Jesús Torres
Interface to access to Avago ADNS-9500 laser mouse sensors.
Diff: ADNS9500.cpp
- Revision:
- 1:fa3052be61b5
- Parent:
- 0:782f2061a8f5
- Child:
- 2:ee0c13ef1320
--- a/ADNS9500.cpp Fri Feb 10 21:35:22 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,485 +0,0 @@
-/*
- * ADNS9500.hpp - Interface to 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 <fstream>
-#include <math.h>
-#include <mbed.h>
-#include <string>
-
-#include <ADNS9500.hpp>
-
-#define WAIT_TSRAD() wait_us(100)
-#define WAIT_TSRWR() wait_us(20)
-#define WAIT_TBEXIT() wait_us(1) // 500ns
-#define WAIT_TNCSSCLK() wait_us(1) // 120ns
-#define WAIT_TSCLKNCS() wait_us(20)
-#define WAIT_TLOAD() wait_us(15)
-
-#define DEFAULT_MAX_FPS 1958
-#define DEFAULT_MAX_FRAME_PERIOD ceil(1.0e6 / DEFAULT_MAX_FPS) // in us
-#define DEFAULT_X_CPI 1620
-#define DEFAULT_Y_CPI 1620
-#define CPI_CHANGE_UNIT 90
-
-#define SET_BIT(word, mask) (word | mask)
-#define CLEAR_BIT(word, mask) (word & (~mask))
-
-namespace adns9500 {
-
- ADNS9500::ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
- int spi_frequency, PinName motion)
- : spi_(mosi, miso, sclk),
- motion_(motion),
- ncs_(ncs),
- enabled_(false),
- dx_(0), dy_(0),
- xCpi_(DEFAULT_X_CPI), yCpi_(DEFAULT_Y_CPI)
- {
- motion_.fall(this, &ADNS9500::motionTrigger);
- }
-
- ADNS9500::~ADNS9500()
- {
- shutdown();
- }
-
- void ADNS9500::reset(const char* firmware)
- {
- // SPI port reset
- ncs_.write(1);
- WAIT_TNCSSCLK();
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // send 0x3a to POWER_UP_RESET and wait for at least 50ms
- spi_.write(POWER_UP_RESET);
- WAIT_TSRAD();
- spi_.write(0x5a);
- wait_ms(50);
-
- // clear observation register. Only required to deassert shutdown mode.
- spi_.write(OBSERVATION);
- WAIT_TSRAD();
- spi_.write(0x00);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
-
- // check observation register bits [5:0]
- spi_.write(OBSERVATION);
- WAIT_TSRAD();
- int observation = spi_.write(0x00);
- WAIT_TSRAD();
-
- if (! ADNS9500_IF_OBSERVATION_TEST(observation))
- error("ADNS9500::reset : observation register test failed: 0x%x\n", observation);
-
- // read motion data
- spi_.write(MOTION);
- WAIT_TSRAD();
- spi_.write(DELTA_X_L);
- WAIT_TSRAD();
- spi_.write(DELTA_X_H);
- WAIT_TSRAD();
- spi_.write(DELTA_Y_L);
- WAIT_TSRAD();
- spi_.write(DELTA_Y_H);
- WAIT_TSRAD();
-
- // read product and revision id to test the connection
- spi_.write(PRODUCT_ID);
- WAIT_TSRAD();
- int product_id = spi_.write(REVISION_ID);
- WAIT_TSRAD();
- int revision_id = spi_.write(0x00);
- WAIT_TSCLKNCS();
-
- ncs_.write(1);
-
- if (product_id != 0x33) {
- error("ADNS9500::reset : bad product ID: 0x%x\n", product_id);
- }
-
- if (revision_id != 0x03) {
- error("ADNS9500::reset : bad revision ID: 0x%x\n", revision_id);
- }
-
- enabled_ = true;
-
- if (firmware) {
- sromDownload(firmware);
- enableLaser();
- }
- }
-
- void ADNS9500::shutdown()
- {
- if (! enabled_)
- error("ADNS9500::shutdown : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // send 0x3a to POWER_UP_RESET
- spi_.write(POWER_UP_RESET);
- WAIT_TSRAD();
- spi_.write(0x5a);
- WAIT_TSCLKNCS();
-
- ncs_.write(1);
-
- enabled_ = false;
- }
-
- int ADNS9500::read(Register lregister)
- {
- if (! enabled_)
- error("ADNS9500::read : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // send the command to read the register
- spi_.write(lregister);
- WAIT_TSRAD();
- int value = spi_.write(0x00);
- WAIT_TSCLKNCS();
-
- ncs_.write(1);
- return value;
- }
-
- int ADNS9500::read(Register uregister, Register lregister)
- {
- if (! enabled_)
- error("ADNS9500::read : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // send the command to read the registers
- spi_.write(lregister);
- WAIT_TSRAD();
- int lvalue = spi_.write(uregister);
- WAIT_TSRAD();
- int uvalue = spi_.write(0x00);
- WAIT_TSCLKNCS();
-
- ncs_.write(1);
-
- return ADNS9500_UINT16(uvalue, lvalue);
- }
-
- int ADNS9500::sromDownload(const char* filename)
- {
- if (! enabled_)
- error("ADNS9500::sromDownload : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // SROM download
- spi_.write(CONFIGURATION_IV);
- WAIT_TSRAD();
- spi_.write(ADNS9500_CONFIGURATION_IV_SROM_SIZE);
- WAIT_TSRAD();
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x1d);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x18);
- WAIT_TSRAD();
- spi_.write(SROM_LOAD_BURST);
-
- // TODO: Comprobar que pasa si el archivo no existe
- ifstream ifs(filename, ifstream::in);
- while(ifs.good()) {
- WAIT_TLOAD();
- spi_.write(ifs.get());
- }
- WAIT_TSCLKNCS();
- ncs_.write(1);
- WAIT_TBEXIT();
-
- if (! ifs.eof())
- error("ADNS9500::sromDownload : error reading from file: %s\n", filename);
-
- // test if SROM was downloaded successfully
- wait_us(160);
- ncs_.write(0);
- WAIT_TNCSSCLK();
- spi_.write(SROM_ID);
- WAIT_TSRAD();
- int srom_id = spi_.write(0x00);
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- if (! srom_id)
- error("ADNS9500::sromDownload : the firmware was not successful downloaded\n");
-
- // test laser fault condition
- ncs_.write(0);
- WAIT_TNCSSCLK();
- spi_.write(MOTION);
- WAIT_TSRAD();
- int motion = spi_.write(0x00);
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- if (ADNS9500_IF_LASER_FAULT(motion))
- error("ADNS9500::sromDownload : laser fault condition detected\n");
-
- // return the SROM CRC value
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- spi_.write(SROM_ENABLE);
- WAIT_TSRAD();
- spi_.write(0x15);
- wait_us(10);
- spi_.write(DATA_OUT_LOWER);
- WAIT_TSRAD();
- int lcrc = spi_.write(DATA_OUT_UPPER);
- WAIT_TSRAD();
- int ucrc = spi_.write(0x00);
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- return ADNS9500_UINT16(ucrc, lcrc);
- }
-
- void ADNS9500::enableLaser(bool enable)
- {
- if (! enabled_)
- error("ADNS9500::enableLaser : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- spi_.write(LASER_CTRL0);
- WAIT_TSRAD();
- if (enable) {
- int laser_ctrl0 = CLEAR_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
- spi_.write(laser_ctrl0);
- }
- else {
- int laser_ctrl0 = SET_BIT(0x00, ADNS9500_LASER_CTRL0_FORCE_DISABLED);
- spi_.write(laser_ctrl0);
- }
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
- }
-
- bool ADNS9500::getMotionDelta(int& dx, int& dy)
- {
- if (! enabled_)
- error("ADNS9500::getMotionDelta : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- spi_.write(MOTION);
- WAIT_TSRAD();
- int motion = spi_.write(DELTA_X_L);
- WAIT_TSRAD();
-
- if (ADNS9500_IF_MOTION(motion)) {
- int tmp = spi_.write(DELTA_X_L);
- WAIT_TSRAD();
- dx = ADNS9500_UINT16(spi_.write(DELTA_X_H), tmp);
- WAIT_TSRAD();
- tmp = spi_.write(DELTA_Y_L);
- WAIT_TSRAD();
- dy = ADNS9500_UINT16(spi_.write(DELTA_Y_H), tmp);
-
- dx_ = dx;
- dy_ = dy;
- }
- else {
- spi_.write(0x00);
-
- dx = dx_;
- dy = dy_;
- }
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- return ADNS9500_IF_MOTION(motion);
- }
-
- bool ADNS9500::getMotionDeltaMM(float& dx, float& dy)
- {
- int rawDx, rawDy;
-
- bool motion = getMotionDelta(rawDx, rawDy);
- dx = (float)rawDx / xCpi_ * 25.4;
- dy = (float)rawDy / yCpi_ * 25.4;
-
- return motion;
- }
-
- bool ADNS9500::getMotionData(MotionData& data)
- {
- if (! enabled_)
- error("ADNS9500::getMotionData : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // activate motion burst mode
- spi_.write(MOTION_BURST);
- WAIT_TSRAD();
- spi_.write(0x50);
-
- // if in run mode, wait for 1 frame
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
-
- // read motion burst data
- data.motion = spi_.write(0x00);
- data.observation = spi_.write(0x00);
-
- int ldx = spi_.write(0x00);
- data.dx = ADNS9500_UINT16(spi_.write(0x00), ldx);
-
- int ldy = spi_.write(0x00);
- data.dy = ADNS9500_UINT16(spi_.write(0x00), ldy);
-
- data.squal = spi_.write(0x00);
- data.pixelSum = spi_.write(0x00);
- data.maximumPixel = spi_.write(0x00);
- data.minimumPixel = spi_.write(0x00);
-
- int ushutter = spi_.write(0x00);
- data.shutter = ADNS9500_UINT16(ushutter, spi_.write(0x00));
-
- int uframe_period = spi_.write(0x00);
- data.framePeriod = ADNS9500_UINT16(uframe_period, spi_.write(0x00));
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
- WAIT_TBEXIT();
-
- return ADNS9500_IF_MOTION(data.motion);
- }
-
- void ADNS9500::setResolution(Resolution xy_resolution)
- {
- if (! enabled_)
- error("ADNS9500::setResolution : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // enable XY axes CPI in sync mode
- spi_.write(CONFIGURATION_II);
- WAIT_TSRAD();
- int rpt_mod = spi_.write(0x00);
- WAIT_TSRAD();
- spi_.write(CLEAR_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD));
- WAIT_TSRAD();
-
- // set resolution for X-axis and Y-axis
- spi_.write(CONFIGURATION_I);
- WAIT_TSRAD();
- spi_.write(xy_resolution);
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- xCpi_ = xy_resolution * CPI_CHANGE_UNIT;
- yCpi_ = xy_resolution * CPI_CHANGE_UNIT;
- }
-
- void ADNS9500::setResolution(Resolution x_resolution, Resolution y_resolution)
- {
- if (! enabled_)
- error("ADNS9500::setResolution : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- // disable XY axes CPI in sync mode
- spi_.write(CONFIGURATION_II);
- WAIT_TSRAD();
- int rpt_mod = spi_.write(0x00);
- WAIT_TSRAD();
- spi_.write(SET_BIT(rpt_mod, ADNS9500_CONFIGURATION_II_RPT_MOD));
- WAIT_TSRAD();
-
- // set resolution for X-axis
- spi_.write(CONFIGURATION_I);
- WAIT_TSRAD();
- spi_.write(x_resolution);
- WAIT_TSRAD();
-
- // set resolution for Y-axis
- spi_.write(CONFIGURATION_V);
- WAIT_TSRAD();
- spi_.write(y_resolution);
-
- WAIT_TSCLKNCS();
- ncs_.write(1);
-
- xCpi_ = x_resolution * CPI_CHANGE_UNIT;
- yCpi_ = y_resolution * CPI_CHANGE_UNIT;
- }
-
- void ADNS9500::captureFrame(uint8_t pixels[NUMBER_OF_PIXELS_PER_FRAME])
- {
- if (! enabled_)
- error("ADNS9500::captureFrame : the sensor is not enabled\n");
-
- ncs_.write(0);
- WAIT_TNCSSCLK();
-
- spi_.write(FRAME_CAPTURE);
- WAIT_TSRAD();
- spi_.write(0x93);
- WAIT_TSRAD();
- spi_.write(FRAME_CAPTURE);
- WAIT_TSRAD();
- spi_.write(0xc5);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
- wait_us(DEFAULT_MAX_FRAME_PERIOD);
-
- // check for first pixel reading motion bit
- spi_.write(MOTION);
- while(true) {
- WAIT_TSRAD();
- int motion = spi_.write(MOTION);
- if (ADNS9500_IF_MOTION(motion))
- break;
- }
-
- // read pixel values
- spi_.write(PIXEL_BURST);
- WAIT_TSRAD();
- for (uint8_t* p = pixels; p != pixels + sizeof(pixels); ++p) {
- WAIT_TLOAD();
- *p = spi_.write(PIXEL_BURST);
- }
-
- // burst exit
- WAIT_TSCLKNCS();
- ncs_.write(1);
- WAIT_TBEXIT();
- }
-}
\ No newline at end of file