Zwei Slave programmieren -> Arduino

#include <LiquidCrystal.h>

LiquidCrystal lcd(28, 30 , 5, 4, 3, 2);

#define SCLK 52 // Yellow

#define SDIO 51 // Red

#define NCS 53 // Yellow + tied

#define NCS2 49

#define NRESET 48 // Black

#define REG_PRODUCT_ID 0x00

#define REG_REVISION_ID 0x01

#define REG_MOTION 0x02

#define REG_DELTA_X 0x03

#define REG_DELTA_Y 0x04

#define REG_SQUAL 0x05

#define REG_BURST_MODE 0x63

#define REG_PIXEL_GRAB 0x0b

#define FRAME_LENGTH 225

byte frame[256];

void setup() {

  Serial.begin(9600);

  lcd.begin(16,2);

}

void loop() {

    reset();

    byte productId = readRegister(REG_PRODUCT_ID);

    byte revisionId = readRegister(REG_REVISION_ID);

    Serial.println("Found productId ");

    Serial.print(productId, HEX);

    Serial.print(", rev. ");

    Serial.println(revisionId, HEX); 

    dumpDelta();

    //dumpFrame();  

    delay(900); 

    reset2();

    byte productId1 = readRegister(REG_PRODUCT_ID);

    byte revisionId1 = readRegister(REG_REVISION_ID);

    Serial.println("Found productId ");

    Serial.print(productId1, HEX);

    Serial.print(", rev. ");

    Serial.println(revisionId1, HEX); 

    dumpDelta1();

    //dumpFrame();  

    lcd.clear();

    delay(900);

}

void dumpDelta() {

  char squal = readRegister(0x05);

  char motion = readRegister(REG_MOTION); // Freezes DX and DY until they are read or MOTION is read again.

  char dx = readRegister(REG_DELTA_X);

  char dy = readRegister(REG_DELTA_Y);

  String string1 = String(motion,BIN);

  Serial.println("Squal: " + String(squal,DEC));

  Serial.println("Motion:    " + String(motion, BIN));

  Serial.println("dx:     :" + String(dx, DEC));

  lcd.setCursor(0,0);

  lcd.print("dx:");

  lcd.setCursor(4,0);

  lcd.print(dx,DEC);

  lcd.setCursor(0,1);

  lcd.print("dy:");

  lcd.setCursor(4 ,1);

  lcd.print(dy,DEC);

  Serial.println("dy:     :" + String(dy, DEC)); 

  Serial.println("     ");

}

void dumpDelta1() {

  char squal = readRegister(0x05);

  char motion = readRegister(REG_MOTION); // Freezes DX and DY until they are read or MOTION is read again.

  char dx = readRegister(REG_DELTA_X);

  char dy = readRegister(REG_DELTA_Y);

  String string1 = String(motion,BIN);

  Serial.println("Squal: " + String(squal,DEC));

  Serial.println("Motion:    " + String(motion, BIN));

  Serial.println("dx:     :" + String(dx, DEC));

  lcd.setCursor(9,0);

  lcd.print("dx:");

  lcd.setCursor(11,0);

  lcd.print(dx,DEC);

  lcd.setCursor(9,1);

  lcd.print("dy:");

  lcd.setCursor(11 ,1);

  lcd.print(dy,DEC);

  Serial.println("dy:     :" + String(dy, DEC)); 

  Serial.println("     ");

}

void reset() {

  pinMode(SCLK, OUTPUT);

  pinMode(SDIO, INPUT);

  pinMode(NCS, OUTPUT);

  pinMode(NRESET, OUTPUT);

  digitalWrite(SCLK, LOW);

  digitalWrite(NCS, LOW);

  digitalWrite(NRESET, HIGH);

  delayMicroseconds(100); 

  // Initiate chip reset

  digitalWrite(NRESET, LOW);

  pushByte(0xfa);

  pushByte(0x5a);

  digitalWrite(NRESET, HIGH);

  // Set 1000cpi resolution

  digitalWrite(NRESET, LOW);

  pushByte(0x0d);

  //pushByte(0x01); // 1000cpi

  pushByte(0x00); // 500cpi

  digitalWrite(NRESET, HIGH);

}

void reset2() {

  pinMode(SCLK, OUTPUT);

  pinMode(SDIO, INPUT);

  pinMode(NCS2, OUTPUT);

  pinMode(NRESET, OUTPUT);

  digitalWrite(SCLK, LOW);

  digitalWrite(NCS2, LOW);

  digitalWrite(NRESET, HIGH);

  delayMicroseconds(100);

  // Initiate chip reset

  digitalWrite(NRESET, LOW);

  pushByte(0xfa);

  pushByte(0x5a);

  digitalWrite(NRESET, HIGH);

  // Set 1000cpi resolution

  digitalWrite(NRESET, LOW);

  pushByte(0x0d);

  //pushByte(0x01); // 1000cpi

  pushByte(0x00); // 500cpi

  digitalWrite(NRESET, HIGH);

}

byte pullByte() {

  pinMode (SDIO, INPUT);

  delayMicroseconds(100); // tHOLD = 100us min.

  byte res = 0;

  for (byte i=128; i >0 ; i >>= 1) {

    digitalWrite (SCLK, LOW);

    res |= i * digitalRead (SDIO);

    delayMicroseconds(100);

    digitalWrite (SCLK, HIGH);

  }

  return res;

}

void pushByte(byte data){

  pinMode (SDIO, OUTPUT);

  delayMicroseconds(100); // tHOLD = 100us min.

  for (byte i=128; i >0 ; i >>= 1) {

    digitalWrite (SCLK, LOW);

    digitalWrite (SDIO, (data & i) != 0 ? HIGH : LOW);

    delayMicroseconds(100);

    digitalWrite (SCLK, HIGH);

    //Serial.print((data & i) != 0 ? HIGH : LOW, BIN);

  }

  //Serial.println("");

}

byte readRegister(byte address) {

  address &= 0x7F; // MSB indicates read mode: 0

  pushByte(address);

  byte data = pullByte();

  return data;  

}

void writeRegister(byte address, byte data) {

  address |= 0x80; // MSB indicates write mode: 1

  pushByte(address);

  delayMicroseconds(100);

  pushByte(data);

  delayMicroseconds(100); // tSWW, tSWR = 100us min.

}