void clear_motion(void)
{
ON_CS();
SPI_SendReceive(Motion_Clear+0x80);
SPI_SendReceive(0xff); //清除X Y数据
OFF_CS();
}
void writr_register(u8 adress,u8 vlue)
{
ON_CS();
SPI_SendReceive(adress+0x80);
SPI_SendReceive(vlue);
OFF_CS();
delay_us(51);
}
u8 read_register(u8 adress)
{
u8 temp;
ON_CS();
temp=SPI_SendReceive(adress+0x00); //读
delay_us(75);
temp=SPI_SendReceive(0xff); //提供时钟信号_读
OFF_CS();
return temp;
}
float read_average_pixel(void) //读平均像素
{
float temp;
ON_CS();
temp=SPI_SendReceive(Pixel_Sum);
delay_us(76);
temp=SPI_SendReceive(0xff);
temp=temp*256/900;
OFF_CS();
return temp;
}
u8 read_busy(void)//写帧率的判忙 ==1忙
{
u8 temp;
ON_CS();
temp=SPI_SendReceive(Extended_Config+0x00);
delay_us(75);
temp=SPI_SendReceive(0xff);
temp&=0x80;
OFF_CS();
return temp;
}
u16 read_zhenlv(void) //读帧率
{
u16 Frame_Period_Max_Bound_Lower1,Frame_Period_Max_Bound_Upper1;
ON_CS();
Frame_Period_Max_Bound_Upper1=SPI_SendReceive(Frame_Period_Uppe+0x00);
Frame_Period_Max_Bound_Upper1=SPI_SendReceive(0xff);//接收高位的帧率
delay_ms(5);
Frame_Period_Max_Bound_Lower1=SPI_SendReceive(Frame_Period_Lower+0x00);
Frame_Period_Max_Bound_Lower1=SPI_SendReceive(0xff); //接收低位的帧率
OFF_CS();
return ((Frame_Period_Max_Bound_Upper1 << 8) | Frame_Period_Max_Bound_Lower1);
}
void Read_Data_burst(void)
{
extern u16 Alt_ultrasonic;
static int SumX;
static int SumY;
unsigned char move=0;
int x=0;
int y=0;
//burst读。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。。
ON_CS();
SPI_SendReceive(0x50);
delay_us(75);
move=SPI_SendReceive(0xFF);
x=SPI_SendReceive(0xFF);
y=SPI_SendReceive(0xFF);
if(x&0x80)
{
//x的二补码转换
x -= 1;
x = ~x;
x=(-1)*x;
x-=256;
}
if(y&0x80)
{
//y的二补码转换
y -= 1;
y = ~y;
y=(-1)*y;
y-=256;
}
SumX=SumX+x; //累加X读入的移动数据
SumY=SumY+y; //累加Y读入的移动数据
OFF_CS();
delay_us(4);
OFF_CS();
sum_x=(25.4*(float)SumX *Alt_ultrasonic)/(12*1600);//距离=d_x*(25.4/1600)*n 其中n=像高:物高=8毫米:物长
sum_y=(25.4*(float)SumY *Alt_ultrasonic)/(12*1600);
if(move&0x10!=1)
if(move&0x80)
{
Sys_Printf(Printf_USART,"%d,%d\n",sum_x,sum_y);
}
else
{
x=0;
y=0;
}
x=0;
y=0;
}
unsigned char read(unsigned char reg)
{
unsigned int scrold = SCR11;
unsigned char buff[2];
buff[0] = reg<<3 | 0x80;
buff[1] = 0;
// wait for the SPI to free up.
//while(SPI_IsBusy(4));
// spiTransferComplete=0;
SCR11 = 0xf007;
ST1 |= _0002_SAU_CH1_STOP_TRG_ON; /* disable CSI21 */
SOE1 &= ~_0002_SAU_CH1_OUTPUT_ENABLE; /* disable CSI21 output */
SO1 &= ~_0200_SAU_CH1_CLOCK_OUTPUT_1; /* CSI21 clock initial level */
SOE1 |= _0002_SAU_CH1_OUTPUT_ENABLE; /* enable CSI21 output */
SS1 |= _0002_SAU_CH1_START_TRG_ON; /* enable CSI21 */
SPI_SendReceive(3,buff,2,buff);
SCR11 = scrold;
ST1 |= _0002_SAU_CH1_STOP_TRG_ON; /* disable CSI21 */
SOE1 &= ~_0002_SAU_CH1_OUTPUT_ENABLE; /* disable CSI21 output */
SO1 |= _0200_SAU_CH1_CLOCK_OUTPUT_1; /* CSI21 clock initial level */
SOE1 |= _0002_SAU_CH1_OUTPUT_ENABLE; /* enable CSI21 output */
SS1 |= _0002_SAU_CH1_START_TRG_ON; /* enable CSI21 */
//SPI_Transfer(4, 2, buff, buff, SPI_TransferComplete);
//while(spiTransferComplete==0);
// MSTimerDelay(250);
return buff[1];
}
void ADNS_Configuration(void)
{
ON_CS();
writr_register(Configuration_bits,0x10); //设置分辨率 1600 //若Bit 4为0，则为400点每英寸
delay_ms(3);
writr_register(Extended_Config,0x01);
delay_ms(3);
if(read_busy()!=1) {//设为3000帧每秒
OFF_CS(); //突发_写模式
delay_ms(2);
ON_CS();
SPI_SendReceive(Frame_Period_Max_Bound_Lower+0x80); //设置帧率 //先写低位再写高位
SPI_SendReceive(0x40); // C0 5000帧率
SPI_SendReceive(Frame_Period_Max_Bound_Upper+0x80);
SPI_SendReceive(0x1f); // 12
}
clear_motion();
OFF_CS();
}
void read_pixel_burst(void)//爆发读图像
{
int i,j;
writr_register(Frame_Capture,0x83);
delay_us(1010);//等待3帧 (1/3000)*1000000*3+10 =1010us
//开始burst读
ON_CS();
SPI_SendReceive(0x40);
delay_us(75);
for(i=0;i<30;i++)
{
for(j=0;j<30;j++)
{
while(!(USART1->SR&(1<<6)));
USART1->DR=(SPI_SendReceive(0xFF)<<2);
//delay_us(10);
}
}
OFF_CS();
delay_us(4);
OFF_CS();
}
uint8_t WIFI_ReceiveByte(char* buf)
{
uint8_t WIFI_Idle_Char;
//G_WIFI_BufferIndex = 0;
if((P7 & (1<<7)))
{ WIFI_Idle_Char = SPI_CHAR_IDLE;
SPI_CS_Start(SPI_WIFI);
SPI_SendReceive(SPI_WIFI, (uint8_t *)&WIFI_Idle_Char, 1, (uint8_t *)buf);
SPI_CS_End(SPI_WIFI);
return true;
}
else
return false;
}
void ADNS3080_Read(void)
{
unsigned char move=0;
int dx,dy;
ON_CS();
SPI_SendReceive(0x50);
delay_us(75);
move=SPI_SendReceive(0xFF);
dx=SPI_SendReceive(0xFF);
dy=SPI_SendReceive(0xFF);
surface_quality=SPI_SendReceive(0xFF);
if(move&0x10==1 || !move&0x80) {
dx=0;
dy=0;
}else{
if(dx&0x80) {
//x的二补码转换
dx -= 1;
dx = ~dx;
dx=(-1)*dx;
dx-=256;
}
if(dy&0x80) {
//y的二补码转换
dy -= 1;
dy = ~dy;
dy=(-1)*dy;
dy-=256;
}
}
rdx=(float)dx*avg_height*CONV_FACTOR;
rdy=(float)dy*avg_height*CONV_FACTOR;
X=X+rdx; //累加X读入的移动数据
Y=Y+rdy; //累加Y读入的移动数据
OFF_CS();
}
INT32U SPI_Receive ( SPI_Type *SPIx, INT8U *buff, INT32U len )
{
while(len-- != 0)
*buff++ = SPI_SendReceive ( SPIx, 0xFF);
return (len);
}
INT32U SPI_Send ( SPI_Type *SPIx, INT8U *buff, INT32U len )
{
while(len-- != 0)
SPI_SendReceive ( SPIx, *buff++);
return (len);
}
