127 lines
4.4 KiB
C++
Executable file
127 lines
4.4 KiB
C++
Executable file
#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 M<>use h<>ngen 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 f<>rs 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();
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~Maussensor();
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void init(int index);
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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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