Hi there,
I used Arduino Uno to get the pixel values from ADNS-9800 and it works pretty well.
However, when I use Arduino Due to do the same thing, the serial.print data are always 255.
I use the baudrate 115200. And if I increase the baudrate over 115200, the serial.print data will turn into error.
I have changed the SPI pins' position according to SPI - Arduino Reference
And I also changed the level voltage from 5V to 3.3V.
Does the problem come up because of the different clock frequency between these two boards?
(Clock frequency is 16MHz for Uno and 84MHz for Duo)
According to the ADNS-9800 datasheet, it is said the Serial Port Clock Frequency of ADNS-9800 is 2MHz.
I'm using Arduino Uno and Due to run the program as below.
#include <SPI.h>
#include <avr/pgmspace.h>
/*
* The circuit:
* Connect these to the appropriate pins for you board
* AG - Analog ground
* DG - Digital ground
* VI - Voltage in
* MO - Master out slave in (MOSI)
* MI - Master in slave out (MISO)
* SS - Slave Select (ncs)
*/
// 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_Pixel_Sum 0x08
#define REG_Maximum_Pixel 0x09
#define REG_Minimum_Pixel 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Frame_Period_Lower 0x0d
#define REG_Frame_Period_Upper 0x0e
#define REG_Configuration_I 0x0f
#define REG_Configuration_II 0x10
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate 0x15
#define REG_Rest1_Downshift 0x16
#define REG_Rest2_Rate 0x17
#define REG_Rest2_Downshift 0x18
#define REG_Rest3_Rate 0x19
#define REG_Frame_Period_Max_Bound_Lower 0x1a
#define REG_Frame_Period_Max_Bound_Upper 0x1b
#define REG_Frame_Period_Min_Bound_Lower 0x1c
#define REG_Frame_Period_Min_Bound_Upper 0x1d
#define REG_Shutter_Max_Bound_Lower 0x1e
#define REG_Shutter_Max_Bound_Upper 0x1f
#define REG_LASER_CTRL0 0x20
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_SROM_ID 0x2a
#define REG_Lift_Detection_Thr 0x2e
#define REG_Configuration_V 0x2f
#define REG_Configuration_IV 0x39
#define REG_Power_Up_Reset 0x3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_Motion_Burst 0x50
#define REG_SROM_Load_Burst 0x62
#define REG_Pixel_Burst 0x64
byte initComplete=0;
volatile byte xydat[4];
int16_t * x = (int16_t *) &xydat[0];
int16_t * y = (int16_t *) &xydat[2];
volatile byte movementflag=0;
const int ncs = 10;
extern const unsigned short firmware_length;
extern const unsigned char firmware_data[];
void setup() {
Serial.begin(115200);
pinMode(ncs, OUTPUT);
SPI.begin();
SPI.setDataMode(SPI_MODE3);
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(8);
delay(1);
performStartup();
delay(100);
}
void adns_com_begin(){
digitalWrite(ncs, LOW);
}
void adns_com_end(){
digitalWrite(ncs, HIGH);
}
byte adns_read_reg(byte reg_addr){
adns_com_begin();
SPI.transfer(reg_addr & 0x7f);
delayMicroseconds(100);
byte data = SPI.transfer(0);
delayMicroseconds(1);
adns_com_end();
delayMicroseconds(19);
return data;
}
void adns_write_reg(byte reg_addr, byte data){
adns_com_begin();
//send adress of the register, with MSBit = 1 to indicate it's a write
SPI.transfer(reg_addr | 0x80 );
//sent data
SPI.transfer(data);
delayMicroseconds(20); // tSCLK-NCS for write operation
adns_com_end();
delayMicroseconds(100); // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
}
void adns_upload_firmware(){
adns_write_reg(REG_Configuration_IV, 0x02); // bit 1 = 1 for 3k mode, other bits are reserved
adns_write_reg(REG_SROM_Enable, 0xd);
delay(10); // assume that the frame rate is as low as 100fps... even if it should never be that low
adns_write_reg(REG_SROM_Enable, 0x8);
adns_com_begin();
SPI.transfer(REG_SROM_Load_Burst | 0x80); // write burst destination adress
delayMicroseconds(15);
unsigned char c;
for(int i = 0; i < firmware_length; i++){
c = (unsigned char)pgm_read_byte(firmware_data + i);
SPI.transfer(c);
delayMicroseconds(15);
}
adns_com_end();
}
void performStartup(void){
adns_com_begin(); // ensure that the Serial port is reset
adns_com_end(); // ensure that the Serial port is reset
adns_com_begin();
adns_write_reg(REG_Power_Up_Reset, 0x5a); // force reset
delay(50);
adns_read_reg(REG_Motion);
adns_read_reg(REG_Delta_X_L);
adns_read_reg(REG_Delta_X_H);
adns_read_reg(REG_Delta_Y_L);
adns_read_reg(REG_Delta_Y_H);
adns_upload_firmware();
delay(10);
byte laser_ctrl0 = adns_read_reg(REG_LASER_CTRL0);
adns_write_reg(REG_LASER_CTRL0, laser_ctrl0 & 0xf0 );
delay(1);
}
void frameCapture(){
digitalWrite(ncs, LOW);
delayMicroseconds(1);
SPI.transfer(REG_Frame_Capture | 0x80);
SPI.transfer(0x93);
SPI.transfer(REG_Frame_Capture | 0x80);
SPI.transfer(0xc5);
digitalWrite(ncs, HIGH);
delayMicroseconds(200); // assuming a very slow frame rate ~200Hz
digitalWrite(ncs, LOW);
delayMicroseconds(100); //TsRAD
byte readys = 0;
while(readys == 0){
SPI.transfer(REG_Motion & 0x7f);
delayMicroseconds(100); // tSRAD
readys = SPI.transfer(0);
readys = readys & 1;
delayMicroseconds(20);
}
//byte v=bitRead(REG_Motion,0);
//Serial.println(v);
// prepare to read the pixel burst register continuously.
SPI.transfer(REG_Pixel_Burst & 0x7f);
delayMicroseconds(100); // tSRAD
int i;
for(i = 0; i < 900; i++){
byte output = 0;
output = SPI.transfer(0);
// deliver frame pixels.
Serial.print(0);
Serial.print(" ");
Serial.println(output);
Serial.print(" ");
delayMicroseconds(15);
}
digitalWrite(ncs, HIGH);
delayMicroseconds(4);
delayMicroseconds(100);
Serial.println("");
}
int numCaptured = 0;
void loop() {
frameCapture();
}