/* 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/>. */ #pragma once #include "spi_master.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_Raw_Data_Sum 0x08 #define REG_Maximum_Raw_data 0x09 #define REG_Minimum_Raw_data 0x0A #define REG_Shutter_Lower 0x0B #define REG_Shutter_Upper 0x0C #define REG_Control 0x0D #define REG_Config1 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_Raw_Data_Dump 0x29 #define REG_SROM_ID 0x2A #define REG_Min_SQ_Run 0x2B #define REG_Raw_Data_Threshold 0x2C #define REG_Config5 0x2F #define REG_Power_Up_Reset 0x3A #define REG_Shutdown 0x3B #define REG_Inverse_Product_ID 0x3F #define REG_LiftCutoff_Tune3 0x41 #define REG_Angle_Snap 0x42 #define REG_LiftCutoff_Tune1 0x4A #define REG_Motion_Burst 0x50 #define REG_LiftCutoff_Tune_Timeout 0x58 #define REG_LiftCutoff_Tune_Min_Length 0x5A #define REG_SROM_Load_Burst 0x62 #define REG_Lift_Config 0x63 #define REG_Raw_Data_Burst 0x64 #define REG_LiftCutoff_Tune2 0x65 #ifdef CONSOLE_ENABLE void print_byte(uint8_t byte); #endif typedef struct { int8_t motion; bool isMotion; // True if a motion is detected. bool isOnSurface; // True when a chip is on a surface int16_t dx; // displacement on x directions. Unit: Count. (CPI * Count = Inch value) int8_t mdx; int16_t dy; // displacement on y directions. int8_t mdy; } report_pmw_t; bool spi_start_adv(void); void spi_stop_adv(void); spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data); uint8_t spi_read_adv(uint8_t reg_addr); bool pmw_spi_init(void); void pmw_set_cpi(uint16_t cpi); void pmw_upload_firmware(void); bool pmw_check_signature(void); report_pmw_t pmw_read_burst(void); #define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0) #define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI) #define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))