Diff: sample.cpp

Revision:

6:1969574dee8b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sample.cpp	Wed Jun 13 23:59:47 2012 +0000
@@ -0,0 +1,121 @@
+/*
+ * sample.hpp - Example of access to Avago ADNS-9500 laser mouse sensors
+ *
+ *   Copyright 2012 Jesus Torres <jmtorres@ull.es>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#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;
+    sensor.attach(&motionCallback);
+#elif defined (FRAME_CAPTURE)
+    uint8_t frame[adns9500::NUMBER_OF_PIXELS_PER_FRAME];
+#else
+    sensor.attach(&motionCallback);
+#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);
+#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
+    }
+}