diff options
Diffstat (limited to 'drivers/sensors')
| -rw-r--r-- | drivers/sensors/pmw3360.c | 567 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.h | 134 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360_firmware.h | 288 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.c | 580 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.h | 135 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389_firmware.h | 307 | ||||
| -rw-r--r-- | drivers/sensors/pmw33xx_common.c | 218 | ||||
| -rw-r--r-- | drivers/sensors/pmw33xx_common.h | 145 |
8 files changed, 1080 insertions, 1294 deletions
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 5f4d17a3f0..2c6d91d588 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -1,291 +1,294 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * Copyright 2019 Sunjun Kim - * Copyright 2020 Ploopy Corporation - * Copyright 2022 Ulrich Spörlein - * - * 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 "pmw3360.h" -#include "wait.h" -#include "debug.h" -#include "print.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 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 -#endif - -static const pin_t pins[] = PMW3360_CS_PINS; -#define NUMBER_OF_SENSORS (sizeof(pins) / sizeof(pin_t)) - -// per-sensor driver state -static bool _inBurst[NUMBER_OF_SENSORS] = {0}; - -#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 pmw3360_spi_start(int8_t index) { - bool status = spi_start(pins[index], PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR); - // tNCS-SCLK, 120ns - wait_us(1); - return status; -} - -spi_status_t pmw3360_write(int8_t index, uint8_t reg_addr, uint8_t data) { - pmw3360_spi_start(index); - - if (reg_addr != REG_Motion_Burst) { - _inBurst[index] = 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 35us - wait_us(35); - spi_stop(); - - // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but it looks like a safe lower bound - wait_us(145); - return status; -} - -uint8_t pmw3360_read(int8_t index, uint8_t reg_addr) { - pmw3360_spi_start(index); - // 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); - return data; -} - -bool pmw3360_check_signature(int8_t index) { - uint8_t pid = pmw3360_read(index, REG_Product_ID); - uint8_t iv_pid = pmw3360_read(index, REG_Inverse_Product_ID); - uint8_t SROM_ver = pmw3360_read(index, REG_SROM_ID); - return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 -} - -void pmw3360_upload_firmware(int8_t index) { - // 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(index, REG_Config2, 0x00); // disable REST mode - pmw3360_write(index, REG_SROM_Enable, 0x1d); - - wait_ms(10); - - pmw3360_write(index, REG_SROM_Enable, 0x18); - - pmw3360_spi_start(index); - 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 PMW3360_FIRMWARE_UPLOAD_FAST - wait_us(15); -#endif +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#include "pmw33xx_common.h" +#include "progmem.h" + +extern const size_t pmw33xx_number_of_sensors; + +uint16_t pmw33xx_get_cpi(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return 0; } - wait_us(200); - pmw3360_read(index, REG_SROM_ID); - pmw3360_write(index, REG_Config2, 0x00); + uint8_t cpival = pmw33xx_read(sensor, REG_Config1); + return (uint16_t)((cpival + 1) & 0xFF) * PMW33XX_CPI_STEP; } -bool pmw3360_init(int8_t index) { - if (index >= NUMBER_OF_SENSORS) { - return false; +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi) { + if (sensor >= pmw33xx_number_of_sensors) { + return; } - spi_init(); - // power up, need to first drive NCS high then low. - // the datasheet does not say for how long, 40us works well in practice. - pmw3360_spi_start(index); - wait_us(40); - spi_stop(); - wait_us(40); - pmw3360_write(index, REG_Power_Up_Reset, 0x5a); - wait_ms(50); - - // read registers and discard - pmw3360_read(index, REG_Motion); - pmw3360_read(index, REG_Delta_X_L); - pmw3360_read(index, REG_Delta_X_H); - pmw3360_read(index, REG_Delta_Y_L); - pmw3360_read(index, REG_Delta_Y_H); - - pmw3360_upload_firmware(index); - - spi_stop(); - - wait_ms(10); - pmw3360_set_cpi(PMW3360_CPI); - - wait_ms(1); - - pmw3360_write(index, REG_Config2, 0x00); - - pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); - - pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE); - - bool init_success = pmw3360_check_signature(index); -#ifdef CONSOLE_ENABLE - if (init_success) { - dprintf("pmw3360 signature verified"); - } else { - dprintf("pmw3360 signature verification failed!"); - } -#endif - - return init_success; + uint8_t cpival = CONSTRAIN((cpi / PMW33XX_CPI_STEP) - 1, 0, (PMW33XX_CPI_MAX / PMW33XX_CPI_STEP) - 1U); + pmw33xx_write(sensor, REG_Config1, cpival); } -// Only support reading the value from sensor #0, no one is using this anyway. -uint16_t pmw3360_get_cpi(void) { - uint8_t cpival = pmw3360_read(0, REG_Config1); - return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP; -} - -// Write same CPI to all sensors. -void pmw3360_set_cpi(uint16_t cpi) { - uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI); - for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) { - pmw3360_write(i, REG_Config1, cpival); - } -} +// PID, Inverse PID, SROM version +const uint8_t pmw33xx_firmware_signature[3] PROGMEM = {0x42, 0xBD, 0x04}; -report_pmw3360_t pmw3360_read_burst(int8_t index) { - report_pmw3360_t report = {0}; - if (index >= NUMBER_OF_SENSORS) { - return report; - } - - if (!_inBurst[index]) { -#ifdef CONSOLE_ENABLE - dprintf("burst on for index %d", index); -#endif - pmw3360_write(index, REG_Motion_Burst, 0x00); - _inBurst[index] = true; - } - - pmw3360_spi_start(index); - 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[index] = 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; -} +// Firmware Blob for PMW3360 +// clang-format off +const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM = { + 0x01, 0x04, 0x8E, 0x96, 0x6E, 0x77, 0x3E, 0xFE, 0x7E, 0x5F, 0x1D, 0xB8, 0xF2, 0x66, 0x4E, 0xFF, + 0x5D, 0x19, 0xB0, 0xC2, 0x04, 0x69, 0x54, 0x2A, 0xD6, 0x2E, 0xBF, 0xDD, 0x19, 0xB0, 0xC3, 0xE5, + 0x29, 0xB1, 0xE0, 0x23, 0xA5, 0xA9, 0xB1, 0xC1, 0x00, 0x82, 0x67, 0x4C, 0x1A, 0x97, 0x8D, 0x79, + 0x51, 0x20, 0xC7, 0x06, 0x8E, 0x7C, 0x7C, 0x7A, 0x76, 0x4F, 0xFD, 0x59, 0x30, 0xE2, 0x46, 0x0E, + 0x9E, 0xBE, 0xDF, 0x1D, 0x99, 0x91, 0xA0, 0xA5, 0xA1, 0xA9, 0xD0, 0x22, 0xC6, 0xEF, 0x5C, 0x1B, + 0x95, 0x89, 0x90, 0xA2, 0xA7, 0xCC, 0xFB, 0x55, 0x28, 0xB3, 0xE4, 0x4A, 0xF7, 0x6C, 0x3B, 0xF4, + 0x6A, 0x56, 0x2E, 0xDE, 0x1F, 0x9D, 0xB8, 0xD3, 0x05, 0x88, 0x92, 0xA6, 0xCE, 0x1E, 0xBE, 0xDF, + 0x1D, 0x99, 0xB0, 0xE2, 0x46, 0xEF, 0x5C, 0x07, 0x11, 0x5D, 0x98, 0x0B, 0x9D, 0x94, 0x97, 0xEE, + 0x4E, 0x45, 0x33, 0x6B, 0x44, 0xC7, 0x29, 0x56, 0x27, 0x30, 0xC6, 0xA7, 0xD5, 0xF2, 0x56, 0xDF, + 0xB4, 0x38, 0x62, 0xCB, 0xA0, 0xB6, 0xE3, 0x0F, 0x84, 0x06, 0x24, 0x05, 0x65, 0x6F, 0x76, 0x89, + 0xB5, 0x77, 0x41, 0x27, 0x82, 0x66, 0x65, 0x82, 0xCC, 0xD5, 0xE6, 0x20, 0xD5, 0x27, 0x17, 0xC5, + 0xF8, 0x03, 0x23, 0x7C, 0x5F, 0x64, 0xA5, 0x1D, 0xC1, 0xD6, 0x36, 0xCB, 0x4C, 0xD4, 0xDB, 0x66, + 0xD7, 0x8B, 0xB1, 0x99, 0x7E, 0x6F, 0x4C, 0x36, 0x40, 0x06, 0xD6, 0xEB, 0xD7, 0xA2, 0xE4, 0xF4, + 0x95, 0x51, 0x5A, 0x54, 0x96, 0xD5, 0x53, 0x44, 0xD7, 0x8C, 0xE0, 0xB9, 0x40, 0x68, 0xD2, 0x18, + 0xE9, 0xDD, 0x9A, 0x23, 0x92, 0x48, 0xEE, 0x7F, 0x43, 0xAF, 0xEA, 0x77, 0x38, 0x84, 0x8C, 0x0A, + 0x72, 0xAF, 0x69, 0xF8, 0xDD, 0xF1, 0x24, 0x83, 0xA3, 0xF8, 0x4A, 0xBF, 0xF5, 0x94, 0x13, 0xDB, + 0xBB, 0xD8, 0xB4, 0xB3, 0xA0, 0xFB, 0x45, 0x50, 0x60, 0x30, 0x59, 0x12, 0x31, 0x71, 0xA2, 0xD3, + 0x13, 0xE7, 0xFA, 0xE7, 0xCE, 0x0F, 0x63, 0x15, 0x0B, 0x6B, 0x94, 0xBB, 0x37, 0x83, 0x26, 0x05, + 0x9D, 0xFB, 0x46, 0x92, 0xFC, 0x0A, 0x15, 0xD1, 0x0D, 0x73, 0x92, 0xD6, 0x8C, 0x1B, 0x8C, 0xB8, + 0x55, 0x8A, 0xCE, 0xBD, 0xFE, 0x8E, 0xFC, 0xED, 0x09, 0x12, 0x83, 0x91, 0x82, 0x51, 0x31, 0x23, + 0xFB, 0xB4, 0x0C, 0x76, 0xAD, 0x7C, 0xD9, 0xB4, 0x4B, 0xB2, 0x67, 0x14, 0x09, 0x9C, 0x7F, 0x0C, + 0x18, 0xBA, 0x3B, 0xD6, 0x8E, 0x14, 0x2A, 0xE4, 0x1B, 0x52, 0x9F, 0x2B, 0x7D, 0xE1, 0xFB, 0x6A, + 0x33, 0x02, 0xFA, 0xAC, 0x5A, 0xF2, 0x3E, 0x88, 0x7E, 0xAE, 0xD1, 0xF3, 0x78, 0xE8, 0x05, 0xD1, + 0xE3, 0xDC, 0x21, 0xF6, 0xE1, 0x9A, 0xBD, 0x17, 0x0E, 0xD9, 0x46, 0x9B, 0x88, 0x03, 0xEA, 0xF6, + 0x66, 0xBE, 0x0E, 0x1B, 0x50, 0x49, 0x96, 0x40, 0x97, 0xF1, 0xF1, 0xE4, 0x80, 0xA6, 0x6E, 0xE8, + 0x77, 0x34, 0xBF, 0x29, 0x40, 0x44, 0xC2, 0xFF, 0x4E, 0x98, 0xD3, 0x9C, 0xA3, 0x32, 0x2B, 0x76, + 0x51, 0x04, 0x09, 0xE7, 0xA9, 0xD1, 0xA6, 0x32, 0xB1, 0x23, 0x53, 0xE2, 0x47, 0xAB, 0xD6, 0xF5, + 0x69, 0x5C, 0x3E, 0x5F, 0xFA, 0xAE, 0x45, 0x20, 0xE5, 0xD2, 0x44, 0xFF, 0x39, 0x32, 0x6D, 0xFD, + 0x27, 0x57, 0x5C, 0xFD, 0xF0, 0xDE, 0xC1, 0xB5, 0x99, 0xE5, 0xF5, 0x1C, 0x77, 0x01, 0x75, 0xC5, + 0x6D, 0x58, 0x92, 0xF2, 0xB2, 0x47, 0x00, 0x01, 0x26, 0x96, 0x7A, 0x30, 0xFF, 0xB7, 0xF0, 0xEF, + 0x77, 0xC1, 0x8A, 0x5D, 0xDC, 0xC0, 0xD1, 0x29, 0x30, 0x1E, 0x77, 0x38, 0x7A, 0x94, 0xF1, 0xB8, + 0x7A, 0x7E, 0xEF, 0xA4, 0xD1, 0xAC, 0x31, 0x4A, 0xF2, 0x5D, 0x64, 0x3D, 0xB2, 0xE2, 0xF0, 0x08, + 0x99, 0xFC, 0x70, 0xEE, 0x24, 0xA7, 0x7E, 0xEE, 0x1E, 0x20, 0x69, 0x7D, 0x44, 0xBF, 0x87, 0x42, + 0xDF, 0x88, 0x3B, 0x0C, 0xDA, 0x42, 0xC9, 0x04, 0xF9, 0x45, 0x50, 0xFC, 0x83, 0x8F, 0x11, 0x6A, + 0x72, 0xBC, 0x99, 0x95, 0xF0, 0xAC, 0x3D, 0xA7, 0x3B, 0xCD, 0x1C, 0xE2, 0x88, 0x79, 0x37, 0x11, + 0x5F, 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0x18, 0x93, 0x85, + 0x69, 0x31, 0xC1, 0xE1, 0x40, 0xE3, 0x25, 0xC8, 0x12, 0x87, 0x8C, 0x9A, 0xB6, 0xCF, 0xFD, 0x59, + 0x11, 0xA0, 0xC2, 0x06, 0x8E, 0x7F, 0x5D, 0x38, 0xF2, 0x47, 0x0C, 0x7B, 0x74, 0x6A, 0x37, 0xEC, + 0x5A, 0x36, 0xEE, 0x3F, 0xFC, 0x7A, 0x76, 0x4F, 0x1C, 0x9B, 0x95, 0x89, 0x71, 0x41, 0x00, 0x63, + 0x44, 0xEB, 0x54, 0x2A, 0xD6, 0x0F, 0x9C, 0xBA, 0xD7, 0x0D, 0x98, 0x93, 0x85, 0x69, 0x31, 0xC1, + 0x00, 0x82, 0x86, 0x8E, 0x9E, 0xBE, 0xDF, 0x3C, 0xFA, 0x57, 0x2C, 0xDA, 0x36, 0xEE, 0x3F, 0xFC, + 0x5B, 0x15, 0x89, 0x71, 0x41, 0x00, 0x82, 0x86, 0x8E, 0x7F, 0x5D, 0x38, 0xF2, 0x47, 0xED, 0x58, + 0x13, 0xA4, 0xCA, 0xF7, 0x4D, 0xF9, 0x51, 0x01, 0x80, 0x63, 0x44, 0xEB, 0x54, 0x2A, 0xD6, 0x2E, + 0xBF, 0xDD, 0x19, 0x91, 0xA0, 0xA3, 0xA5, 0xA9, 0xB1, 0xE0, 0x42, 0x06, 0x8E, 0x7F, 0x5D, 0x19, + 0x91, 0xA0, 0xA3, 0xC4, 0x0A, 0x96, 0x8F, 0x7D, 0x78, 0x72, 0x47, 0x0C, 0x7B, 0x74, 0x6A, 0x56, + 0x2E, 0xDE, 0x1F, 0xBC, 0xFA, 0x57, 0x0D, 0x79, 0x51, 0x01, 0x61, 0x21, 0xA1, 0xC0, 0xE3, 0x25, + 0xA9, 0xB1, 0xC1, 0xE1, 0x40, 0x02, 0x67, 0x4C, 0x1A, 0x97, 0x8D, 0x98, 0x93, 0xA4, 0xAB, 0xD4, + 0x2A, 0xD6, 0x0F, 0x9C, 0x9B, 0xB4, 0xCB, 0x14, 0xAA, 0xB7, 0xCD, 0xF9, 0x51, 0x20, 0xA3, 0xC4, + 0xEB, 0x35, 0xC9, 0xF1, 0x60, 0x42, 0x06, 0x8E, 0x7F, 0x7C, 0x7A, 0x76, 0x6E, 0x3F, 0xFC, 0x7A, + 0x76, 0x6E, 0x5E, 0x3E, 0xFE, 0x7E, 0x5F, 0x3C, 0xDB, 0x15, 0x89, 0x71, 0x41, 0xE1, 0x21, 0xC0, + 0xE3, 0x44, 0xEB, 0x54, 0x2A, 0xB7, 0xCD, 0xF9, 0x70, 0x62, 0x27, 0xAD, 0xD8, 0x32, 0xC7, 0x0C, + 0x7B, 0x74, 0x4B, 0x14, 0xAA, 0xB7, 0xEC, 0x3B, 0xD5, 0x28, 0xD2, 0x07, 0x6D, 0x39, 0xD1, 0x20, + 0xC2, 0xE7, 0x4C, 0x1A, 0x97, 0x8D, 0x98, 0xB2, 0xC7, 0x0C, 0x59, 0x28, 0xF3, 0x9B +}; diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h index 3aa8ed0ed8..8aa70bd427 100644 --- a/drivers/sensors/pmw3360.h +++ b/drivers/sensors/pmw3360.h @@ -1,79 +1,73 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later #pragma once #include <stdint.h> -#ifndef PMW3360_CPI -# define PMW3360_CPI 1600 +#if !defined(PMW33XX_CPI) +# define PMW33XX_CPI 1600U #endif -#ifndef PMW3360_CLOCK_SPEED -# define PMW3360_CLOCK_SPEED 2000000 -#endif - -#ifndef PMW3360_SPI_LSBFIRST -# define PMW3360_SPI_LSBFIRST false -#endif - -#ifndef PMW3360_SPI_MODE -# define PMW3360_SPI_MODE 3 -#endif - -#ifndef PMW3360_SPI_DIVISOR -# ifdef __AVR__ -# define PMW3360_SPI_DIVISOR (F_CPU / PMW3360_CLOCK_SPEED) -# else -# define PMW3360_SPI_DIVISOR 64 -# endif -#endif - -#ifndef PMW3360_LIFTOFF_DISTANCE -# define PMW3360_LIFTOFF_DISTANCE 0x02 -#endif - -#ifndef ROTATIONAL_TRANSFORM_ANGLE -# define ROTATIONAL_TRANSFORM_ANGLE 0x00 -#endif - -// Support single and plural spellings -#ifndef PMW3360_CS_PINS -# ifndef PMW3360_CS_PIN -# error "No chip select pin defined -- missing PMW3360_CS_PIN or PMW3360_CS_PINS" -# else -# define PMW3360_CS_PINS \ - { PMW3360_CS_PIN } -# endif -#endif +#define PMW33XX_CPI_STEP 100 +#define PMW33XX_CPI_MIN 100 +#define PMW33XX_CPI_MAX 12000 -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_pmw3360_t; +#define PMW33XX_FIRMWARE_LENGTH 4094 -bool pmw3360_init(int8_t index); -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(int8_t index); +// PMW3360 register addresses +// 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 +// clang-format on diff --git a/drivers/sensors/pmw3360_firmware.h b/drivers/sensors/pmw3360_firmware.h deleted file mode 100644 index ed9fda5a75..0000000000 --- a/drivers/sensors/pmw3360_firmware.h +++ /dev/null @@ -1,288 +0,0 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * 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 "progmem.h" - -// PID, Inverse PID, SROM version -const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04}; - -#define FIRMWARE_LENGTH 4094 - -// Firmware Blob foor PMW3360 - -// clang-format off -const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = { - 0x01, 0x04, 0x8E, 0x96, 0x6E, 0x77, 0x3E, 0xFE, 0x7E, 0x5F, 0x1D, 0xB8, 0xF2, 0x66, 0x4E, 0xFF, - 0x5D, 0x19, 0xB0, 0xC2, 0x04, 0x69, 0x54, 0x2A, 0xD6, 0x2E, 0xBF, 0xDD, 0x19, 0xB0, 0xC3, 0xE5, - 0x29, 0xB1, 0xE0, 0x23, 0xA5, 0xA9, 0xB1, 0xC1, 0x00, 0x82, 0x67, 0x4C, 0x1A, 0x97, 0x8D, 0x79, - 0x51, 0x20, 0xC7, 0x06, 0x8E, 0x7C, 0x7C, 0x7A, 0x76, 0x4F, 0xFD, 0x59, 0x30, 0xE2, 0x46, 0x0E, - 0x9E, 0xBE, 0xDF, 0x1D, 0x99, 0x91, 0xA0, 0xA5, 0xA1, 0xA9, 0xD0, 0x22, 0xC6, 0xEF, 0x5C, 0x1B, - 0x95, 0x89, 0x90, 0xA2, 0xA7, 0xCC, 0xFB, 0x55, 0x28, 0xB3, 0xE4, 0x4A, 0xF7, 0x6C, 0x3B, 0xF4, - 0x6A, 0x56, 0x2E, 0xDE, 0x1F, 0x9D, 0xB8, 0xD3, 0x05, 0x88, 0x92, 0xA6, 0xCE, 0x1E, 0xBE, 0xDF, - 0x1D, 0x99, 0xB0, 0xE2, 0x46, 0xEF, 0x5C, 0x07, 0x11, 0x5D, 0x98, 0x0B, 0x9D, 0x94, 0x97, 0xEE, - 0x4E, 0x45, 0x33, 0x6B, 0x44, 0xC7, 0x29, 0x56, 0x27, 0x30, 0xC6, 0xA7, 0xD5, 0xF2, 0x56, 0xDF, - 0xB4, 0x38, 0x62, 0xCB, 0xA0, 0xB6, 0xE3, 0x0F, 0x84, 0x06, 0x24, 0x05, 0x65, 0x6F, 0x76, 0x89, - 0xB5, 0x77, 0x41, 0x27, 0x82, 0x66, 0x65, 0x82, 0xCC, 0xD5, 0xE6, 0x20, 0xD5, 0x27, 0x17, 0xC5, - 0xF8, 0x03, 0x23, 0x7C, 0x5F, 0x64, 0xA5, 0x1D, 0xC1, 0xD6, 0x36, 0xCB, 0x4C, 0xD4, 0xDB, 0x66, - 0xD7, 0x8B, 0xB1, 0x99, 0x7E, 0x6F, 0x4C, 0x36, 0x40, 0x06, 0xD6, 0xEB, 0xD7, 0xA2, 0xE4, 0xF4, - 0x95, 0x51, 0x5A, 0x54, 0x96, 0xD5, 0x53, 0x44, 0xD7, 0x8C, 0xE0, 0xB9, 0x40, 0x68, 0xD2, 0x18, - 0xE9, 0xDD, 0x9A, 0x23, 0x92, 0x48, 0xEE, 0x7F, 0x43, 0xAF, 0xEA, 0x77, 0x38, 0x84, 0x8C, 0x0A, - 0x72, 0xAF, 0x69, 0xF8, 0xDD, 0xF1, 0x24, 0x83, 0xA3, 0xF8, 0x4A, 0xBF, 0xF5, 0x94, 0x13, 0xDB, - 0xBB, 0xD8, 0xB4, 0xB3, 0xA0, 0xFB, 0x45, 0x50, 0x60, 0x30, 0x59, 0x12, 0x31, 0x71, 0xA2, 0xD3, - 0x13, 0xE7, 0xFA, 0xE7, 0xCE, 0x0F, 0x63, 0x15, 0x0B, 0x6B, 0x94, 0xBB, 0x37, 0x83, 0x26, 0x05, - 0x9D, 0xFB, 0x46, 0x92, 0xFC, 0x0A, 0x15, 0xD1, 0x0D, 0x73, 0x92, 0xD6, 0x8C, 0x1B, 0x8C, 0xB8, - 0x55, 0x8A, 0xCE, 0xBD, 0xFE, 0x8E, 0xFC, 0xED, 0x09, 0x12, 0x83, 0x91, 0x82, 0x51, 0x31, 0x23, - 0xFB, 0xB4, 0x0C, 0x76, 0xAD, 0x7C, 0xD9, 0xB4, 0x4B, 0xB2, 0x67, 0x14, 0x09, 0x9C, 0x7F, 0x0C, - 0x18, 0xBA, 0x3B, 0xD6, 0x8E, 0x14, 0x2A, 0xE4, 0x1B, 0x52, 0x9F, 0x2B, 0x7D, 0xE1, 0xFB, 0x6A, - 0x33, 0x02, 0xFA, 0xAC, 0x5A, 0xF2, 0x3E, 0x88, 0x7E, 0xAE, 0xD1, 0xF3, 0x78, 0xE8, 0x05, 0xD1, - 0xE3, 0xDC, 0x21, 0xF6, 0xE1, 0x9A, 0xBD, 0x17, 0x0E, 0xD9, 0x46, 0x9B, 0x88, 0x03, 0xEA, 0xF6, - 0x66, 0xBE, 0x0E, 0x1B, 0x50, 0x49, 0x96, 0x40, 0x97, 0xF1, 0xF1, 0xE4, 0x80, 0xA6, 0x6E, 0xE8, - 0x77, 0x34, 0xBF, 0x29, 0x40, 0x44, 0xC2, 0xFF, 0x4E, 0x98, 0xD3, 0x9C, 0xA3, 0x32, 0x2B, 0x76, - 0x51, 0x04, 0x09, 0xE7, 0xA9, 0xD1, 0xA6, 0x32, 0xB1, 0x23, 0x53, 0xE2, 0x47, 0xAB, 0xD6, 0xF5, - 0x69, 0x5C, 0x3E, 0x5F, 0xFA, 0xAE, 0x45, 0x20, 0xE5, 0xD2, 0x44, 0xFF, 0x39, 0x32, 0x6D, 0xFD, - 0x27, 0x57, 0x5C, 0xFD, 0xF0, 0xDE, 0xC1, 0xB5, 0x99, 0xE5, 0xF5, 0x1C, 0x77, 0x01, 0x75, 0xC5, - 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* - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later -#include "spi_master.h" -#include "pmw3389.h" -#include "wait.h" -#include "debug.h" -#include "print.h" -#include "pmw3389_firmware.h" +#include "pmw33xx_common.h" +#include "progmem.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(); +extern const size_t pmw33xx_number_of_sensors; - 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!"); +uint16_t pmw33xx_get_cpi(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return 0; } -#endif - - writePinLow(PMW3389_CS_PIN); - return init_success; + uint16_t cpival = (pmw33xx_read(sensor, REG_Resolution_H) << 8) | pmw33xx_read(sensor, REG_Resolution_L); + return (uint16_t)((cpival + 1) & 0xFFFF) * PMW33XX_CPI_STEP; } -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 +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi) { + if (sensor >= pmw33xx_number_of_sensors) { + return; } - 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); + uint16_t cpival = CONSTRAIN((cpi / PMW33XX_CPI_STEP) - 1, 0, (PMW33XX_CPI_MAX / PMW33XX_CPI_STEP) - 1U); // 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); + pmw33xx_write(sensor, REG_Resolution_H, (cpival >> 8) & 0xFF); + pmw33xx_write(sensor, 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 +// PID, Inverse PID, SROM version +const uint8_t pmw33xx_firmware_signature[3] PROGMEM = {0x42, 0xBD, 0x04}; - 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; +// Firmware Blob for PMW3389 +// clang-format off +const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM = { + 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, 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0xb8, 0xd3, 0x24, 0xab, 0xd4, 0x2a, 0xd6, 0x2e, 0xde, 0x1f, 0x9d, + 0xb8, 0xf2, 0x66, 0x2f, 0xbd, 0xf8, 0x72, 0x66, 0x4e, 0x1e, 0x9f, 0x9d, 0xb8, 0xf2, 0x47, + 0x0c, 0x9a, 0xb6, 0xee, 0x3f, 0xfc, 0x7a, 0x57, 0x0d, 0x79, 0x70, 0x62, 0x27, 0xad, 0xb9, + 0xd1, 0x01, 0x61, 0x40, 0x02, 0x67, 0x2d, 0xd8, 0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xd7, 0x2c, + 0xbb, 0xf4, 0x4b, 0xf5, 0x49, 0xf1, 0x60, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0xf9, 0x51, 0x01, + 0x80, 0x63, 0x25, 0xa9, 0xb1, 0xe0, 0x42, 0xe7, 0x4c, 0x1a, 0x97, 0xac, 0xbb, 0xf4, 0x6a, + 0x37, 0xcd, 0x18, 0xb2, 0xe6, 0x2f, 0xdc, 0x1b, 0x95, 0xa8, 0xd2, 0x07, 0x6d, 0x58, 0x32, + 0xe6, 0x4e, 0x1e, 0x9f, 0xbc, 0xfa, 0x57, 0x0d, 0x79, 0x51, 0x20, 0xc2, 0x06, 0x6f, 0x5c, + 0x1b, 0x95, 0xa8, 0xb3, 0xc5, 0xe9, 0x31, 0xe0, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0x18, 0x93, + 0x85, 0x69, 0x31, 0xc1, 0xe1, 0x21, 0xc0, 0xe3, 0x44, 0x0a, 0x77, 0x6c, 0x5a, 0x17, 0x8d, + 0x98, 0x93, 0xa4, 0xab, 0xd4, 0x2a, 0xb7, 0xec, 0x5a, 0x17, 0xac, 0xbb, 0xf4, 0x4b, 0x14, + 0xaa, 0xb7, 0xec, 0x3b, 0xd5, 0x28, 0xb3, 0xc5, 0xe9, 0x31, 0xc1, 0x00, 0x82, 0x67, 0x4c, + 0xfb, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xbd, 0xd9, 0x11, 0x81, 0x61, 0x21, 0xa1, 0xa1, 0xc0, + 0x02, 0x86, 0x6f, 0x5c, 0x1b, 0xb4, 0xcb, 0x14, 0x8b, 0x94, 0xaa, 0xd6, 0x2e, 0xbf, 0xdd, + 0x19, 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x7c, 0x5b, 0x15, 0x89, 0x90, 0x83, 0x84, 0x6b, 0x54, + 0x0b, 0x75, 0x68, 0x52, 0x07, 0x6d, 0x58, 0x32, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0xed, 0x58, + 0x32, 0xe6, 0x4e, 0xff, 0x7c, 0x7a, 0x76, 0x6e, 0x3f, 0xdd, 0x38, 0xd3, 0x05, 0x88, 0x92, + 0xa6, 0xaf, 0xdc, 0x1b, 0xb4, 0xcb, 0xf5, 0x68, 0x52, 0x07, 0x8c, 0x7b, 0x55, 0x09, 0x90, + 0x83, 0x84, 0x6b, 0x54, 0x2a, 0xb7, 0xec, 0x3b, 0xd5, 0x09, 0x90, 0xa2, 0xc6, 0x0e, 0x7f, + 0x7c, 0x7a, 0x57, 0x0d, 0x98, 0xb2, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0x0c, 0x7b, 0x74, 0x4b, + 0x14, 0x8b, 0x94, 0xaa, 0xb7, 0xcd, 0x18, 0x93, 0xa4, 0xca, 0x16, 0xae, 0xbf, 0xdd, 0x19, + 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0xeb, 0x35, 0xc9, + 0x10, 0x83, 0x65, 0x48, 0x12, 0xa6, 0xce, 0x1e, 0x9f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60, + 0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74 +}; - return report; -} +// clang-format off diff --git a/drivers/sensors/pmw3389.h b/drivers/sensors/pmw3389.h index db4a763fe3..fafd1e2046 100644 --- a/drivers/sensors/pmw3389.h +++ b/drivers/sensors/pmw3389.h @@ -1,76 +1,77 @@ -/* Copyright 2021 Alabastard (@Alabastard-64) - * Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later #pragma once #include <stdint.h> -#ifndef PMW3389_CPI -# define PMW3389_CPI 2000 +#if !defined(PMW33XX_CPI) +# define PMW33XX_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 +#define PMW33XX_CPI_STEP 50 +#define PMW33XX_CPI_MIN 50 +#define PMW33XX_CPI_MAX 16000 -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; +#define PMW33XX_FIRMWARE_LENGTH 4094 -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); +// PMW3389 register addresses +// 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 +// clang-format on diff --git a/drivers/sensors/pmw3389_firmware.h b/drivers/sensors/pmw3389_firmware.h deleted file mode 100644 index cd9638b605..0000000000 --- a/drivers/sensors/pmw3389_firmware.h +++ /dev/null @@ -1,307 +0,0 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * 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 "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 -const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = { - 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, - 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0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74 -}; - -// clang-format off diff --git a/drivers/sensors/pmw33xx_common.c b/drivers/sensors/pmw33xx_common.c new file mode 100644 index 0000000000..538c40c462 --- /dev/null +++ b/drivers/sensors/pmw33xx_common.c @@ -0,0 +1,218 @@ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#include "debug.h" +#include "pmw33xx_common.h" +#include "print.h" +#include "string.h" +#include "wait.h" +#include "spi_master.h" +#include "progmem.h" + +extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM; +extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM; + +static const pin_t cs_pins[] = PMW33XX_CS_PINS; +static bool in_burst[sizeof(cs_pins) / sizeof(pin_t)] = {0}; + +const size_t pmw33xx_number_of_sensors = sizeof(cs_pins) / sizeof(pin_t); + +bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor); +bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor); + +void pmw33xx_set_cpi_all_sensors(uint16_t cpi) { + for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) { + pmw33xx_set_cpi(sensor, cpi); + } +} + +bool pmw33xx_spi_start(uint8_t sensor) { + if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) { + spi_stop(); + return false; + } + // tNCS-SCLK, 10ns + wait_us(1); + return true; +} + +bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) { + if (!pmw33xx_spi_start(sensor)) { + return false; + } + + if (reg_addr != REG_Motion_Burst) { + in_burst[sensor] = false; + } + + // send address of the register, with MSBit = 1 to indicate it's a write + uint8_t command[2] = {reg_addr | 0x80, data}; + if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) { + return false; + } + + // tSCLK-NCS for write operation is 35us + wait_us(35); + spi_stop(); + + // tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like + // a safe lower bound + wait_us(145); + return true; +} + +uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) { + if (!pmw33xx_spi_start(sensor)) { + return 0; + } + + // 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) mins tSCLK-NCS + wait_us(19); + return data; +} + +bool pmw33xx_check_signature(uint8_t sensor) { + uint8_t signature_dump[3] = { + pmw33xx_read(sensor, REG_Product_ID), + pmw33xx_read(sensor, REG_Inverse_Product_ID), + pmw33xx_read(sensor, REG_SROM_ID), + }; + + return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0; +} + +bool pmw33xx_upload_firmware(uint8_t sensor) { + // Datasheet claims we need to disable REST mode first, but during startup + // it's already disabled and we're not turning it on ... + // pmw33xx_write(REG_Config2, 0x00); // disable REST mode + if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) { + return false; + } + wait_ms(10); + pmw33xx_write(sensor, REG_SROM_Enable, 0x18); + + if (!pmw33xx_spi_start(sensor)) { + return false; + } + + spi_write(REG_SROM_Load_Burst | 0x80); + wait_us(15); + + for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) { + spi_write(pgm_read_byte(pmw33xx_firmware_data + i)); + wait_us(15); + } + wait_us(200); + + pmw33xx_read(sensor, REG_SROM_ID); + pmw33xx_write(sensor, REG_Config2, 0x00); + + return true; +} + +bool pmw33xx_init(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return false; + } + spi_init(); + + // power up, need to first drive NCS high then low. the datasheet does not + // say for how long, 40us works well in practice. + if (!pmw33xx_spi_start(sensor)) { + return false; + } + wait_us(40); + spi_stop(); + wait_us(40); + + if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) { + return false; + } + wait_ms(50); + + // read registers and discard + pmw33xx_read(sensor, REG_Motion); + pmw33xx_read(sensor, REG_Delta_X_L); + pmw33xx_read(sensor, REG_Delta_X_H); + pmw33xx_read(sensor, REG_Delta_Y_L); + pmw33xx_read(sensor, REG_Delta_Y_H); + + if (!pmw33xx_upload_firmware(sensor)) { + dprintf("PMW33XX (%d): firmware upload failed!\n", sensor); + return false; + } + + spi_stop(); + + wait_ms(10); + pmw33xx_set_cpi(sensor, PMW33XX_CPI); + + wait_ms(1); + + pmw33xx_write(sensor, REG_Config2, 0x00); + pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); + pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE); + + if (!pmw33xx_check_signature(sensor)) { + dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor); + return false; + } + + return true; +} + +pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) { + pmw33xx_report_t report = {0}; + + if (sensor >= pmw33xx_number_of_sensors) { + return report; + } + + if (!in_burst[sensor]) { + dprintf("PMW33XX (%d): burst\n", sensor); + if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) { + return report; + } + in_burst[sensor] = true; + } + + if (!pmw33xx_spi_start(sensor)) { + return report; + } + + spi_write(REG_Motion_Burst); + wait_us(35); // waits for tSRAD_MOTBR + + spi_receive((uint8_t*)&report, sizeof(report)); + + // panic recovery, sometimes burst mode works weird. + if (report.motion.w & 0b111) { + in_burst[sensor] = false; + } + + spi_stop(); + + if (debug_config.mouse) { + dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y); + } + + report.delta_x *= -1; + report.delta_y *= -1; + + return report; +} diff --git a/drivers/sensors/pmw33xx_common.h b/drivers/sensors/pmw33xx_common.h new file mode 100644 index 0000000000..181bea3d43 --- /dev/null +++ b/drivers/sensors/pmw33xx_common.h @@ -0,0 +1,145 @@ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#pragma once + +#include <stdint.h> +#include "spi_master.h" +#include "util.h" + +#if defined(POINTING_DEVICE_DRIVER_pmw3360) +# include "pmw3360.h" +#elif defined(POINTING_DEVICE_DRIVER_pmw3389) +# include "pmw3389.h" +#endif + +typedef struct __attribute__((packed)) { + union { + struct { + bool capture_from_raw_data : 1; // FRAME_RData_1st + uint8_t operation_mode : 2; // OP_MODE + bool is_lifted : 1; // Lift_stat + bool raw_data_grab_is_raw_data : 1; // RData_1st + uint8_t _reserved : 2; // 1 + Reserved + bool is_motion : 1; // MOT + } b; + uint8_t w; + } motion; + uint8_t observation; + int16_t delta_x; // displacement on x directions. Unit: Count. (CPI * Count = Inch value) + int16_t delta_y; // displacement on y directions. +} pmw33xx_report_t; + +_Static_assert(sizeof(pmw33xx_report_t) == 6, "pmw33xx_report_t must be 6 bytes in size"); +_Static_assert(sizeof((pmw33xx_report_t){0}.motion) == 1, "pmw33xx_report_t.motion must be 1 byte in size"); + +#if !defined(PMW33XX_CLOCK_SPEED) +# define PMW33XX_CLOCK_SPEED 2000000 +#endif + +#if !defined(PMW33XX_SPI_DIVISOR) +# ifdef __AVR__ +# define PMW33XX_SPI_DIVISOR (F_CPU / PMW33XX_CLOCK_SPEED) +# else +# define PMW33XX_SPI_DIVISOR 64 +# endif +#endif + +#if !defined(PMW33XX_LIFTOFF_DISTANCE) +# define PMW33XX_LIFTOFF_DISTANCE 0x02 +#endif + +#if !defined(ROTATIONAL_TRANSFORM_ANGLE) +# define ROTATIONAL_TRANSFORM_ANGLE 0x00 +#endif + +// Support single and plural spellings +#ifndef PMW33XX_CS_PINS +# ifndef PMW33XX_CS_PIN +# error "No chip select pin defined -- missing PMW33XX_CS_PIN or PMW33XX_CS_PINS" +# else +# define PMW33XX_CS_PINS \ + { PMW33XX_CS_PIN } +# endif +#endif + +#if PMW33XX_CPI > PMW33XX_CPI_MAX || PMW33XX_CPI < PMW33XX_CPI_MIN || (PMW33XX_CPI % PMW33XX_CPI_STEP) != 0U +# pragma message "PMW33XX_CPI has to be in the range of " STR(PMW33XX_CPI_MAX) "-" STR(PMW33XX_CPI_MIN) " in increments of " STR(PMW33XX_CPI_STEP) ". But it is " STR(PMW33XX_CPI) "." +# error Use correct PMW33XX_CPI value. +#endif + +#define CONSTRAIN(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) + +/** + * @brief Initializes the given sensor so it is in a working state and ready to + * be polled for data. + * + * @param sensor Index of the sensors chip select pin + * @return true Initialization was a success + * @return false Initialization failed, do not proceed operation + */ +bool __attribute__((cold)) pmw33xx_init(uint8_t sensor); + +/** + * @brief Gets the currently set CPI value from the sensor. CPI is often + * refereed to as the sensors sensitivity. + * + * @param sensor Index of the sensors chip select pin + * @return uint16_t Current CPI value of the sensor + */ +uint16_t pmw33xx_get_cpi(uint8_t sensor); + +/** + * @brief Sets the given CPI value for the given PMW33XX sensor. CIP is often + * refereed to as the sensors sensitivity. Values outside of the allow range are + * constrained into legal values. + * + * @param sensor Index of the sensors chip select pin + * @param cpi CPI value to set, legal range depends on the PMW sensor type + */ +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi); + +/** + * @brief Sets the given CPI value to all registered PMW33XX sensors. CPI is + * often refereed to as the sensors sensitivity. Values outside of the allow + * range are constrained into legal values. + * + * @param sensor Index of the sensors chip select pin + * @param cpi CPI value to set, legal range depends on the PMW sensor type + */ +void pmw33xx_set_cpi_all_sensors(uint16_t cpi); + +/** + * @brief Reads and clears the current delta, and motion register values on the + * given sensor. + * + * @param sensor Index of the sensors chip select pin + * @return pmw33xx_report_t Current values of the sensor, if errors occurred all + * fields are set to zero + */ +pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor); + +/** + * @brief Read one byte of data from the given register on the sensor + * + * @param sensor Index of the sensors chip select pin + * @param reg_addr Register address to read from + * @return uint8_t + */ +uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr); + +/** + * @brief Writes one byte of data to the given register on the sensor + * + * @param sensor Index of the sensors chip select pin + * @param reg_addr Registers address to write to + * @param data Data to write to the register + * @return true Write was a success + * @return false Write failed, do not proceed operation + */ +bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data); |