PAT9125 optimalization (rewrited to C, 8bit sampling)

Firmware/config.h

@@ -16,6 +16,14 @@
 #define SWI2C_DEL         20 //2us clock delay
 #define SWI2C_TMO         2048 //2048 cycles timeout
 
+//PAT9125 configuration
+#define PAT9125_SWI2C
+#define PAT9125_I2C_ADDR  0x75  //ID=LO
+//#define PAT9125_I2C_ADDR  0x79  //ID=HI
+//#define PAT9125_I2C_ADDR  0x73  //ID=NC
+#define PAT9125_XRES      0
+#define PAT9125_YRES      200
+
 //SM4 configuration
 #define SM4_DEFDELAY      500       //default step delay [us]
 

Firmware/pat9125.cpp

@@ -1,8 +1,30 @@
-#include "uni_avr_rpi.h"
+//pat9125.c
+#include "pat9125.h"
+#include <avr/delay.h>
+#include <avr/pgmspace.h>
+#include "config.h"
+#include <stdio.h>
 
-#ifdef PAT9125
 
-#include "pat9125.h"
+//PAT9125 registers
+#define PAT9125_PID1			0x00
+#define PAT9125_PID2			0x01
+#define PAT9125_MOTION			0x02
+#define PAT9125_DELTA_XL		0x03
+#define PAT9125_DELTA_YL		0x04
+#define PAT9125_MODE			0x05
+#define PAT9125_CONFIG			0x06
+#define PAT9125_WP				0x09
+#define PAT9125_SLEEP1			0x0a
+#define PAT9125_SLEEP2			0x0b
+#define PAT9125_RES_X			0x0d
+#define PAT9125_RES_Y			0x0e
+#define PAT9125_DELTA_XYH		0x12
+#define PAT9125_SHUTTER			0x14
+#define PAT9125_FRAME			0x17
+#define PAT9125_ORIENTATION		0x19
+#define PAT9125_BANK_SELECTION	0x7f
+
 
 #ifdef PAT9125_SWSPI
 #include "swspi.h"
@@ -10,20 +32,18 @@
 #ifdef PAT9125_SWI2C
 #include "swi2c.h"
 #endif //PAT9125_SWI2C
-#ifdef PAT9125_HWI2C
-#include <Wire.h>
-#endif //PAT9125_HWI2C
 
 
-unsigned char pat9125_PID1 = 0;
-unsigned char pat9125_PID2 = 0;
-int pat9125_x = 0;
-int pat9125_y = 0;
-unsigned char pat9125_b = 0;
-unsigned char pat9125_s = 0;
+uint8_t pat9125_PID1 = 0;
+uint8_t pat9125_PID2 = 0;
+int16_t pat9125_x = 0;
+int16_t pat9125_y = 0;
+uint8_t pat9125_b = 0;
+uint8_t pat9125_s = 0;
+
 
 // Init sequence, address & value.
-const PROGMEM unsigned char pat9125_init_seq1[] = {
+const PROGMEM uint8_t pat9125_init_seq1[] = {
 	// Disable write protect.
 	PAT9125_WP, 0x5a,
 	// Set the X resolution to zero to let the sensor know that it could safely ignore movement in the X axis.
@@ -43,7 +63,7 @@ const PROGMEM unsigned char pat9125_init_seq1[] = {
 };
 
 // Init sequence, address & value.
-const PROGMEM unsigned char pat9125_init_seq2[] = {
+const PROGMEM uint8_t pat9125_init_seq2[] = {
 	// Magic sequence to enforce full frame rate of the sensor.
 	0x06, 0x028,
 	0x33, 0x0d0,
@@ -74,7 +94,13 @@ const PROGMEM unsigned char pat9125_init_seq2[] = {
     0x0ff
 };
 
-int pat9125_init()
+
+uint8_t pat9125_rd_reg(uint8_t addr);
+void pat9125_wr_reg(uint8_t addr, uint8_t data);
+uint8_t pat9125_wr_reg_verify(uint8_t addr, uint8_t data);
+
+
+uint8_t pat9125_init(void)
 {
 #ifdef PAT9125_SWSPI
 	swspi_init();
@@ -82,14 +108,9 @@ int pat9125_init()
 #ifdef PAT9125_SWI2C
 	swi2c_init();
 #endif //PAT9125_SWI2C
-#ifdef PAT9125_HWI2C
-	Wire.begin();
-#endif //PAT9125_HWI2C
 	// Verify that the sensor responds with its correct product ID.
 	pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
 	pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
-//	pat9125_PID1 = 0x31;
-//	pat9125_PID2 = 0x91;
 	if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
 	{
 		pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
@@ -97,6 +118,8 @@ int pat9125_init()
 		if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
 			return 0;
 	}
+
+#ifdef PAT9125_NEW_INIT
 	// Switch to bank0, not allowed to perform OTS_RegWriteRead.
 	pat9125_wr_reg(PAT9125_BANK_SELECTION, 0);
 	// Software reset (i.e. set bit7 to 1). It will reset to 0 automatically.
@@ -104,11 +127,11 @@ int pat9125_init()
 	pat9125_wr_reg(PAT9125_CONFIG, 0x97);
 	// Wait until the sensor reboots.
 	// Delay 1ms.
-	delayMicroseconds(1000);
+	_delay_us(1000);
 	{
-		const unsigned char *ptr = pat9125_init_seq1;
+		const uint8_t *ptr = pat9125_init_seq1;
 		for (;;) {
-			const unsigned char addr = pgm_read_byte_near(ptr ++);
+			const uint8_t addr = pgm_read_byte_near(ptr ++);
 			if (addr == 0x0ff)
 				break;
 			if (! pat9125_wr_reg_verify(addr, pgm_read_byte_near(ptr ++)))
@@ -117,13 +140,13 @@ int pat9125_init()
 		}
 	}
 	// Delay 10ms.
-	delayMicroseconds(10000);
+	_delay_ms(10);
 	// Switch to bank1, not allowed to perform OTS_RegWrite.
 	pat9125_wr_reg(PAT9125_BANK_SELECTION, 0x01);
 	{
-		const unsigned char *ptr = pat9125_init_seq2;
+		const uint8_t *ptr = pat9125_init_seq2;
 		for (;;) {
-			const unsigned char addr = pgm_read_byte_near(ptr ++);
+			const uint8_t addr = pgm_read_byte_near(ptr ++);
 			if (addr == 0x0ff)
 				break;
 			if (! pat9125_wr_reg_verify(addr, pgm_read_byte_near(ptr ++)))
@@ -138,25 +161,28 @@ int pat9125_init()
 
 	pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
 	pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
+#endif //PAT9125_NEW_INIT
+	pat9125_wr_reg(PAT9125_RES_X, 0);
+	pat9125_wr_reg(PAT9125_RES_Y, 200);
 	return 1;
 }
 
-int pat9125_update()
+uint8_t pat9125_update(void)
 {
 	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
 	{
-		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		uint8_t ucMotion = pat9125_rd_reg(PAT9125_MOTION);
 		pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
 		pat9125_s = pat9125_rd_reg(PAT9125_SHUTTER);
 		if (pat9125_PID1 == 0xff) return 0;
 		if (ucMotion & 0x80)
 		{
-			unsigned char ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
-			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
-			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
+			uint8_t ucXL = pat9125_rd_reg(PAT9125_DELTA_XL);
+			uint8_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
+			uint8_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
 			if (pat9125_PID1 == 0xff) return 0;
-			int iDX = ucXL | ((ucXYH << 4) & 0xf00);
-			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
+			int16_t iDX = ucXL | ((ucXYH << 4) & 0xf00);
+			int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00);
 			if (iDX & 0x800) iDX -= 4096;
 			if (iDY & 0x800) iDY -= 4096;
 			pat9125_x += iDX;
@@ -167,18 +193,18 @@ int pat9125_update()
 	return 0;
 }
 
-int pat9125_update_y()
+uint8_t pat9125_update_y(void)
 {
 	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
 	{
-		unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		uint8_t ucMotion = pat9125_rd_reg(PAT9125_MOTION);
 		if (pat9125_PID1 == 0xff) return 0;
 		if (ucMotion & 0x80)
 		{
-			unsigned char ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
-			unsigned char ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
+			uint8_t ucYL = pat9125_rd_reg(PAT9125_DELTA_YL);
+			uint8_t ucXYH = pat9125_rd_reg(PAT9125_DELTA_XYH);
 			if (pat9125_PID1 == 0xff) return 0;
-			int iDY = ucYL | ((ucXYH << 8) & 0xf00);
+			int16_t iDY = ucYL | ((ucXYH << 8) & 0xf00);
 			if (iDY & 0x800) iDY -= 4096;
 			pat9125_y -= iDY; //negative number, because direction switching does not work
 		}
@@ -187,10 +213,26 @@ int pat9125_update_y()
 	return 0;
 }
 
-unsigned char pat9125_rd_reg(unsigned char addr)
+uint8_t pat9125_update_y2(void)
 {
-//    printf_P(PSTR("pat9125_rd_reg 0x%hhx "), addr);
-	unsigned char data = 0;
+	if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
+	{
+		uint8_t ucMotion = pat9125_rd_reg(PAT9125_MOTION);
+		if (pat9125_PID1 == 0xff) return 0; //NOACK error
+		if (ucMotion & 0x80)
+		{
+			int8_t dy = pat9125_rd_reg(PAT9125_DELTA_YL);
+			if (pat9125_PID1 == 0xff) return 0; //NOACK error
+			pat9125_y -= dy; //negative number, because direction switching does not work
+		}
+		return 1;
+	}
+	return 0;
+}
+
+uint8_t pat9125_rd_reg(uint8_t addr)
+{
+	uint8_t data = 0;
 #ifdef PAT9125_SWSPI
 	swspi_start();
 	swspi_tx(addr & 0x7f);
@@ -198,30 +240,18 @@ unsigned char pat9125_rd_reg(unsigned char addr)
 	swspi_stop();
 #endif //PAT9125_SWSPI
 #ifdef PAT9125_SWI2C
-	int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
-	if (!iret) //NO ACK error
+	if (!swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data)) //NO ACK error
 	{
 		pat9125_PID1 = 0xff;
 		pat9125_PID2 = 0xff;
-//	    printf_P(PSTR("ERR\n"));
 		return 0;
 	}
-//    printf_P(PSTR("0x%hhx OK\n"), data);
 #endif //PAT9125_SWI2C
-#ifdef PAT9125_HWI2C
-	Wire.beginTransmission(PAT9125_I2C_ADDR);
-	Wire.write(addr);
-	Wire.endTransmission();
-	if (Wire.requestFrom(PAT9125_I2C_ADDR, 1) == 1)
-//	if (Wire.available())
-		data = Wire.read();
-#endif //PAT9125_HWI2C
 	return data;
 }
 
-void pat9125_wr_reg(unsigned char addr, unsigned char data)
+void pat9125_wr_reg(uint8_t addr, uint8_t data)
 {
-//    printf_P(PSTR("pat9125_wr_reg 0x%hhx 0x%hhx  "), addr, data);
 #ifdef PAT9125_SWSPI
 	swspi_start();
 	swspi_tx(addr | 0x80);
@@ -229,29 +259,17 @@ void pat9125_wr_reg(unsigned char addr, unsigned char data)
 	swspi_stop();
 #endif //PAT9125_SWSPI
 #ifdef PAT9125_SWI2C
-	int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
-	if (!iret) //NO ACK error
+	if (!swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data)) //NO ACK error
 	{
 		pat9125_PID1 = 0xff;
 		pat9125_PID2 = 0xff;
-//	    printf_P(PSTR("ERR\n"));
 		return;
 	}
-//    printf_P(PSTR("OK\n"));
-
 #endif //PAT9125_SWI2C
-#ifdef PAT9125_HWI2C
-	Wire.beginTransmission(PAT9125_I2C_ADDR);
-	Wire.write(addr);
-	Wire.write(data);
-	Wire.endTransmission();
-#endif //PAT9125_HWI2C
 }
 
-bool pat9125_wr_reg_verify(unsigned char addr, unsigned char data)
+uint8_t pat9125_wr_reg_verify(uint8_t addr, uint8_t data)
 {
 	pat9125_wr_reg(addr, data);
 	return pat9125_rd_reg(addr) == data;
 }
-
-#endif //PAT9125

Firmware/pat9125.h

@@ -1,45 +1,31 @@
+//pat9125.h
 #ifndef PAT9125_H
 #define PAT9125_H
 
-//PAT9125 I2C
-#define PAT9125_I2C_ADDR        0x75  //ID=LO
-//#define PAT9125_I2C_ADDR        0x79  //ID=HI
-//#define PAT9125_I2C_ADDR        0x73  //ID=NC
-
-//PAT9125 registers
-#define PAT9125_PID1			0x00
-#define PAT9125_PID2			0x01
-#define PAT9125_MOTION			0x02
-#define PAT9125_DELTA_XL		0x03
-#define PAT9125_DELTA_YL		0x04
-#define PAT9125_MODE			0x05
-#define PAT9125_CONFIG			0x06
-#define PAT9125_WP				0x09
-#define PAT9125_SLEEP1			0x0a
-#define PAT9125_SLEEP2			0x0b
-#define PAT9125_RES_X			0x0d
-#define PAT9125_RES_Y			0x0e
-#define PAT9125_DELTA_XYH		0x12
-#define PAT9125_SHUTTER			0x14
-#define PAT9125_FRAME			0x17
-#define PAT9125_ORIENTATION		0x19
-#define PAT9125_BANK_SELECTION	0x7f
-
-extern unsigned char pat9125_PID1;
-extern unsigned char pat9125_PID2;
-
-extern int pat9125_x;
-extern int pat9125_y;
-extern unsigned char pat9125_b;
-extern unsigned char pat9125_s;
-
-extern int pat9125_init();
-extern int pat9125_update();
-extern int pat9125_update_y();
-
-extern unsigned char pat9125_rd_reg(unsigned char addr);
-extern void pat9125_wr_reg(unsigned char addr, unsigned char data);
-extern bool pat9125_wr_reg_verify(unsigned char addr, unsigned char data);
+#include <inttypes.h>
 
 
+#if defined(__cplusplus)
+extern "C" {
+#endif //defined(__cplusplus)
+
+
+extern uint8_t pat9125_PID1;
+extern uint8_t pat9125_PID2;
+
+extern int16_t pat9125_x;
+extern int16_t pat9125_y;
+extern uint8_t pat9125_b;
+extern uint8_t pat9125_s;
+
+extern uint8_t pat9125_init(void);
+extern uint8_t pat9125_update(void);
+extern uint8_t pat9125_update_y(void);
+extern uint8_t pat9125_update_y2(void);
+
+
+#if defined(__cplusplus)
+}
+#endif //defined(__cplusplus)
+
 #endif //PAT9125_H

Firmware/pins_Einsy_1_0.h

@@ -21,7 +21,6 @@
 #define SWI2C_SDA      20 //SDA on P3
 #define SWI2C_SCL      21 //SCL on P3
 
-#define PAT9125_SWI2C
 
 
 #define X_TMC2130_CS           41

Firmware/pins_Rambo_1_0.h

@@ -14,7 +14,6 @@
 #define SWI2C_SDA      20 //SDA on P3
 #define SWI2C_SCL      84 //PH2 on P3, sensor cable must be rewired
 
-#define PAT9125_SWI2C
 
 
 #define X_STEP_PIN             37

Firmware/pins_Rambo_1_3.h

@@ -14,7 +14,6 @@
 #define SWI2C_SDA      20 //SDA on P3
 #define SWI2C_SCL      21 //SCL on P3
 
-#define PAT9125_SWI2C
 
 
 #define X_STEP_PIN             37