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@ -28,9 +28,11 @@ namespace driver {
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namespace sensor {
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struct ADNS5050BaseProps {
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static constexpr uint8_t clock_pin = NO_PIN;
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static constexpr uint8_t io_pin = NO_PIN;
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static constexpr uint8_t chip_select_pin = NO_PIN;
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struct pin {
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static constexpr uint8_t SCLK = NO_PIN;
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static constexpr uint8_t SDIO = NO_PIN;
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static constexpr uint8_t NCS = NO_PIN;
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};
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};
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template <typename _Props>
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@ -58,39 +60,39 @@ class ADNS5050 {
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};
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void setup() {
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static_assert(_Props::clock_pin != NO_PIN, "No clock pin specified!");
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static_assert(_Props::io_pin != NO_PIN, "No IO pin specified!");
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static_assert(_Props::chip_select_pin != NO_PIN, "No chip select pin specified!");
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static_assert(_Props::pin::SCLK != NO_PIN, "No clock pin specified!");
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static_assert(_Props::pin::SDIO != NO_PIN, "No IO pin specified!");
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static_assert(_Props::pin::NCS != NO_PIN, "No chip select pin specified!");
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DDR_OUTPUT(_Props::clock_pin);
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DDR_OUTPUT(_Props::io_pin);
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DDR_OUTPUT(_Props::chip_select_pin);
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DDR_OUTPUT(_Props::pin::SCLK);
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DDR_OUTPUT(_Props::pin::SDIO);
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DDR_OUTPUT(_Props::pin::NCS);
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// 0x5a is chip reset (datasheet page 26)
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writeRegister(Register::CHIP_RESET, 0x5a);
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delay(55);
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// read an initial report from the sensor, and discard it.
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readReport();
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// readReport();
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}
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void sync() {
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cs_select();
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OUTPUT_LOW(_Props::pin::NCS);
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delayMicroseconds(1);
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cs_deselect();
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OUTPUT_HIGH(_Props::pin::NCS);
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}
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Report readReport() {
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Report report;
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cs_select();
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OUTPUT_LOW(_Props::pin::NCS);
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serialWrite(Register::MOTION_BURST);
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uint8_t x = serialRead();
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uint8_t y = serialRead();
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cs_deselect();
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OUTPUT_HIGH(_Props::pin::NCS);
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report.dx = convertTwosComp(x);
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report.dy = convertTwosComp(y);
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@ -123,6 +125,14 @@ class ADNS5050 {
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}
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public:
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struct Timeout {
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static constexpr uint16_t WAKEUP = 55000;
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static constexpr uint16_t SWW = 30;
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static constexpr uint16_t SWR = 20;
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static constexpr uint16_t SRW = 1;
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static constexpr uint16_t SRR = 1;
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static constexpr uint16_t SRAD = 4;
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};
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enum class Register {
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PRODUCT_ID = 0x00,
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REVISION_ID = 0x01,
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@ -143,18 +153,18 @@ class ADNS5050 {
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}
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uint8_t serialRead() {
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DDR_INPUT(_Props::io_pin);
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DDR_INPUT(_Props::pin::SDIO);
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delayMicroseconds(1);
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uint8_t byte;
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for (uint8_t i = 0; i < 8; i++) {
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OUTPUT_LOW(_Props::clock_pin);
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OUTPUT_LOW(_Props::pin::SCLK);
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delayMicroseconds(1);
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byte = (byte << 1) | READ_PIN(_Props::io_pin);
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byte = (byte << 1) | READ_PIN(_Props::pin::SDIO);
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OUTPUT_HIGH(_Props::clock_pin);
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OUTPUT_HIGH(_Props::pin::SCLK);
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delayMicroseconds(1);
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}
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@ -162,22 +172,22 @@ class ADNS5050 {
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}
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void serialWrite(uint8_t data) {
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DDR_OUTPUT(_Props::io_pin);
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DDR_OUTPUT(_Props::pin::SDIO);
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delayMicroseconds(1);
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for (int8_t i = 7; i >= 0; i--) {
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OUTPUT_LOW(_Props::clock_pin);
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OUTPUT_LOW(_Props::pin::SCLK);
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delayMicroseconds(1);
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if (data && (1 << i)) {
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OUTPUT_HIGH(_Props::io_pin);
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OUTPUT_HIGH(_Props::pin::SDIO);
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} else {
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OUTPUT_LOW(_Props::io_pin);
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OUTPUT_LOW(_Props::pin::SDIO);
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}
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delayMicroseconds(2);
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OUTPUT_HIGH(_Props::clock_pin);
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OUTPUT_HIGH(_Props::pin::SCLK);
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delayMicroseconds(1);
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}
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@ -188,33 +198,23 @@ class ADNS5050 {
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}
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uint8_t readRegister(Register reg) {
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cs_select();
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OUTPUT_LOW(_Props::pin::NCS);
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serialWrite(reg);
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uint8_t byte = serialRead();
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delayMicroseconds(1);
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cs_deselect();
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OUTPUT_HIGH(_Props::pin::NCS);
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return byte;
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}
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void writeRegister(Register reg, uint8_t data) {
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cs_select();
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OUTPUT_LOW(_Props::pin::NCS);
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serialWrite(0b10000000 | (uint8_t)reg);
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serialWrite(data);
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cs_deselect();
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}
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void cs_select() {
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OUTPUT_LOW(_Props::chip_select_pin);
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delayMicroseconds(1);
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}
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void cs_deselect() {
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OUTPUT_HIGH(_Props::chip_select_pin);
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delayMicroseconds(1);
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OUTPUT_HIGH(_Props::pin::NCS);
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}
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};
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} // namespace sensor
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