From 690dc4bdafe9e5e23e201d6bc839c32106074288 Mon Sep 17 00:00:00 2001 From: uqs Date: Tue, 19 Apr 2022 12:29:17 +0200 Subject: Add support for multiple sensors to pmw3360 (#15996) --- drivers/sensors/pmw3360.c | 155 +++++++++++++++++++++++----------------------- drivers/sensors/pmw3360.h | 16 +++-- 2 files changed, 89 insertions(+), 82 deletions(-) (limited to 'drivers') diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 8c977be1c8..5f4d17a3f0 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -1,6 +1,7 @@ /* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) * 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 @@ -83,7 +84,11 @@ # define MAX_CPI 0x77 #endif -bool _inBurst = false; +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) { @@ -92,18 +97,18 @@ void print_byte(uint8_t byte) { #endif #define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) -bool pmw3360_spi_start(void) { - bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR); +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(uint8_t reg_addr, uint8_t data) { - pmw3360_spi_start(); +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 = false; + _inBurst[index] = false; } // send address of the register, with MSBit = 1 to indicate it's a write @@ -114,13 +119,13 @@ spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) { wait_us(35); spi_stop(); - // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound + // 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(uint8_t reg_addr) { - pmw3360_spi_start(); +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) @@ -136,36 +141,62 @@ uint8_t pmw3360_read(uint8_t reg_addr) { return data; } -bool pmw3360_init(void) { - setPinOutput(PMW3360_CS_PIN); +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 +} - spi_init(); - _inBurst = false; +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); - spi_stop(); - pmw3360_spi_start(); - spi_stop(); + wait_ms(10); + + pmw3360_write(index, REG_SROM_Enable, 0x18); + + pmw3360_spi_start(index); + spi_write(REG_SROM_Load_Burst | 0x80); + wait_us(15); - pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first - wait_ms(300); + 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); - pmw3360_spi_start(); + pmw3360_read(index, REG_SROM_ID); + pmw3360_write(index, REG_Config2, 0x00); +} + +bool pmw3360_init(int8_t index) { + if (index >= 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. + pmw3360_spi_start(index); wait_us(40); spi_stop(); wait_us(40); - - // power up, need to first drive NCS high then low, see above. - pmw3360_write(REG_Power_Up_Reset, 0x5a); + pmw3360_write(index, REG_Power_Up_Reset, 0x5a); wait_ms(50); // 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_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(); + pmw3360_upload_firmware(index); spi_stop(); @@ -174,13 +205,13 @@ bool pmw3360_init(void) { wait_ms(1); - pmw3360_write(REG_Config2, 0x00); + pmw3360_write(index, REG_Config2, 0x00); - pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); + pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); - pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE); + pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE); - bool init_success = pmw3360_check_signature(); + bool init_success = pmw3360_check_signature(index); #ifdef CONSOLE_ENABLE if (init_success) { dprintf("pmw3360 signature verified"); @@ -189,66 +220,38 @@ bool pmw3360_init(void) { } #endif - writePinLow(PMW3360_CS_PIN); - return init_success; } -void pmw3360_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 ... - // pmw3360_write(REG_Config2, 0x00); // disable REST mode - pmw3360_write(REG_SROM_Enable, 0x1d); - - wait_ms(10); - - pmw3360_write(REG_SROM_Enable, 0x18); - - pmw3360_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 PMW3360_FIRMWARE_UPLOAD_FAST - wait_us(15); -#endif - } - wait_us(200); - - pmw3360_read(REG_SROM_ID); - pmw3360_write(REG_Config2, 0x00); -} - -bool pmw3360_check_signature(void) { - uint8_t pid = pmw3360_read(REG_Product_ID); - uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID); - uint8_t SROM_ver = pmw3360_read(REG_SROM_ID); - return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 -} - +// 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(REG_Config1); + 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); - pmw3360_write(REG_Config1, cpival); + for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) { + pmw3360_write(i, REG_Config1, cpival); + } } -report_pmw3360_t pmw3360_read_burst(void) { +report_pmw3360_t pmw3360_read_burst(int8_t index) { report_pmw3360_t report = {0}; + if (index >= NUMBER_OF_SENSORS) { + return report; + } - if (!_inBurst) { + if (!_inBurst[index]) { #ifdef CONSOLE_ENABLE - dprintf("burst on"); + dprintf("burst on for index %d", index); #endif - pmw3360_write(REG_Motion_Burst, 0x00); - _inBurst = true; + pmw3360_write(index, REG_Motion_Burst, 0x00); + _inBurst[index] = true; } - pmw3360_spi_start(); + pmw3360_spi_start(index); spi_write(REG_Motion_Burst); wait_us(35); // waits for tSRAD_MOTBR @@ -261,7 +264,7 @@ report_pmw3360_t pmw3360_read_burst(void) { report.mdy = spi_read(); if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird. - _inBurst = false; + _inBurst[index] = false; } spi_stop(); diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h index eec7295871..3aa8ed0ed8 100644 --- a/drivers/sensors/pmw3360.h +++ b/drivers/sensors/pmw3360.h @@ -52,8 +52,14 @@ # define ROTATIONAL_TRANSFORM_ANGLE 0x00 #endif -#ifndef PMW3360_CS_PIN -# error "No chip select pin defined -- missing PMW3360_CS_PIN" +// 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 typedef struct { @@ -66,10 +72,8 @@ typedef struct { int8_t mdy; } report_pmw3360_t; -bool pmw3360_init(void); -void pmw3360_upload_firmware(void); -bool pmw3360_check_signature(void); +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(void); +report_pmw3360_t pmw3360_read_burst(int8_t index); -- cgit v1.2.1