updated firmware with latest changes
This commit is contained in:
ploopyco
PloopyCo
parent
dc0bd0c2f3
commit
f5688b925e
|
|
@ -19,79 +19,50 @@
|
|||
|
||||
#include <SPI.h>
|
||||
#include <avr/pgmspace.h>
|
||||
#include <avr/wdt.h>
|
||||
#include "AdvMouse.h"
|
||||
|
||||
// Max recommended is 4,000,000, since clock speed is 8MHz.
|
||||
// If lower, it should be by factors of 1/2.
|
||||
static const int SPIMAXIMUMSPEED = 2000000;
|
||||
|
||||
static const int CPI = 1200;
|
||||
static const int DEBOUNCE = 10; // ms
|
||||
static const int SCROLL_DEBOUNCE = 50; // ms
|
||||
static const int SCROLL_BUTT_DEBOUNCE = 100; // ms
|
||||
|
||||
static const float ROTATIONAL_TRANSFORM_ANGLE = 20;
|
||||
|
||||
static const int MOUSE_LEFT_PIN = 4;
|
||||
static const int MOUSE_RIGHT_PIN = 7;
|
||||
static const int MOUSE_MIDDLE_PIN = 0;
|
||||
static const int MOUSE_BACK_PIN = 9;
|
||||
static const int MOUSE_FORWARD_PIN = 6;
|
||||
|
||||
// For info, see https://forum.arduino.cc/index.php?topic=241369.0
|
||||
static const int SENSOR_CS = 17;
|
||||
|
||||
static const int OPT_ENC_PIN1 = A3;
|
||||
static const int OPT_ENC_PIN2 = A5;
|
||||
|
||||
static const int OPT_LOW_THRESHOLD = 150;
|
||||
|
||||
static const byte MOTION = 0x02;
|
||||
static const byte DELTA_X_L = 0x03;
|
||||
static const byte DELTA_X_H = 0x04;
|
||||
static const byte DELTA_Y_L = 0x05;
|
||||
static const byte DELTA_Y_H = 0x06;
|
||||
static const byte CONFIG1 = 0x0F;
|
||||
static const byte CONFIG2 = 0x10;
|
||||
static const byte SROM_ENABLE = 0x13;
|
||||
static const byte SROM_ID = 0x2A;
|
||||
static const byte POWER_UP_RESET = 0x3A;
|
||||
static const byte SHUTDOWN = 0x3B;
|
||||
static const byte MOTION_BURST = 0x50;
|
||||
static const byte SROM_LOAD_BURST = 0x62;
|
||||
|
||||
boolean debugMode = false;
|
||||
|
||||
const static int CPI = 1200;
|
||||
const static int DEBOUNCE = 10; // ms
|
||||
|
||||
const static float ROTATIONAL_TRANSFORM_ANGLE = 27.5;
|
||||
|
||||
const static int MOUSE_LEFT_PIN = 4;
|
||||
const static int MOUSE_RIGHT_PIN = 7;
|
||||
const static int MOUSE_MIDDLE_PIN = 0;
|
||||
const static int MOUSE_BACK_PIN = 9;
|
||||
const static int MOUSE_FORWARD_PIN = 6;
|
||||
|
||||
const static int OPT_ENC_PIN1 = A3;
|
||||
const static int OPT_ENC_PIN2 = A5;
|
||||
|
||||
const static int OPT_LOW_THRESHOLD = 100;
|
||||
|
||||
const static byte Product_ID = 0x00;
|
||||
const static byte Revision_ID = 0x01;
|
||||
const static byte Motion = 0x02;
|
||||
const static byte Delta_X_L = 0x03;
|
||||
const static byte Delta_X_H = 0x04;
|
||||
const static byte Delta_Y_L = 0x05;
|
||||
const static byte Delta_Y_H = 0x06;
|
||||
const static byte SQUAL = 0x07;
|
||||
const static byte Raw_Data_Sum = 0x08;
|
||||
const static byte Maximum_Raw_data = 0x09;
|
||||
const static byte Minimum_Raw_data = 0x0A;
|
||||
const static byte Shutter_Lower = 0x0B;
|
||||
const static byte Shutter_Upper = 0x0C;
|
||||
const static byte Control = 0x0D;
|
||||
const static byte Config1 = 0x0F;
|
||||
const static byte Config2 = 0x10;
|
||||
const static byte Angle_Tune = 0x11;
|
||||
const static byte Frame_Capture = 0x12;
|
||||
const static byte SROM_Enable = 0x13;
|
||||
const static byte Run_Downshift = 0x14;
|
||||
const static byte Rest1_Rate_Lower = 0x15;
|
||||
const static byte Rest1_Rate_Upper = 0x16;
|
||||
const static byte Rest1_Downshift = 0x17;
|
||||
const static byte Rest2_Rate_Lower = 0x18;
|
||||
const static byte Rest2_Rate_Upper = 0x19;
|
||||
const static byte Rest2_Downshift = 0x1A;
|
||||
const static byte Rest3_Rate_Lower = 0x1B;
|
||||
const static byte Rest3_Rate_Upper = 0x1C;
|
||||
const static byte Observation = 0x24;
|
||||
const static byte Data_Out_Lower = 0x25;
|
||||
const static byte Data_Out_Upper = 0x26;
|
||||
const static byte Raw_Data_Dump = 0x29;
|
||||
const static byte SROM_ID = 0x2A;
|
||||
const static byte Min_SQ_Run = 0x2B;
|
||||
const static byte Raw_Data_Threshold = 0x2C;
|
||||
const static byte Config5 = 0x2F;
|
||||
const static byte Power_Up_Reset = 0x3A;
|
||||
const static byte Shutdown = 0x3B;
|
||||
const static byte Inverse_Product_ID = 0x3F;
|
||||
const static byte LiftCutoff_Tune3 = 0x41;
|
||||
const static byte Angle_Snap = 0x42;
|
||||
const static byte LiftCutoff_Tune1 = 0x4A;
|
||||
const static byte Motion_Burst = 0x50;
|
||||
const static byte LiftCutoff_Tune_Timeout = 0x58;
|
||||
const static byte LiftCutoff_Tune_Min_Length = 0x5A;
|
||||
const static byte SROM_Load_Burst = 0x62;
|
||||
const static byte Lift_Config = 0x63;
|
||||
const static byte Raw_Data_Burst = 0x64;
|
||||
const static byte LiftCutoff_Tune2 = 0x65;
|
||||
|
||||
// Pin 17? WHAA? Curious? See here:
|
||||
// https://forum.arduino.cc/index.php?topic=241369.0
|
||||
const static int SENSOR_CS = 17;
|
||||
boolean wdtMode = false;
|
||||
|
||||
float cosTransform;
|
||||
float sinTransform;
|
||||
|
|
@ -111,63 +82,40 @@ int16_t dy;
|
|||
unsigned long lastTS;
|
||||
unsigned long lastButtonCheck = 0;
|
||||
|
||||
unsigned long lastScroll = 0;
|
||||
|
||||
unsigned long middleClickRelease = 0;
|
||||
|
||||
extern const unsigned short firmware_length;
|
||||
extern const unsigned char firmware_data[];
|
||||
|
||||
void setup() {
|
||||
if (debugMode) {
|
||||
pinMode(A0, OUTPUT);
|
||||
digitalWrite(A0, HIGH);
|
||||
//delay(5000);
|
||||
if (wdtMode) {
|
||||
setupWDT();
|
||||
}
|
||||
|
||||
|
||||
if (debugMode) {
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
// Startup delay. This sometimes prevents a USB handshake lockup.
|
||||
delay(1000);
|
||||
|
||||
Serial.begin(9600);
|
||||
setupPins();
|
||||
|
||||
pinMode(SENSOR_CS, OUTPUT);
|
||||
pinMode(MOUSE_LEFT_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_RIGHT_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_MIDDLE_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_BACK_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_FORWARD_PIN, INPUT_PULLUP);
|
||||
|
||||
pinMode(OPT_ENC_PIN1, INPUT);
|
||||
pinMode(OPT_ENC_PIN2, INPUT);
|
||||
|
||||
// Ground all output pins connected to ground.
|
||||
// This provides additional pathways to ground.
|
||||
// If you're messing with this, know this:
|
||||
// Driving ANY of these pins high will cause a short.
|
||||
// On the MCU.
|
||||
// Ka-blooey.
|
||||
pinMode(1, OUTPUT);
|
||||
pinMode(2, OUTPUT);
|
||||
pinMode(8, OUTPUT);
|
||||
pinMode(10, OUTPUT);
|
||||
pinMode(11, OUTPUT);
|
||||
pinMode(12, OUTPUT);
|
||||
pinMode(13, OUTPUT);
|
||||
pinMode(A1, OUTPUT);
|
||||
pinMode(A2, OUTPUT);
|
||||
pinMode(A4, OUTPUT);
|
||||
digitalWrite(1, LOW);
|
||||
digitalWrite(2, LOW);
|
||||
digitalWrite(8, LOW);
|
||||
digitalWrite(10, LOW);
|
||||
digitalWrite(11, LOW);
|
||||
digitalWrite(12, LOW);
|
||||
digitalWrite(13, LOW);
|
||||
digitalWrite(A1, LOW);
|
||||
digitalWrite(A2, LOW);
|
||||
digitalWrite(A4, LOW);
|
||||
// This is the debug LED.
|
||||
pinMode(A0, OUTPUT);
|
||||
if (debugMode) {
|
||||
digitalWrite(A0, HIGH);
|
||||
} else {
|
||||
digitalWrite(A0, LOW);
|
||||
}
|
||||
|
||||
SPI.begin();
|
||||
SPI.setDataMode(SPI_MODE3);
|
||||
SPI.setBitOrder(MSBFIRST);
|
||||
|
||||
performStartup();
|
||||
initialisePMW3360();
|
||||
|
||||
cosTransform = cos(ROTATIONAL_TRANSFORM_ANGLE * PI / 180);
|
||||
sinTransform = sin(ROTATIONAL_TRANSFORM_ANGLE * PI / 180);
|
||||
|
|
@ -188,16 +136,80 @@ void setup() {
|
|||
}
|
||||
}
|
||||
|
||||
void adns_com_begin() {
|
||||
void setupWDT() {
|
||||
/* IMPORTANT NOTE!
|
||||
* THIS MUST BE THE FIRST THING THAT RUNS IN SETUP()! If it isn't, there's
|
||||
* a good chance the Arduino will enter an unstable state, and it's entirely
|
||||
* possible that you can permanently brick your MCU!
|
||||
*/
|
||||
|
||||
cli();
|
||||
|
||||
// Clear the watchdog reset flag
|
||||
MCUSR &= ~(1 << WDRF);
|
||||
|
||||
// Enter watchdog configuration mode
|
||||
WDTCSR |= (1 << WDCE) |
|
||||
(1 << WDE);
|
||||
|
||||
// WDIE needs to be included, or else this doesn't work.
|
||||
WDTCSR = (1 << WDIE) |
|
||||
(1 << WDE) |
|
||||
(1 << WDP3) |
|
||||
(0 << WDP2) |
|
||||
(0 << WDP1) |
|
||||
(0 << WDP0);
|
||||
|
||||
sei();
|
||||
}
|
||||
|
||||
void setupPins() {
|
||||
pinMode(SENSOR_CS, OUTPUT);
|
||||
pinMode(MOUSE_LEFT_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_RIGHT_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_MIDDLE_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_BACK_PIN, INPUT_PULLUP);
|
||||
pinMode(MOUSE_FORWARD_PIN, INPUT_PULLUP);
|
||||
|
||||
pinMode(OPT_ENC_PIN1, INPUT);
|
||||
pinMode(OPT_ENC_PIN2, INPUT);
|
||||
|
||||
/* Ground all output pins connected to ground. This provides additional
|
||||
* pathways to ground. If you're messing with this, know this: driving ANY
|
||||
* of these pins high will cause a short. On the MCU. Ka-blooey.
|
||||
*/
|
||||
pinMode(1, OUTPUT);
|
||||
pinMode(2, OUTPUT);
|
||||
pinMode(8, OUTPUT);
|
||||
pinMode(10, OUTPUT);
|
||||
pinMode(11, OUTPUT);
|
||||
pinMode(12, OUTPUT);
|
||||
pinMode(13, OUTPUT);
|
||||
pinMode(A1, OUTPUT);
|
||||
pinMode(A2, OUTPUT);
|
||||
pinMode(A4, OUTPUT);
|
||||
digitalWrite(1, LOW);
|
||||
digitalWrite(2, LOW);
|
||||
digitalWrite(8, LOW);
|
||||
digitalWrite(10, LOW);
|
||||
digitalWrite(11, LOW);
|
||||
digitalWrite(12, LOW);
|
||||
digitalWrite(13, LOW);
|
||||
digitalWrite(A1, LOW);
|
||||
digitalWrite(A2, LOW);
|
||||
digitalWrite(A4, LOW);
|
||||
}
|
||||
|
||||
void adnsComBegin() {
|
||||
digitalWrite(SENSOR_CS, LOW);
|
||||
}
|
||||
|
||||
void adns_com_end() {
|
||||
void adnsComEnd() {
|
||||
digitalWrite(SENSOR_CS, HIGH);
|
||||
}
|
||||
|
||||
byte adns_read_reg(byte reg_addr) {
|
||||
adns_com_begin();
|
||||
byte adnsReadReg(byte reg_addr) {
|
||||
adnsComBegin();
|
||||
|
||||
// send adress of the register, with MSBit = 0 to indicate it's a read
|
||||
SPI.transfer(reg_addr & 0x7f);
|
||||
|
|
@ -206,15 +218,15 @@ byte adns_read_reg(byte reg_addr) {
|
|||
|
||||
// tSCLK-SENSOR_CS for read operation is 120ns
|
||||
delayMicroseconds(1);
|
||||
adns_com_end();
|
||||
adnsComEnd();
|
||||
// tSRW/tSRR (=20us) minus tSCLK-SENSOR_CS
|
||||
delayMicroseconds(19);
|
||||
|
||||
return data;
|
||||
}
|
||||
|
||||
void adns_write_reg(byte reg_addr, byte data) {
|
||||
adns_com_begin();
|
||||
void adnsWriteReg(byte reg_addr, byte data) {
|
||||
adnsComBegin();
|
||||
|
||||
// send adress of the register, with MSBit = 1 to indicate it's a write
|
||||
SPI.transfer(reg_addr | 0x80);
|
||||
|
|
@ -222,33 +234,78 @@ void adns_write_reg(byte reg_addr, byte data) {
|
|||
|
||||
// tSCLK-SENSOR_CS for write operation
|
||||
delayMicroseconds(20);
|
||||
adns_com_end();
|
||||
adnsComEnd();
|
||||
// tSWW/tSWR (=120us) minus tSCLK-SENSOR_CS.
|
||||
// Could be shortened, but this looks like a safe lower-bound.
|
||||
delayMicroseconds(100);
|
||||
}
|
||||
|
||||
void adns_upload_firmware() {
|
||||
void setCPI(int cpi) {
|
||||
int cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
|
||||
|
||||
adnsComBegin();
|
||||
adnsWriteReg(CONFIG1, cpival);
|
||||
adnsComEnd();
|
||||
|
||||
if (debugMode) {
|
||||
Serial.print(F("Got "));
|
||||
Serial.println(cpi);
|
||||
Serial.print(F("Set cpi to "));
|
||||
Serial.println((cpival + 1) * 100);
|
||||
}
|
||||
}
|
||||
|
||||
void initialisePMW3360(void) {
|
||||
if (debugMode) {
|
||||
Serial.println(F("Initialising PMW3360"));
|
||||
}
|
||||
|
||||
// Hard reset. Start by ensuring that the serial port is reset.
|
||||
adnsComEnd();
|
||||
adnsComBegin();
|
||||
adnsComEnd();
|
||||
|
||||
// SHUTDOWN the PMW3360, in case the microcontroller reset but the sensor didn't.
|
||||
adnsWriteReg(SHUTDOWN, 0xb6);
|
||||
delay(300);
|
||||
|
||||
// Drop and raise SENSOR_CS to reset the spi port
|
||||
adnsComBegin();
|
||||
delayMicroseconds(40);
|
||||
adnsComEnd();
|
||||
delayMicroseconds(40);
|
||||
|
||||
// Force a reset of the PMW3360.
|
||||
adnsWriteReg(POWER_UP_RESET, 0x5a);
|
||||
delay(50);
|
||||
|
||||
// Read registers 0x02 through 0x06 (and discard the data)
|
||||
adnsReadReg(MOTION);
|
||||
adnsReadReg(DELTA_X_L);
|
||||
adnsReadReg(DELTA_X_H);
|
||||
adnsReadReg(DELTA_Y_L);
|
||||
adnsReadReg(DELTA_Y_H);
|
||||
|
||||
if (debugMode) {
|
||||
Serial.println(F("Uploading firmware to PMW3360"));
|
||||
}
|
||||
|
||||
// Write 0 to Rest_En bit of Config2 register to disable Rest mode.
|
||||
adns_write_reg(Config2, 0x00);
|
||||
// Write 0 to Rest_En bit of CONFIG2 register to disable Rest mode.
|
||||
adnsWriteReg(CONFIG2, 0x00);
|
||||
|
||||
// write 0x1d in SROM_enable reg for initializing
|
||||
adns_write_reg(SROM_Enable, 0x1d);
|
||||
adnsWriteReg(SROM_ENABLE, 0x1d);
|
||||
|
||||
// wait for more than one frame period
|
||||
// assume that the frame rate is as low as 100fps, even if it should never be that low
|
||||
delay(10);
|
||||
|
||||
// write 0x18 to SROM_enable to start SROM download
|
||||
adns_write_reg(SROM_Enable, 0x18);
|
||||
adnsWriteReg(SROM_ENABLE, 0x18);
|
||||
|
||||
// write burst destination adress
|
||||
adns_com_begin();
|
||||
SPI.transfer(SROM_Load_Burst | 0x80);
|
||||
adnsComBegin();
|
||||
SPI.transfer(SROM_LOAD_BURST | 0x80);
|
||||
delayMicroseconds(15);
|
||||
|
||||
unsigned char c;
|
||||
|
|
@ -259,68 +316,24 @@ void adns_upload_firmware() {
|
|||
}
|
||||
|
||||
// Read the SROM_ID register to verify the ID before any other register reads or writes.
|
||||
adns_read_reg(SROM_ID);
|
||||
adnsReadReg(SROM_ID);
|
||||
|
||||
// Write 0x00 (rest disable) to Config2 register for wired mouse.
|
||||
// Write 0x00 (rest disable) to CONFIG2 register for wired mouse.
|
||||
// (If this were a wireless design, it'd be 0x20.)
|
||||
adns_write_reg(Config2, 0x00);
|
||||
adnsWriteReg(CONFIG2, 0x00);
|
||||
|
||||
adns_com_end();
|
||||
adnsComEnd();
|
||||
|
||||
if (debugMode) {
|
||||
Serial.println(F("Firmware successfully written to PMW3360"));
|
||||
}
|
||||
}
|
||||
|
||||
void setCPI(int cpi) {
|
||||
int cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
|
||||
|
||||
adns_com_begin();
|
||||
adns_write_reg(Config1, cpival);
|
||||
adns_com_end();
|
||||
|
||||
if (debugMode) {
|
||||
Serial.print(F("Got "));
|
||||
Serial.println(cpi);
|
||||
Serial.print(F("Set cpi to "));
|
||||
Serial.println((cpival + 1) * 100);
|
||||
}
|
||||
}
|
||||
|
||||
void performStartup(void) {
|
||||
// Hard reset. Start by ensuring that the serial port is reset.
|
||||
adns_com_end();
|
||||
adns_com_begin();
|
||||
adns_com_end();
|
||||
|
||||
// Shutdown the PMW3360, in case the microcontroller reset but the sensor didn't.
|
||||
adns_write_reg(Shutdown, 0xb6);
|
||||
delay(300);
|
||||
|
||||
// Drop and raise SENSOR_CS to reset the spi port
|
||||
adns_com_begin();
|
||||
delayMicroseconds(40);
|
||||
adns_com_end();
|
||||
delayMicroseconds(40);
|
||||
|
||||
// Force a reset of the PMW3360.
|
||||
adns_write_reg(Power_Up_Reset, 0x5a);
|
||||
delay(50);
|
||||
|
||||
// Read registers 0x02 through 0x06 (and discard the data)
|
||||
adns_read_reg(Motion);
|
||||
adns_read_reg(Delta_X_L);
|
||||
adns_read_reg(Delta_X_H);
|
||||
adns_read_reg(Delta_Y_L);
|
||||
adns_read_reg(Delta_Y_H);
|
||||
|
||||
adns_upload_firmware();
|
||||
delay(10);
|
||||
|
||||
setCPI(CPI);
|
||||
|
||||
// start burst mode
|
||||
adns_write_reg(Motion_Burst, 0x00);
|
||||
adnsWriteReg(MOTION_BURST, 0x00);
|
||||
|
||||
if (debugMode) {
|
||||
Serial.println(F("PMW3360 successfully initialized"));
|
||||
|
|
@ -328,7 +341,7 @@ void performStartup(void) {
|
|||
}
|
||||
|
||||
|
||||
void check_button_state() {
|
||||
void checkButtonState() {
|
||||
if (!initComplete)
|
||||
return;
|
||||
|
||||
|
|
@ -355,22 +368,82 @@ void check_button_state() {
|
|||
// Either the button is being released, or the debounce time elapsed.
|
||||
AdvMouse.release_(buttonKey[i]);
|
||||
buttonState[i] = false;
|
||||
|
||||
if (buttonPin[i] == MOUSE_MIDDLE_PIN) {
|
||||
middleClickRelease = micros();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
signed char moveWheel() {
|
||||
// If the mouse wheel was just released, do not scroll.
|
||||
unsigned long elapsed = micros() - middleClickRelease;
|
||||
if (elapsed < SCROLL_BUTT_DEBOUNCE) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Limit the number of scrolls per unit time.
|
||||
elapsed = micros() - lastScroll;
|
||||
if (elapsed < SCROLL_DEBOUNCE) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Don't scroll if the middle button is depressed.
|
||||
int middleButtonPin = digitalRead(MOUSE_MIDDLE_PIN);
|
||||
if (middleButtonPin == LOW) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
lastScroll = micros();
|
||||
|
||||
int d1 = analogRead(OPT_ENC_PIN1);
|
||||
int d2 = analogRead(OPT_ENC_PIN2);
|
||||
|
||||
if (debugMode) {
|
||||
Serial.print(F("d1: "));
|
||||
Serial.print(d1);
|
||||
Serial.print(F(", d2: "));
|
||||
Serial.println(d2);
|
||||
}
|
||||
|
||||
signed char ret = 0;
|
||||
|
||||
if (d1 < OPT_LOW_THRESHOLD && d2 < OPT_LOW_THRESHOLD) {
|
||||
if (firstOptLowPin == OPT_ENC_PIN1) {
|
||||
// scroll down
|
||||
ret = -1;
|
||||
} else if (firstOptLowPin == OPT_ENC_PIN2) {
|
||||
// scroll up
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
firstOptLowPin = 0;
|
||||
} else if (d1 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN1;
|
||||
} else if (d2 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN2;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void loop() {
|
||||
if (wdtMode) {
|
||||
wdt_reset();
|
||||
}
|
||||
|
||||
byte burstBuffer[12];
|
||||
unsigned long elapsed = micros() - lastTS;
|
||||
|
||||
check_button_state();
|
||||
checkButtonState();
|
||||
|
||||
// polling interval : more than > 0.5 ms.
|
||||
if (elapsed > 870) { // 870...whut?
|
||||
adns_com_begin();
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
adnsComBegin();
|
||||
SPI.beginTransaction(SPISettings(SPIMAXIMUMSPEED, MSBFIRST, SPI_MODE3));
|
||||
|
||||
SPI.transfer(Motion_Burst);
|
||||
SPI.transfer(MOTION_BURST);
|
||||
// Wait for tSRAD
|
||||
delayMicroseconds(35);
|
||||
|
||||
|
|
@ -400,7 +473,7 @@ void loop() {
|
|||
dx -= xPrime;
|
||||
dy += yPrime;
|
||||
|
||||
adns_com_end();
|
||||
adnsComEnd();
|
||||
|
||||
signed char wheel = moveWheel();
|
||||
|
||||
|
|
@ -414,28 +487,3 @@ void loop() {
|
|||
lastTS = micros();
|
||||
}
|
||||
}
|
||||
|
||||
signed char moveWheel() {
|
||||
int d1 = analogRead(OPT_ENC_PIN1);
|
||||
int d2 = analogRead(OPT_ENC_PIN2);
|
||||
|
||||
signed char ret = 0;
|
||||
|
||||
if (d1 < OPT_LOW_THRESHOLD && d2 < OPT_LOW_THRESHOLD) {
|
||||
if (firstOptLowPin == OPT_ENC_PIN1) {
|
||||
// scroll up
|
||||
ret = 1;
|
||||
} else if (firstOptLowPin == OPT_ENC_PIN2) {
|
||||
// scroll down
|
||||
ret = -1;
|
||||
}
|
||||
|
||||
firstOptLowPin = 0;
|
||||
} else if (d1 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN1;
|
||||
} else if (d2 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN2;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue