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#ifndef _MOUSE_SENSOR_H
#define _MOUSE_SENSOR_H
#include "../../stdafx.h"
#include "sensor.h"
class Mouse_Sensor : public Sensor
{
public:
Mouse_Sensor()
{
this->parent = NULL;
this->moduleId = 0;
this->hardwarePort = NULL;
this->hardwareDDR = NULL;
this->hardwarePin = NULL;
this->pinSDA = 0;
this->pinSCK = 0;
this->registerConfig = 0;
this->registerPixelData = 0;
this->registerSqual = 0;
this->registerDeltaX = 0;
this->registerDeltaY = 0;
this->configReset = 0;
this->configAwake = 0;
this->newImage = false;
this->positionX = 0;
this->positionY = 0;
}
Mouse_Sensor(uint32 sensorId)
{
this->parent = NULL;
this->moduleId = sensorId;
this->newImage = false;
switch(sensorId)
{
case IO_SENSOR_MOUSE_LEFT:
this->hardwarePort = &PORTC;
this->hardwareDDR = &DDRC;
this->hardwarePin = &PINC;
this->pinSDA = (1 << 4);
this->pinSCK = (1 << 6);
this->registerConfig = 0x00;
this->registerPixelData = 0x08;
this->registerSqual = 0x04;
this->registerDeltaX = 0x03;
this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
this->positionX = -3.88f * TICKS_PER_CM;
this->positionY = -3.88f * TICKS_PER_CM;
break;
case IO_SENSOR_MOUSE_RIGHT:
this->hardwarePort = &PORTC;
this->hardwareDDR = &DDRC;
this->hardwarePin = &PINC;
this->pinSDA = (1 << 7);
this->pinSCK = (1 << 5);
this->registerConfig = 0x00;
this->registerPixelData = 0x08;
this->registerSqual = 0x04;
this->registerDeltaX = 0x03;
this->registerDeltaY = 0x02;
this->configReset = 0x80;
this->configAwake = 0x01;
this->positionX = -3.88f * TICKS_PER_CM;
this->positionY = 3.88f * TICKS_PER_CM;
break;
default:
this->hardwarePort = NULL;
this->hardwareDDR = NULL;
this->hardwarePin = NULL;
this->pinSDA = 0;
this->pinSCK = 0;
this->registerConfig = 0;
this->registerPixelData = 0;
this->registerSqual = 0;
this->registerDeltaX = 0;
this->registerDeltaY = 0;
this->configReset = 0;
this->configAwake = 0;
break;
}
*hardwareDDR |= pinSCK;
*hardwarePort &= ~pinSCK;
Write(registerConfig, configReset);
Write(registerConfig, configAwake);
}
protected:
//Hardware
volatile uint8* hardwarePort;
volatile uint8* hardwareDDR;
volatile uint8* hardwarePin;
uint8 pinSDA;
uint8 pinSCK;
bool newImage;
//Registers and Settings
uint8 registerConfig;
uint8 registerPixelData;
uint8 registerSqual;
uint8 registerDeltaX;
uint8 registerDeltaY;
uint8 configReset;
uint8 configAwake;
//Information
float positionX;
float positionY;
void WriteByte(uint8 newByte)
{
*hardwareDDR |= pinSDA;//Set SDA output
for(uint8 i = 0; i < 8; i++)
{
*hardwarePort &= ~pinSCK;//prepare SCK
//write data
*hardwarePort = (*hardwarePort & (~(*hardwarePin))) |
((newByte >> 7) * pinSDA);
newByte = newByte << 1;//prepare next byte
asm volatile("nop");
*hardwarePort |= pinSCK;
}
}
void Write(int8 adr, uint8 data)
{
WriteByte(adr | 0x80);
WriteByte(data);
usleep(100);
}
uint8 ReadByte()
{
uint8 data=0;
*hardwareDDR &= ~pinSDA;//Set SDA input
for(uint8 i = 0; i < 8; i++)
{
*hardwarePort &= ~pinSCK;//Prepare data
data = data << 1;
asm volatile("nop");
*hardwarePort |= pinSCK;//Prepare for reading
data |= (*hardwarePin & pinSDA) / pinSDA;
}
return data;
}
uint8 Read(uint8 adr)
{
WriteByte(adr);
usleep(100);
return ReadByte();
}
void ImagePrepare()
{
Write(registerConfig, configAwake);
Write(registerPixelData, 0x00);
newImage = true;
}
uint8 ImageRead()
{
uint8 pixel = Read(registerPixelData);
if(newImage)
{
while (!(pixel & 0x80))//0x80 indicates first pixel
{
pixel=Read(registerPixelData);
}
newImage = false;
}
return pixel;
}
public:
uint8 GetSqual()
{
return Read(registerSqual);
}
int8 GetXMovement()
{
return (int8)(Read(registerDeltaX));
}
int8 GetYMovement()
{
return (int8)(Read(registerDeltaY));
}
float GetPositionX()
{
return positionX;
}
float GetPositionY()
{
return positionY;
}
};
#endif
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