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Arduino Code/Schwimmwinkel_FINAL/ADNS_3080.tpp

+//------------ Read and write registers --------------
+ 
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::writeRegister( const uint8_t reg, uint8_t output ) {
+  // Enable communication
+  digitalWrite( PIN_NCS, LOW );
+  SPI.transfer( reg | B10000000 );
+  
+  // Send value
+  SPI.transfer( output );
+  
+  // Disable communcation
+  digitalWrite( PIN_NCS, HIGH );
+  delayMicroseconds( ADNS3080_T_SWW );
+}
+
+template<TEMPLATE_TYPE>
+uint8_t ADNS3080<TEMPLATE_INPUTS>
+::readRegister( const uint8_t reg ) {
+  // Enable communication
+  digitalWrite( PIN_NCS, LOW );
+  SPI.transfer( reg );
+  delayMicroseconds( ADNS3080_T_SRAD_MOT );
+  
+  // Receive value
+  uint8_t output = SPI.transfer(0x00);
+  
+  // Dissable communication
+  digitalWrite( PIN_NCS, HIGH ); 
+  return output;
+}
+
+//------------ Miscellaneous functions ---------------
+
+// Cycle reset pin
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::reset() {
+  digitalWrite( PIN_RESET, HIGH );
+  delayMicroseconds( ADNS3080_T_PW_RESET );                  
+  digitalWrite( PIN_RESET, LOW );
+  delayMicroseconds( ADNS3080_T_IN_RST );              
+}
+
+// Initialize and configure sensor
+template<TEMPLATE_TYPE>
+bool ADNS3080<TEMPLATE_INPUTS>
+::setup( const bool led_mode, const bool resolution ) {
+  
+  // Configure SPI
+  SPI.begin();
+  SPI.setClockDivider( SPI_CLOCK_DIV32 );
+  SPI.setDataMode( SPI_MODE3 );
+  SPI.setBitOrder( MSBFIRST );  
+  
+  // Set sensor pins
+  pinMode( PIN_RESET, OUTPUT );
+  pinMode( PIN_NCS,   OUTPUT );
+
+  // Disable communication and reset 
+  digitalWrite( PIN_NCS, HIGH );
+  reset();
+ 
+  // Configure sensor:
+  //                          LED Shutter    High resolution
+  uint8_t mask = B00000000 | led_mode << 6 | resolution << 4;      
+  writeRegister( ADNS3080_CONFIGURATION_BITS, mask );
+
+  // Extended Config: set fixed frame rate
+  mask = B00000001;
+  writeRegister( 0x0b, mask);
+
+  // set frame rate to maximum of 6469
+  mask = 0x7E;        // Frame_Period_Max_Bound_Lower
+  writeRegister( 0x19, mask);
+  mask = 0x0E;        // Frame_Period_Max_Bound_Upper
+  writeRegister( 0x1A, mask);
+
+  // Check Connection
+  if( readRegister(ADNS3080_PRODUCT_ID) == ADNS3080_PRODUCT_ID_VALUE ) {
+    return true;
+  } else {
+    return false;
+  } 
+}
+
+// Clear DELTA_X, DELTA_Y and motion registers
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::motionClear() {
+  writeRegister( ADNS3080_MOTION_CLEAR, 0x00 );
+}
+
+// sensor available
+template<TEMPLATE_TYPE>
+bool ADNS3080<TEMPLATE_INPUTS>
+::available() {
+  
+  // Check Connection
+  if( readRegister(ADNS3080_PRODUCT_ID) == ADNS3080_PRODUCT_ID_VALUE ) {
+    return true;
+  } else {
+    return false;
+  } 
+}
+
+//----------------- Major outputs --------------------
+
+// Get motion burst data
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::motionBurst( uint8_t *motion, int8_t *dx, int8_t *dy, 
+               uint8_t *squal, uint16_t *shutter, uint8_t *max_pix ) {
+  
+  // Enable communication
+  digitalWrite( PIN_NCS, LOW );
+  SPI.transfer( ADNS3080_MOTION_BURST );
+  delayMicroseconds( ADNS3080_T_SRAD_MOT );
+
+  // Receieve data:
+  uint8_t motion_byte = SPI.transfer(0x00);
+  *motion     = (motion_byte & B10000000) >> 7;
+  //
+  *dx      = SPI.transfer(0x00);
+  *dy      = SPI.transfer(0x00);
+  *squal   = SPI.transfer(0x00);
+  *shutter = SPI.transfer16(0x00);
+  *max_pix = SPI.transfer(0x00);
+
+  // Disable communication
+  digitalWrite( PIN_NCS, HIGH ); 
+
+  // Zero displacement if motion did not occur
+  if( *motion == false ) {
+    *dx = 0;
+    *dy = 0;
+  }
+}
+
+// Get displacement data from motion burst
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::displacement( int8_t *dx, int8_t *dy ) {
+  
+  // Enable communication
+  digitalWrite( PIN_NCS, LOW );
+  SPI.transfer( ADNS3080_MOTION_BURST );
+  delayMicroseconds( ADNS3080_T_SRAD_MOT );
+
+  // Check if motion occured
+  uint8_t motion  = (SPI.transfer(0x00) & B10000000) >> 7;
+ 
+  if( motion == true ) {
+    *dx = SPI.transfer(0x00);
+    *dy = SPI.transfer(0x00);
+  } else {
+    *dx = 0;
+    *dy = 0;
+  }
+
+  // Disable communication
+  digitalWrite( PIN_NCS, HIGH ); 
+}  
+
+// Retreive pixels of next frame:
+template<TEMPLATE_TYPE>
+void ADNS3080<TEMPLATE_INPUTS>
+::frameCapture( uint8_t output[ADNS3080_PIXELS][ADNS3080_PIXELS] ) {  
+  
+  // Store pixel values
+  writeRegister( ADNS3080_FRAME_CAPTURE, 0x83 );
+  
+  // Enable communication
+    digitalWrite( PIN_NCS, LOW );
+  SPI.transfer( ADNS3080_PIXEL_BURST );
+  delayMicroseconds( ADNS3080_T_SRAD );
+
+  //-- First pixel:
+  uint8_t pixel = 0;
+
+  // Recieve pixels until first is found 
+  while( (pixel & B01000000) == 0 ) {
+      pixel = SPI.transfer(0x00);
+      delayMicroseconds( ADNS3080_T_LOAD );  
+  }
+  
+  //-- Scan first frame:
+  for( int y = 0; y < ADNS3080_PIXELS; y += 1 ) {
+    for( int x = 0; x < ADNS3080_PIXELS; x += 1 ) {  
+      
+      // Store and scale past pixel
+      output[x][y] = pixel << 2; 
+      
+      // Receive new pixel
+      pixel = SPI.transfer(0x00);
+      delayMicroseconds( ADNS3080_T_LOAD );  
+    }
+  }
+  // Disable communication
+  digitalWrite( PIN_NCS, HIGH ); 
+  delayMicroseconds( ADNS3080_T_LOAD + ADNS3080_T_BEXIT );
+}    
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