diff --git a/examples/pmw3389.rs b/examples/pmw3389.rs
index d24c0bbbaefea9875cf577cc6f4d3bd1101a33a6..6f9c3a191c6b0736ef614a0de697192ac62d4040 100644
--- a/examples/pmw3389.rs
+++ b/examples/pmw3389.rs
@@ -193,7 +193,7 @@ impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
mod pmw3389 {
use super::DwtDelay;
- use cortex_m::iprintln;
+ use cortex_m::{iprint, iprintln};
use embedded_hal::blocking::spi::{Transfer, Write};
use embedded_hal::digital::v2::OutputPin;
use stm32f4xx_hal::{prelude::*, stm32};
@@ -216,7 +216,7 @@ mod pmw3389 {
ShutterLower = 0x0B,
ShutterUpper = 0x0C,
RippleControl = 0x0D,
- ResoultionL = 0x0E,
+ ResolutionL = 0x0E,
ResolutionH = 0x0F,
Config2 = 0x10,
AngleTune = 0x11,
@@ -328,12 +328,12 @@ mod pmw3389 {
// wait for reboot
pmw3389.delay.delay_ms(50);
- // // read product id
- // let id = pmw3389.product_id()?;
- // iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
+ // read product id
+ let id = pmw3389.product_id()?;
+ iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
- // let srom_id = pmw3389.read_register(Register::SROMId)?;
- // iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
+ let srom_id = pmw3389.read_register(Register::SROMId)?;
+ iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
// read registers 0x02 to 0x06 (and discard the data)
pmw3389.read_register(Register::Motion)?;
@@ -347,22 +347,19 @@ mod pmw3389 {
iprintln!(&mut itm.stim[0], "Optical Chip Initialized");
- // adns_com_end(); // ensure that the serial port is reset
- // adns_com_begin(); // ensure that the serial port is reset
- // adns_com_end(); // ensure that the serial port is reset
- // adns_write_reg(Power_Up_Reset, 0x5a); // force reset
- // delay(50); // wait for it to reboot
- // // read registers 0x02 to 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);
- // // upload the firmware
- // adns_upload_firmware();
- // delay(10);
- // Serial.println("Optical Chip Initialized");
- // }
+ // read product id
+ let id = pmw3389.product_id()?;
+ iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
+
+ let srom_id = pmw3389.read_register(Register::SROMId)?;
+ iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
+
+ pmw3389.delay.delay_ms(1000);
+
+ loop {
+ pmw3389.read_status(itm)?;
+ pmw3389.delay.delay_ms(1000);
+ }
Ok(pmw3389)
}
@@ -417,6 +414,69 @@ mod pmw3389 {
self.read_register(Register::ProductId)
}
+ /// Read status
+ pub fn read_status(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
+ self.com_begin();
+
+ self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
+ self.delay.delay_ms(35); // waits for tSRAD
+
+ // read burst buffer
+ let mut buf = [0u8; 12];
+ self.spi.transfer(&mut buf)?;
+
+ // tSCLK-NCS for read operation is 120ns
+ self.delay.delay_us(120);
+
+ self.com_end();
+
+ iprint!(&mut itm.stim[0], "burst [");
+ for j in buf.iter() {
+ iprint!(&mut itm.stim[0], "0x{:02x}, ", j);
+ }
+ iprintln!(&mut itm.stim[0], "]");
+
+ // SPI.endTransaction(); // Per:Not sure what it does
+ // /*
+ // BYTE[00] = Motion = if the 7th bit is 1, a motion is detected.
+ // ==> 7 bit: MOT (1 when motion is detected)
+ // ==> 3 bit: 0 when chip is on surface / 1 when off surface
+ // ] = Observation
+ // BYTE[02] = Delta_X_L = dx (LSB)
+ // BYTE[03] = Delta_X_H = dx (MSB)
+ // BYTE[04] = Delta_Y_L = dy (LSB)
+ // BYTE[05] = Delta_Y_H = dy (MSB)
+ // BYTE[06] = SQUAL = Surface Quality register, max 0x80
+ // - Number of features on the surface = SQUAL * 8
+ // BYTE[07] = Raw_Data_Sum = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
+ // * Avg value = Raw_Data_Sum * 1024 / 1296
+ // BYTE[08] = Maximum_Raw_Data = Max raw data value in current frame, max=127
+ // BYTE[09] = Minimum_Raw_Data = Min raw data value in current frame, max=127
+ // BYTE[10] = Shutter_Upper = Shutter LSB
+ // BYTE[11] = Shutter_Lower = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
+ // */
+ // int motion = (burstBuffer[0] & 0x80) > 0;
+ let motion = buf[0] & 0x80;
+ let surface = buf[0] & 0x08;
+ // 0 if on surface / 1 if off surface
+
+ let x = buf[2] as u16 + (buf[3] as u16) << 8;
+ let y = buf[4] as u16 + (buf[5] as u16) << 8;
+
+ let squal = buf[6];
+
+ iprintln!(
+ &mut itm.stim[0],
+ "motion {}, surface {}, (x, y) {:?}, squal {}",
+ motion,
+ surface,
+ (x, y),
+ squal
+ );
+
+ Ok(())
+ }
+
// Upload the firmware
pub fn upload_firmware(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
let stim = &mut itm.stim[0];
@@ -427,7 +487,7 @@ mod pmw3389 {
//Write 0 to Rest_En bit of Config2 register to disable Rest mode.
// adns_write_reg(Config2, 0x20);
// is this correct?
- self.write_register(Register::Config2, 0x20)?;
+ self.write_register(Register::Config2, 0x00)?;
// write 0x1d in SROM_enable reg for initializing
// adns_write_reg(SROM_Enable, 0x1d);
@@ -492,6 +552,7 @@ mod pmw3389 {
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
+ self.write_register(Register::ResolutionL, 0)?;
self.write_register(Register::ResolutionH, 0x15)?;
// adns_com_end();