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PMW3360DM_T2QU.h
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PMW3360DM_T2QU.h
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// @author: Javier Villaverde Ramallo
// @Version: July 2018
// Based on PMW3360DM-T2QU Datasheet Version 1.50 | 26 Sep 2016
// Source: https://d3s5r33r268y59.cloudfront.net/datasheets/9604/2017-05-07-18-19-11/PMS0058-PMW3360DM-T2QU-DS-R1.50-26092016._20161202173741.pdf
#ifndef _PMW3360DM_T2QU_
#define _PMW3360DM_T2QU_
#include <Arduino.h>
#include <SPI.h>
#include "roms/PMW3360DM_srom_0x04.h"
//Be sure to add the SROM file into this sketch via "Sketch->Add File"
extern const unsigned short firmware_length;
extern const unsigned char firmware_data[];
// Registers
#define REG_Product_ID 0x00
#define REG_Revision_ID 0x01
#define REG_Motion 0x02
#define REG_Delta_X_L 0x03
#define REG_Delta_X_H 0x04
#define REG_Delta_Y_L 0x05
#define REG_Delta_Y_H 0x06
#define REG_SQUAL 0x07
#define REG_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0A
#define REG_Shutter_Lower 0x0B
#define REG_Shutter_Upper 0x0C
#define REG_Control 0x0D
#define REG_Config1 0x0F
#define REG_Config2 0x10
#define REG_Angle_Tune 0x11
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate_Lower 0x15
#define REG_Rest1_Rate_Upper 0x16
#define REG_Rest1_Downshift 0x17
#define REG_Rest2_Rate_Lower 0x18
#define REG_Rest2_Rate_Upper 0x19
#define REG_Rest2_Downshift 0x1A
#define REG_Rest3_Rate_Lower 0x1B
#define REG_Rest3_Rate_Upper 0x1C
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2A
#define REG_Min_SQ_Run 0x2B
#define REG_Raw_Data_Threshold 0x2C
#define REG_Config5 0x2F
#define REG_Power_Up_Reset 0x3A
#define REG_Shutdown 0x3B
#define REG_Inverse_Product_ID 0x3F
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4A
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#define REG_LiftCutoff_Tune_Min_Length 0x5A
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65
class PMW3360DM_T2QU
{
public:
PMW3360DM_T2QU ();
bool begin (int ncsPin_ = 10, Print* serialDebug = &Serial);
bool powerUp (void);
void reset (int nRESET_PIN);
void shutdown (void);
bool SROM_download (void);
uint16_t SROM_CRC (void);
uint8_t SROM_ID (void);
void motionBurstRead (void);
bool updatePointer (void);
int16_t convTwosComp (int16_t msbits, int16_t lsbits);
uint8_t spi_read8 (uint8_t reg_addr) const;
void spi_write8 (uint8_t reg_addr, uint8_t data) const;
int x () const;
int y () const;
void printRegisters (void) const;
void printMotionBurstData (void) const;
void printDefaultRegisters (void) const;
enum MotionBurst
{
Motion = 0,
Observation,
Delta_X_L,
Delta_X_H,
Delta_Y_L,
Delta_Y_H,
SQUAL,
Raw_Data_Sum,
Maximum_Raw_Data,
Minimum_Raw_Data,
Shutter_Upper,
Shutter_Lower
};
uint8_t motionBurstData[12];
int ncsPin;
Print* serialDebug;
};
#endif // PMW3360DM_T2QU