diff options
Diffstat (limited to 'drivers/sensors')
| -rw-r--r-- | drivers/sensors/adns9800.c | 16 | ||||
| -rw-r--r-- | drivers/sensors/adns9800_srom_A6.h | 2 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.c | 22 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.h | 9 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.c | 283 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.h | 35 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.c | 292 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.h | 76 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389_firmware.h | 558 | 
9 files changed, 829 insertions, 464 deletions
| diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c index c52f991804..d167841968 100644 --- a/drivers/sensors/adns9800.c +++ b/drivers/sensors/adns9800.c @@ -135,10 +135,8 @@ void adns9800_init() {      wait_us(15);      // send all bytes of the firmware -    unsigned char c; -    for (int i = 0; i < FIRMWARE_LENGTH; i++) { -        c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i); -        spi_write(c); +    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) { +        spi_write(pgm_read_byte(firmware_data + i));          wait_us(15);      } @@ -154,8 +152,8 @@ void adns9800_init() {  }  config_adns9800_t adns9800_get_config(void) { -    uint8_t config_1 = adns9800_read(REG_Configuration_I); -    return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP}; +    uint8_t cpival = adns9800_read(REG_Configuration_I); +    return (config_adns9800_t){(cpival & 0xFF) * CPI_STEP};  }  void adns9800_set_config(config_adns9800_t config) { @@ -164,8 +162,8 @@ void adns9800_set_config(config_adns9800_t config) {  }  uint16_t adns9800_get_cpi(void) { -    uint8_t config_1 = adns9800_read(REG_Configuration_I); -    return (uint16_t){(config_1 & 0xFF) * CPI_STEP}; +    uint8_t cpival = adns9800_read(REG_Configuration_I); +    return (uint16_t)(cpival & 0xFF) * CPI_STEP;  }  void adns9800_set_cpi(uint16_t cpi) { @@ -184,7 +182,7 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {  }  report_adns9800_t adns9800_get_report(void) { -    report_adns9800_t report = {0, 0}; +    report_adns9800_t report = {0};      adns9800_spi_start(); diff --git a/drivers/sensors/adns9800_srom_A6.h b/drivers/sensors/adns9800_srom_A6.h index d86ecbbd9e..e698a401b9 100644 --- a/drivers/sensors/adns9800_srom_A6.h +++ b/drivers/sensors/adns9800_srom_A6.h @@ -6,7 +6,7 @@  // clang-format off -const uint8_t adns9800_firmware_data[FIRMWARE_LENGTH] PROGMEM = { +const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {      0x03, 0xA6, 0x68, 0x1E, 0x7D, 0x10, 0x7E, 0x7E, 0x5F, 0x1C, 0xB8, 0xF2, 0x47, 0x0C, 0x7B, 0x74,      0x4B, 0x14, 0x8B, 0x75, 0x66, 0x51, 0x0B, 0x8C, 0x76, 0x74, 0x4B, 0x14, 0xAA, 0xD6, 0x0F, 0x9C,      0xBA, 0xF6, 0x6E, 0x3F, 0xDD, 0x38, 0xD5, 0x02, 0x80, 0x9B, 0x82, 0x6D, 0x58, 0x13, 0xA4, 0xAB, diff --git a/drivers/sensors/pimoroni_trackball.c b/drivers/sensors/pimoroni_trackball.c index 7d390056ea..2867e763bc 100644 --- a/drivers/sensors/pimoroni_trackball.c +++ b/drivers/sensors/pimoroni_trackball.c @@ -33,8 +33,24 @@  static uint16_t precision = 128; -float pimoroni_trackball_get_precision(void) { return ((float)precision / 128); } -void  pimoroni_trackball_set_precision(float floatprecision) { precision = (floatprecision * 128); } +uint16_t pimoroni_trackball_get_cpi(void) { return (precision * 125); } +/** + * @brief Sets the scaling value for pimoroni trackball + * + * Sets a scaling value for pimoroni trackball to allow runtime adjustment. This isn't used by the sensor and is an + * approximation so the functions are consistent across drivers. + * + * NOTE: This rounds down to the nearest number divisable by 125 that's a positive integer, values below 125 are clamped to 125. + * + * @param cpi uint16_t + */ +void pimoroni_trackball_set_cpi(uint16_t cpi) { +    if (cpi < 249) { +        precision = 1; +    } else { +        precision = (cpi - (cpi % 125)) / 125; +    } +}  void pimoroni_trackball_set_rgbw(uint8_t r, uint8_t g, uint8_t b, uint8_t w) {      uint8_t                              data[4] = {r, g, b, w}; @@ -60,7 +76,7 @@ i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data) {      return status;  } -__attribute__((weak)) void pimironi_trackball_device_init(void) { +__attribute__((weak)) void pimoroni_trackball_device_init(void) {      i2c_init();      pimoroni_trackball_set_rgbw(0x00, 0x00, 0x00, 0x00);  } diff --git a/drivers/sensors/pimoroni_trackball.h b/drivers/sensors/pimoroni_trackball.h index 59ee8724ba..e20ee748a7 100644 --- a/drivers/sensors/pimoroni_trackball.h +++ b/drivers/sensors/pimoroni_trackball.h @@ -23,9 +23,6 @@  #ifndef PIMORONI_TRACKBALL_ADDRESS  #    define PIMORONI_TRACKBALL_ADDRESS 0x0A  #endif -#ifndef PIMORONI_TRACKBALL_INTERVAL_MS -#    define PIMORONI_TRACKBALL_INTERVAL_MS 8 -#endif  #ifndef PIMORONI_TRACKBALL_SCALE  #    define PIMORONI_TRACKBALL_SCALE 5  #endif @@ -52,10 +49,10 @@ typedef struct {      uint8_t click;  } pimoroni_data_t; -void         pimironi_trackball_device_init(void); +void         pimoroni_trackball_device_init(void);  void         pimoroni_trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white);  int16_t      pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale);  void         pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset); -float        pimoroni_trackball_get_precision(void); -void         pimoroni_trackball_set_precision(float precision); +uint16_t     pimoroni_trackball_get_cpi(void); +void         pimoroni_trackball_set_cpi(uint16_t cpi);  i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data); diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 50d1c35801..8d1b08e22b 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -16,67 +16,71 @@   * 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; @@ -86,66 +90,50 @@ void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1'  #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 +141,51 @@ 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 +193,94 @@ 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); - -    spi_write_adv(REG_Config2, 0x00); - -    spi_stop(); -    wait_ms(10); +    pmw3360_read(REG_SROM_ID); +    pmw3360_write(REG_Config2, 0x00);  }  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); +    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  } +uint16_t pmw3360_get_cpi(void) { +    uint8_t cpival = pmw3360_read(REG_Config1); +    return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP; +} + +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;  } diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h index 9aa8e13f8e..4e17aa0c46 100644 --- a/drivers/sensors/pmw3360.h +++ b/drivers/sensors/pmw3360.h @@ -19,8 +19,6 @@  #pragma once  #include <stdint.h> -#include "report.h" -#include "spi_master.h"  #ifndef PMW3360_CPI  #    define PMW3360_CPI 1600 @@ -58,21 +56,6 @@  #    error "No chip select pin defined -- missing PMW3360_CS_PIN"  #endif -/* -The pmw33660 and pmw3389 use the same registers and timing and such. -The only differences between the two is the firmware used, and the -range for the DPI. So add a semi-secret hack to allow use of the -pmw3389's firmware blob.  Also, can set the max cpi range too. -This should work for the 3390 and 3391 too, in theory. -*/ -#ifndef PMW3360_FIRMWARE_H -#    define PMW3360_FIRMWARE_H "pmw3360_firmware.h" -#endif - -#ifdef CONSOLE_ENABLE -void print_byte(uint8_t byte); -#endif -  typedef struct {      int8_t  motion;      bool    isMotion;     // True if a motion is detected. @@ -83,16 +66,10 @@ typedef struct {      int8_t  mdy;  } report_pmw3360_t; -bool             spi_start_adv(void); -void             spi_stop_adv(void); -spi_status_t     spi_write_adv(uint8_t reg_addr, uint8_t data); -uint8_t          spi_read_adv(uint8_t reg_addr); -bool             pmw3360_init(void); -void             pmw3360_set_cpi(uint16_t cpi); -uint16_t         pmw3360_get_cpi(void); -void             pmw3360_upload_firmware(void); -bool             pmw3360_check_signature(void); +bool     pmw3360_init(void); +void     pmw3360_upload_firmware(void); +bool     pmw3360_check_signature(void); +uint16_t pmw3360_get_cpi(void); +void     pmw3360_set_cpi(uint16_t cpi); +/* Reads and clears the current delta values on the sensor */  report_pmw3360_t pmw3360_read_burst(void); - -#define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0) -#define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI) diff --git a/drivers/sensors/pmw3389.c b/drivers/sensors/pmw3389.c new file mode 100644 index 0000000000..963925bd38 --- /dev/null +++ b/drivers/sensors/pmw3389.c @@ -0,0 +1,292 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <[email protected]> + * Copyright 2019 Sunjun Kim + * Copyright 2020 Ploopy Corporation + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program.  If not, see <http://www.gnu.org/licenses/>. + */ + +#include "spi_master.h" +#include "pmw3389.h" +#include "wait.h" +#include "debug.h" +#include "print.h" +#include "pmw3389_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_RawData_Sum                0x08 +#define REG_Maximum_RawData            0x09 +#define REG_Minimum_RawData            0x0a +#define REG_Shutter_Lower              0x0b +#define REG_Shutter_Upper              0x0c +#define REG_Ripple_Control             0x0d +#define REG_Resolution_L               0x0e +#define REG_Resolution_H               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_SROM_ID                    0x2a +#define REG_Min_SQ_Run                 0x2b +#define REG_RawData_Threshold          0x2c +#define REG_Control2                   0x2d +#define REG_Config5_L                  0x2e +#define REG_Config5_H                  0x2f +#define REG_Power_Up_Reset             0X3a +#define REG_Shutdown                   0x3b +#define REG_Inverse_Product_ID         0x3f +#define REG_LiftCutoff_Cal3            0x41 +#define REG_Angle_Snap                 0x42 +#define REG_LiftCutoff_Cal1            0x4a +#define REG_Motion_Burst               0x50 +#define REG_SROM_Load_Burst            0x62 +#define REG_Lift_Config                0x63 +#define REG_RawData_Burst              0x64 +#define REG_LiftCutoff_Cal2            0x65 +#define REG_LiftCutoff_Cal_Timeout     0x71 +#define REG_LiftCutoff_Cal_Min_Length  0x72 +#define REG_PWM_Period_Cnt             0x73 +#define REG_PWM_Width_Cnt              0x74 + +#define CPI_STEP       50 +// clang-format on + +// limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible). +#ifndef MAX_CPI +#    define MAX_CPI 0x013f +#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 pmw3389_spi_start(void) { +    bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR); +    // tNCS-SCLK, 120ns +    wait_us(1); +    return status; +} + +spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) { +    pmw3389_spi_start(); + +    if (reg_addr != REG_Motion_Burst) { +        _inBurst = false; +    } + +    // 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 is 35 us +    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 pmw3389_read(uint8_t reg_addr) { +    pmw3389_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, 120ns +    wait_us(1); +    spi_stop(); + +    //  tSRW/tSRR (=20us) minus tSCLK-NCS +    wait_us(19); +    return data; +} + +bool pmw3389_init(void) { +    setPinOutput(PMW3389_CS_PIN); + +    spi_init(); +    _inBurst = false; + +    spi_stop(); +    pmw3389_spi_start(); +    spi_stop(); + +    pmw3389_write(REG_Shutdown, 0xb6);  // Shutdown first +    wait_ms(300); + +    pmw3389_spi_start(); +    wait_us(40); +    spi_stop(); +    wait_us(40); + +    // power up, need to first drive NCS high then low, see above. +    pmw3389_write(REG_Power_Up_Reset, 0x5a); +    wait_ms(50); + +    // read registers and discard +    pmw3389_read(REG_Motion); +    pmw3389_read(REG_Delta_X_L); +    pmw3389_read(REG_Delta_X_H); +    pmw3389_read(REG_Delta_Y_L); +    pmw3389_read(REG_Delta_Y_H); + +    pmw3389_upload_firmware(); + +    spi_stop(); + +    wait_ms(10); +    pmw3389_set_cpi(PMW3389_CPI); + +    wait_ms(1); + +    pmw3389_write(REG_Config2, 0x00); + +    pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); + +    pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE); + +    bool init_success = pmw3389_check_signature(); +#ifdef CONSOLE_ENABLE +    if (init_success) { +        dprintf("pmw3389 signature verified"); +    } else { +        dprintf("pmw3389 signature verification failed!"); +    } +#endif + +    writePinLow(PMW3389_CS_PIN); + +    return init_success; +} + +void pmw3389_upload_firmware(void) { +    // Datasheet claims we need to disable REST mode first, but during startup +    // it's already disabled and we're not turning it on ... +    // pmw3389_write(REG_Config2, 0x00);  // disable REST mode +    pmw3389_write(REG_SROM_Enable, 0x1d); + +    wait_ms(10); + +    pmw3389_write(REG_SROM_Enable, 0x18); + +    pmw3389_spi_start(); +    spi_write(REG_SROM_Load_Burst | 0x80); +    wait_us(15); + +    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) { +        spi_write(pgm_read_byte(firmware_data + i)); +#ifndef PMW3389_FIRMWARE_UPLOAD_FAST +        wait_us(15); +#endif +    } +    wait_us(200); + +    pmw3389_read(REG_SROM_ID); +    pmw3389_write(REG_Config2, 0x00); +} + +bool pmw3389_check_signature(void) { +    uint8_t pid      = pmw3389_read(REG_Product_ID); +    uint8_t iv_pid   = pmw3389_read(REG_Inverse_Product_ID); +    uint8_t SROM_ver = pmw3389_read(REG_SROM_ID); +    return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]);  // signature for SROM 0x04 +} + +uint16_t pmw3389_get_cpi(void) { +    uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L); +    return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP; +} + +void pmw3389_set_cpi(uint16_t cpi) { +    uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI); +    // Sets upper byte first for more consistent setting of cpi +    pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff); +    pmw3389_write(REG_Resolution_L, cpival & 0xff); +} + +report_pmw3389_t pmw3389_read_burst(void) { +    report_pmw3389_t report = {0}; + +    if (!_inBurst) { +#ifdef CONSOLE_ENABLE +        dprintf("burst on"); +#endif +        pmw3389_write(REG_Motion_Burst, 0x00); +        _inBurst = true; +    } + +    pmw3389_spi_start(); +    spi_write(REG_Motion_Burst); +    wait_us(35);  // waits for tSRAD_MOTBR + +    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(); + +    if (report.motion & 0b111) {  // panic recovery, sometimes burst mode works weird. +        _inBurst = false; +    } + +    spi_stop(); + +#ifdef CONSOLE_ENABLE +    if (debug_mouse) { +        print_byte(report.motion); +        print_byte(report.dx); +        print_byte(report.mdx); +        print_byte(report.dy); +        print_byte(report.mdy); +        dprintf("\n"); +    } +#endif + +    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; + +    return report; +} diff --git a/drivers/sensors/pmw3389.h b/drivers/sensors/pmw3389.h new file mode 100644 index 0000000000..a7c95e6076 --- /dev/null +++ b/drivers/sensors/pmw3389.h @@ -0,0 +1,76 @@ +/* Copyright 2021 Alabastard (@Alabastard-64) + * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <[email protected]> + * Copyright 2019 Sunjun Kim + * Copyright 2020 Ploopy Corporation + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program.  If not, see <http://www.gnu.org/licenses/>. + */ + +#pragma once + +#include <stdint.h> + +#ifndef PMW3389_CPI +#    define PMW3389_CPI 2000 +#endif + +#ifndef PMW3389_CLOCK_SPEED +#    define PMW3389_CLOCK_SPEED 2000000 +#endif + +#ifndef PMW3389_SPI_LSBFIRST +#    define PMW3389_SPI_LSBFIRST false +#endif + +#ifndef PMW3389_SPI_MODE +#    define PMW3389_SPI_MODE 3 +#endif + +#ifndef PMW3389_SPI_DIVISOR +#    ifdef __AVR__ +#        define PMW3389_SPI_DIVISOR (F_CPU / PMW3389_CLOCK_SPEED) +#    else +#        define PMW3389_SPI_DIVISOR 64 +#    endif +#endif + +#ifndef PMW3389_LIFTOFF_DISTANCE +#    define PMW3389_LIFTOFF_DISTANCE 0x02 +#endif + +#ifndef ROTATIONAL_TRANSFORM_ANGLE +#    define ROTATIONAL_TRANSFORM_ANGLE 0x00 +#endif + +#ifndef PMW3389_CS_PIN +#    error "No chip select pin defined -- missing PMW3389_CS_PIN" +#endif + +typedef struct { +    int8_t  motion; +    bool    isMotion;     // True if a motion is detected. +    bool    isOnSurface;  // True when a chip is on a surface +    int16_t dx;           // displacement on x directions. Unit: Count. (CPI * Count = Inch value) +    int8_t  mdx; +    int16_t dy;  // displacement on y directions. +    int8_t  mdy; +} report_pmw3389_t; + +bool     pmw3389_init(void); +void     pmw3389_upload_firmware(void); +bool     pmw3389_check_signature(void); +uint16_t pmw3389_get_cpi(void); +void     pmw3389_set_cpi(uint16_t cpi); +/* Reads and clears the current delta values on the sensor */ +report_pmw3389_t pmw3389_read_burst(void); diff --git a/drivers/sensors/pmw3389_firmware.h b/drivers/sensors/pmw3389_firmware.h index 0564dab73a..cd9638b605 100644 --- a/drivers/sensors/pmw3389_firmware.h +++ b/drivers/sensors/pmw3389_firmware.h @@ -18,286 +18,290 @@  #pragma once +#include "progmem.h" +  // PID, Inverse PID, SROM version  const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04}; +#define FIRMWARE_LENGTH 4094 + +// Firmware Blob for PMW3389 +  // clang-format off -// Firmware Blob foor PMW3389 -const uint16_t firmware_length = 4094; -// clang-format off -const uint8_t firmware_data[] PROGMEM = {    // SROM 0x04 -0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3, -0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9, -0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7, -0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e, -0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58, -0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02, -0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16, -0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8, -0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c, -0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1, -0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9, -0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30, -0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18, -0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45, -0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f, -0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e, -0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c, -0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28, -0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62, -0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda, -0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2, -0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 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