution x_resolution, Resolution y_resolution)
aplatanado 0:782f2061a8f5 411 {
aplatanado 0:782f2061a8f5 412 if (! enabled_)
aplatanado 0:782f2061a8f5 413 error("ADNS9500::setResolution : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 414
aplatanado 0:782f2061a8f5 415 ncs_.write(0);
aplatanado 0:782f2061a8f5 416 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 417
aplatanado 0:782f2061a8f5 418 // disable XY axes CPI in sync mode
aplatanado 2:ee0c13ef1320 419 int rpt_mod = spiReceive(CONFIGURATION_II);
aplatanado 2:ee0c13ef1320 420 rpt_mod = SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD);
aplatanado 2:ee0c13ef1320 421 WAIT_TSRW();
aplatanado 2:ee0c13ef1320 422 spiSend(CONFIGURATION_II, rpt_mod);
aplatanado 0:782f2061a8f5 423
aplatanado 0:782f2061a8f5 424 // set resolution for X-axis
aplatanado 2:ee0c13ef1320 425 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 426 spiSend(CONFIGURATION_I, x_resolution);
aplatanado 0:782f2061a8f5 427
aplatanado 0:782f2061a8f5 428 // set resolution for Y-axis
aplatanado 2:ee0c13ef1320 429 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 430 spiSend(CONFIGURATION_V, y_resolution);
aplatanado 0:782f2061a8f5 431
aplatanado 0:782f2061a8f5 432 WAIT_TSCLKNCS();
aplatanado 0:782f2061a8f5 433 ncs_.write(1);
aplatanado 0:782f2061a8f5 434
aplatanado 0:782f2061a8f5 435 xCpi_ = x_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 436 yCpi_ = y_resolution * CPI_CHANGE_UNIT;
aplatanado 0:782f2061a8f5 437 }
aplatanado 0:782f2061a8f5 438
aplatanado 3:898ed1944119 439 void ADNS9500::captureFrame(uint8_t* pixels)
aplatanado 0:782f2061a8f5 440 {
aplatanado 0:782f2061a8f5 441 if (! enabled_)
aplatanado 0:782f2061a8f5 442 error("ADNS9500::captureFrame : the sensor is not enabled\n");
aplatanado 0:782f2061a8f5 443
aplatanado 0:782f2061a8f5 444 ncs_.write(0);
aplatanado 0:782f2061a8f5 445 WAIT_TNCSSCLK();
aplatanado 0:782f2061a8f5 446
aplatanado 2:ee0c13ef1320 447 spiSend(FRAME_CAPTURE, 0x93);
aplatanado 2:ee0c13ef1320 448 WAIT_TSWW();
aplatanado 2:ee0c13ef1320 449 spiSend(FRAME_CAPTURE, 0xc5);
aplatanado 2:ee0c13ef1320 450 LONG_WAIT_US(2*DEFAULT_MAX_FRAME_PERIOD);
aplatanado 2:ee0c13ef1320 451
aplatanado 0:782f2061a8f5 452 // check for first pixel reading motion bit
aplatanado 3:898ed1944119 453 int motion = spiReceive(MOTION);
aplatanado 3:898ed1944119 454 WAIT_TSRR();
aplatanado 3:898ed1944119 455 while(! ADNS9500_IF_FRAME_FIRST_PIXEL(motion)) {
aplatanado 2:ee0c13ef1320 456 int motion = spiReceive(MOTION);
aplatanado 2:ee0c13ef1320 457 WAIT_TSRR();
aplatanado 0:782f2061a8f5 458 }
aplatanado 2:ee0c13ef1320 459
aplatanado 0:782f2061a8f5 460 // read pixel values
aplatanado 0:782f2061a8f5 461 spi_.write(PIXEL_BURST);
aplatanado 0:782f2061a8f5 462 WAIT_TSRAD();
aplatanado 3:898ed1944119 463 for (uint8_t* p = pixels; p != pixels + NUMBER_OF_PIXELS_PER_FRAME; ++p) {
aplatanado 3:898ed1944119 464 *p = spi_.write(0x00);
aplatanado 0:782f2061a8f5 465 WAIT_TLOAD();
aplatanado 0:782f2061a8f5 466 }
aplatanado 0:782f2061a8f5 467
aplatanado 3:898ed1944119 468 // burst exit
aplatanado 0:782f2061a8f5 469 ncs_.write(1);
aplatanado 0:782f2061a8f5 470 WAIT_TBEXIT();
aplatanado 0:782f2061a8f5 471 }
aplatanado 2:ee0c13ef1320 472
aplatanado 2:ee0c13ef1320 473 void ADNS9500::spiSend(Register address, int value)
aplatanado 2:ee0c13ef1320 474 {
aplatanado 2:ee0c13ef1320 475 spi_.write(SET_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 476 spi_.write(value);
aplatanado 2:ee0c13ef1320 477 }
aplatanado 2:ee0c13ef1320 478
aplatanado 2:ee0c13ef1320 479 int ADNS9500::spiReceive(Register address)
aplatanado 2:ee0c13ef1320 480 {
aplatanado 2:ee0c13ef1320 481 spi_.write(CLEAR_BIT(address, SPI_WRITE_MODE));
aplatanado 2:ee0c13ef1320 482 WAIT_TSRAD();
aplatanado 2:ee0c13ef1320 483 return spi_.write(0x00);
aplatanado 2:ee0c13ef1320 484 }
aplatanado 0:782f2061a8f5 485 }