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/*
* 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
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