diff options
Diffstat (limited to 'drivers/sensors/pmw3360.c')
| -rw-r--r-- | drivers/sensors/pmw3360.c | 140 | 
1 files changed, 74 insertions, 66 deletions
| diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 79b653e452..2b27dccbb6 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -20,62 +20,71 @@  #include "wait.h"  #include "debug.h"  #include "print.h" -#include "pmw3360_firmware.h" +#include PMW3360_FIRMWARE_H  // Registers -#define REG_Product_ID 0x00 -#define REG_Revision_ID 0x01 -#define REG_Motion 0x02 -#define REG_Delta_X_L 0x03 -#define REG_Delta_X_H 0x04 -#define REG_Delta_Y_L 0x05 -#define REG_Delta_Y_H 0x06 -#define REG_SQUAL 0x07 -#define REG_Raw_Data_Sum 0x08 -#define REG_Maximum_Raw_data 0x09 -#define REG_Minimum_Raw_data 0x0A -#define REG_Shutter_Lower 0x0B -#define REG_Shutter_Upper 0x0C -#define REG_Control 0x0D -#define REG_Config1 0x0F -#define REG_Config2 0x10 -#define REG_Angle_Tune 0x11 -#define REG_Frame_Capture 0x12 -#define REG_SROM_Enable 0x13 -#define REG_Run_Downshift 0x14 -#define REG_Rest1_Rate_Lower 0x15 -#define REG_Rest1_Rate_Upper 0x16 -#define REG_Rest1_Downshift 0x17 -#define REG_Rest2_Rate_Lower 0x18 -#define REG_Rest2_Rate_Upper 0x19 -#define REG_Rest2_Downshift 0x1A -#define REG_Rest3_Rate_Lower 0x1B -#define REG_Rest3_Rate_Upper 0x1C -#define REG_Observation 0x24 -#define REG_Data_Out_Lower 0x25 -#define REG_Data_Out_Upper 0x26 -#define REG_Raw_Data_Dump 0x29 -#define REG_SROM_ID 0x2A -#define REG_Min_SQ_Run 0x2B -#define REG_Raw_Data_Threshold 0x2C -#define REG_Config5 0x2F -#define REG_Power_Up_Reset 0x3A -#define REG_Shutdown 0x3B -#define REG_Inverse_Product_ID 0x3F -#define REG_LiftCutoff_Tune3 0x41 -#define REG_Angle_Snap 0x42 -#define REG_LiftCutoff_Tune1 0x4A -#define REG_Motion_Burst 0x50 -#define REG_LiftCutoff_Tune_Timeout 0x58 +// clang-format off +#define REG_Product_ID                 0x00 +#define REG_Revision_ID                0x01 +#define REG_Motion                     0x02 +#define REG_Delta_X_L                  0x03 +#define REG_Delta_X_H                  0x04 +#define REG_Delta_Y_L                  0x05 +#define REG_Delta_Y_H                  0x06 +#define REG_SQUAL                      0x07 +#define REG_Raw_Data_Sum               0x08 +#define REG_Maximum_Raw_data           0x09 +#define REG_Minimum_Raw_data           0x0A +#define REG_Shutter_Lower              0x0B +#define REG_Shutter_Upper              0x0C +#define REG_Control                    0x0D +#define REG_Config1                    0x0F +#define REG_Config2                    0x10 +#define REG_Angle_Tune                 0x11 +#define REG_Frame_Capture              0x12 +#define REG_SROM_Enable                0x13 +#define REG_Run_Downshift              0x14 +#define REG_Rest1_Rate_Lower           0x15 +#define REG_Rest1_Rate_Upper           0x16 +#define REG_Rest1_Downshift            0x17 +#define REG_Rest2_Rate_Lower           0x18 +#define REG_Rest2_Rate_Upper           0x19 +#define REG_Rest2_Downshift            0x1A +#define REG_Rest3_Rate_Lower           0x1B +#define REG_Rest3_Rate_Upper           0x1C +#define REG_Observation                0x24 +#define REG_Data_Out_Lower             0x25 +#define REG_Data_Out_Upper             0x26 +#define REG_Raw_Data_Dump              0x29 +#define REG_SROM_ID                    0x2A +#define REG_Min_SQ_Run                 0x2B +#define REG_Raw_Data_Threshold         0x2C +#define REG_Config5                    0x2F +#define REG_Power_Up_Reset             0x3A +#define REG_Shutdown                   0x3B +#define REG_Inverse_Product_ID         0x3F +#define REG_LiftCutoff_Tune3           0x41 +#define REG_Angle_Snap                 0x42 +#define REG_LiftCutoff_Tune1           0x4A +#define REG_Motion_Burst               0x50 +#define REG_LiftCutoff_Tune_Timeout    0x58  #define REG_LiftCutoff_Tune_Min_Length 0x5A -#define REG_SROM_Load_Burst 0x62 -#define REG_Lift_Config 0x63 -#define REG_Raw_Data_Burst 0x64 -#define REG_LiftCutoff_Tune2 0x65 +#define REG_SROM_Load_Burst            0x62 +#define REG_Lift_Config                0x63 +#define REG_Raw_Data_Burst             0x64 +#define REG_LiftCutoff_Tune2           0x65 +// clang-format on + +#ifndef MAX_CPI +#    define MAX_CPI 0x77  // limits to 0--119, should be max cpi/100 +#endif  bool _inBurst = false; +#ifdef CONSOLE_ENABLE  void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); } +#endif +#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))  bool spi_start_adv(void) {      bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR); @@ -124,20 +133,20 @@ uint8_t spi_read_adv(uint8_t reg_addr) {      return data;  } -void pmw_set_cpi(uint16_t cpi) { -    uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77);  // limits to 0--119 +void pmw3360_set_cpi(uint16_t cpi) { +    uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);      spi_start_adv();      spi_write_adv(REG_Config1, cpival);      spi_stop();  } -uint16_t pmw_get_cpi(void) { +uint16_t pmw3360_get_cpi(void) {      uint8_t cpival = spi_read_adv(REG_Config1);      return (uint16_t)(cpival & 0xFF) * 100;  } -bool pmw_spi_init(void) { +bool pmw3360_init(void) {      setPinOutput(PMW3360_CS_PIN);      spi_init(); @@ -164,12 +173,12 @@ bool pmw_spi_init(void) {      spi_read_adv(REG_Delta_Y_L);      spi_read_adv(REG_Delta_Y_H); -    pmw_upload_firmware(); +    pmw3360_upload_firmware();      spi_stop_adv();      wait_ms(10); -    pmw_set_cpi(PMW3360_CPI); +    pmw3360_set_cpi(PMW3360_CPI);      wait_ms(1); @@ -177,14 +186,14 @@ bool pmw_spi_init(void) {      spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30)); -    bool init_success = pmw_check_signature(); +    bool init_success = pmw3360_check_signature();      writePinLow(PMW3360_CS_PIN);      return init_success;  } -void pmw_upload_firmware(void) { +void pmw3360_upload_firmware(void) {      spi_write_adv(REG_SROM_Enable, 0x1d);      wait_ms(10); @@ -211,16 +220,18 @@ void pmw_upload_firmware(void) {      wait_ms(10);  } -bool pmw_check_signature(void) { +bool pmw3360_check_signature(void) {      uint8_t pid      = spi_read_adv(REG_Product_ID);      uint8_t iv_pid   = spi_read_adv(REG_Inverse_Product_ID);      uint8_t SROM_ver = spi_read_adv(REG_SROM_ID); -    return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04);  // signature for SROM 0x04 +    return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]);  // signature for SROM 0x04  } -report_pmw_t pmw_read_burst(void) { +report_pmw3360_t pmw3360_read_burst(void) {      if (!_inBurst) { +#ifdef CONSOLE_ENABLE          dprintf("burst on"); +#endif          spi_write_adv(REG_Motion_Burst, 0x00);          _inBurst = true;      } @@ -229,12 +240,7 @@ report_pmw_t pmw_read_burst(void) {      spi_write(REG_Motion_Burst);      wait_us(35);  // waits for tSRAD -    report_pmw_t data; -    data.motion = 0; -    data.dx     = 0; -    data.mdx    = 0; -    data.dy     = 0; -    data.mdx    = 0; +    report_pmw3360_t data = {0};      data.motion = spi_read();      spi_write(0x00);  // skip Observation @@ -245,6 +251,7 @@ report_pmw_t pmw_read_burst(void) {      spi_stop(); +#ifdef CONSOLE_ENABLE      if (debug_mouse) {          print_byte(data.motion);          print_byte(data.dx); @@ -253,6 +260,7 @@ report_pmw_t pmw_read_burst(void) {          print_byte(data.mdy);          dprintf("\n");      } +#endif      data.isMotion    = (data.motion & 0x80) != 0;      data.isOnSurface = (data.motion & 0x08) == 0; | 
