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Diffstat (limited to 'drivers/sensors/pmw33xx_common.c')
-rw-r--r--drivers/sensors/pmw33xx_common.c219
1 files changed, 219 insertions, 0 deletions
diff --git a/drivers/sensors/pmw33xx_common.c b/drivers/sensors/pmw33xx_common.c
new file mode 100644
index 0000000000..13164cb150
--- /dev/null
+++ b/drivers/sensors/pmw33xx_common.c
@@ -0,0 +1,219 @@
+// Copyright 2022 Daniel Kao (dkao)
+// 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;
+}