Added PMW3320 driver (#19543)

2 files changed, 311 insertions, 0 deletions

diff --git a/drivers/sensors/pmw3320.c b/drivers/sensors/pmw3320.c
new file mode 100644
index 0000000000..a4648ef425
--- /dev/null
+++ b/drivers/sensors/pmw3320.c
@@ -0,0 +1,192 @@
+/* Copyright 2021 Colin Lam (Ploopy Corporation)
+ * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2019 Hiroyuki Okada
+ *
+ * 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 "pmw3320.h"
+#include "wait.h"
+#include "debug.h"
+#include "gpio.h"
+
+void pmw3320_init(void) {
+    // Initialize sensor serial pins.
+    setPinOutput(PMW3320_SCLK_PIN);
+    setPinOutput(PMW3320_SDIO_PIN);
+    setPinOutput(PMW3320_CS_PIN);
+
+    // reboot the sensor.
+    pmw3320_write_reg(REG_Power_Up_Reset, 0x5a);
+
+    // wait maximum time before sensor is ready.
+    // this ensures that the sensor is actually ready after reset.
+    wait_ms(55);
+
+    // read a burst from the sensor and then discard it.
+    // gets the sensor ready for write commands
+    // (for example, setting the dpi).
+    pmw3320_read_burst();
+
+    // Pretty sure that this shouldn't be in the driver.
+    // Probably device specific?
+    // Set rest mode to default
+    pmw3320_write_reg(REG_Rest_Mode_Status, 0x00);
+    // Set LED to be always on
+    pmw3320_write_reg(REG_Led_Control, 0x4);
+    // Disable rest mode
+    pmw3320_write_reg(REG_Performance, 0x80);
+}
+
+// Perform a synchronization with sensor.
+// Just as with the serial protocol, this is used by the slave to send a
+// synchronization signal to the master.
+void pmw3320_sync(void) {
+    writePinLow(PMW3320_CS_PIN);
+    wait_us(1);
+    writePinHigh(PMW3320_CS_PIN);
+}
+
+void pmw3320_cs_select(void) {
+    writePinLow(PMW3320_CS_PIN);
+}
+
+void pmw3320_cs_deselect(void) {
+    writePinHigh(PMW3320_CS_PIN);
+}
+
+uint8_t pmw3320_serial_read(void) {
+    setPinInput(PMW3320_SDIO_PIN);
+    uint8_t byte = 0;
+
+    for (uint8_t i = 0; i < 8; ++i) {
+        writePinLow(PMW3320_SCLK_PIN);
+        wait_us(1);
+
+        byte = (byte << 1) | readPin(PMW3320_SDIO_PIN);
+
+        writePinHigh(PMW3320_SCLK_PIN);
+        wait_us(1);
+    }
+
+    return byte;
+}
+
+void pmw3320_serial_write(uint8_t data) {
+    setPinOutput(PMW3320_SDIO_PIN);
+
+    for (int8_t b = 7; b >= 0; b--) {
+        writePinLow(PMW3320_SCLK_PIN);
+
+        if (data & (1 << b))
+            writePinHigh(PMW3320_SDIO_PIN);
+        else
+            writePinLow(PMW3320_SDIO_PIN);
+
+        wait_us(2);
+
+        writePinHigh(PMW3320_SCLK_PIN);
+    }
+
+    // This was taken from ADNS5050 driver.
+    // There's no any info in PMW3320 datasheet about this...
+    // tSWR. See page 15 of the ADNS5050 spec sheet.
+    // Technically, this is only necessary if the next operation is an SDIO
+    // read. This is not guaranteed to be the case, but we're being lazy.
+    wait_us(4);
+
+    // Note that tSWW is never necessary. All write operations require at
+    // least 32us, which exceeds tSWW, so there's never a need to wait for it.
+}
+
+// Read a byte of data from a register on the sensor.
+uint8_t pmw3320_read_reg(uint8_t reg_addr) {
+    pmw3320_cs_select();
+
+    pmw3320_serial_write(reg_addr);
+
+    uint8_t byte = pmw3320_serial_read();
+
+    // This was taken directly from ADNS5050 driver...
+    // tSRW & tSRR. See page 15 of the ADNS5050 spec sheet.
+    // Technically, this is only necessary if the next operation is an SDIO
+    // read or write. This is not guaranteed to be the case.
+    // Honestly, this wait could probably be removed.
+    wait_us(1);
+
+    pmw3320_cs_deselect();
+
+    return byte;
+}
+
+void pmw3320_write_reg(uint8_t reg_addr, uint8_t data) {
+    pmw3320_cs_select();
+    pmw3320_serial_write(0b10000000 | reg_addr);
+    pmw3320_serial_write(data);
+    pmw3320_cs_deselect();
+}
+
+report_pmw3320_t pmw3320_read_burst(void) {
+    pmw3320_cs_select();
+
+    report_pmw3320_t data;
+    data.dx = 0;
+    data.dy = 0;
+
+    pmw3320_serial_write(REG_Motion_Burst);
+
+    uint8_t x = pmw3320_serial_read();
+    uint8_t y = pmw3320_serial_read();
+
+    // Probably burst mode may include contents of delta_xy register,
+    // which contain HI parts of x/y deltas, but I had no luck finding it.
+    // Probably it's required to activate 12-bit mode to access this data.
+    // So we end burst mode early to not read unneeded information.
+    pmw3320_cs_deselect();
+
+    data.dx = convert_twoscomp(x);
+    data.dy = convert_twoscomp(y);
+
+    return data;
+}
+
+// Convert a two's complement byte from an unsigned data type into a signed
+// data type.
+int8_t convert_twoscomp(uint8_t data) {
+    if ((data & 0x80) == 0x80)
+        return -128 + (data & 0x7F);
+    else
+        return data;
+}
+
+uint16_t pmw3320_get_cpi(void) {
+    uint8_t cpival = pmw3320_read_reg(REG_Resolution);
+    // 0x1F is an inversion of 0x20 which is 0b100000
+    return (uint16_t)((cpival & 0x1F) * PMW3320_CPI_STEP);
+}
+
+void pmw3320_set_cpi(uint16_t cpi) {
+    uint8_t cpival = constrain((cpi / PMW3320_CPI_STEP) - 1U, 0, (PMW3320_CPI_MAX / PMW3320_CPI_STEP) - 1U);
+    // Fifth bit is probably a control bit.
+    // PMW3320 datasheet don't have any info on this, so this is a pure guess.
+    pmw3320_write_reg(REG_Resolution, 0x20 | cpival);
+}
+
+bool pmw3320_check_signature(void) {
+    uint8_t pid  = pmw3320_read_reg(REG_Product_ID);
+    uint8_t pid2 = pmw3320_read_reg(REG_Inverse_Product_ID);
+
+    return (pid == 0x3b && pid2 == 0xc4);
+}
diff --git a/drivers/sensors/pmw3320.h b/drivers/sensors/pmw3320.h
new file mode 100644
index 0000000000..a1fd546919
--- /dev/null
+++ b/drivers/sensors/pmw3320.h
@@ -0,0 +1,119 @@
+/* Copyright 2021 Colin Lam (Ploopy Corporation)
+ * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+ * Copyright 2019 Sunjun Kim
+ * Copyright 2019 Hiroyuki Okada
+ *
+ * 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>
+#include <stdbool.h>
+
+#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
+
+// Definitions for the PMW3320 serial line.
+#ifndef PMW3320_SCLK_PIN
+#    ifdef POINTING_DEVICE_SCLK_PIN
+#        define PMW3320_SCLK_PIN POINTING_DEVICE_SCLK_PIN
+#    else
+#        error "No clock pin defined -- missing POINTING_DEVICE_SCLK_PIN or PMW3320_SCLK_PIN"
+#    endif
+#endif
+
+#ifndef PMW3320_SDIO_PIN
+#    ifdef POINTING_DEVICE_SDIO_PIN
+#        define PMW3320_SDIO_PIN POINTING_DEVICE_SDIO_PIN
+#    else
+#        error "No data pin defined -- missing POINTING_DEVICE_SDIO_PIN or PMW3320_SDIO_PIN"
+#    endif
+#endif
+
+#ifndef PMW3320_CS_PIN
+#    ifdef POINTING_DEVICE_CS_PIN
+#        define PMW3320_CS_PIN POINTING_DEVICE_CS_PIN
+#    else
+#        error "No chip select pin defined -- missing POINTING_DEVICE_CS_PIN or PMW3320_CS_PIN define"
+#    endif
+#endif
+
+typedef struct {
+    int8_t dx;
+    int8_t dy;
+} report_pmw3320_t;
+
+// A bunch of functions to implement the PMW3320-specific serial protocol.
+// Mostly taken from ADNS5050 driver.
+// Note that the "serial.h" driver is insufficient, because it does not
+// manually manipulate a serial clock signal.
+void             pmw3320_init(void);
+void             pmw3320_sync(void);
+uint8_t          pmw3320_serial_read(void);
+void             pmw3320_serial_write(uint8_t data);
+uint8_t          pmw3320_read_reg(uint8_t reg_addr);
+void             pmw3320_write_reg(uint8_t reg_addr, uint8_t data);
+report_pmw3320_t pmw3320_read_burst(void);
+void             pmw3320_set_cpi(uint16_t cpi);
+uint16_t         pmw3320_get_cpi(void);
+int8_t           convert_twoscomp(uint8_t data);
+bool             pmw3320_check_signature(void);
+
+#if !defined(PMW3320_CPI)
+#    define PMW3320_CPI 1000
+#endif
+
+#define PMW3320_CPI_STEP 250
+#define PMW3320_CPI_MIN 250
+#define PMW3320_CPI_MAX 3500
+
+// PMW3320 register addresses
+// clang-format off
+#define REG_Product_ID                 0x00
+#define REG_Revision_ID                0x01
+#define REG_Motion                     0x02
+#define REG_Delta_X                    0x03
+#define REG_Delta_Y                    0x04
+#define REG_SQUAL                      0x05
+#define REG_Shutter_Upper              0x06
+#define REG_Shutter_Lower              0x07
+#define REG_Maximum_Pixel              0x08
+#define REG_Pixel_Accum                0x09
+#define REG_Minimum_Pixel              0x0a
+#define REG_Pixel_Grab                 0x0b
+#define REG_Delta_XY                   0x0c
+#define REG_Resolution                 0x0d
+#define REG_Run_Downshift              0x0e
+#define REG_Rest1_Period               0x0f
+#define REG_Rest1_Downshift            0x10
+#define REG_Rest2_Preiod               0x11
+#define REG_Rest2_Downshift            0x12
+#define REG_Rest3_Period               0x13
+#define REG_Min_SQ_Run                 0x17
+#define REG_Axis_Control               0x1a
+#define REG_Performance                0x22
+#define REG_Low_Motion_Jitter          0x23
+#define REG_Shutter_Max_HI             0x36
+#define REG_Shutter_Max_LO             0x37
+#define REG_Frame_Rate                 0x39
+#define REG_Power_Up_Reset             0x3a
+#define REG_Shutdown                   0x3b
+#define REG_Inverse_Revision_ID        0x3f
+#define REG_Led_Control                0x40
+#define REG_Motion_Control             0x41
+#define REG_Burst_Read_First           0x42
+#define REG_Rest_Mode_Status           0x45
+#define REG_Inverse_Product_ID         0x4f
+#define REG_Motion_Burst               0x63
+// clang-format on