Revision 3:898ed1944119, committed 2012-03-22

Comitter:

aplatanado

Date:

Thu Mar 22 17:36:49 2012 +0000

Parent:

2:ee0c13ef1320

Child:

4:dddfb08cebc2

Commit message:

fix capture frame.

Changed in this revision

--- 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();
     }

--- a/adns9500.hpp	Thu Mar 22 15:04:33 2012 +0000
+++ b/adns9500.hpp	Thu Mar 22 17:36:49 2012 +0000
@@ -31,6 +31,7 @@
 #define ADNS9500_IF_MOTION(x)               (bool)(x & 0x80)
 #define ADNS9500_IF_LASER_FAULT(x)          (bool)(x & 0x40)
 #define ADNS9500_IF_RUNNING_SROM_CODE(x)    (bool)(x & 0x80)
+#define ADNS9500_IF_FRAME_FIRST_PIXEL(x)    (bool)(x & 0x01)
 #define ADNS9500_IF_OBSERVATION_TEST(x)     (bool)(x & ADNS9500_OBSERVATION_CHECK_BITS)
 #define ADNS9500_UINT16(ub, lb)             (((uint16_t)ub << 8) + (uint16_t)lb)
 #define ADNS9500_INT16(ub, lb)              ((((int16_t)(int8_t)ub) << 8) + (int16_t)lb)
@@ -84,7 +85,7 @@
         POWER_UP_RESET     = 0x3a,
         MOTION_BURST       = 0x50,
         SROM_LOAD_BURST    = 0x62,
-        PIXEL_BURST        = 0x62
+        PIXEL_BURST        = 0x64
     };
 
     //
@@ -259,9 +260,9 @@
             // This disables navigation and overwrites any donwloaded firmware,
             // so call to reset() is needed to restore them
             //
-            // @param pixels The array where pixel values will be stored
+            // @param pixels A pointer to the array where pixel values will be stored
             //
-            void captureFrame(uint8_t pixels[NUMBER_OF_PIXELS_PER_FRAME]);
+            void captureFrame(uint8_t* pixels);
 
             //
             // Member function invoked when motion has ocurred and if a motion pin

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/main.cpp	Thu Mar 22 17:36:49 2012 +0000
@@ -0,0 +1,101 @@
+#include <mbed.h>
+#include <stdint.h>
+
+#include "adns9500.hpp"
+
+//#define USE_MOTION_BURST
+#define FRAME_CAPTURE
+
+const char* FIRMWARE_FILENAME = "/local/adns9500.fw";
+LocalFileSystem local("local");
+
+Ticker printData;
+adns9500::ADNS9500 sensor(p11, p12, p13, p15, adns9500::MAX_SPI_FREQUENCY, p14);
+
+bool motionTriggered = false;
+bool printDataTriggered = false;
+
+int motionCallbackCounter = 0;
+
+void printDataCallback()
+{
+    printDataTriggered = true;
+}
+
+void motionCallback()
+{
+    motionTriggered = true;
+    motionCallbackCounter++;
+}
+
+int main()
+{
+    int dataReadCounter = 0;
+    float totalMotionDx = 0.0;
+    float totalMotionDy = 0.0;
+
+#if defined (USE_MOTION_BURST)
+    adns9500::MotionData data;
+#elif defined (FRAME_CAPTURE)
+    uint8_t frame[adns9500::NUMBER_OF_PIXELS_PER_FRAME];
+#endif
+
+    sensor.reset();
+
+#if ! defined (FRAME_CAPTURE)
+    // Firmware upload
+    int crc = sensor.sromDownload(FIRMWARE_FILENAME);
+    printf("Firmware CRC: 0x%x (%s)\r\n", crc, FIRMWARE_FILENAME);
+#endif
+
+    // Enable laser
+    sensor.enableLaser();
+    printf("Laser enabled\r\n");
+
+#if ! defined (FRAME_CAPTURE)
+    printData.attach_us(&printDataCallback, 500);
+    sensor.attach(&motionCallback);
+#endif
+
+    while(true) {
+        if (motionTriggered) {
+            motionTriggered = false;
+            
+#if defined (USE_MOTION_BURST)
+            sensor.getMotionData(data);
+            totalMotionDx += data.dxMM;
+            totalMotionDy += data.dyMM;
+#else
+            float dx, dy;
+            sensor.getMotionDeltaMM(dx, dy);
+            totalMotionDx += dx;
+            totalMotionDy += dy;
+#endif
+            dataReadCounter++;
+        }
+
+        if (printDataTriggered) {
+            printDataTriggered = false;
+#if defined (USE_MOTION_BURST)
+            printf("Motion burst: %f, %f, quality=%d, average=%f, maximum=%d, minimum=%d, "
+                   "shutter=%d, periodo=%d, read=%d, irq=%d\r\n",
+                    totalMotionDx, totalMotionDy,
+                    data.surfaceQuality, data.averagePixel, data.maximumPixel, data.minimumPixel,
+                    data.shutter, data.framePeriod, dataReadCounter,
+                    motionCallbackCounter);
+#else
+            printf("Motion delta: %f, %f, read=%d, irq=%d\r\n",
+                totalMotionDx, totalMotionDy, dataReadCounter, motionCallbackCounter);
+#endif
+        }
+
+#if defined (FRAME_CAPTURE)
+        printf("FRAME:%d:", dataReadCounter);
+        sensor.captureFrame(frame);
+        for(uint8_t *p = frame; p != frame + sizeof(frame); ++p)
+            printf("%x", *p);
+        printf("\r\n");
+        dataReadCounter++;
+#endif
+    }
+}