kopia lustrzana https://github.com/pimoroni/pimoroni-pico
365 wiersze
7.8 KiB
C++
365 wiersze
7.8 KiB
C++
#include "pmw3901.hpp"
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#include <cstdlib>
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#include <math.h>
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#include <cstdio>
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#include <algorithm>
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namespace pimoroni {
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enum reg : uint8_t {
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ID = 0x00,
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REVISION = 0x01,
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DATA_READY = 0x02,
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MOTION_BURST = 0x16,
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POWER_UP_RESET = 0x3a,
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ORIENTATION = 0x5b,
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RESOLUTION = 0x4e, // PAA5100 only
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};
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bool PMW3901::init() {
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// configure spi interface and pins
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spi_init(spi, spi_baud);
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gpio_set_function(cs, GPIO_FUNC_SIO);
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gpio_set_dir(cs, GPIO_OUT);
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gpio_set_function(sck, GPIO_FUNC_SPI);
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gpio_set_function(mosi, GPIO_FUNC_SPI);
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gpio_set_function(miso, GPIO_FUNC_SPI);
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if(interrupt != PIN_UNUSED) {
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gpio_set_function(interrupt, GPIO_FUNC_SIO);
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gpio_set_dir(interrupt, GPIO_IN);
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gpio_pull_up(interrupt);
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}
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cs_select();
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sleep_ms(50);
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cs_deselect();
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write_register(reg::POWER_UP_RESET, 0x5a);
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sleep_ms(20);
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for(uint8_t offset = 0; offset < 5; offset++) {
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uint8_t data = 0;
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read_registers(reg::DATA_READY + offset, &data, 1);
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}
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secret_sauce();
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uint8_t product_id = get_id();
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uint8_t revision = get_revision();
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printf("Product ID and Revision for PMW3901: %d, %d\n", product_id, revision);
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if(product_id != 0x49 || revision != 0x00) {
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return false;
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}
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return true;
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}
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spi_inst_t* PMW3901::get_spi() const {
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return spi;
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}
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int PMW3901::get_cs() const {
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return cs;
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}
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int PMW3901::get_sck() const {
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return sck;
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}
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int PMW3901::get_mosi() const {
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return mosi;
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}
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int PMW3901::get_miso() const {
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return miso;
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}
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int PMW3901::get_int() const {
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return interrupt;
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}
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uint8_t PMW3901::get_id() {
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uint8_t data = 0;
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read_registers(reg::ID, &data, 1);
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return data;
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}
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uint8_t PMW3901::get_revision() {
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uint8_t data = 0;
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read_registers(reg::REVISION, &data, 1);
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return data;
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}
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void PMW3901::set_rotation(Degrees degrees) {
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switch(degrees) {
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default:
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case DEGREES_0:
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set_orientation(true, true, true);
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break;
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case DEGREES_90:
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set_orientation(false, true, false);
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break;
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case DEGREES_180:
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set_orientation(false, false, true);
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break;
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case DEGREES_270:
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set_orientation(true, false, false);
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break;
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}
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}
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void PMW3901::set_orientation(bool invert_x, bool invert_y, bool swap_xy) {
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uint8_t value = 0;
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if(swap_xy)
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value |= 0b10000000;
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if(invert_y)
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value |= 0b01000000;
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if(invert_x)
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value |= 0b00100000;
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write_register(reg::ORIENTATION, value);
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}
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bool PMW3901::get_motion(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms) {
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uint32_t start_time = millis();
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while(millis() - start_time < timeout_ms) {
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uint8_t buf[12];
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read_registers(reg::MOTION_BURST, buf, 12);
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uint8_t dr = buf[0];
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//uint8_t obs = buf[1];
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x_out = (int16_t)((int32_t)buf[2] << 8 | buf[3]);
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y_out = (int16_t)((int32_t)buf[4] << 8 | buf[5]);
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uint8_t quality = buf[6];
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//uint8_t raw_sum = buf[7];
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//uint8_t raw_max = buf[8];
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//uint8_t raw_min = buf[9];
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uint8_t shutter_upper = buf[10];
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//uint8_t shutter_lower = buf[11];
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printf("dr = %d, x = %d, y = %d\n",dr, x_out, y_out);
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if((dr & 0b10000000) && !((quality < 0x19) && (shutter_upper = 0x1f)))
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return true;
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sleep_ms(1);
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}
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return false;
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}
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bool PMW3901::get_motion_slow(int16_t& x_out, int16_t& y_out, uint16_t timeout_ms) {
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uint32_t start_time = millis();
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while(millis() - start_time < timeout_ms) {
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uint8_t buf[5];
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read_registers(reg::DATA_READY, buf, 5);
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uint8_t dr = buf[0];
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x_out = (int16_t)((int32_t)buf[1] << 8 | buf[2]);
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y_out = (int16_t)((int32_t)buf[3] << 8 | buf[4]);
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printf("dr = %d, x = %d, y = %d\n",dr, x_out, y_out);
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if(dr & 0b10000000)
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return true;
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sleep_ms(1);
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}
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return false;
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}
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void PMW3901::frame_capture(uint16_t timeout_ms) {
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}
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void PMW3901::cs_select() {
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gpio_put(cs, false); // Active low
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}
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void PMW3901::cs_deselect() {
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gpio_put(cs, true);
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}
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void PMW3901::write_register(uint8_t reg, uint8_t data) {
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uint8_t buf[2];
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buf[0] = reg | 0x80;
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buf[1] = data;
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cs_select();
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spi_write_blocking(spi, buf, 2);
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cs_deselect();
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}
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void PMW3901::write_buffer(uint8_t *buf, uint16_t len) {
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cs_select();
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for(uint8_t i = 0; i < len; i += 2) {
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if(buf[i] == WAIT)
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sleep_ms(buf[i + 1]);
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else
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spi_write_blocking(spi, &buf[i], 2);
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}
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cs_deselect();
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}
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void PMW3901::read_registers(uint8_t reg, uint8_t *buf, uint16_t len) {
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cs_select();
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spi_write_blocking(spi, ®, 1);
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spi_read_blocking(spi, 0, buf, len);
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cs_deselect();
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}
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uint8_t PMW3901::read_register(uint8_t reg) {
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uint8_t data = 0;
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cs_select();
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spi_write_blocking(spi, ®, 1);
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spi_read_blocking(spi, 0, &data, 1);
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cs_deselect();
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return data;
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}
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void PMW3901::secret_sauce() {
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uint8_t buf[] = {
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0x7f, 0x00,
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0x55, 0x01,
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0x50, 0x07,
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0x7f, 0x0e,
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0x43, 0x10
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};
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write_buffer(buf, sizeof(buf));
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if(read_register(0x67) & 0b10000000)
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write_register(0x48, 0x04);
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else
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write_register(0x48, 0x02);
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uint8_t buf2[] = {
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0x7f, 0x00,
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0x51, 0x7b,
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0x50, 0x00,
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0x55, 0x00,
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0x7f, 0x0E
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};
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write_buffer(buf2, sizeof(buf2));
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if(read_register(0x73) == 0x00) {
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uint8_t c1 = read_register(0x70);
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uint8_t c2 = read_register(0x71);
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if(c1 <= 28)
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c1 += 14;
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if(c1 > 28)
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c1 += 11;
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c1 = std::max((uint8_t)0, std::min((uint8_t)0x3F, c1));
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c2 = (c2 * 45); // 100
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uint8_t buf3[] = {
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0x7f, 0x00,
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0x61, 0xad,
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0x51, 0x70,
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0x7f, 0x0e
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};
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write_buffer(buf3, sizeof(buf3));
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write_register(0x70, c1);
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write_register(0x71, c2);
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}
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uint8_t buf4[] = {
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0x7f, 0x00,
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0x61, 0xad,
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0x7f, 0x03,
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0x40, 0x00,
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0x7f, 0x05,
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0x41, 0xb3,
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0x43, 0xf1,
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0x45, 0x14,
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0x5b, 0x32,
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0x5f, 0x34,
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0x7b, 0x08,
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0x7f, 0x06,
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0x44, 0x1b,
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0x40, 0xbf,
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0x4e, 0x3f,
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0x7f, 0x08,
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0x65, 0x20,
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0x6a, 0x18,
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0x7f, 0x09,
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0x4f, 0xaf,
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0x5f, 0x40,
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0x48, 0x80,
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0x49, 0x80,
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0x57, 0x77,
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0x60, 0x78,
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0x61, 0x78,
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0x62, 0x08,
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0x63, 0x50,
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0x7f, 0x0a,
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0x45, 0x60,
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0x7f, 0x00,
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0x4d, 0x11,
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0x55, 0x80,
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0x74, 0x21,
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0x75, 0x1f,
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0x4a, 0x78,
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0x4b, 0x78,
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0x44, 0x08,
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0x45, 0x50,
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0x64, 0xff,
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0x65, 0x1f,
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0x7f, 0x14,
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0x65, 0x67,
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0x66, 0x08,
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0x63, 0x70,
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0x7f, 0x15,
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0x48, 0x48,
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0x7f, 0x07,
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0x41, 0x0d,
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0x43, 0x14,
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0x4b, 0x0e,
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0x45, 0x0f,
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0x44, 0x42,
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0x4c, 0x80,
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0x7f, 0x10,
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0x5b, 0x02,
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0x7f, 0x07,
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0x40, 0x41,
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0x70, 0x00,
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WAIT, 0x0A, // Sleep for 10ms
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0x32, 0x44,
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0x7f, 0x07,
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0x40, 0x40,
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0x7f, 0x06,
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0x62, 0xf0,
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0x63, 0x00,
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0x7f, 0x0d,
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0x48, 0xc0,
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0x6f, 0xd5,
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0x7f, 0x00,
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0x5b, 0xa0,
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0x4e, 0xa8,
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0x5a, 0x50,
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0x40, 0x80,
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WAIT, 0xF0,
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0x7f, 0x14, // Enable LED_N pulsing
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0x6f, 0x1c,
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0x7f, 0x00
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};
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write_buffer(buf4, sizeof(buf4));
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}
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uint32_t PMW3901::millis() {
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return to_ms_since_boot(get_absolute_time());
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}
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} |