diff options
Diffstat (limited to 'drivers/sensors/pmw3360.c')
| -rw-r--r-- | drivers/sensors/pmw3360.c | 287 | 
1 files changed, 147 insertions, 140 deletions
| diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 50d1c35801..8c977be1c8 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -16,136 +16,126 @@   * along with this program.  If not, see <http://www.gnu.org/licenses/>.   */ +#include "spi_master.h"  #include "pmw3360.h"  #include "wait.h"  #include "debug.h"  #include "print.h" -#include PMW3360_FIRMWARE_H +#include "pmw3360_firmware.h"  // Registers  // 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_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 CPI_STEP          100  // clang-format on +// limits to 0--119, resulting in a CPI range of 100 -- 12000 (as only steps of 100 are possible).  #ifndef MAX_CPI -#    define MAX_CPI 0x77  // limits to 0--119, should be max cpi/100 +#    define MAX_CPI 0x77  #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')); } +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 pmw3360_spi_start(void) {      bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR); +    // tNCS-SCLK, 120ns      wait_us(1);      return status;  } -void spi_stop_adv(void) { -    wait_us(1); -    spi_stop(); -} +spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) { +    pmw3360_spi_start(); -spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {      if (reg_addr != REG_Motion_Burst) {          _inBurst = false;      } -    spi_start_adv();      // send address of the register, with MSBit = 1 to indicate it's a write      spi_status_t status = spi_write(reg_addr | 0x80);      status              = spi_write(data); -    // tSCLK-NCS for write operation -    wait_us(20); - -    // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound -    wait_us(100); +    // tSCLK-NCS for write operation is 35us +    wait_us(35);      spi_stop(); + +    // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound +    wait_us(145);      return status;  } -uint8_t spi_read_adv(uint8_t reg_addr) { -    spi_start_adv(); +uint8_t pmw3360_read(uint8_t reg_addr) { +    pmw3360_spi_start();      // send adress of the register, with MSBit = 0 to indicate it's a read      spi_write(reg_addr & 0x7f); - +    // tSRAD (=160us) +    wait_us(160);      uint8_t data = spi_read();      // tSCLK-NCS for read operation is 120ns      wait_us(1); +    spi_stop();      //  tSRW/tSRR (=20us) minus tSCLK-NCS      wait_us(19); - -    spi_stop();      return data;  } -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 pmw3360_get_cpi(void) { -    uint8_t cpival = spi_read_adv(REG_Config1); -    return (uint16_t)((cpival + 1) & 0xFF) * 100; -} -  bool pmw3360_init(void) {      setPinOutput(PMW3360_CS_PIN); @@ -153,42 +143,51 @@ bool pmw3360_init(void) {      _inBurst = false;      spi_stop(); -    spi_start_adv(); +    pmw3360_spi_start();      spi_stop(); -    spi_write_adv(REG_Shutdown, 0xb6);  // Shutdown first +    pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first      wait_ms(300); -    spi_start_adv(); +    pmw3360_spi_start();      wait_us(40); -    spi_stop_adv(); +    spi_stop();      wait_us(40); -    spi_write_adv(REG_Power_Up_Reset, 0x5a); +    // power up, need to first drive NCS high then low, see above. +    pmw3360_write(REG_Power_Up_Reset, 0x5a);      wait_ms(50); -    spi_read_adv(REG_Motion); -    spi_read_adv(REG_Delta_X_L); -    spi_read_adv(REG_Delta_X_H); -    spi_read_adv(REG_Delta_Y_L); -    spi_read_adv(REG_Delta_Y_H); +    // read registers and discard +    pmw3360_read(REG_Motion); +    pmw3360_read(REG_Delta_X_L); +    pmw3360_read(REG_Delta_X_H); +    pmw3360_read(REG_Delta_Y_L); +    pmw3360_read(REG_Delta_Y_H);      pmw3360_upload_firmware(); -    spi_stop_adv(); +    spi_stop();      wait_ms(10);      pmw3360_set_cpi(PMW3360_CPI);      wait_ms(1); -    spi_write_adv(REG_Config2, 0x00); +    pmw3360_write(REG_Config2, 0x00); -    spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30)); +    pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); -    spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE); +    pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);      bool init_success = pmw3360_check_signature(); +#ifdef CONSOLE_ENABLE +    if (init_success) { +        dprintf("pmw3360 signature verified"); +    } else { +        dprintf("pmw3360 signature verification failed!"); +    } +#endif      writePinLow(PMW3360_CS_PIN); @@ -196,86 +195,94 @@ bool pmw3360_init(void) {  }  void pmw3360_upload_firmware(void) { -    spi_write_adv(REG_SROM_Enable, 0x1d); +    // Datasheet claims we need to disable REST mode first, but during startup +    // it's already disabled and we're not turning it on ... +    // pmw3360_write(REG_Config2, 0x00);  // disable REST mode +    pmw3360_write(REG_SROM_Enable, 0x1d);      wait_ms(10); -    spi_write_adv(REG_SROM_Enable, 0x18); +    pmw3360_write(REG_SROM_Enable, 0x18); -    spi_start_adv(); +    pmw3360_spi_start();      spi_write(REG_SROM_Load_Burst | 0x80);      wait_us(15); -    unsigned char c; -    for (int i = 0; i < FIRMWARE_LENGTH; i++) { -        c = (unsigned char)pgm_read_byte(firmware_data + i); -        spi_write(c); +    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) { +        spi_write(pgm_read_byte(firmware_data + i)); +#ifndef PMW3360_FIRMWARE_UPLOAD_FAST          wait_us(15); +#endif      }      wait_us(200); -    spi_read_adv(REG_SROM_ID); +    pmw3360_read(REG_SROM_ID); +    pmw3360_write(REG_Config2, 0x00); +} -    spi_write_adv(REG_Config2, 0x00); +bool pmw3360_check_signature(void) { +    uint8_t pid      = pmw3360_read(REG_Product_ID); +    uint8_t iv_pid   = pmw3360_read(REG_Inverse_Product_ID); +    uint8_t SROM_ver = pmw3360_read(REG_SROM_ID); +    return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 +} -    spi_stop(); -    wait_ms(10); +uint16_t pmw3360_get_cpi(void) { +    uint8_t cpival = pmw3360_read(REG_Config1); +    return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;  } -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 == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]);  // signature for SROM 0x04 +void pmw3360_set_cpi(uint16_t cpi) { +    uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI); +    pmw3360_write(REG_Config1, cpival);  }  report_pmw3360_t pmw3360_read_burst(void) { +    report_pmw3360_t report = {0}; +      if (!_inBurst) {  #ifdef CONSOLE_ENABLE          dprintf("burst on");  #endif -        spi_write_adv(REG_Motion_Burst, 0x00); +        pmw3360_write(REG_Motion_Burst, 0x00);          _inBurst = true;      } -    spi_start_adv(); +    pmw3360_spi_start();      spi_write(REG_Motion_Burst); -    wait_us(35);  // waits for tSRAD +    wait_us(35); // waits for tSRAD_MOTBR -    report_pmw3360_t data = {0}; +    report.motion = spi_read(); +    spi_read(); // skip Observation +    // delta registers +    report.dx  = spi_read(); +    report.mdx = spi_read(); +    report.dy  = spi_read(); +    report.mdy = spi_read(); -    data.motion = spi_read(); -    spi_write(0x00);  // skip Observation -    data.dx  = spi_read(); -    data.mdx = spi_read(); -    data.dy  = spi_read(); -    data.mdy = spi_read(); +    if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird. +        _inBurst = false; +    }      spi_stop();  #ifdef CONSOLE_ENABLE      if (debug_mouse) { -        print_byte(data.motion); -        print_byte(data.dx); -        print_byte(data.mdx); -        print_byte(data.dy); -        print_byte(data.mdy); +        print_byte(report.motion); +        print_byte(report.dx); +        print_byte(report.mdx); +        print_byte(report.dy); +        print_byte(report.mdy);          dprintf("\n");      }  #endif -    data.isMotion    = (data.motion & 0x80) != 0; -    data.isOnSurface = (data.motion & 0x08) == 0; -    data.dx |= (data.mdx << 8); -    data.dx = data.dx * -1; -    data.dy |= (data.mdy << 8); -    data.dy = data.dy * -1; - -    spi_stop(); +    report.isMotion    = (report.motion & 0x80) != 0; +    report.isOnSurface = (report.motion & 0x08) == 0; +    report.dx |= (report.mdx << 8); +    report.dx = report.dx * -1; +    report.dy |= (report.mdy << 8); +    report.dy = report.dy * -1; -    if (data.motion & 0b111) {  // panic recovery, sometimes burst mode works weird. -        _inBurst = false; -    } - -    return data; +    return report;  } | 
