Added PAA secret sauce

drivers/pmw3901/pmw3901.cpp

@@ -313,7 +313,7 @@ namespace pimoroni {
       if(c1 > 28)
         c1 += 11;
       c1 = std::max((uint8_t)0, std::min((uint8_t)0x3F, c1));
-      c2 = (c2 * 45); // 100
+      c2 = (c2 * 45) / 100;
 
       uint8_t buf3[] = {
         0x7f, 0x00,
@@ -423,4 +423,165 @@ namespace pimoroni {
   uint32_t PMW3901::millis() {
     return to_ms_since_boot(get_absolute_time());
   }
+
+  void PAA5100::secret_sauce() {
+    uint8_t buf[] = {
+      0x7f, 0x00,
+      0x55, 0x01,
+      0x50, 0x07,
+  
+      0x7f, 0x0e,
+      0x43, 0x10
+    };
+    write_buffer(buf, sizeof(buf));
+
+    if(read_register(0x67) & 0b10000000)
+        write_register(0x48, 0x04);
+    else
+        write_register(0x48, 0x02);
+
+    uint8_t buf2[] = {
+      0x7f, 0x00,
+      0x51, 0x7b,
+
+      0x50, 0x00,
+      0x55, 0x00,
+      0x7f, 0x0E
+    };
+    write_buffer(buf2, sizeof(buf2));
+
+    if(read_register(0x73) == 0x00) {
+      uint8_t c1 = read_register(0x70);
+      uint8_t c2 = read_register(0x71);
+      if(c1 <= 28)
+        c1 += 14;
+      if(c1 > 28)
+        c1 += 11;
+      c1 = std::max((uint8_t)0, std::min((uint8_t)0x3F, c1));
+      c2 = (c2 * 45) / 100;
+
+      uint8_t buf3[] = {
+        0x7f, 0x00,
+        0x61, 0xad,
+        0x51, 0x70,
+        0x7f, 0x0e
+      };
+      write_buffer(buf3, sizeof(buf3));
+
+      write_register(0x70, c1);
+      write_register(0x71, c2);
+    }
+
+    uint8_t buf4[] = {
+      0x7f, 0x00,
+      0x61, 0xad,
+
+      0x7f, 0x03,
+      0x40, 0x00,
+
+      0x7f, 0x05,
+      0x41, 0xb3,
+      0x43, 0xf1,
+      0x45, 0x14,
+
+      0x5f, 0x34,
+      0x7b, 0x08,
+      0x5e, 0x34,
+      0x5b, 0x11,
+      0x6d, 0x11,
+      0x45, 0x17,
+      0x70, 0xe5,
+      0x71, 0xe5,
+
+      0x7f, 0x06,
+      0x44, 0x1b,
+      0x40, 0xbf,
+      0x4e, 0x3f,
+
+      0x7f, 0x08,
+      0x66, 0x44,
+      0x65, 0x20,
+      0x6a, 0x3a,
+      0x61, 0x05,
+      0x62, 0x05,
+
+      0x7f, 0x09,
+      0x4f, 0xaf,
+      0x5f, 0x40,
+      0x48, 0x80,
+      0x49, 0x80,
+      0x57, 0x77,
+      0x60, 0x78,
+      0x61, 0x78,
+      0x62, 0x08,
+      0x63, 0x50,
+
+      0x7f, 0x0a,
+      0x45, 0x60,
+
+      0x7f, 0x00,
+      0x4d, 0x11,
+      0x55, 0x80,
+      0x74, 0x21,
+      0x75, 0x1f,
+      0x4a, 0x78,
+      0x4b, 0x78,
+      0x44, 0x08,
+
+      0x45, 0x50,
+      0x64, 0xff,
+      0x65, 0x1f,
+
+      0x7f, 0x14,
+      0x65, 0x67,
+      0x66, 0x08,
+      0x63, 0x70,
+      0x6f, 0x1c,
+
+      0x7f, 0x15,
+      0x48, 0x48,
+
+      0x7f, 0x07,
+      0x41, 0x0d,
+      0x43, 0x14,
+      0x4b, 0x0e,
+      0x45, 0x0f,
+      0x44, 0x42,
+      0x4c, 0x80,
+
+      0x7f, 0x10,
+      0x5b, 0x02,
+
+      0x7f, 0x07,
+      0x40, 0x41,
+
+      WAIT, 0x0a,  // Sleep for 10ms
+
+      0x7f, 0x00,
+      0x32, 0x00,
+
+      0x7f, 0x07,
+      0x40, 0x40,
+
+      0x7f, 0x06,
+      0x68, 0xf0,
+      0x69, 0x00,
+
+      0x7f, 0x0d,
+      0x48, 0xc0,
+      0x6f, 0xd5,
+
+      0x7f, 0x00,
+      0x5b, 0xa0,
+      0x4e, 0xa8,
+      0x5a, 0x90,
+      0x40, 0x80,
+      0x73, 0x1f,
+
+      WAIT, 0x0a,  // Sleep for 10ms
+
+      0x73, 0x00
+    };
+    write_buffer(buf4, sizeof(buf4));
+  }
 }

drivers/pmw3901/pmw3901.hpp

@@ -15,7 +15,7 @@ namespace pimoroni {
   public:
     static const uint8_t FRAME_SIZE     = 35;
     static const uint16_t RAW_DATA_LEN  = 1225;
-  private:
+  protected:
     static const uint8_t WAIT = -1;
 
     //--------------------------------------------------
@@ -93,7 +93,6 @@ namespace pimoroni {
   protected:
     virtual void secret_sauce();
 
-  private:
     void cs_select();
     void cs_deselect();
     void write_register(uint8_t reg, uint8_t data);
@@ -103,4 +102,8 @@ namespace pimoroni {
     uint32_t millis();
   };
 
+  class PAA5100 : public PMW3901 {
+  protected:
+    virtual void secret_sauce();
+  };
 }

examples/CMakeLists.txt

@@ -7,6 +7,7 @@ add_subdirectory(breakout_roundlcd)
 add_subdirectory(breakout_rgbmatrix5x5)
 add_subdirectory(breakout_matrix11x7)
 add_subdirectory(breakout_mics6814)
+add_subdirectory(breakout_paa5100)
 add_subdirectory(breakout_pmw3901)
 add_subdirectory(breakout_potentiometer)
 add_subdirectory(breakout_rtc)

examples/breakout_paa5100/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(motion)
+add_subdirectory(frame_capture)

examples/breakout_paa5100/frame_capture/CMakeLists.txt

@@ -0,0 +1,16 @@
+set(OUTPUT_NAME paa5100_framecapture)
+
+add_executable(
+  ${OUTPUT_NAME}
+  frame_capture.cpp
+)
+
+# enable usb output, disable uart output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+pico_enable_stdio_uart(${OUTPUT_NAME} 1)
+
+# Pull in pico libraries that we need
+target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_paa5100)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/breakout_paa5100/frame_capture/frame_capture.cpp

@@ -0,0 +1,70 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include <string>
+
+#include "breakout_paa5100.hpp"
+
+using namespace pimoroni;
+
+BreakoutPAA5100 flo(BG_SPI_FRONT);
+BreakoutPAA5100::Degrees rotation = BreakoutPAA5100::DEGREES_0;
+const uint8_t SIZE = BreakoutPAA5100::FRAME_SIZE;
+uint8_t data[BreakoutPAA5100::RAW_DATA_LEN];
+
+std::string value_to_char(uint8_t value) {
+  const std::string charmap = " .:-=+*#%@";
+  float val = (float)value / 255.0f;
+  val *= charmap.length() - 1;
+  value = (uint8_t)val;
+  std::string chosen_char = charmap.substr(val, 1);
+  return chosen_char.append(chosen_char);  // Double chars to - sort of - correct aspect ratio
+}
+
+int main() {
+  stdio_init_all();
+
+  flo.init();
+  flo.set_rotation(rotation);
+
+  uint8_t offset = 0;
+  uint8_t value = 0;
+  
+  while(true) {
+    printf("Capturing...\n");
+    uint16_t data_size = 0;
+    if(flo.frame_capture(data, data_size)) {
+      for(uint8_t y = 0; y < SIZE; y++) {
+        if(rotation == BreakoutPAA5100::DEGREES_180 || rotation == BreakoutPAA5100::DEGREES_270)
+          y = SIZE - y - 1;
+
+        for(uint8_t x = 0; x < SIZE; x++) {
+          if(rotation == BreakoutPAA5100::DEGREES_180 || rotation == BreakoutPAA5100::DEGREES_90)
+            x = SIZE - x - 1;
+
+          if(rotation == BreakoutPAA5100::DEGREES_90 || rotation == BreakoutPAA5100::DEGREES_270)
+            offset = (x * 35) + y;
+          else
+            offset = (y * 35) + x;
+
+          value = data[offset];
+          printf("%s", value_to_char(value).c_str());
+        }
+        printf("\n");
+      }
+    }
+    else {
+      printf("Capture failed. %d bytes received, of %d. Recapturing in ", data_size, BreakoutPAA5100::RAW_DATA_LEN);
+    }
+    printf("5...\n");
+    sleep_ms(1000);
+    printf("4...\n");
+    sleep_ms(1000);
+    printf("3...\n");
+    sleep_ms(1000);
+    printf("2...\n");
+    sleep_ms(1000);
+    printf("Get Ready!\n");
+    sleep_ms(1000);
+  };
+  return 0;
+}

examples/breakout_paa5100/motion/CMakeLists.txt

@@ -0,0 +1,16 @@
+set(OUTPUT_NAME paa5100_motion)
+
+add_executable(
+  ${OUTPUT_NAME}
+  motion.cpp
+)
+
+# enable usb output, disable uart output
+pico_enable_stdio_usb(${OUTPUT_NAME} 1)
+pico_enable_stdio_uart(${OUTPUT_NAME} 1)
+
+# Pull in pico libraries that we need
+target_link_libraries(${OUTPUT_NAME} pico_stdlib breakout_paa5100)
+
+# create map/bin/hex file etc.
+pico_add_extra_outputs(${OUTPUT_NAME})

examples/breakout_paa5100/motion/motion.cpp

@@ -0,0 +1,26 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+
+#include "breakout_paa5100.hpp"
+
+using namespace pimoroni;
+
+BreakoutPAA5100 flo(BG_SPI_FRONT);
+
+int main() {
+  stdio_init_all();
+
+  flo.init();
+  flo.set_rotation(BreakoutPAA5100::DEGREES_0);
+  int16_t tx = 0, ty = 0;
+  int16_t x = 0, y = 0;
+  while(true) {
+    if(flo.get_motion(x, y)) {
+      tx += x;
+      ty += y;
+      printf("Relative: x %6d, y %6d | Absolute: tx %6d, ty %6d\n", x, y, tx, ty);
+    }
+    sleep_ms(10);
+  };
+  return 0;
+}

examples/breakout_pmw3901/frame_capture/frame_capture.cpp

@@ -1,6 +1,5 @@
 #include <stdio.h>
 #include "pico/stdlib.h"
-#include <wchar.h>
 #include <string>
 
 #include "breakout_pmw3901.hpp"