diff options
Diffstat (limited to 'drivers/sensors/pmw3389.c')
| -rw-r--r-- | drivers/sensors/pmw3389.c | 580 |
1 files changed, 300 insertions, 280 deletions
diff --git a/drivers/sensors/pmw3389.c b/drivers/sensors/pmw3389.c index 828dafa134..cba94d6c65 100644 --- a/drivers/sensors/pmw3389.c +++ b/drivers/sensors/pmw3389.c @@ -1,294 +1,314 @@ -/* 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 -#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, 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, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a, + 0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d, + 0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04, + 0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65, + 0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff, + 0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5, + 0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a, + 0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e, + 0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b, + 0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9, + 0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c, + 0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e, + 0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee, + 0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d, + 0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac, + 0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd, + 0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf, + 0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec, + 0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7, + 0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8, + 0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2, + 0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 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