Chris Majoros / ADNS9500

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

Fork of ADNS9500 by Chris Majoros

adns9500.hpp@17:af2fb65ee807, 2013-03-14 (annotated)

Committer:
xxann5
Date:
Thu Mar 14 13:14:51 2013 +0000
Revision:
17:af2fb65ee807
Parent:
16:de76a70defb3 
Changed int to int16_t everywhere

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>
xxann5 15:85ea51a56fdc 25 #include "adns9500_firmware.hpp"
aplatanado 0:782f2061a8f5 26
aplatanado 0:782f2061a8f5 27 #define ADNS9500_CONFIGURATION_II_RPT_MOD (1 << 2)
aplatanado 0:782f2061a8f5 28 #define ADNS9500_CONFIGURATION_IV_SROM_SIZE (1 << 1)
aplatanado 0:782f2061a8f5 29 #define ADNS9500_LASER_CTRL0_FORCE_DISABLED (1 << 0)
aplatanado 0:782f2061a8f5 30 #define ADNS9500_OBSERVATION_CHECK_BITS 0x3f
aplatanado 0:782f2061a8f5 31
aplatanado 0:782f2061a8f5 32 #define ADNS9500_IF_MOTION(x) (bool)(x & 0x80)
aplatanado 0:782f2061a8f5 33 #define ADNS9500_IF_LASER_FAULT(x) (bool)(x & 0x40)
aplatanado 0:782f2061a8f5 34 #define ADNS9500_IF_RUNNING_SROM_CODE(x) (bool)(x & 0x80)
aplatanado 3:898ed1944119 35 #define ADNS9500_IF_FRAME_FIRST_PIXEL(x) (bool)(x & 0x01)
aplatanado 0:782f2061a8f5 36 #define ADNS9500_IF_OBSERVATION_TEST(x) (bool)(x & ADNS9500_OBSERVATION_CHECK_BITS)
aplatanado 7:1771f1c89df6 37 #define ADNS9500_UINT16(ub, lb) (uint16_t)(((ub & 0xff) << 8) | (lb & 0xff))
aplatanado 7:1771f1c89df6 38 #define ADNS9500_INT16(ub, lb) (int16_t)(((ub & 0xff) << 8) | (lb & 0xff))
aplatanado 0:782f2061a8f5 39
xxann5 15:85ea51a56fdc 40 #define BYTETOBINARYPATTERN "%d%d%d%d%d%d%d%d"
xxann5 15:85ea51a56fdc 41 #define BYTETOBINARY(byte) \
xxann5 15:85ea51a56fdc 42 (byte & 0x80 ? 1 : 0), \
xxann5 15:85ea51a56fdc 43 (byte & 0x40 ? 1 : 0), \
xxann5 15:85ea51a56fdc 44 (byte & 0x20 ? 1 : 0), \
xxann5 15:85ea51a56fdc 45 (byte & 0x10 ? 1 : 0), \
xxann5 15:85ea51a56fdc 46 (byte & 0x08 ? 1 : 0), \
xxann5 15:85ea51a56fdc 47 (byte & 0x04 ? 1 : 0), \
xxann5 15:85ea51a56fdc 48 (byte & 0x02 ? 1 : 0), \
xxann5 15:85ea51a56fdc 49 (byte & 0x01 ? 1 : 0)
xxann5 15:85ea51a56fdc 50
aplatanado 0:782f2061a8f5 51 namespace adns9500
aplatanado 0:782f2061a8f5 52 {
aplatanado 0:782f2061a8f5 53 // Maximum SPI clock frequency supported by the sensor
aplatanado 10:bbf9ff378632 54 const int MAX_SPI_FREQUENCY = 2000000;
aplatanado 0:782f2061a8f5 55
aplatanado 0:782f2061a8f5 56 // Internal oscillator norminal frequency
aplatanado 0:782f2061a8f5 57 const int INTERNAL_OSCILLATOR_FREQUENCY = 47000000;
aplatanado 0:782f2061a8f5 58
aplatanado 0:782f2061a8f5 59 // Number of pixels per frame
aplatanado 0:782f2061a8f5 60 const int NUMBER_OF_PIXELS_PER_FRAME = 900;
aplatanado 2:ee0c13ef1320 61
aplatanado 2:ee0c13ef1320 62 // Maximum surface quality
aplatanado 2:ee0c13ef1320 63 const int MAX_SURFACE_QUALITY = 676; // 169 * 4
aplatanado 0:782f2061a8f5 64
aplatanado 0:782f2061a8f5 65 //
aplatanado 0:782f2061a8f5 66 // Sensor registers
aplatanado 0:782f2061a8f5 67 //
aplatanado 0:782f2061a8f5 68
aplatanado 0:782f2061a8f5 69 enum Register
aplatanado 0:782f2061a8f5 70 {
aplatanado 0:782f2061a8f5 71 PRODUCT_ID = 0x00,
aplatanado 0:782f2061a8f5 72 REVISION_ID = 0x01,
aplatanado 0:782f2061a8f5 73 MOTION = 0x02,
aplatanado 0:782f2061a8f5 74 DELTA_X_L = 0x03,
aplatanado 0:782f2061a8f5 75 DELTA_X_H = 0x04,
aplatanado 0:782f2061a8f5 76 DELTA_Y_L = 0x05,
aplatanado 0:782f2061a8f5 77 DELTA_Y_H = 0x06,
aplatanado 0:782f2061a8f5 78 SQUAL = 0x07,
aplatanado 0:782f2061a8f5 79 PIXEL_SUM = 0x08,
aplatanado 0:782f2061a8f5 80 MAXIMUM_PIXEL = 0x09,
aplatanado 0:782f2061a8f5 81 MINIMUM_PIXEL = 0x0a,
aplatanado 0:782f2061a8f5 82 SHUTTER_LOWER = 0x0b,
aplatanado 0:782f2061a8f5 83 SHUTTER_UPPER = 0x0c,
aplatanado 0:782f2061a8f5 84 FRAME_PERIOD_LOWER = 0x0d,
aplatanado 0:782f2061a8f5 85 FRAME_PERIOD_UPPER = 0x0e,
aplatanado 0:782f2061a8f5 86 CONFIGURATION_I = 0x0f,
aplatanado 0:782f2061a8f5 87 CONFIGURATION_II = 0x10,
aplatanado 0:782f2061a8f5 88 FRAME_CAPTURE = 0x12,
aplatanado 0:782f2061a8f5 89 SROM_ENABLE = 0x13,
aplatanado 0:782f2061a8f5 90 LASER_CTRL0 = 0x20,
aplatanado 0:782f2061a8f5 91 DATA_OUT_LOWER = 0x25,
aplatanado 0:782f2061a8f5 92 DATA_OUT_UPPER = 0x26,
aplatanado 0:782f2061a8f5 93 SROM_ID = 0x2a,
aplatanado 0:782f2061a8f5 94 OBSERVATION = 0x24,
aplatanado 0:782f2061a8f5 95 CONFIGURATION_V = 0x2f,
aplatanado 0:782f2061a8f5 96 CONFIGURATION_IV = 0x39,
aplatanado 0:782f2061a8f5 97 POWER_UP_RESET = 0x3a,
aplatanado 0:782f2061a8f5 98 MOTION_BURST = 0x50,
aplatanado 0:782f2061a8f5 99 SROM_LOAD_BURST = 0x62,
aplatanado 3:898ed1944119 100 PIXEL_BURST = 0x64
aplatanado 0:782f2061a8f5 101 };
aplatanado 0:782f2061a8f5 102
aplatanado 0:782f2061a8f5 103 //
aplatanado 0:782f2061a8f5 104 // Supported resolutions
aplatanado 0:782f2061a8f5 105 //
aplatanado 0:782f2061a8f5 106
aplatanado 0:782f2061a8f5 107 enum Resolution
aplatanado 0:782f2061a8f5 108 {
aplatanado 0:782f2061a8f5 109 CPI_90 = 0x01,
aplatanado 0:782f2061a8f5 110 CPI_1630 = 0x12,
aplatanado 0:782f2061a8f5 111 CPI_3240 = 0x24,
aplatanado 0:782f2061a8f5 112 CPI_5040 = 0x38
aplatanado 0:782f2061a8f5 113 };
aplatanado 0:782f2061a8f5 114
aplatanado 0:782f2061a8f5 115 //
aplatanado 0:782f2061a8f5 116 // Motion burst data
aplatanado 0:782f2061a8f5 117 //
aplatanado 0:782f2061a8f5 118
aplatanado 0:782f2061a8f5 119 struct MotionData
aplatanado 0:782f2061a8f5 120 {
aplatanado 2:ee0c13ef1320 121 MotionData()
aplatanado 2:ee0c13ef1320 122 : motion(0), observation(0), dx(0), dy(0), dxMM(0), dyMM(0),
aplatanado 2:ee0c13ef1320 123 surfaceQuality(0), averagePixel(0), maximumPixel(0),
aplatanado 2:ee0c13ef1320 124 minimumPixel(0), shutter(0), framePeriod(0)
aplatanado 2:ee0c13ef1320 125 {}
aplatanado 2:ee0c13ef1320 126
aplatanado 0:782f2061a8f5 127 int motion;
aplatanado 0:782f2061a8f5 128 int observation;
aplatanado 0:782f2061a8f5 129 int dx;
aplatanado 0:782f2061a8f5 130 int dy;
aplatanado 2:ee0c13ef1320 131 float dxMM;
aplatanado 2:ee0c13ef1320 132 float dyMM;
aplatanado 2:ee0c13ef1320 133 int surfaceQuality;
aplatanado 2:ee0c13ef1320 134 float averagePixel;
aplatanado 0:782f2061a8f5 135 int maximumPixel;
aplatanado 0:782f2061a8f5 136 int minimumPixel;
aplatanado 0:782f2061a8f5 137 int shutter;
aplatanado 0:782f2061a8f5 138 int framePeriod;
aplatanado 0:782f2061a8f5 139 };
aplatanado 0:782f2061a8f5 140
aplatanado 0:782f2061a8f5 141 //
aplatanado 0:782f2061a8f5 142 // Interface to access to ADNS-9500 mouse sensor
aplatanado 0:782f2061a8f5 143 //
aplatanado 0:782f2061a8f5 144
aplatanado 0:782f2061a8f5 145 class ADNS9500
aplatanado 0:782f2061a8f5 146 {
aplatanado 0:782f2061a8f5 147 public:
aplatanado 0:782f2061a8f5 148
aplatanado 0:782f2061a8f5 149 //
aplatanado 0:782f2061a8f5 150 // Create the sensor interface
aplatanado 0:782f2061a8f5 151 //
aplatanado 0:782f2061a8f5 152 // @param mosi MOSI pin for the SPI interface
aplatanado 0:782f2061a8f5 153 // @param miso MISO pin for the SPI interface
aplatanado 0:782f2061a8f5 154 // @param sclk SCLK pin for the SPI interface
aplatanado 0:782f2061a8f5 155 // @param spi_frequency SPI clock frequency in Hz up to MAX_SPI_PORT_FREQUENCY
aplatanado 0:782f2061a8f5 156 // @param ncs A digital active-low output pin for sensor chip select
aplatanado 0:782f2061a8f5 157 // @param motion A digital active-low input pin activated by the sensor when motion
aplatanado 0:782f2061a8f5 158 // is detected
aplatanado 0:782f2061a8f5 159 //
aplatanado 0:782f2061a8f5 160 ADNS9500(PinName mosi, PinName miso, PinName sclk, PinName ncs,
aplatanado 0:782f2061a8f5 161 int spi_frequency = MAX_SPI_FREQUENCY, PinName motion = NC);
aplatanado 0:782f2061a8f5 162
aplatanado 0:782f2061a8f5 163 //
aplatanado 0:782f2061a8f5 164 // Destroy de sensor interface
aplatanado 0:782f2061a8f5 165 //
aplatanado 0:782f2061a8f5 166 ~ADNS9500();
aplatanado 0:782f2061a8f5 167
aplatanado 0:782f2061a8f5 168 //
aplatanado 0:782f2061a8f5 169 // Power up/reset the sensor
aplatanado 0:782f2061a8f5 170 // Terminate with error if the connection can not be established
aplatanado 0:782f2061a8f5 171 //
aplatanado 0:782f2061a8f5 172 // @param firmware If the firmware has to be downloaded, C-string containing the name
aplatanado 0:782f2061a8f5 173 // of the file where it is stored, or NULL in other case
aplatanado 0:782f2061a8f5 174 //
xxann5 15:85ea51a56fdc 175 void reset(const uint8_t* fw = NULL, uint16_t fw_len = 0 );
aplatanado 0:782f2061a8f5 176
aplatanado 0:782f2061a8f5 177 //
aplatanado 0:782f2061a8f5 178 // Shutdown the sensor
aplatanado 0:782f2061a8f5 179 //
aplatanado 0:782f2061a8f5 180 void shutdown();
aplatanado 0:782f2061a8f5 181
aplatanado 0:782f2061a8f5 182 //
aplatanado 0:782f2061a8f5 183 // Read the value of a sensor register
aplatanado 0:782f2061a8f5 184 //
aplatanado 0:782f2061a8f5 185 // @param lregister The register which to read its value
aplatanado 0:782f2061a8f5 186 // @return The value of the register
aplatanado 0:782f2061a8f5 187 //
aplatanado 0:782f2061a8f5 188 int read(Register lregister);
aplatanado 0:782f2061a8f5 189
aplatanado 0:782f2061a8f5 190 //
aplatanado 0:782f2061a8f5 191 // Read the values of sensor registers
aplatanado 0:782f2061a8f5 192 //
aplatanado 0:782f2061a8f5 193 // @param uregister The register which to read the upper byte
aplatanado 0:782f2061a8f5 194 // @param lregister The register which to read the lower byte
aplatanado 0:782f2061a8f5 195 // @return The values of registers as a 16-bit integer, putting the value
aplatanado 0:782f2061a8f5 196 // of uregister in the upper byte and the value of lregister in the
aplatanado 0:782f2061a8f5 197 // lower byte
aplatanado 0:782f2061a8f5 198 //
aplatanado 0:782f2061a8f5 199 int read(Register uregister, Register lregister);
aplatanado 0:782f2061a8f5 200
aplatanado 0:782f2061a8f5 201 //
aplatanado 0:782f2061a8f5 202 // Get information about sensor status
aplatanado 0:782f2061a8f5 203 //
aplatanado 0:782f2061a8f5 204 // @return The value of MOTION register. It tells if motion or laser fault
aplatanado 0:782f2061a8f5 205 // conditions have ocurred, laser power setting status and operating
aplatanado 0:782f2061a8f5 206 // mode in current frame
aplatanado 0:782f2061a8f5 207 //
aplatanado 0:782f2061a8f5 208 int status()
aplatanado 0:782f2061a8f5 209 { return read(MOTION); }
aplatanado 0:782f2061a8f5 210
aplatanado 0:782f2061a8f5 211 //
aplatanado 0:782f2061a8f5 212 // Download the firmware to the sensor SROM
aplatanado 0:782f2061a8f5 213 //
aplatanado 0:782f2061a8f5 214 // @param filename The name of the file which contains the sensor firmware
aplatanado 0:782f2061a8f5 215 // @return The SROM CRC value
aplatanado 0:782f2061a8f5 216 //
xxann5 15:85ea51a56fdc 217 int sromDownload(const uint8_t*, uint16_t);
aplatanado 0:782f2061a8f5 218
aplatanado 0:782f2061a8f5 219 //
aplatanado 0:782f2061a8f5 220 // Enable the laser
aplatanado 0:782f2061a8f5 221 //
aplatanado 0:782f2061a8f5 222 // @param enable True if laser must be enabled, or false if laser must be disabled
aplatanado 0:782f2061a8f5 223 //
aplatanado 0:782f2061a8f5 224 void enableLaser(bool enable=true);
xxann5 15:85ea51a56fdc 225 void getLaser(void);
aplatanado 0:782f2061a8f5 226
aplatanado 0:782f2061a8f5 227 //
aplatanado 0:782f2061a8f5 228 // Get motion deltas from sensor
aplatanado 0:782f2061a8f5 229 //
aplatanado 0:782f2061a8f5 230 // @param dx The component X of displacement
aplatanado 0:782f2061a8f5 231 // @param dy The component Y of displacement
aplatanado 0:782f2061a8f5 232 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 233 // or false in other case
aplatanado 0:782f2061a8f5 234 //
xxann5 17:af2fb65ee807 235 bool getMotionDelta(int16_t& dx, int16_t& dy);
aplatanado 0:782f2061a8f5 236
aplatanado 0:782f2061a8f5 237 //
aplatanado 0:782f2061a8f5 238 // Get motion deltas in mm. from sensor
aplatanado 0:782f2061a8f5 239 //
aplatanado 0:782f2061a8f5 240 // @param dx The component X of displacement in mm.
aplatanado 0:782f2061a8f5 241 // @param dy The component Y of displacement in mm.
aplatanado 0:782f2061a8f5 242 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 243 // or false in other case
aplatanado 0:782f2061a8f5 244 //
aplatanado 0:782f2061a8f5 245 bool getMotionDeltaMM(float& dx, float& dy);
aplatanado 0:782f2061a8f5 246
aplatanado 0:782f2061a8f5 247 //
aplatanado 0:782f2061a8f5 248 // Get all information about motion
aplatanado 0:782f2061a8f5 249 //
aplatanado 0:782f2061a8f5 250 // @param data The struct where sensor data will be stored
aplatanado 0:782f2061a8f5 251 // @return True if motion was occurred since the last time the function was called,
aplatanado 0:782f2061a8f5 252 // or false in other case
aplatanado 0:782f2061a8f5 253 //
aplatanado 0:782f2061a8f5 254 bool getMotionData(MotionData& data);
aplatanado 0:782f2061a8f5 255
aplatanado 0:782f2061a8f5 256 //
aplatanado 0:782f2061a8f5 257 // Set the resolution on XY axes together
aplatanado 0:782f2061a8f5 258 //
aplatanado 0:782f2061a8f5 259 // @param xy_resolution The resolution for X-axis and Y-axis
aplatanado 0:782f2061a8f5 260 //
xxann5 17:af2fb65ee807 261 void setResolution( uint16_t xy_resolution);
aplatanado 0:782f2061a8f5 262
aplatanado 0:782f2061a8f5 263 //
aplatanado 0:782f2061a8f5 264 // Set the resolutions on X-axis and Y-axis
aplatanado 0:782f2061a8f5 265 //
aplatanado 0:782f2061a8f5 266 // @param x_resolution The resolution for X-axis
aplatanado 0:782f2061a8f5 267 // @param y_resolution The resolution for Y-axis
aplatanado 0:782f2061a8f5 268 //
xxann5 17:af2fb65ee807 269 void setResolution(uint16_t x_resolution, uint16_t y_resolution);
aplatanado 0:782f2061a8f5 270
aplatanado 0:782f2061a8f5 271 //
aplatanado 0:782f2061a8f5 272 // Get a full array of pixel values from a single frame.
aplatanado 0:782f2061a8f5 273 // This disables navigation and overwrites any donwloaded firmware,
aplatanado 0:782f2061a8f5 274 // so call to reset() is needed to restore them
aplatanado 0:782f2061a8f5 275 //
aplatanado 3:898ed1944119 276 // @param pixels A pointer to the array where pixel values will be stored
aplatanado 0:782f2061a8f5 277 //
aplatanado 3:898ed1944119 278 void captureFrame(uint8_t* pixels);
aplatanado 0:782f2061a8f5 279
aplatanado 0:782f2061a8f5 280 //
aplatanado 0:782f2061a8f5 281 // Member function invoked when motion has ocurred and if a motion pin
aplatanado 0:782f2061a8f5 282 // was specified when the object constructor was called.
aplatanado 0:782f2061a8f5 283 // By default it invokes the function specified by a previous call to attach()
aplatanado 0:782f2061a8f5 284 //
aplatanado 0:782f2061a8f5 285 virtual void motionTrigger()
aplatanado 0:782f2061a8f5 286 { motionTrigger_.call(); }
aplatanado 0:782f2061a8f5 287
aplatanado 0:782f2061a8f5 288 //
aplatanado 0:782f2061a8f5 289 // Attach a function to call when a falling edge occurs on motion pin
aplatanado 0:782f2061a8f5 290 //
aplatanado 0:782f2061a8f5 291 // @param function A pointer to a function or 0 to set the attached function as none
aplatanado 0:782f2061a8f5 292 //
aplatanado 0:782f2061a8f5 293 void attach(void (*function)(void))
aplatanado 0:782f2061a8f5 294 { motionTrigger_.attach(function); }
aplatanado 0:782f2061a8f5 295
aplatanado 0:782f2061a8f5 296 //
aplatanado 0:782f2061a8f5 297 // Attach a member function to call when a falling edge occurs on motion pin
aplatanado 0:782f2061a8f5 298 //
aplatanado 0:782f2061a8f5 299 // @param object A reference to the object to call the member function on
aplatanado 0:782f2061a8f5 300 // @param function A pointer to the member function to be called
aplatanado 0:782f2061a8f5 301 //
aplatanado 0:782f2061a8f5 302 template<typename T>
aplatanado 0:782f2061a8f5 303 void attach(T& object, void (T::*member)(void))
aplatanado 0:782f2061a8f5 304 { motionTrigger_.attach(object, member); }
aplatanado 0:782f2061a8f5 305
xxann5 17:af2fb65ee807 306 int cpi_to_res( uint16_t cpi ){
xxann5 17:af2fb65ee807 307 int res = cpi / 90;
xxann5 17:af2fb65ee807 308
xxann5 17:af2fb65ee807 309 if( res < 0x01 ){
xxann5 17:af2fb65ee807 310 res = 0x01;
xxann5 17:af2fb65ee807 311 }
xxann5 17:af2fb65ee807 312 else if( res > 0x38 ){
xxann5 17:af2fb65ee807 313 res = 0x38;
xxann5 17:af2fb65ee807 314 }
xxann5 17:af2fb65ee807 315 return res;
xxann5 17:af2fb65ee807 316 }
xxann5 17:af2fb65ee807 317
aplatanado 0:782f2061a8f5 318 private:
aplatanado 0:782f2061a8f5 319 SPI spi_;
aplatanado 0:782f2061a8f5 320 InterruptIn motion_;
aplatanado 0:782f2061a8f5 321 DigitalOut ncs_;
aplatanado 2:ee0c13ef1320 322
aplatanado 0:782f2061a8f5 323 bool enabled_;
aplatanado 0:782f2061a8f5 324 int xCpi_, yCpi_;
aplatanado 0:782f2061a8f5 325
aplatanado 0:782f2061a8f5 326 FunctionPointer motionTrigger_;
aplatanado 2:ee0c13ef1320 327
aplatanado 2:ee0c13ef1320 328 //
aplatanado 2:ee0c13ef1320 329 // Write a byte to the specified register
aplatanado 2:ee0c13ef1320 330 //
aplatanado 2:ee0c13ef1320 331 // @param address The register address
aplatanado 2:ee0c13ef1320 332 // @param value The value to be written to the register
aplatanado 2:ee0c13ef1320 333 //
aplatanado 2:ee0c13ef1320 334 void spiSend(Register address, int value);
aplatanado 2:ee0c13ef1320 335
aplatanado 2:ee0c13ef1320 336 //
aplatanado 2:ee0c13ef1320 337 // Read a byte from the specified register
aplatanado 2:ee0c13ef1320 338 //
aplatanado 2:ee0c13ef1320 339 // @param address The register address
aplatanado 2:ee0c13ef1320 340 // @return The value of the register
aplatanado 2:ee0c13ef1320 341 //
aplatanado 2:ee0c13ef1320 342 int spiReceive(Register address);
aplatanado 0:782f2061a8f5 343 };
aplatanado 0:782f2061a8f5 344 }
aplatanado 0:782f2061a8f5 345
aplatanado 0:782f2061a8f5 346 #endif /* ADNS9500_HPP_ */