diff --git a/examples/pmw3389.rs b/examples/pmw3389.rs
index 6f9c3a191c6b0736ef614a0de697192ac62d4040..9c57444720276c0be59576e85e0b5d7121bf9a19 100644
--- a/examples/pmw3389.rs
+++ b/examples/pmw3389.rs
@@ -61,14 +61,14 @@ const APP: () = {
let sck = gpiob.pb10.into_alternate_af5();
let miso = gpioc.pc2.into_alternate_af5();
let mosi = gpioc.pc3.into_alternate_af5();
- // let cs = gpiob.pb4.into_push_pull_output().set_speed(Speed::High);
- let cs = gpiob.pb4.into_push_pull_output();
+ let cs = gpiob.pb4.into_push_pull_output().set_speed(Speed::High);
+ // let cs = gpiob.pb4.into_push_pull_output();
let spi = Spi::spi2(
device.SPI2,
(sck, miso, mosi),
MODE_3,
- stm32f4xx_hal::time::KiloHertz(2000).into(),
+ stm32f4xx_hal::time::KiloHertz(1000).into(),
clocks,
);
@@ -291,6 +291,13 @@ mod pmw3389 {
iprintln!(&mut itm.stim[0], "pmw3389 - new");
+ // ensure SPI is reset
+ pmw3389.com_end();
+ pmw3389.delay.delay_us(40);
+ pmw3389.com_begin();
+ pmw3389.delay.delay_us(40);
+ pmw3389.com_end();
+
// read product id
let id = pmw3389.product_id()?;
iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
@@ -300,11 +307,6 @@ mod pmw3389 {
iprintln!(&mut itm.stim[0], "reset");
- // ensure SPI is reset
- pmw3389.com_end();
- pmw3389.com_begin();
- pmw3389.com_end();
-
// shutdown
// adns_write_reg(Shutdown, 0xb6); // Shutdown first
@@ -315,12 +317,12 @@ mod pmw3389 {
// adns_com_end();
// delayMicroseconds(40);
- pmw3389.write_register(Register::Shutdown, 0xb6)?;
- pmw3389.delay.delay_ms(300);
- pmw3389.com_begin();
- pmw3389.delay.delay_us(40);
- pmw3389.com_end();
- pmw3389.delay.delay_us(40);
+ // pmw3389.write_register(Register::Shutdown, 0xb6)?;
+ // pmw3389.delay.delay_ms(300);
+ // pmw3389.com_begin();
+ // pmw3389.delay.delay_us(40);
+ // pmw3389.com_end();
+ // pmw3389.delay.delay_us(40);
// force reset
pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
@@ -343,7 +345,8 @@ mod pmw3389 {
pmw3389.read_register(Register::DeltaYH)?;
pmw3389.upload_firmware(itm)?;
- pmw3389.delay.delay_ms(10);
+
+ pmw3389.delay.delay_ms(1000);
iprintln!(&mut itm.stim[0], "Optical Chip Initialized");
@@ -354,14 +357,40 @@ mod pmw3389 {
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);
+ pmw3389.write_register(Register::Motion, 0x01)?;
+
+ let motion = pmw3389.read_register(Register::Motion)?;
+ let xl = pmw3389.read_register(Register::DeltaXL)?;
+ let xh = pmw3389.read_register(Register::DeltaXH)?;
+ let yl = pmw3389.read_register(Register::DeltaYL)?;
+ let yh = pmw3389.read_register(Register::DeltaYH)?;
+
+ let x = (xl as u16 + (xh as u16) << 8) as i16;
+ let y = (yl as u16 + (yh as u16) << 8) as i16;
+
+ let surface = motion & 0x08;
+ let motion_detect = motion & 0x80;
+
+ iprintln!(
+ &mut itm.stim[0],
+ "motion {}, surface {}, (x, y) {:?}",
+ motion_detect,
+ surface,
+ (x, y),
+ );
+ pmw3389.delay.delay_ms(200);
}
- Ok(pmw3389)
+ // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
+ // self.delay.delay_ms(35); // waits for tSRAD
+
+ // loop {
+ // pmw3389.read_status(itm)?;
+ // pmw3389.delay.delay_ms(10);
+ // }
+
+ // Ok(pmw3389)
}
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
@@ -372,6 +401,7 @@ mod pmw3389 {
// tSRAD
self.delay.delay_us(100);
+ self.delay.delay_us(120);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
@@ -383,6 +413,7 @@ mod pmw3389 {
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
+ self.delay.delay_us(120);
Ok(buffer[0])
}
@@ -419,7 +450,7 @@ mod pmw3389 {
self.com_begin();
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
- self.delay.delay_ms(35); // waits for tSRAD
+ self.delay.delay_us(35); // waits for tSRAD
// read burst buffer
let mut buf = [0u8; 12];
@@ -534,10 +565,9 @@ mod pmw3389 {
}
// // Per: added this, seems adequate
- // self.delay.delay_us(105);
+ self.delay.delay_us(105);
- // // let _ = self.cs.set_high();
- // self.com_end();
+ self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
@@ -547,50 +577,20 @@ mod pmw3389 {
// //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
// // adns_write_reg(Config2, 0x00);
- self.write_register(Register::Config2, 0x00)?;
+ self.write_register(Register::Config2, 0x20)?;
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
- self.write_register(Register::ResolutionL, 0)?;
- self.write_register(Register::ResolutionH, 0x15)?;
+ // self.write_register(Register::ResolutionL, 0x15)?;
+ self.write_register(Register::ResolutionL, 0x5)?;
+ // self.write_register(Register::ResolutionH, 0x15)?;
+ self.write_register(Register::ResolutionH, 0x00)?;
- // adns_com_end();
+ // adns_com_end(); // why the CS is already high
self.com_end();
Ok(())
}
-
- // /// Read multiple bytes starting from the `start_reg` register.
- // /// This function will attempt to fill the provided buffer.
- // fn read_many(&mut self, start_reg: Register, buffer: &mut [u8]) -> Result<(), E> {
- // let _ = self.cs.set_low();
- // buffer[0] = start_reg.addr() | MULTI | READ;
- // self.spi.transfer(buffer)?;
- // let _ = self.cs.set_high();
-
- // Ok(())
- // }
-
- // /// Change configuration in register
- // ///
- // /// Helper function to update a particular part of a register without
- // /// affecting other parts of the register that might contain desired
- // /// configuration. This allows the `L3gd20` struct to be used like
- // /// a builder interface when configuring specific parameters.
- // fn change_config<B: BitValue>(&mut self, reg: Register, bits: B) -> Result<&mut Self, E> {
- // // Create bit mask from width and shift of value
- // let mask = B::mask() << B::shift();
- // // Extract the value as u8
- // let bits = (bits.value() << B::shift()) & mask;
- // // Read current value of register
- // let current = self.read_register(reg)?;
- // // Use supplied mask so we don't affect more than necessary
- // let masked = current & !mask;
- // // Use `or` to apply the new value without affecting other parts
- // let new_reg = masked | bits;
- // self.write_register(reg, new_reg)?;
- // Ok(self)
- // }
}
// const unsigned char firmware_data[] PROGMEM