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Diffstat (limited to 'keyboards/oddball/adns/adns.c')
| -rw-r--r-- | keyboards/oddball/adns/adns.c | 219 |
1 files changed, 0 insertions, 219 deletions
diff --git a/keyboards/oddball/adns/adns.c b/keyboards/oddball/adns/adns.c deleted file mode 100644 index 9338808ff7..0000000000 --- a/keyboards/oddball/adns/adns.c +++ /dev/null @@ -1,219 +0,0 @@ -/* Copyright 2020 Alexander Tulloh - * - * 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 "quantum.h" -#include "adns9800_srom_A6.h" -#include "adns.h" - -// registers -#define REG_Product_ID 0x00 -#define REG_Revision_ID 0x01 -#define REG_Motion 0x02 -#define REG_Delta_X_L 0x03 -#define REG_Delta_X_H 0x04 -#define REG_Delta_Y_L 0x05 -#define REG_Delta_Y_H 0x06 -#define REG_SQUAL 0x07 -#define REG_Pixel_Sum 0x08 -#define REG_Maximum_Pixel 0x09 -#define REG_Minimum_Pixel 0x0a -#define REG_Shutter_Lower 0x0b -#define REG_Shutter_Upper 0x0c -#define REG_Frame_Period_Lower 0x0d -#define REG_Frame_Period_Upper 0x0e -#define REG_Configuration_I 0x0f -#define REG_Configuration_II 0x10 -#define REG_Frame_Capture 0x12 -#define REG_SROM_Enable 0x13 -#define REG_Run_Downshift 0x14 -#define REG_Rest1_Rate 0x15 -#define REG_Rest1_Downshift 0x16 -#define REG_Rest2_Rate 0x17 -#define REG_Rest2_Downshift 0x18 -#define REG_Rest3_Rate 0x19 -#define REG_Frame_Period_Max_Bound_Lower 0x1a -#define REG_Frame_Period_Max_Bound_Upper 0x1b -#define REG_Frame_Period_Min_Bound_Lower 0x1c -#define REG_Frame_Period_Min_Bound_Upper 0x1d -#define REG_Shutter_Max_Bound_Lower 0x1e -#define REG_Shutter_Max_Bound_Upper 0x1f -#define REG_LASER_CTRL0 0x20 -#define REG_Observation 0x24 -#define REG_Data_Out_Lower 0x25 -#define REG_Data_Out_Upper 0x26 -#define REG_SROM_ID 0x2a -#define REG_Lift_Detection_Thr 0x2e -#define REG_Configuration_V 0x2f -#define REG_Configuration_IV 0x39 -#define REG_Power_Up_Reset 0x3a -#define REG_Shutdown 0x3b -#define REG_Inverse_Product_ID 0x3f -#define REG_Motion_Burst 0x50 -#define REG_SROM_Load_Burst 0x62 -#define REG_Pixel_Burst 0x64 - -#define ADNS_CLOCK_SPEED 2000000 -#define MIN_CPI 200 -#define MAX_CPI 8200 -#define CPI_STEP 200 -#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value -#define SPI_MODE 3 -#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED) -#define US_BETWEEN_WRITES 120 -#define US_BETWEEN_READS 20 -#define US_BEFORE_MOTION 100 -#define MSB1 0x80 - -extern const uint16_t adns_firmware_length; -extern const uint8_t adns_firmware_data[]; - -void adns_spi_start(void){ - spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); -} - -void adns_write(uint8_t reg_addr, uint8_t data){ - - adns_spi_start(); - spi_write(reg_addr | MSB1); - spi_write(data); - spi_stop(); - wait_us(US_BETWEEN_WRITES); -} - -uint8_t adns_read(uint8_t reg_addr){ - - adns_spi_start(); - spi_write(reg_addr & 0x7f ); - uint8_t data = spi_read(); - spi_stop(); - wait_us(US_BETWEEN_READS); - - return data; -} - -void adns_init() { - - setPinOutput(SPI_SS_PIN); - - spi_init(); - - // reboot - adns_write(REG_Power_Up_Reset, 0x5a); - wait_ms(50); - - // read registers and discard - adns_read(REG_Motion); - adns_read(REG_Delta_X_L); - adns_read(REG_Delta_X_H); - adns_read(REG_Delta_Y_L); - adns_read(REG_Delta_Y_H); - - // upload firmware - - // 3k firmware mode - adns_write(REG_Configuration_IV, 0x02); - - // enable initialisation - adns_write(REG_SROM_Enable, 0x1d); - - // wait a frame - wait_ms(10); - - // start SROM download - adns_write(REG_SROM_Enable, 0x18); - - // write the SROM file - - adns_spi_start(); - - spi_write(REG_SROM_Load_Burst | 0x80); - wait_us(15); - - // send all bytes of the firmware - unsigned char c; - for(int i = 0; i < adns_firmware_length; i++){ - c = (unsigned char)pgm_read_byte(adns_firmware_data + i); - spi_write(c); - wait_us(15); - } - - spi_stop(); - - wait_ms(10); - - // enable laser - uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0); - adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); -} - -config_adns_t adns_get_config(void) { - uint8_t config_1 = adns_read(REG_Configuration_I); - return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP }; -} - -void adns_set_config(config_adns_t config) { - uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF; - adns_write(REG_Configuration_I, config_1); -} - -static int16_t convertDeltaToInt(uint8_t high, uint8_t low){ - - // join bytes into twos compliment - uint16_t twos_comp = (high << 8) | low; - - // convert twos comp to int - if (twos_comp & 0x8000) - return -1 * (~twos_comp + 1); - - return twos_comp; -} - -report_adns_t adns_get_report(void) { - - report_adns_t report = {0, 0}; - - adns_spi_start(); - - // start burst mode - spi_write(REG_Motion_Burst & 0x7f); - - wait_us(US_BEFORE_MOTION); - - uint8_t motion = spi_read(); - - if(motion & 0x80) { - - // clear observation register - spi_read(); - - // delta registers - uint8_t delta_x_l = spi_read(); - uint8_t delta_x_h = spi_read(); - uint8_t delta_y_l = spi_read(); - uint8_t delta_y_h = spi_read(); - - report.x = convertDeltaToInt(delta_x_h, delta_x_l); - report.y = convertDeltaToInt(delta_y_h, delta_y_l); - } - - // clear residual motion - spi_write(REG_Motion & 0x7f); - - spi_stop(); - - return report; -} |