Code-Work @ lowlevel
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sicarius
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3 changed files with 327 additions and 0 deletions
39
source/AVR_Studio/Soccer/default/dep/maussensor.o.d
Executable file
39
source/AVR_Studio/Soccer/default/dep/maussensor.o.d
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maussensor.o: ../hal/maussensor.c ../hal/maussensor.h ../hal/../global.h \
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c:/winavr/bin/../avr/include/stdlib.h \
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c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h \
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../hal/../hal/board.h c:/winavr/bin/../avr/include/avr/io.h \
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c:/winavr/bin/../avr/include/avr/sfr_defs.h \
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c:/winavr/bin/../avr/include/inttypes.h \
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c:/winavr/bin/../avr/include/stdint.h \
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c:/winavr/bin/../avr/include/avr/iom128.h \
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c:/winavr/bin/../avr/include/avr/portpins.h \
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c:/winavr/bin/../avr/include/avr/version.h \
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c:/winavr/bin/../avr/include/avr/interrupt.h ../hal/../hal/uart.h
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../hal/maussensor.h:
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../hal/../global.h:
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c:/winavr/bin/../avr/include/stdlib.h:
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c:\winavr\bin\../lib/gcc/avr/4.1.1/include/stddef.h:
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../hal/../hal/board.h:
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c:/winavr/bin/../avr/include/avr/io.h:
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c:/winavr/bin/../avr/include/avr/sfr_defs.h:
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c:/winavr/bin/../avr/include/inttypes.h:
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c:/winavr/bin/../avr/include/stdint.h:
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c:/winavr/bin/../avr/include/avr/iom128.h:
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c:/winavr/bin/../avr/include/avr/portpins.h:
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c:/winavr/bin/../avr/include/avr/version.h:
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c:/winavr/bin/../avr/include/avr/interrupt.h:
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../hal/../hal/uart.h:
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163
source/AVR_Studio/Soccer/hal/maussensor.c
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163
source/AVR_Studio/Soccer/hal/maussensor.c
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#include "maussensor.h"
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Maussensor::Maussensor(int index) {
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if(index == MAUSSENSOR0) {
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sda_pin = MAUS0_SDA;
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sck_pin = MAUS0_SCK;
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}
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else {
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sda_pin = MAUS1_SDA;
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sck_pin = MAUS1_SCK;
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}
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}
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Maussensor::~Maussensor() {
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}
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// Gibt die X-Koordinate Zurück
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uint8 Maussensor::GetX() {
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return maus_sens_read(MOUSE_DELTA_X_REG);
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}
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// Gibt die Y-Koordinate Zurück
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uint8 Maussensor::GetY() {
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return maus_sens_read(MOUSE_DELTA_Y_REG);
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}
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/*!
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* Gibt den SQUAL-Wert zurueck. Dieser gibt an, wieviele Merkmale der Sensor
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* im aktuell aufgenommenen Bild des Untergrunds wahrnimmt
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*/
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uint8 Maussensor::GetSqual() {
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return maus_sens_read(MOUSE_SQUAL_REG);
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}
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/*!
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* Uebertraegt ein Byte an den Sensor
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* @param data das Byte
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*/
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void Maussensor::maus_sens_writeByte(uint8 data){
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int8 i;
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MAUS_DDR |= (1<<sda_pin); // SDA auf Output
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for (i=7; i>=0; i--){
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MAUS_PORT &= ~(1<<sck_pin); // SCK auf Low, vorbereiten
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//Daten rausschreiben
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MAUS_PORT = (MAUS_PORT & (~MAUS_PIN)) | ((data >> (7 - sda_pin)) & (1<<sda_pin));
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data = data <<1; // naechstes Bit vorbereiten
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asm volatile("nop"); // Etwas warten
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MAUS_PORT |= (1<<sck_pin); // SCK =1 Sensor uebernimmt auf steigender Flanke
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}
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}
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/*!
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* Liest ein Byte vom Sensor
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* @return das Byte
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*/
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uint8 Maussensor::maus_sens_readByte(void){
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int i;
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char data=0;
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MAUS_DDR &= ~(1<<sda_pin); // SDA auf Input
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for (i=7; i>-1; i--){
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MAUS_PORT &= ~(1<<sck_pin); // SCK =0 Sensor bereitet Daten auf fallender Flanke vor !
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data=data<<1; // Platz schaffen
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asm volatile("nop"); // Etwas warten
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MAUS_PORT |= (1<<sck_pin); // SCK =1 Daten lesen auf steigender Flanke
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data |= (MAUS_PIN >> sda_pin) & 0x01; //Daten lesen
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}
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return data;
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}
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/*!
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* Uebertraegt ein write-Kommando an den Sensor
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* @param adr Adresse
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* @param data Datum
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*/
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void Maussensor::maus_sens_write(int8 adr, uint8 data){
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int16 i;
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//MOUSE_Enable();
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maus_sens_writeByte(adr|=0x80); //rl MSB muss 1 sein Datenblatt S.12 Write Operation
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maus_sens_writeByte(data);
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for (i=0; i<300; i++){ asm volatile("nop"); } // mindestens 100 Mikrosekunden Pause!!!
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}
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/*!
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* Schickt ein Lesekommando an den Sensor
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* und liest ein Byte zurueck
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* @param adr die Adresse
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* @return das Datum
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*/
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uint8 Maussensor::maus_sens_read(uint8 adr){
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//MOUSE_Enable();
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int16 i;
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maus_sens_writeByte(adr);
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for (i=0; i<300; i++){asm volatile("nop");} // mindestens 100 Mikrosekunden Pause!!!
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return maus_sens_readByte();
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}
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/*!
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* Initialisiere Maussensor
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*/
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void Maussensor::maus_sens_init(void){
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msleep(100);
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MAUS_DDR |= (1<<sck_pin); // SCK auf Output
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MAUS_PORT &= ~(1<<sck_pin); // SCK auf 0
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msleep(10);
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maus_sens_write(MOUSE_CONFIG_REG,MOUSE_CFG_RESET); //Reset sensor
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maus_sens_write(MOUSE_CONFIG_REG,MOUSE_CFG_FORCEAWAKE); //Always on
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}
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/*! muessen wir nach dem ersten Pixel suchen?*/
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static uint8 firstRead;
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/*!
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* Bereitet das auslesen eines ganzen Bildes vor
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*/
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void Maussensor::maus_image_prepare(void){
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maus_sens_write(MOUSE_CONFIG_REG,MOUSE_CFG_FORCEAWAKE); //Always on
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maus_sens_write(MOUSE_PIXEL_DATA_REG,0x00); // Frame grabben anstossen
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firstRead=1; //suche erstes Pixel
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}
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/*!
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* Liefert bei jedem Aufruf das naechste Pixel des Bildes
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* Insgesamt gibt es 324 Pixel
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* <pre>
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* 18 36 ... 324
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* .. .. ... ..
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* 2 20 ... ..
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* 1 19 ... 307
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* </pre>
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* Bevor diese Funktion aufgerufen wird, muss maus_image_prepare() aufgerufen werden!
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* @return Die Pixeldaten (Bit 0 bis Bit5), Pruefbit, ob Daten gueltig (Bit6), Markierung fuer den Anfang eines Frames (Bit7)
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*/
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int8 Maussensor::maus_image_read(void){
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int8 pixel=maus_sens_read(MOUSE_PIXEL_DATA_REG);
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if ( firstRead ==1){
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while ( (pixel & 0x80) != 0x80){
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pixel=maus_sens_read(MOUSE_PIXEL_DATA_REG);
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// if ((pixel & 0x70) != 0x70)
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// return 0;
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}
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firstRead=0;
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}
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return pixel;
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}
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125
source/AVR_Studio/Soccer/hal/maussensor.h
Executable file
125
source/AVR_Studio/Soccer/hal/maussensor.h
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#ifndef _MAUSSENSOR_H_
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#define _MAUSSENSOR_H_
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#include "../global.h"
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// Wir klauen die Mausdefinitionen beim CT-Bot ;)
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#define ADNS2610 /*!< Welcher Sensortyp? ADNS2610 oder 2620 */
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#ifdef ADNS2610
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/* ADNS2610 */
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#define MOUSE_CONFIG_REG 0x00 /*!< Reset, Power Down, Forced Awake, etc */
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#define MOUSE_STATUS_REG 0x01 /*!< Product ID, Mouse state of Asleep or Awake */
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#define MOUSE_DELTA_Y_REG 0x02 /*!< Y Movement */
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#define MOUSE_DELTA_X_REG 0x03 /*!< X Movement */
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#define MOUSE_SQUAL_REG 0x04 /*!< Measure of the number of features visible by the sensor */
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#define MOUSE_MAX_PIXEL_REG 0x05 /*!< Maximum Pixel value in current frame.*/
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#define MOUSE_MIN_PIXEL_REG 0x06 /*!< Minimum Pixel value in current frame.*/
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#define MOUSE_PIXEL_SUM_REG 0x07 /*!< This register is used to find the average pixel value.*/
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#define MOUSE_PIXEL_DATA_REG 0x08 /*!< Actual picture of surface */
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#define MOUSE_SHUTTER_UPPER_REG 0x09 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
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#define MOUSE_SHUTTER_LOWER_REG 0x0A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
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#define MOUSE_INVERSE_PRODUCT_ID_REG 0x11 /*!< Inverse Product ID */
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#define MOUSE_CFG_RESET 0x80 /*!< Reset Circuit */
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#define MOUSE_CFG_POWERDOWN 0x40 /*!< Power Down analog Circuit */
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#define MOUSE_CFG_FORCEAWAKE 0x01 /*!< Keep Sensor awake */
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#else
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/* ADNS2620 */
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#define MOUSE_CONFIG_REG 0x40 /*!< Reset, Power Down, Forced Awake, etc */
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#define MOUSE_STATUS_REG 0x41 /*!< Product ID, Mouse state of Asleep or Awake */
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#define MOUSE_DELTA_Y_REG 0x42 /*!< Y Movement */
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#define MOUSE_DELTA_X_REG 0x43 /*!< X Movement */
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#define MOUSE_SQUAL_REG 0x44 /*!< Measure of the number of features visible by the sensor */
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#define MOUSE_MAX_PIXEL_REG 0x45 /*!< Maximum Pixel value in current frame.*/
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#define MOUSE_MIN_PIXEL_REG 0x46 /*!< Minimum Pixel value in current frame.*/
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#define MOUSE_PIXEL_SUM_REG 0x47 /*!< This register is used to find the average pixel value.*/
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#define MOUSE_PIXEL_DATA_REG 0x48 /*!< Actual picture of surface */
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#define MOUSE_SHUTTER_UPPER_REG 0x49 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
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#define MOUSE_SHUTTER_LOWER_REG 0x4A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/
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#define MOUSE_FRAME_PERIOD_REG 0x4B /*!< The frame period counter counts up until it overflows. */
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#endif
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// Unsere Pins vom Maussensor
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#define MAUS_DDR DDRC // Die Mäuse hängen am DDRC
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#define MAUS_PORT PORTC
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#define MAUS_PIN PINC
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#define MAUS0_SDA 4
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#define MAUS0_SCK 6
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#define MAUS1_SDA 5
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#define MAUS1_SCK 7
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// Konstanten fürs intialisieren
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#define MAUSSENSOR0 0
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#define MAUSSENSOR1 1
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class Maussensor
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{
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private:
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// Pins, an denen der Maussensor angeschlossen ist
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int sda_pin;
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int sck_pin;
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/*!
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* Initialisiere Maussensor
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*/
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void maus_sens_init(void);
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/*!
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* Schickt ein Lesekommando an den Sensor
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* und liest ein Byte zurueck
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* @param adr die Adresse
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* @return das Datum
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*/
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uint8 maus_sens_read(uint8 adr);
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uint8 maus_sens_readByte();
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/*! Stellt sicher, dass der Maussensor nicht mehr die serielle Datenleitung treibt */
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#define maus_sens_highZ() maus_sens_write(0x77,0x00)
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/*!
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* Uebertraegt ein write-Kommando an den Sensor
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* @param adr Adresse
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* @param data Datum
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*/
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void maus_sens_write(int8 adr, uint8 data);
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void maus_sens_writeByte(uint8 data);
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/*!
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* Liefert bei jedem Aufruf das naechste Pixel des Bildes
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* Insgesamt gibt es 324 Pixel
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* <pre>
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* 18 36 ... 324
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* .. .. ... ..
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* 2 20 ... ..
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* 1 19 ... 307
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* </pre>
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* Bevor diese Funktion aufgerufen wird, muss maus_image_prepare() aufgerufen werden!
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* @return Die Pixeldaten (Bit 0 bis Bit5), Pruefbit, ob Daten gueltig (Bit6), Markierung fuer den Anfang eines Frames (Bit7)
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*/
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int8 maus_image_read(void);
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/*!
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* Bereitet das auslesen eines ganzen Bildes vor
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*/
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void maus_image_prepare(void);
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/*!
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* Gibt den SQUAL-Wert zurueck. Dieser gibt an, wieviele Merkmale der Sensor
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* im aktuell aufgenommenen Bild des Untergrunds wahrnimmt
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*/
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public:
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Maussensor(int index);
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~Maussensor();
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uint8 GetX();
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uint8 GetY();
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uint8 GetSqual();
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};
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#endif
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