v1.1.0 commit

- Raw Image (=Camera) read support

README.md

@@ -34,7 +34,8 @@ For the most basic example, please take look at [basic_polling] example.
   * Write register value to the module.
 
 
-Disclaimer: some part of the code is based on https://github.com/mrjohnk/PMW3360DM-T2QU
+Notice: some part of the code is based on https://github.com/mrjohnk/PMW3360DM-T2QU
+Disclaimer: This is not a PixArt official library. USE AT YOUR OWN RISK.
 
 # License
 
@@ -58,6 +59,11 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
 * v1.0.0
   * Initial release
 
-# v1.0.1
+* v1.0.1
   * Bug fix on register reading (timing stabilized)
   * Sensor initialization check routine added. (begin() will return false if failed)
+
+* v1.1.0
+  * Raw frame capture functions are updated (prepareImage, readImagePixel, endImage).
+  * 'Camera' example is added
+

examples/Camera/Camera.ino

@@ -0,0 +1,131 @@
+#include <PMW3360.h>
+/* 
+Frame capture (=Camera) mode:
+This mode disables navigation and overwrites any downloaded firmware.
+A hardware reset is required to restore navigation, and the firmware must be reloaded.
+
+# PIN CONNECTION
+  * MI = MISO
+  * MO = MOSI
+  * SS = Slave Select / Chip Select
+  * SC = SPI Clock
+  * MT = Motion (active low interrupt line)
+  * RS = Reset
+  * GD = Ground
+  * VI = Voltage in up to +5.5V 
+
+Module   Arduino
+  RS --- (NONE)
+  GD --- GND
+  MT --- (NONE)
+  SS --- Pin_10   (use this pin to initialize a PMW3360 instance)
+  SC --- SCK 
+  MO --- MOSI
+  MI --- MISO
+  VI --- 5V
+ */
+
+#define SS  10   // Slave Select pin. Connect this to SS on the module.
+
+PMW3360 sensor;
+
+void setup() {
+  Serial.begin(9600);  
+  while(!Serial);
+
+  if(sensor.begin(SS))  // 10 is the pin connected to SS of the module.
+    Serial.println("Sensor initialization successed");
+  else
+    Serial.println("Sensor initialization failed");
+
+  // wait for 250 ms for frame capture.
+  delay(250);
+}
+
+void loop() {
+  // The following routine shoud be alwyas performed together.
+  // BEGIN -------------------------------------------------
+  sensor.prepareImage();
+  for(int i=0;i<36*36;i++)
+  {
+    byte pixel = sensor.readImagePixel();
+    Serial.print(pixel, DEC);
+    Serial.print(' ');
+  }
+  sensor.endImage();
+  // END ----------------------------------------------------
+
+  delay(50);
+
+  // optional: Surface quality report
+  int squal = sensor.readReg(REG_SQUAL);
+  Serial.println(squal);
+
+  delay(10);
+}
+
+/* Processing code for visualization (http://processing.org to downlaod)
+
+import processing.serial.*;
+
+Serial myPort;
+int[] val = null;
+boolean sync = false;
+int lf = 10;
+
+void setup()
+{
+  size(360, 380);
+  String[] sList = Serial.list();
+  String portName = sList[sList.length - 1];
+  myPort = new Serial(this, portName, 9600);
+}
+
+void draw()
+{
+  if(myPort.available() > 0)
+  {
+    String s = myPort.readStringUntil(lf);
+    
+    if(s != null)
+    {
+      int[] nums = int(split(trim(s), ' '));
+      
+      if(nums.length == 36*36+1)
+      {
+        val = nums;
+      }
+    }
+  }
+  
+  if(val == null)
+  {
+    background(0);
+    return;
+  }
+  
+  background(0);
+ 
+  noStroke();
+  for(int i=0;i<36;i++)
+  {
+    for(int j=0;j<36;j++)
+    {
+      int pixel = val[i*36+j];
+      fill(pixel);
+      rect(i*10, (35-j)*10, 10, 10);
+    }
+  }
+  
+  int squal = val[36*36];
+  
+  fill(255);
+  text("SQUAL = "+squal, 10, 375);
+}
+
+void keyPressed()
+{
+  if(key == 's')
+    save("frame.png");
+}
+*/

examples/basic_interrupt/basic_interrupt.ino

@@ -41,7 +41,7 @@ Module   Arduino
 #define SS  10   // Slave Select pin. Connect this to SS on the module.
 
 PMW3360 sensor;
-bool motion = false;
+volatile bool motion = false;
 
 void setup() {
   Serial.begin(9600);  

keywords.txt

@@ -17,6 +17,9 @@ getCPI		KEYWORD2
 readBurst	KEYWORD2
 readReg  	KEYWORD2
 writeReg  	KEYWORD2
+prepareImage 	KEYWORD2
+readImagePixel 	KEYWORD2
+endImage 		KEYWORD2
 
 #######################################
 # Constants (LITERAL1)

library.properties

@@ -1,9 +1,9 @@
 name=PMW3360 Module
-version=1.0.1
+version=1.1.0
 author=Sunjun Kim
 maintainer=Sunjun Kim <kuaa.net@gmail.com>
-sentence=This library allows an Arduino/Genuino board to interface with PixArt PMW3360 module
-paragraph=Set parameters and get motion data from PMW3360 motion sensor module
+sentence=This library allows an Arduino/Genuino board to interface with PixArt PMW3360 motion sensor module.
+paragraph=You can set/get parameters, get motion data, get raw camer image from PMW3360 module.
 category=Sensors
 url=https://github.com/SunjunKim/PMW3360
 architectures=*

src/PMW3360.cpp

@@ -304,11 +304,19 @@ const unsigned char firmware_data[] PROGMEM = {    // SROM 0x04
 //================================================================================
 //	PMW3360 Motion Sensor Module
 
+// bascially do nothing here
 PMW3360::PMW3360() 
 {
 }
 
 // public
+/* 
+begin: initalize variables, prepare the sensor to be init.
+
+# parameter
+ss_pin: The arduino pin that is connected to slave select on the module.
+CPI: initial CPI. optional.
+*/
 bool PMW3360::begin(unsigned int ss_pin, unsigned int CPI)
 {
   _ss = ss_pin;
@@ -357,6 +365,12 @@ bool PMW3360::begin(unsigned int ss_pin, unsigned int CPI)
 }
 
 // public
+/* 
+setCPI: set CPI level of the motion sensor.
+
+# parameter
+cpi: Count per Inch value
+*/
 void PMW3360::setCPI(unsigned int cpi)
 {
   int cpival = constrain((cpi/100)-1, 0, 0x77); // limits to 0--119 
@@ -368,6 +382,12 @@ void PMW3360::setCPI(unsigned int cpi)
 }
 
 // public
+/* 
+getCPI: get CPI level of the motion sensor.
+
+# retrun
+cpi: Count per Inch value
+*/
 unsigned int PMW3360::getCPI()
 {
   SPI_BEGIN;
@@ -378,6 +398,12 @@ unsigned int PMW3360::getCPI()
 }
 
 // public
+/* 
+readBurst: get one frame of motion data. 
+
+# retrun
+type: PMW3360_DATA
+*/
 PMW3360_DATA PMW3360::readBurst()
 {  
   unsigned long fromLast = micros() - _lastBurst;
@@ -438,6 +464,14 @@ PMW3360_DATA PMW3360::readBurst()
 }
 
 // public
+/* 
+readReg: get one byte value from the given reg_addr.
+
+# parameter
+reg_addr: the register address
+# retrun
+byte value on the register.
+*/
 byte PMW3360::readReg(byte reg_addr)
 {
   SPI_BEGIN;
@@ -447,13 +481,23 @@ byte PMW3360::readReg(byte reg_addr)
 }
 
 // public
+/* 
+writeReg: write one byte value to the given reg_addr.
+
+# parameter
+reg_addr: the register address
+data: byte value to be pass to the register.
+*/
 void PMW3360::writeReg(byte reg_addr, byte data)
 {
   SPI_BEGIN;
   adns_write_reg(reg_addr, data);
   SPI_END;
 }
 
+/* 
+adns_read_reg: write one byte value to the given reg_addr.
+*/
 byte PMW3360::adns_read_reg(byte reg_addr) {
   if(reg_addr != REG_Motion_Burst)
   {
@@ -473,6 +517,9 @@ byte PMW3360::adns_read_reg(byte reg_addr) {
   return data;
 }
 
+/* 
+adns_write_reg: write one byte value to the given reg_addr
+*/
 void PMW3360::adns_write_reg(byte reg_addr, byte data) {
   if(reg_addr != REG_Motion_Burst)
   {
@@ -490,6 +537,9 @@ void PMW3360::adns_write_reg(byte reg_addr, byte data) {
   delayMicroseconds(100); // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
 }
 
+/* 
+adns_upload_firmware: load SROM content to the motion sensor
+*/
 void PMW3360::adns_upload_firmware() {
   //Write 0 to Rest_En bit of Config2 register to disable Rest mode.
   adns_write_reg(REG_Config2, 0x00);
@@ -526,6 +576,11 @@ void PMW3360::adns_upload_firmware() {
   END_COM;
 }
 
+/* 
+check_signature: check whether SROM is successfully loaded
+
+return: true if the rom is loaded correctly.
+*/
 bool PMW3360::check_signature() {
   SPI_BEGIN;
 
@@ -536,4 +591,39 @@ bool PMW3360::check_signature() {
   SPI_END;
 
   return (pid==0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04
+}
+
+/* 
+prepareImage: prepare a raw image capture from the snesor
+*/
+void PMW3360::prepareImage()
+{
+  SPI_BEGIN;
+
+  adns_write_reg(REG_Config2, 0x00);
+
+  adns_write_reg(REG_Frame_Capture, 0x83);
+  adns_write_reg(REG_Frame_Capture, 0xc5);  
+
+  delay(20);
+
+  BEGIN_COM;
+  SPI.transfer(REG_Raw_Data_Burst & 0x7f);
+  delayMicroseconds(20);  
+}
+/* 
+readImagePixel: prepare a raw image capture from the snesor
+*/
+byte PMW3360::readImagePixel()
+{
+  byte pixel = SPI.transfer(0);
+  delayMicroseconds(20);
+
+  return pixel;
+}
+
+void PMW3360::endImage()
+{
+  END_COM;
+  SPI_END;
 }

src/PMW3360.h

@@ -129,12 +129,18 @@ class PMW3360
 {
 public:
   PMW3360();  // set CPI to 800 by default.
-  bool begin(unsigned int ss_pin, unsigned int CPI = 800);
+  // begin: initialize the module, ss_pin: slave select pin, CPI: initial Count Per Inch
+  bool begin(unsigned int ss_pin, unsigned int CPI = 800);    
+  // setCPI: set Count Per Inch value
   void setCPI(unsigned int newCPI);
+  // setCPI: get CPI value (it does read CPI register from the module)
   unsigned int getCPI();
   PMW3360_DATA readBurst();
   byte readReg(byte reg_addr);
   void writeReg(byte reg_addr, byte data);
+  void prepareImage();
+  byte readImagePixel();
+  void endImage();
 
 private:
   unsigned int _ss;