138 lines
3.3 KiB
C++
Executable File
138 lines
3.3 KiB
C++
Executable File
#include "uni_avr_rpi.h"
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#ifdef PAT9125
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#include "pat9125.h"
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#ifdef PAT9125_SWSPI
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#include "swspi.h"
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#endif //PAT9125_SWSPI
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#ifdef PAT9125_SWI2C
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#include "swi2c.h"
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#endif //PAT9125_SWI2C
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#ifdef PAT9125_HWI2C
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#include <Wire.h>
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#endif //PAT9125_HWI2C
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unsigned char pat9125_PID1 = 0;
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unsigned char pat9125_PID2 = 0;
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unsigned char pat9125_xres = 0;
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unsigned char pat9125_yres = 0;
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int pat9125_x = 0;
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int pat9125_y = 0;
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unsigned char pat9125_b = 0;
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unsigned char pat9125_s = 0;
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int pat9125_init(unsigned char xres, unsigned char yres)
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{
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#ifdef PAT9125_SWSPI
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swspi_init();
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#endif //PAT9125_SWSPI
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#ifdef PAT9125_SWI2C
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swi2c_init(PAT9125_SWI2C_SDA, PAT9125_SWI2C_SCL, PAT9125_SWI2C_CFG);
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#endif //PAT9125_SWI2C
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#ifdef PAT9125_HWI2C
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Wire.begin();
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#endif //PAT9125_HWI2C
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pat9125_xres = xres;
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pat9125_yres = yres;
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pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
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pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
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if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
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{
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return 0;
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}
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pat9125_wr_reg(PAT9125_RES_X, pat9125_xres);
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pat9125_wr_reg(PAT9125_RES_Y, pat9125_yres);
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// pat9125_wr_reg(PAT9125_ORIENTATION, 0x04 | (xinv?0x08:0) | (yinv?0x10:0)); //!? direction switching does not work
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return 1;
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}
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int pat9125_update()
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{
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if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
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{
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unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
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pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
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pat9125_s = pat9125_rd_reg(PAT9125_SHUTTER);
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if (ucMotion & 0x80)
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{
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unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
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unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
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unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
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int iDX = ucXL | ((ucXYH << 4) & 0xf00);
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int iDY = ucYL | ((ucXYH << 8) & 0xf00);
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if (iDX & 0x800) iDX -= 4096;
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if (iDY & 0x800) iDY -= 4096;
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pat9125_x += iDX;
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pat9125_y -= iDY; //negative number, because direction switching does not work
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return 1;
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}
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}
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return 0;
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}
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int pat9125_update_y()
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{
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if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
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{
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unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
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if (ucMotion & 0x80)
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{
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unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
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unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
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int iDY = ucYL | ((ucXYH << 8) & 0xf00);
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if (iDY & 0x800) iDY -= 4096;
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pat9125_y -= iDY; //negative number, because direction switching does not work
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return 1;
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}
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}
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return 0;
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}
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unsigned char pat9125_rd_reg(unsigned char addr)
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{
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unsigned char data = 0;
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#ifdef PAT9125_SWSPI
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swspi_start();
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swspi_tx(addr & 0x7f);
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data = swspi_rx();
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swspi_stop();
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#endif //PAT9125_SWSPI
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#ifdef PAT9125_SWI2C
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int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
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#endif //PAT9125_SWI2C
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#ifdef PAT9125_HWI2C
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Wire.beginTransmission(PAT9125_I2C_ADDR);
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Wire.write(addr);
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Wire.endTransmission();
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if (Wire.requestFrom(PAT9125_I2C_ADDR, 1) == 1)
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// if (Wire.available())
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data = Wire.read();
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#endif //PAT9125_HWI2C
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return data;
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}
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void pat9125_wr_reg(unsigned char addr, unsigned char data)
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{
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#ifdef PAT9125_SWSPI
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swspi_start();
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swspi_tx(addr | 0x80);
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swspi_tx(data);
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swspi_stop();
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#endif //PAT9125_SWSPI
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#ifdef PAT9125_SWI2C
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int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
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#endif //PAT9125_SWI2C
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#ifdef PAT9125_HWI2C
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Wire.beginTransmission(PAT9125_I2C_ADDR);
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Wire.write(addr);
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Wire.write(data);
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Wire.endTransmission();
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#endif //PAT9125_HWI2C
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}
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#endif //PAT9125
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