Jesús Torres / Mbed 2 deprecated ADNS9500

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

Dependencies:   mbed

adns9500.hpp@1:fa3052be61b5, 2012-02-13 (annotated)

Committer:
aplatanado
Date:
Mon Feb 13 11:39:24 2012 +0000
Revision:
1:fa3052be61b5
Parent:
ADNS9500.hpp@0:782f2061a8f5
Child:
2:ee0c13ef1320
rename files to remove uppercase letters.

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 0:782f2061a8f5 19 #ifndef ADNS9500_HPP_
aplatanado 0:782f2061a8f5 20 #define ADNS9500_HPP_
aplatanado 0:782f2061a8f5 21
aplatanado 0:782f2061a8f5 22 #include <mbed.h>
aplatanado 0:782f2061a8f5 23 #include <stdint.h>
aplatanado 0:782f2061a8f5 24 #include <string>
aplatanado 0:782f2061a8f5 25
aplatanado 0:782f2061a8f5 26 #define ADNS9500_CONFIGURATION_II_RPT_MOD (1 << 2)
aplatanado 0:782f2061a8f5 27 #define ADNS9500_CONFIGURATION_IV_SROM_SIZE (1 << 1)
aplatanado 0:782f2061a8f5 28 #define ADNS9500_LASER_CTRL0_FORCE_DISABLED (1 << 0)
aplatanado 0:782f2061a8f5 29 #define ADNS9500_OBSERVATION_CHECK_BITS 0x3f
aplatanado 0:782f2061a8f5 30
aplatanado 0:782f2061a8f5 31 #define ADNS9500_IF_MOTION(x) (bool)(x & 0x80)
aplatanado 0:782f2061a8f5 32 #define ADNS9500_IF_LASER_FAULT(x) (bool)(x & 0x40)
aplatanado 0:782f2061a8f5 33 #define ADNS9500_IF_RUNNING_SROM_CODE(x) (bool)(x & 0x80)
aplatanado 0:782f2061a8f5 34 #define ADNS9500_IF_OBSERVATION_TEST(x) (bool)(x & ADNS9500_OBSERVATION_CHECK_BITS)
aplatanado 0:782f2061a8f5 35 #define ADNS9500_UINT16(ub, lb) ((uint16_t)ub << 8 | (uint16_t)lb)
aplatanado 0:782f2061a8f5 36
aplatanado 0:782f2061a8f5 37 namespace adns9500
aplatanado 0:782f2061a8f5 38 {
aplatanado 0:782f2061a8f5 39 // Maximum SPI clock frequency supported by the sensor
aplatanado 0:782f2061a8f5 40 const int MAX_SPI_FREQUENCY = 2000000;
aplatanado 0:782f2061a8f5 41
aplatanado 0:782f2061a8f5 42 // Internal oscillator norminal frequency
aplatanado 0:782f2061a8f5 43 const int INTERNAL_OSCILLATOR_FREQUENCY = 47000000;
aplatanado 0:782f2061a8f5 44
aplatanado 0:782f2061a8f5 45 // Number of pixels per frame
aplatanado 0:782f2061a8f5 46 const int NUMBER_OF_PIXELS_PER_FRAME = 900;
aplatanado 0:782f2061a8f5 47
aplatanado 0:782f2061a8f5 48 //
aplatanado 0:782f2061a8f5 49 // Sensor registers
aplatanado 0:782f2061a8f5 50 //
aplatanado 0:782f2061a8f5 51
aplatanado 0:782f2061a8f5 52 enum Register
aplatanado 0:782f2061a8f5 53 {
aplatanado 0:782f2061a8f5 54 PRODUCT_ID = 0x00,
aplatanado 0:782f2061a8f5 55 REVISION_ID = 0x01,
aplatanado 0:782f2061a8f5 56 MOTION = 0x02,
aplatanado 0:782f2061a8f5 57 DELTA_X_L = 0x03,
aplatanado 0:782f2061a8f5 58 DELTA_X_H = 0x04,
aplatanado 0:782f2061a8f5 59 DELTA_Y_L = 0x05,
aplatanado 0:782f2061a8f5 60 DELTA_Y_H = 0x06,
aplatanado 0:782f2061a8f5 61 SQUAL = 0x07,
aplatanado 0:782f2061a8f5 62 PIXEL_SUM = 0x08,
aplatanado 0:782f2061a8f5 63 MAXIMUM_PIXEL = 0x09,
aplatanado 0:782f2061a8f5 64 MINIMUM_PIXEL = 0x0a,
aplatanado 0:782f2061a8f5 65 SHUTTER_LOWER = 0x0b,
aplatanado 0:782f2061a8f5 66 SHUTTER_UPPER = 0x0c,
aplatanado 0:782f2061a8f5 67 FRAME_PERIOD_LOWER = 0x0d,
aplatanado 0:782f2061a8f5 68 FRAME_PERIOD_UPPER = 0x0e,
aplatanado 0:782f2061a8f5 69 CONFIGURATION_I = 0x0f,
aplatanado 0:782f2061a8f5 70 CONFIGURATION_II = 0x10,
aplatanado 0:782f2061a8f5 71 FRAME_CAPTURE = 0x12,
aplatanado 0:782f2061a8f5 72 SROM_ENABLE = 0x13,
aplatanado 0:782f2061a8f5 73 LASER_CTRL0 = 0x20,
aplatanado 0:782f2061a8f5 74 DATA_OUT_LOWER = 0x25,
aplatanado 0:782f2061a8f5 75 DATA_OUT_UPPER = 0x26,
aplatanado 0:782f2061a8f5 76 SROM_ID = 0x2a,
aplatanado 0:782f2061a8f5 77 OBSERVATION = 0x24,
aplatanado 0:782f2061a8f5 78 CONFIGURATION_V = 0x2f,
aplatanado 0:782f2061a8f5 79 CONFIGURATION_IV = 0x39,
aplatanado 0:782f2061a8f5 80 POWER_UP_RESET = 0x3a,
aplatanado 0:782f2061a8f5 81 MOTION_BURST = 0x50,
aplatanado 0:782f2061a8f5 82 SROM_LOAD_BURST = 0x62,
aplatanado 0:782f2061a8f5 83 PIXEL_BURST = 0x62
aplatanado 0:782f2061a8f5 84 };
aplatanado 0:782f2061a8f5 85
aplatanado 0:782f2061a8f5 86 //
aplatanado 0:782f2061a8f5 87 // Supported resolutions
aplatanado 0:782f2061a8f5 88 //
aplatanado 0:782f2061a8f5 89
aplatanado 0:782f2061a8f5 90 enum Resolution
aplatanado 0:782f2061a8f5 91 {
aplatanado 0:782f2061a8f5 92 CPI_90 = 0x01,
aplatanado 0:782f2061a8f5 93 CPI_1630 = 0x12,
aplatanado 0:782f2061a8f5 94 CPI_3240 = 0x24,
aplatanado 0:782f2061a8f5 95 CPI_5040 = 0x38
aplatanado 0:782f2061a8f5 96 };
aplatanado 0:782f2061a8f5 97
aplatanado 0:782f2061a8f5 98 //
aplatanado 0:782f2061a8f5 99 // Motion burst data
aplatanado 0:782f2061a8f5 100 //
aplatanado 0:782f2061a8f5 101
aplatanado 0:782f2061a8f5 102 struct MotionData
aplatanado 0:782f2061a8f5 103 {
aplatanado 0:782f2061a8f5 104 int motion;
aplatanado 0:782f2061a8f5 105 int observation;
aplatanado 0:782f2061a8f5 106 int dx;
aplatanado 0:782f2061a8f5 107 int dy;
aplatanado 0:782f2061a8f5 108 int squal;
aplatanado 0:782f2061a8f5 109 int pixelSum;
aplatanado 0:782f2061a8f5 110 int maximumPixel;
aplatanado 0:782f2061a8f5 111 int minimumPixel;
aplatanado 0:782f2061a8f5 112 int shutter;
aplatanado 0:782f2061a8f5 113 int framePeriod;
aplatanado 0:782f2061a8f5 114 };
aplatanado 0:782f2061a8f5 115
aplatanado 0:782f2061a8f5 116 //
aplatanado 0:782f2061a8f5 117 // Interface to access to ADNS-9500 mouse sensor
aplatanado 0:782f2061a8f5 118 //
aplatanado 0:782f2061a8f5 119
aplatanado 0:782f2061a8f5 120 class ADNS9500
aplatanado 0:782f2061a8f5 121 {
aplatanado 0:782f2061a8f5 122 public:
aplatanado 0:782f2061a8f5 123
aplatanado 0:782f2061a8f5 124 //
aplatanado 0:782f2061a8f5 125 // Create the sensor interface
aplatanado 0:782f2061a8f5 126 //
aplatanado 0:782f2061a8f5 127 // @param mosi MOSI pin for the SPI interface
aplatanado 0:782f2061a8f5 128 // @param miso MISO pin for the SPI interface
aplatanado 0:782f2061a8f5 129 // @param sclk SCLK pin for the SPI interface
aplatanado 0:782f2061a8f5 130 // @param spi_frequency SPI clock frequency in Hz up to MAX_SPI_PORT_FREQUENCY
aplatanado 0:782f2061a8f5 131 // @param ncs A digital active-low output pin for sensor chip select
aplatanado 0:782f2061a8f5 132 // @param motion A digital active-low input pin activated by the sensor when motion
aplatanado 0:782f2061a8f5 133 // is detected
aplatanado 0:782f2061a8f5 134 //
aplatanado 0:782f2061a8f5 135 ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
aplatanado 0:782f2061a8f5 136 int spi_frequency = MAX_SPI_FREQUENCY, PinName motion = NC);
aplatanado 0:782f2061a8f5 137
aplatanado 0:782f2061a8f5 138 //
aplatanado 0:782f2061a8f5 139 // Destroy de sensor interface
aplatanado 0:782f2061a8f5 140 //
aplatanado 0:782f2061a8f5 141 ~ADNS9500();
aplatanado 0:782f2061a8f5 142
aplatanado 0:782f2061a8f5 143 //
aplatanado 0:782f2061a8f5 144 // Power up/reset the sensor
aplatanado 0:782f2061a8f5 145 // Terminate with error if the connection can not be established
aplatanado 0:782f2061a8f5 146 //
aplatanado 0:782f2061a8f5 147 // @param firmware If the firmware has to be downloaded, C-string containing the name
aplatanado 0:782f2061a8f5 148 // of the file where it is stored, or NULL in other case
aplatanado 0:782f2061a8f5 149 //
aplatanado 0:782f2061a8f5 150 void reset(const char* firmware = NULL);
aplatanado 0:782f2061a8f5 151
aplatanado 0:782f2061a8f5 152 //
aplatanado 0:782f2061a8f5 153 // Shutdown the sensor
aplatanado 0:782f2061a8f5 154 //
aplatanado 0:782f2061a8f5 155 void shutdown();
aplatanado 0:782f2061a8f5 156
aplatanado 0:782f2061a8f5 157 //
aplatanado 0:782f2061a8f5 158 // Read the value of a sensor register
aplatanado 0:782f2061a8f5 159 //
aplatanado 0:782f2061a8f5 160 // @param lregister The register which to read its value
aplatanado 0:782f2061a8f5 161 // @return The value of the register
aplatanado 0:782f2061a8f5 162 //
aplatanado 0:782f2061a8f5 163 int read(Register lregister);
aplatanado 0:782f2061a8f5 164
aplatanado 0:782f2061a8f5 165 //
aplatanado 0:782f2061a8f5 166 // Read the values of sensor registers
aplatanado 0:782f2061a8f5 167 //
aplatanado 0:782f2061a8f5 168 // @param uregister The register which to read the upper byte
aplatanado 0:782f2061a8f5 169 // @param lregister The register which to read the lower byte
aplatanado 0:782f2061a8f5 170 // @return The values of registers as a 16-bit integer, putting the value
aplatanado 0:782f2061a8f5 171 // of uregister in the upper byte and the value of lregister in the
aplatanado 0:782f2061a8f5 172 // lower byte
aplatanado 0:782f2061a8f5 173 //
aplatanado 0:782f2061a8f5 174 int read(Register uregister, Register lregister);
aplatanado 0:782f2061a8f5 175
aplatanado 0:782f2061a8f5 176 //
aplatanado 0:782f2061a8f5 177 // Get information about sensor status
aplatanado 0:782f2061a8f5 178 //
aplatanado 0:782f2061a8f5 179 // @return The value of MOTION register. It tells if motion or laser fault
aplatanado 0:782f2061a8f5 180 // conditions have ocurred, laser power setting status and operating
aplatanado 0:782f2061a8f5 181 // mode in current frame
aplatanado 0:782f2061a8f5 182 //
aplatanado 0:782f2061a8f5 183 int status()
aplatanado 0:782f2061a8f5 184 { return read(MOTION); }
aplatanado 0:782f2061a8f5 185
aplatanado 0:782f2061a8f5 186 //
aplatanado 0:782f2061a8f5 187 // Download the firmware to the sensor SROM
aplatanado 0:782f2061a8f5 188 //
aplatanado 0:782f2061a8f5 189 // @param filename The name of the file which contains the sensor firmware
aplatanado 0:782f2061a8f5 190 // @return The SROM CRC value
aplatanado 0:782f2061a8f5 191 //
aplatanado 0:782f2061a8f5 192 int sromDownload(const char* filename);
aplatanado 0:782f2061a8f5 193
aplatanado 0:782f2061a8f5 194 //
aplatanado 0:782f2061a8f5 195 // Enable the laser
aplatanado 0:782f2061a8f5 196 //
aplatanado 0:782f2061a8f5 197 // @param enable True if laser must be enabled, or false if laser must be disabled
aplatanado 0:782f2061a8f5 198 //
aplatanado 0:782f2061a8f5 199 void enableLaser(bool enable=true);
aplatanado 0:782f2061a8f5 200
aplatanado 0:782f2061a8f5 201 //
aplatanado 0:782f2061a8f5 202 // Get motion deltas from sensor
aplatanado 0:782f2061a8f5 203 //
aplatanado 0:782f2061a8f5 204 // @param dx The component X of displacement
aplatanado 0:782f2061a8f5 205 // @param dy The component Y of displacement
aplatanado 0:782f2061a8f5 206 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 207 // or false in other case
aplatanado 0:782f2061a8f5 208 //
aplatanado 0:782f2061a8f5 209 bool getMotionDelta(int& dx, int& dy);
aplatanado 0:782f2061a8f5 210
aplatanado 0:782f2061a8f5 211 //
aplatanado 0:782f2061a8f5 212 // Get motion deltas in mm. from sensor
aplatanado 0:782f2061a8f5 213 //
aplatanado 0:782f2061a8f5 214 // @param dx The component X of displacement in mm.
aplatanado 0:782f2061a8f5 215 // @param dy The component Y of displacement in mm.
aplatanado 0:782f2061a8f5 216 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 217 // or false in other case
aplatanado 0:782f2061a8f5 218 //
aplatanado 0:782f2061a8f5 219 bool getMotionDeltaMM(float& dx, float& dy);
aplatanado 0:782f2061a8f5 220
aplatanado 0:782f2061a8f5 221 //
aplatanado 0:782f2061a8f5 222 // Get all information about motion
aplatanado 0:782f2061a8f5 223 //
aplatanado 0:782f2061a8f5 224 // @param data The struct where sensor data will be stored
aplatanado 0:782f2061a8f5 225 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 226 // or false in other case
aplatanado 0:782f2061a8f5 227 //
aplatanado 0:782f2061a8f5 228 bool getMotionData(MotionData& data);
aplatanado 0:782f2061a8f5 229
aplatanado 0:782f2061a8f5 230 //
aplatanado 0:782f2061a8f5 231 // Set the resolution on XY axes together
aplatanado 0:782f2061a8f5 232 //
aplatanado 0:782f2061a8f5 233 // @param xy_resolution The resolution for X-axis and Y-axis
aplatanado 0:782f2061a8f5 234 //
aplatanado 0:782f2061a8f5 235 void setResolution(Resolution xy_resolution);
aplatanado 0:782f2061a8f5 236
aplatanado 0:782f2061a8f5 237 //
aplatanado 0:782f2061a8f5 238 // Set the resolutions on X-axis and Y-axis
aplatanado 0:782f2061a8f5 239 //
aplatanado 0:782f2061a8f5 240 // @param x_resolution The resolution for X-axis
aplatanado 0:782f2061a8f5 241 // @param y_resolution The resolution for Y-axis
aplatanado 0:782f2061a8f5 242 //
aplatanado 0:782f2061a8f5 243 void setResolution(Resolution x_resolution, Resolution y_resolution);
aplatanado 0:782f2061a8f5 244
aplatanado 0:782f2061a8f5 245 //
aplatanado 0:782f2061a8f5 246 // Get a full array of pixel values from a single frame.
aplatanado 0:782f2061a8f5 247 // This disables navigation and overwrites any donwloaded firmware,
aplatanado 0:782f2061a8f5 248 // so call to reset() is needed to restore them
aplatanado 0:782f2061a8f5 249 //
aplatanado 0:782f2061a8f5 250 // @param pixels The array where pixel values will be stored
aplatanado 0:782f2061a8f5 251 //
aplatanado 0:782f2061a8f5 252 void captureFrame(uint8_t pixels[NUMBER_OF_PIXELS_PER_FRAME]);
aplatanado 0:782f2061a8f5 253
aplatanado 0:782f2061a8f5 254 //
aplatanado 0:782f2061a8f5 255 // Member function invoked when motion has ocurred and if a motion pin
aplatanado 0:782f2061a8f5 256 // was specified when the object constructor was called.
aplatanado 0:782f2061a8f5 257 // By default it invokes the function specified by a previous call to attach()
aplatanado 0:782f2061a8f5 258 //
aplatanado 0:782f2061a8f5 259 virtual void motionTrigger()
aplatanado 0:782f2061a8f5 260 { motionTrigger_.call(); }
aplatanado 0:782f2061a8f5 261
aplatanado 0:782f2061a8f5 262 //
aplatanado 0:782f2061a8f5 263 // Attach a function to call when a falling edge occurs on motion pin
aplatanado 0:782f2061a8f5 264 //
aplatanado 0:782f2061a8f5 265 // @param function A pointer to a function or 0 to set the attached function as none
aplatanado 0:782f2061a8f5 266 //
aplatanado 0:782f2061a8f5 267 void attach(void (*function)(void))
aplatanado 0:782f2061a8f5 268 { motionTrigger_.attach(function); }
aplatanado 0:782f2061a8f5 269
aplatanado 0:782f2061a8f5 270 //
aplatanado 0:782f2061a8f5 271 // Attach a member function to call when a falling edge occurs on motion pin
aplatanado 0:782f2061a8f5 272 //
aplatanado 0:782f2061a8f5 273 // @param object A reference to the object to call the member function on
aplatanado 0:782f2061a8f5 274 // @param function A pointer to the member function to be called
aplatanado 0:782f2061a8f5 275 //
aplatanado 0:782f2061a8f5 276 template<typename T>
aplatanado 0:782f2061a8f5 277 void attach(T& object, void (T::*member)(void))
aplatanado 0:782f2061a8f5 278 { motionTrigger_.attach(object, member); }
aplatanado 0:782f2061a8f5 279
aplatanado 0:782f2061a8f5 280 private:
aplatanado 0:782f2061a8f5 281 SPI spi_;
aplatanado 0:782f2061a8f5 282 InterruptIn motion_;
aplatanado 0:782f2061a8f5 283 DigitalOut ncs_;
aplatanado 0:782f2061a8f5 284
aplatanado 0:782f2061a8f5 285 bool enabled_;
aplatanado 0:782f2061a8f5 286 int dx_, dy_;
aplatanado 0:782f2061a8f5 287 int xCpi_, yCpi_;
aplatanado 0:782f2061a8f5 288
aplatanado 0:782f2061a8f5 289 FunctionPointer motionTrigger_;
aplatanado 0:782f2061a8f5 290 };
aplatanado 0:782f2061a8f5 291 }
aplatanado 0:782f2061a8f5 292
aplatanado 0:782f2061a8f5 293 #endif /* ADNS9500_HPP_ */