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Diffstat (limited to 'source/ct-Bot/include/mouse.h')
| -rw-r--r-- | source/ct-Bot/include/mouse.h | 113 |
1 files changed, 113 insertions, 0 deletions
diff --git a/source/ct-Bot/include/mouse.h b/source/ct-Bot/include/mouse.h new file mode 100644 index 0000000..aa2b913 --- /dev/null +++ b/source/ct-Bot/include/mouse.h @@ -0,0 +1,113 @@ +/* + * c't-Sim - Robotersimulator fuer den c't-Bot + * + * This program is free software; you can redistribute it + * and/or modify it under the terms of the GNU General + * Public License as published by the Free Software + * Foundation; either version 2 of the License, or (at your + * option) any later version. + * This program is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied + * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR + * PURPOSE. See the GNU General Public License for more details. + * You should have received a copy of the GNU General Public + * License along with this program; if not, write to the Free + * Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, + * MA 02111-1307, USA. + * + */ + +/*! @file mouse.h + * @brief Routinen fuer die Ansteuerung eines optischen Maussensors + * @author Benjamin Benz (bbe@heise.de) + * @date 26.12.05 +*/ + +#ifndef mouse_H_ +#define mouse_H_ + +#define ADNS2610 /*!< Welcher Sensortyp? ADNS2610 oder 2620 */ +#ifdef ADNS2610 + /* ADNS2610 */ + #define MOUSE_CONFIG_REG 0x00 /*!< Reset, Power Down, Forced Awake, etc */ + #define MOUSE_STATUS_REG 0x01 /*!< Product ID, Mouse state of Asleep or Awake */ + #define MOUSE_DELTA_Y_REG 0x02 /*!< Y Movement */ + #define MOUSE_DELTA_X_REG 0x03 /*!< X Movement */ + #define MOUSE_SQUAL_REG 0x04 /*!< Measure of the number of features visible by the sensor */ + #define MOUSE_MAX_PIXEL_REG 0x05 /*!< Maximum Pixel value in current frame.*/ + #define MOUSE_MIN_PIXEL_REG 0x06 /*!< Minimum Pixel value in current frame.*/ + #define MOUSE_PIXEL_SUM_REG 0x07 /*!< This register is used to find the average pixel value.*/ + #define MOUSE_PIXEL_DATA_REG 0x08 /*!< Actual picture of surface */ + #define MOUSE_SHUTTER_UPPER_REG 0x09 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/ + #define MOUSE_SHUTTER_LOWER_REG 0x0A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/ + #define MOUSE_INVERSE_PRODUCT_ID_REG 0x11 /*!< Inverse Product ID */ + + #define MOUSE_CFG_RESET 0x80 /*!< Reset Circuit */ + #define MOUSE_CFG_POWERDOWN 0x40 /*!< Power Down analog Circuit */ + #define MOUSE_CFG_FORCEAWAKE 0x01 /*!< Keep Sensor awake */ + +#else + /* ADNS2620 */ + #define MOUSE_CONFIG_REG 0x40 /*!< Reset, Power Down, Forced Awake, etc */ + #define MOUSE_STATUS_REG 0x41 /*!< Product ID, Mouse state of Asleep or Awake */ + #define MOUSE_DELTA_Y_REG 0x42 /*!< Y Movement */ + #define MOUSE_DELTA_X_REG 0x43 /*!< X Movement */ + #define MOUSE_SQUAL_REG 0x44 /*!< Measure of the number of features visible by the sensor */ + #define MOUSE_MAX_PIXEL_REG 0x45 /*!< Maximum Pixel value in current frame.*/ + #define MOUSE_MIN_PIXEL_REG 0x46 /*!< Minimum Pixel value in current frame.*/ + #define MOUSE_PIXEL_SUM_REG 0x47 /*!< This register is used to find the average pixel value.*/ + #define MOUSE_PIXEL_DATA_REG 0x48 /*!< Actual picture of surface */ + #define MOUSE_SHUTTER_UPPER_REG 0x49 /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/ + #define MOUSE_SHUTTER_LOWER_REG 0x4A /*!< The sensor adjusts the shutter to keep the average and maximum pixel values within normal operating ranges.*/ + #define MOUSE_FRAME_PERIOD_REG 0x4B /*!< The frame period counter counts up until it overflows. */ +#endif + +/*! + * Initialisiere Maussensor + */ +void maus_sens_init(void); + +/*! + * Schickt ein Lesekommando an den Sensor + * und liest ein Byte zurueck + * @param adr die Adresse + * @return das Datum + */ +uint8 maus_sens_read(uint8 adr); + +/*! Stellt sicher, dass der Maussensor nicht mehr die serielle Datenleitung treibt */ +#define maus_sens_highZ() maus_sens_write(0x77,0x00) + +/*! + * Uebertraegt ein write-Kommando an den Sensor + * @param adr Adresse + * @param data Datum + */ +void maus_sens_write(int8 adr, uint8 data); + +/*! + * Liefert bei jedem Aufruf das naechste Pixel des Bildes + * Insgesamt gibt es 324 Pixel + * <pre> + * 18 36 ... 324 + * .. .. ... .. + * 2 20 ... .. + * 1 19 ... 307 + * </pre> + * Bevor diese Funktion aufgerufen wird, muss maus_image_prepare() aufgerufen werden! + * @return Die Pixeldaten (Bit 0 bis Bit5), Pruefbit, ob Daten gueltig (Bit6), Markierung fuer den Anfang eines Frames (Bit7) + */ +int8 maus_image_read(void); + +/*! + * Bereitet das auslesen eines ganzen Bildes vor + */ +void maus_image_prepare(void); + +/*! + * Gibt den SQUAL-Wert zurueck. Dieser gibt an, wieviele Merkmale der Sensor + * im aktuell aufgenommenen Bild des Untergrunds wahrnimmt + */ +uint8 maus_get_squal(void); + +#endif |