ADNS3050.h

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#include <SPI.h>

 // SPI and misc pins for the ADNS
 #define PIN_SCLK   SCK
 #define PIN_MISO   MISO
 #define PIN_MOSI   MOSI
 #define PIN_NCS    3
 #define PIN_MOTION 5


// Define all the registers
 #define PROD_ID                          0x00
 #define REV_ID                           0x01
 #define MOTION_ST                        0x02
 #define DELTA_X                          0x03
 #define DELTA_Y                          0x04
 #define SQUAL                            0x05
 #define SHUT_HI                          0x06
 #define SHUT_LO                          0x07
 #define PIX_MAX                          0x08
 #define PIX_ACCUM                        0x09
 #define PIX_MIN                          0x0a
 #define PIX_GRAB                         0x0b
 #define MOUSE_CTRL                       0x0d
 #define RUN_DOWNSHIFT                    0x0e
 #define REST1_PERIOD                     0x0f
 #define REST1_DOWNSHIFT                  0x10
 #define REST2_PERIOD                     0x11
 #define REST2_DOWNSHIFT                  0x12
 #define REST3_PERIOD                     0x13
 #define PREFLASH_RUN                     0x14
 #define PREFLASH_RUN_DARK                0x18
 #define MOTION_EXT                       0x1b
 #define SHUT_THR                         0x1c
 #define SQUAL_THRESHOLD                  0x1d
 #define NAV_CTRL2                        0x22
 #define MISC_SETTINGS                    0x25
 #define RESOLUTION                       0x33
 #define LED_PRECHARGE                    0x34
 #define FRAME_IDLE                       0x35
 #define RESET                            0x3a
 #define INV_REV_ID                       0x3f
 #define LED_CTRL                         0x40
 #define MOTION_CTRL                      0x41
 #define AUTO_LED_CONTROL                 0x43
 #define REST_MODE_CONFIG                 0x45


void com_start(){
  digitalWrite(PIN_NCS, HIGH);
  delay(20);
  digitalWrite(PIN_NCS, LOW);
}



byte Read(byte reg_addr){
  digitalWrite(PIN_NCS, LOW);//begin communication
  // send address of the register, with MSBit = 0 to say it's reading
  SPI.transfer(reg_addr & 0x7f );
  delayMicroseconds(100);
  // read data
  byte data = SPI.transfer(0);
  delayMicroseconds(30);
  digitalWrite(PIN_NCS, HIGH);//end communication
  delayMicroseconds(30);

  return data;
}


void Write(byte reg_addr, byte data){
  digitalWrite(PIN_NCS, LOW);
  //send address of the register, with MSBit = 1 to say it's writing
  SPI.transfer(reg_addr | 0x80 );
  //send data
  SPI.transfer(data);
  delayMicroseconds(30);
 digitalWrite(PIN_NCS, HIGH);//end communication
  delayMicroseconds(30);
}

void startup(){
  //--------Setup SPI Communication---------
  Serial.begin(115200);
  byte out = 0;
  byte read = 0;
  byte bit = 0;
  pinMode(PIN_MISO,INPUT);
  pinMode(PIN_NCS,OUTPUT);
  SPI.begin();
  // set the details of the communication
  SPI.setBitOrder(MSBFIRST); // transimission order of bits
  SPI.setDataMode(SPI_MODE3); // sampling on rising edge
  SPI.setClockDivider(SPI_CLOCK_DIV16); // 16MHz/16 = 1MHz
  delay(10);

  //----------------- Power Up and config ---------------
  com_start();
  Write(RESET, 0x5a); // force reset
  delay(100); // wait for it to reboot
  Write(MOUSE_CTRL, 0x20);//Setup Mouse Control
  Write(MOTION_CTRL, 0x00);//Clear Motion Control register
  delay(100);
  }



int convTwosComp(int b){ //Convert from 2's complement
   if(b & 0x80){
     b = -1 * ((b ^ 0xff) + 1);
     }
   return b;
   }

void getXY(){//Prints out X and Y values to the serial terminal, use getX and getY sequentially for most operations
  byte x = 0;
  byte y = 0;
     x= Read(0x03);
        y = Read(0x04);
     Serial.println("x");
         Serial.println(convTwosComp(x));
      Serial.println("y");
Serial.println(convTwosComp(y));
}


int getX(){//returns the X acceleration value
  byte x = 0;
  x= Read(0x03);
  return(convTwosComp(x));
}

int getY(){//returns the Y acceleration value
  byte y = 0;
  y= Read(0x04);
  return(convTwosComp(y));
}