SensorLib 0.5.0
Multi-platform sensor driver library for Arduino, PlatformIO, and ESP-IDF
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pawa350_motion.ino
Go to the documentation of this file.
1
44#include <FingerNavigationDrv.hpp>
45
46#ifndef SENSOR_SDA
47#define SENSOR_SDA 1
48#endif
49
50#ifndef SENSOR_SCL
51#define SENSOR_SCL 2
52#endif
53
54#ifndef SENSOR_IRQ
55#define SENSOR_IRQ 43
56#endif
57
58#ifndef SENSOR_RST
59#define SENSOR_RST 44
60#endif
61
62#ifndef SENSOR_SHUTDOWN
63#define SENSOR_SHUTDOWN 48
64#endif
65
66#ifndef SENSOR_FPD_INT
67#define SENSOR_FPD_INT 18
68#endif
69
70SensorPawA350 sensor;
71
72volatile bool motionIrqTriggered = false;
73volatile bool fingerStateChanged = false;
74
75void setup()
76{
77 bool rslt;
78
79 Serial.begin(115200);
80 while (!Serial);
81
82
83#if SENSOR_SHUTDOWN != -1
84 // Sensor Power On Pin,HIGH is active
85 pinMode(SENSOR_SHUTDOWN, OUTPUT);
86 digitalWrite(SENSOR_SHUTDOWN, HIGH);
87#endif
88#if SENSOR_RST != -1
89 // Sensor Reset Pin, LOW is reset sensor
90 pinMode(SENSOR_RST, OUTPUT);
91 digitalWrite(SENSOR_RST, HIGH);
92#endif
93#if SENSOR_FPD_INT != -1
94 // Sensor Finger Presence Detection Pin, HIGH is active
95 pinMode(SENSOR_FPD_INT, INPUT);
96#endif
97 // Sensor Motion Interrupt Pin, LOW is active
98 pinMode(SENSOR_IRQ, INPUT);
99 attachInterrupt(SENSOR_IRQ, +[]() {
100 motionIrqTriggered = true;
101 }, FALLING);
102
103 rslt = sensor.begin(Wire, PAW_A350_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL);
104 if (!rslt) {
105 Serial.println("PAW-A350 sensor initialization failed!");
106 while (1) {
107 Serial.println("Ensure sensor is connected and I2C wiring is correct");
108 delay(2000);
109 }
110 }
111
112 Serial.print(sensor.getChipName());
113 Serial.println(" initialized successfully");
114
115 rslt = sensor.softReset();
116 if (!rslt) {
117 Serial.println("Software reset failed!");
118 while (1);
119 }
120 Serial.println("Software reset successful");
121
122 Serial.println("\n========== ID Test ==========");
123 int pid = sensor.getProductID();
124 int rev = sensor.getRevisionID();
125 Serial.print("Product ID: 0x");
126 Serial.print(pid, HEX);
127 Serial.print(" (expected 0x88)");
128 Serial.println(pid == 0x88 ? " [OK]" : " [FAIL]");
129 Serial.print("Revision ID: 0x");
130 Serial.println(rev, HEX);
131
132 Serial.println("\n========== CPI Test ==========");
133 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_125);
134 Serial.print("Set CPI 125: ");
135 Serial.println(rslt ? "OK" : "FAILED");
136 Serial.print("Get CPI: ");
137 Serial.print((int)sensor.getCpi());
138 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_125 ? " [OK]" : " [FAIL]");
139
140 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_250);
141 Serial.print("Set CPI 250: ");
142 Serial.println(rslt ? "OK" : "FAILED");
143 Serial.print("Get CPI: ");
144 Serial.print((int)sensor.getCpi());
145 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_250 ? " [OK]" : " [FAIL]");
146
147 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_500);
148 Serial.print("Set CPI 500: ");
149 Serial.println(rslt ? "OK" : "FAILED");
150 Serial.print("Get CPI: ");
151 Serial.print((int)sensor.getCpi());
152 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_500 ? " [OK]" : " [FAIL]");
153
154 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_750);
155 Serial.print("Set CPI 750: ");
156 Serial.println(rslt ? "OK" : "FAILED");
157 Serial.print("Get CPI: ");
158 Serial.print((int)sensor.getCpi());
159 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_750 ? " [OK]" : " [FAIL]");
160
161 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_1000);
162 Serial.print("Set CPI 1000: ");
163 Serial.println(rslt ? "OK" : "FAILED");
164 Serial.print("Get CPI: ");
165 Serial.print((int)sensor.getCpi());
166 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_1000 ? " [OK]" : " [FAIL]");
167
168 rslt = sensor.setCpi(SensorPawA350::CpiResolution::CPI_1250);
169 Serial.print("Set CPI 1250: ");
170 Serial.println(rslt ? "OK" : "FAILED");
171 Serial.print("Get CPI: ");
172 Serial.print((int)sensor.getCpi());
173 Serial.println(sensor.getCpi() == SensorPawA350::CpiResolution::CPI_1250 ? " [OK]" : " [FAIL]");
174
175 Serial.println("\n========== Power Management Test ==========");
176 Serial.println("-- Run Downshift --");
177 rslt = sensor.setRunDownshiftTime(8);
178 Serial.print("Set RunDownshift(8): ");
179 Serial.println(rslt ? "OK" : "FAILED");
180 Serial.print("Get RunDownshift: ");
181 Serial.print(sensor.getRunDownshiftTime());
182 Serial.println(sensor.getRunDownshiftTime() == 8 ? " [OK]" : " [FAIL]");
183 Serial.print("Get RunDownshiftMs: ");
184 Serial.print(sensor.getRunDownshiftTimeMs());
185 Serial.println(sensor.getRunDownshiftTimeMs() == 512 ? " [OK]" : " [FAIL]");
186
187 rslt = sensor.setRunDownshiftTime(4);
188 Serial.print("Set RunDownshift(4): ");
189 Serial.println(rslt ? "OK" : "FAILED");
190
191 Serial.println("-- Rest1 Period --");
192 rslt = sensor.setRest1Period(9);
193 Serial.print("Set Rest1Period(9): ");
194 Serial.println(rslt ? "OK" : "FAILED");
195 Serial.print("Get Rest1Period: ");
196 Serial.print(sensor.getRest1Period());
197 Serial.println(sensor.getRest1Period() == 9 ? " [OK]" : " [FAIL]");
198 Serial.print("Get Rest1PeriodMs: ");
199 Serial.print(sensor.getRest1PeriodMs());
200 Serial.println(sensor.getRest1PeriodMs() == 100 ? " [OK]" : " [FAIL]");
201
202 rslt = sensor.setRest1Period(1);
203 Serial.print("Set Rest1Period(1): ");
204 Serial.println(rslt ? "OK" : "FAILED");
205
206 Serial.println("-- Rest1 Downshift --");
207 rslt = sensor.setRest1DownshiftTime(50);
208 Serial.print("Set Rest1Downshift(50): ");
209 Serial.println(rslt ? "OK" : "FAILED");
210 Serial.print("Get Rest1Downshift: ");
211 Serial.print(sensor.getRest1DownshiftTime());
212 Serial.println(sensor.getRest1DownshiftTime() == 50 ? " [OK]" : " [FAIL]");
213
214 rslt = sensor.setRest1DownshiftTime(31);
215 Serial.print("Set Rest1Downshift(31): ");
216 Serial.println(rslt ? "OK" : "FAILED");
217
218 Serial.println("-- Rest2 Period --");
219 rslt = sensor.setRest2Period(19);
220 Serial.print("Set Rest2Period(19): ");
221 Serial.println(rslt ? "OK" : "FAILED");
222 Serial.print("Get Rest2Period: ");
223 Serial.print(sensor.getRest2Period());
224 Serial.println(sensor.getRest2Period() == 19 ? " [OK]" : " [FAIL]");
225 Serial.print("Get Rest2PeriodMs: ");
226 Serial.print(sensor.getRest2PeriodMs());
227 Serial.println(sensor.getRest2PeriodMs() == 200 ? " [OK]" : " [FAIL]");
228
229 rslt = sensor.setRest2Period(9);
230 Serial.print("Set Rest2Period(9): ");
231 Serial.println(rslt ? "OK" : "FAILED");
232
233 Serial.println("-- Rest2 Downshift --");
234 rslt = sensor.setRest2DownshiftTime(100);
235 Serial.print("Set Rest2Downshift(100): ");
236 Serial.println(rslt ? "OK" : "FAILED");
237 Serial.print("Get Rest2Downshift: ");
238 Serial.print(sensor.getRest2DownshiftTime());
239 Serial.println(sensor.getRest2DownshiftTime() == 100 ? " [OK]" : " [FAIL]");
240
241 rslt = sensor.setRest2DownshiftTime(47);
242 Serial.print("Set Rest2Downshift(47): ");
243 Serial.println(rslt ? "OK" : "FAILED");
244
245 Serial.println("-- Rest3 Period --");
246 rslt = sensor.setRest3Period(99);
247 Serial.print("Set Rest3Period(99): ");
248 Serial.println(rslt ? "OK" : "FAILED");
249 Serial.print("Get Rest3Period: ");
250 Serial.print(sensor.getRest3Period());
251 Serial.println(sensor.getRest3Period() == 99 ? " [OK]" : " [FAIL]");
252 Serial.print("Get Rest3PeriodMs: ");
253 Serial.print(sensor.getRest3PeriodMs());
254 Serial.println(sensor.getRest3PeriodMs() == 1000 ? " [OK]" : " [FAIL]");
255
256 rslt = sensor.setRest3Period(49);
257 Serial.print("Set Rest3Period(49): ");
258 Serial.println(rslt ? "OK" : "FAILED");
259
260 Serial.println("\n========== LED Control Test ==========");
261 rslt = sensor.setLedOn(true);
262 Serial.print("Set LedOn(true): ");
263 Serial.println(rslt ? "OK" : "FAILED");
264 Serial.print("Get LedOn: ");
265 Serial.print(sensor.getLedOn() ? "true" : "false");
266 Serial.println(sensor.getLedOn() ? " [OK]" : " [FAIL]");
267
268 rslt = sensor.setLedOn(false);
269 Serial.print("Set LedOn(false): ");
270 Serial.println(rslt ? "OK" : "FAILED");
271 Serial.print("Get LedOn: ");
272 Serial.print(sensor.getLedOn() ? "true" : "false");
273 Serial.println(!sensor.getLedOn() ? " [OK]" : " [FAIL]");
274
275 Serial.println("-- LED Drive Current --");
276 rslt = sensor.setLedDriveCurrent(0);
277 Serial.print("Set LedDriveCurrent(0=13mA): ");
278 Serial.println(rslt ? "OK" : "FAILED");
279 Serial.print("Get LedDriveCurrent: ");
280 Serial.print(sensor.getLedDriveCurrent());
281 Serial.println(sensor.getLedDriveCurrent() == 0 ? " [OK]" : " [FAIL]");
282
283 rslt = sensor.setLedDriveCurrent(2);
284 Serial.print("Set LedDriveCurrent(2=9.6mA): ");
285 Serial.println(rslt ? "OK" : "FAILED");
286 Serial.print("Get LedDriveCurrent: ");
287 Serial.print(sensor.getLedDriveCurrent());
288 Serial.println(sensor.getLedDriveCurrent() == 2 ? " [OK]" : " [FAIL]");
289
290 rslt = sensor.setLedDriveCurrent(7);
291 Serial.print("Set LedDriveCurrent(7=27mA): ");
292 Serial.println(rslt ? "OK" : "FAILED");
293 Serial.print("Get LedDriveCurrent: ");
294 Serial.print(sensor.getLedDriveCurrent());
295 Serial.println(sensor.getLedDriveCurrent() == 7 ? " [OK]" : " [FAIL]");
296
297 Serial.println("\n========== Shutter Test ==========");
298 rslt = sensor.setShutterMax(2000);
299 Serial.print("Set ShutterMax(2000): ");
300 Serial.println(rslt ? "OK" : "FAILED");
301 Serial.print("Get ShutterMax: ");
302 Serial.print(sensor.getShutterMax());
303 Serial.println(sensor.getShutterMax() == 2000 ? " [OK]" : " [FAIL]");
304
305 rslt = sensor.setShutterMax(2929);
306 Serial.print("Set ShutterMax(2929): ");
307 Serial.println(rslt ? "OK" : "FAILED");
308 Serial.print("Get ShutterMax: ");
309 Serial.print(sensor.getShutterMax());
310 Serial.println(sensor.getShutterMax() == 2929 ? " [OK]" : " [FAIL]");
311
312 Serial.println("\n========== Motion Interrupt Test ==========");
313 for (int i = 0; i <= 7; i++) {
314 rslt = sensor.setMotionInterruptThreshold(i);
315 Serial.print("Set threshold(");
316 Serial.print(i);
317 Serial.print("): ");
318 Serial.print(rslt ? "OK" : "FAILED");
319 Serial.print(" Get: ");
320 Serial.print(sensor.getMotionInterruptThreshold());
321 Serial.println(sensor.getMotionInterruptThreshold() == i ? " [OK]" : " [FAIL]");
322 }
323
324 Serial.println("\n========== Power Timing Summary ==========");
325 Serial.print("Run downshift: ");
326 Serial.print(sensor.getRunDownshiftTimeMs());
327 Serial.println(" ms");
328 Serial.print("Rest1 period: ");
329 Serial.print(sensor.getRest1PeriodMs());
330 Serial.println(" ms");
331 Serial.print("Rest1 downshift: ");
332 Serial.print(sensor.getRest1DownshiftTimeMs() / 1000);
333 Serial.println(" s");
334 Serial.print("Rest2 period: ");
335 Serial.print(sensor.getRest2PeriodMs());
336 Serial.println(" ms");
337 Serial.print("Rest2 downshift: ");
338 Serial.print(sensor.getRest2DownshiftTimeMs() / 60000);
339 Serial.println(" min");
340 Serial.print("Rest3 period: ");
341 Serial.print(sensor.getRest3PeriodMs());
342 Serial.println(" ms");
343
344 sensor.setCpi(SensorPawA350::CpiResolution::CPI_1000);
345 sensor.setMotionInterruptThreshold(0);
346
347 Serial.println("\n========== Motion Detection Started ==========");
348 Serial.println("Move finger across sensor to detect motion");
349 Serial.println("------------------------------------------");
350}
351
352void loop()
353{
354 uint32_t currentTime = millis();
355 static uint32_t lastPrintTime = 0;
356 static int32_t cumulativeX = 0;
357 static int32_t cumulativeY = 0;
358
359#if SENSOR_FPD_INT != -1
360 static uint32_t proximityTriggerPrintInterval = 0;
361 // Simply bring your finger close to the sensor to trigger it.
362 if (digitalRead(SENSOR_FPD_INT) == HIGH) {
363 if (millis() - proximityTriggerPrintInterval >= 1000) {
364 Serial.println("Finger proximity sensor triggered.");
365 proximityTriggerPrintInterval = millis();
366 }
367 }
368#endif
369
370 if (motionIrqTriggered) {
371 motionIrqTriggered = false;
372
373 SensorPawA350::MotionStatus status;
374 if (sensor.checkMotion(status)) {
375 if (status == SensorPawA350::MotionStatus::MOTION_DETECTED) {
376 SensorPawA350::MotionData data;
377 if (sensor.getMotionData(data)) {
378 cumulativeX += data.delta_x;
379 cumulativeY += data.delta_y;
380
381 if (currentTime - lastPrintTime >= 100) {
382 float inchesX = (float)cumulativeX / 1000.0f;
383 float inchesY = (float)cumulativeY / 1000.0f;
384
385 Serial.print("Motion: DX=");
386 Serial.print(data.delta_x);
387 Serial.print(", DY=");
388 Serial.print(data.delta_y);
389 Serial.print(", CumX=");
390 Serial.print(cumulativeX);
391 Serial.print(", CumY=");
392 Serial.print(cumulativeY);
393 Serial.print(", InchX=");
394 Serial.print(inchesX, 3);
395 Serial.print(", InchY=");
396 Serial.print(inchesY, 3);
397 Serial.print(", Time=");
398 Serial.println(currentTime);
399
400 lastPrintTime = currentTime;
401 }
402 }
403 }
404 }
405 }
406}
FingerNavigationDrv.hpp
@license MIT License
I2CDeviceWithHal::begin
bool begin(SensorCommCustom::CustomCallback cb, SensorCommCustomHal::CustomHalCallback hal_cb, uint8_t addr)
Initialize the sensor using custom callback interface.
Definition I2CDeviceWithHal.hpp:93
SensorPawA350
PAW-A350 Optical Finger Navigation Sensor Driver.
Definition SensorPawA350.hpp:136
SensorPawA350::getRest2PeriodMs
uint32_t getRest2PeriodMs() const
Get Rest2 period in milliseconds.
Definition SensorPawA350.cpp:246
SensorPawA350::checkMotion
bool checkMotion(MotionStatus &status)
Check motion status.
Definition SensorPawA350.cpp:61
SensorPawA350::getLedOn
bool getLedOn() const
Get LED always-on status.
Definition SensorPawA350.cpp:168
SensorPawA350::getRest1PeriodMs
uint32_t getRest1PeriodMs() const
Get Rest1 period in milliseconds.
Definition SensorPawA350.cpp:233
SensorPawA350::getProductID
int getProductID() const
Get Product ID.
Definition SensorPawA350.cpp:44
SensorPawA350::getRest2DownshiftTime
int getRest2DownshiftTime() const
Get Rest2 to Rest3 downshift time.
Definition SensorPawA350.cpp:146
SensorPawA350::getMotionData
bool getMotionData(MotionData &data)
Get motion delta data.
Definition SensorPawA350.cpp:69
SensorPawA350::setLedDriveCurrent
bool setLedDriveCurrent(uint8_t current)
Set LED drive current.
Definition SensorPawA350.cpp:174
SensorPawA350::getRest1DownshiftTime
int getRest1DownshiftTime() const
Get Rest1 to Rest2 downshift time.
Definition SensorPawA350.cpp:126
SensorPawA350::getRevisionID
int getRevisionID() const
Get Revision ID.
Definition SensorPawA350.cpp:49
SensorPawA350::getRest1Period
int getRest1Period() const
Get Rest1 frame period.
Definition SensorPawA350.cpp:114
SensorPawA350::setRest1Period
bool setRest1Period(uint8_t period)
Set Rest1 frame period.
Definition SensorPawA350.cpp:102
SensorPawA350::CpiResolution::CPI_125
@ CPI_125
125 CPI - Lowest resolution, largest range
SensorPawA350::CpiResolution::CPI_500
@ CPI_500
500 CPI - Default resolution
SensorPawA350::CpiResolution::CPI_1000
@ CPI_1000
1000 CPI - Recommended for most applications
SensorPawA350::CpiResolution::CPI_1250
@ CPI_1250
1250 CPI - Highest resolution
SensorPawA350::setMotionInterruptThreshold
bool setMotionInterruptThreshold(uint8_t threshold)
Set motion interrupt threshold.
Definition SensorPawA350.cpp:202
SensorPawA350::getRest2DownshiftTimeMs
uint32_t getRest2DownshiftTimeMs() const
Get Rest2 downshift time in milliseconds.
Definition SensorPawA350.cpp:252
SensorPawA350::getRunDownshiftTimeMs
uint32_t getRunDownshiftTimeMs() const
Get Run downshift time in milliseconds.
Definition SensorPawA350.cpp:227
SensorPawA350::getRest2Period
int getRest2Period() const
Get Rest2 frame period.
Definition SensorPawA350.cpp:136
SensorPawA350::getRunDownshiftTime
int getRunDownshiftTime() const
Get Run to Rest1 downshift time.
Definition SensorPawA350.cpp:97
SensorPawA350::getCpi
CpiResolution getCpi() const
Get current CPI resolution.
Definition SensorPawA350.cpp:85
SensorPawA350::setRest3Period
bool setRest3Period(uint8_t period)
Set Rest3 frame period.
Definition SensorPawA350.cpp:151
SensorPawA350::setLedOn
bool setLedOn(bool enable)
Enable/disable LED always-on mode.
Definition SensorPawA350.cpp:161
SensorPawA350::getRest3Period
int getRest3Period() const
Get Rest3 frame period.
Definition SensorPawA350.cpp:156
SensorPawA350::getChipName
const char * getChipName() const
Get chip name.
Definition SensorPawA350.cpp:39
SensorPawA350::MotionStatus
MotionStatus
Motion Detection Status.
Definition SensorPawA350.hpp:165
SensorPawA350::MotionStatus::MOTION_DETECTED
@ MOTION_DETECTED
Motion occurred, data ready for reading.
SensorPawA350::getMotionInterruptThreshold
int getMotionInterruptThreshold() const
Get motion interrupt threshold.
Definition SensorPawA350.cpp:209
SensorPawA350::setShutterMax
bool setShutterMax(uint16_t value)
Set shutter maximum open time.
Definition SensorPawA350.cpp:187
SensorPawA350::setRest2Period
bool setRest2Period(uint8_t period)
Set Rest2 frame period.
Definition SensorPawA350.cpp:131
SensorPawA350::getShutterMax
int getShutterMax() const
Get shutter maximum open time.
Definition SensorPawA350.cpp:194
SensorPawA350::getRest3PeriodMs
uint32_t getRest3PeriodMs() const
Get Rest3 period in milliseconds.
Definition SensorPawA350.cpp:259
SensorPawA350::setRunDownshiftTime
bool setRunDownshiftTime(uint8_t rd)
Set Run to Rest1 downshift time.
Definition SensorPawA350.cpp:92
SensorPawA350::setRest2DownshiftTime
bool setRest2DownshiftTime(uint8_t r2d)
Set Rest2 to Rest3 downshift time.
Definition SensorPawA350.cpp:141
SensorPawA350::setRest1DownshiftTime
bool setRest1DownshiftTime(uint8_t r1d)
Set Rest1 to Rest2 downshift time.
Definition SensorPawA350.cpp:121
SensorPawA350::setCpi
bool setCpi(CpiResolution cpi)
Set CPI resolution.
Definition SensorPawA350.cpp:80
SensorPawA350::getLedDriveCurrent
int getLedDriveCurrent() const
Get LED drive current setting.
Definition SensorPawA350.cpp:181
SensorPawA350::getRest1DownshiftTimeMs
uint32_t getRest1DownshiftTimeMs() const
Get Rest1 downshift time in milliseconds.
Definition SensorPawA350.cpp:239
SensorPawA350::softReset
bool softReset()
Perform software reset.
Definition SensorPawA350.cpp:54
fingerStateChanged
volatile bool fingerStateChanged
Definition pawa350_motion.ino:73
SENSOR_SHUTDOWN
#define SENSOR_SHUTDOWN
Definition pawa350_motion.ino:63
setup
void setup()
Definition pawa350_motion.ino:75
SENSOR_SCL
#define SENSOR_SCL
Definition pawa350_motion.ino:51
motionIrqTriggered
volatile bool motionIrqTriggered
Definition pawa350_motion.ino:72
SENSOR_RST
#define SENSOR_RST
Definition pawa350_motion.ino:59
SENSOR_FPD_INT
#define SENSOR_FPD_INT
Definition pawa350_motion.ino:67
sensor
SensorPawA350 sensor
Definition pawa350_motion.ino:70
SENSOR_SDA
#define SENSOR_SDA
Definition pawa350_motion.ino:47
SENSOR_IRQ
#define SENSOR_IRQ
Definition pawa350_motion.ino:55
loop
void loop()
Definition pawa350_motion.ino:352
i
uint8_t i
Definition pcf85063_clock_output.ino:70
SensorPawA350::MotionData::delta_x
int8_t delta_x
X-axis movement (-128 to +127 counts)
Definition SensorPawA350.hpp:183
SensorPawA350::MotionData::delta_y
int8_t delta_y
Y-axis movement (-128 to +127 counts)
Definition SensorPawA350.hpp:184