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ADNS3.cpp
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ADNS3.cpp
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#include "ADNS3.h"
ADNS3::ADNS3() {
SPI.begin();
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(SPI_CLOCK_DIV16);
SPI.setDataMode(SPI_MODE3);
// resets settings
writeRegister(0x3a, 0x5a);
}
byte ADNS3::readRegister(byte reg) {
byte resp;
digitalWrite(SS, LOW);
SPI.transfer(reg);
delayMicroseconds(READ_DELAY);
resp = SPI.transfer(0);
digitalWrite(SS, HIGH);
return resp;
}
void ADNS3::writeRegister(byte reg, byte value) {
digitalWrite(SS, LOW);
SPI.transfer(reg | 0x80); // 1 at MSB for write operation
SPI.transfer(value);
digitalWrite(SS, HIGH);
}
ADNS3::Motion ADNS3::readMotion() {
Motion motion;
digitalWrite(SS, LOW);
SPI.transfer(MOTION_REG);
delayMicroseconds(READ_DELAY);
motion.motion = SPI.transfer(0);
motion.deltaY = SPI.transfer(0);
motion.deltaX = SPI.transfer(0);
motion.squal = SPI.transfer(0);
unsigned int shutterUpper = SPI.transfer(0);
motion.shutter = shutterUpper << 8;
motion.shutter |= SPI.transfer(0);
motion.maxPixel = SPI.transfer(0);
digitalWrite(SS, HIGH);
return motion;
}