Add PMW3389 optical sensor Support (Updated) (#15740)

Co-authored-by: Drashna Jaelre <drashna@live.com>

1 files changed, 296 insertions, 0 deletions

diff --git a/drivers/sensors/pmw3389.c b/drivers/sensors/pmw3389.c
new file mode 100644
index 0000000000..11056bb89e
--- /dev/null
+++ b/drivers/sensors/pmw3389.c
@@ -0,0 +1,296 @@
+/* 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/>.
+ */
+
+#include "spi_master.h"
+#include "pmw3389.h"
+#include "wait.h"
+#include "debug.h"
+#include "print.h"
+#include "pmw3389_firmware.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();
+
+    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!");
+    }
+#endif
+
+    writePinLow(PMW3389_CS_PIN);
+
+    return init_success;
+}
+
+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);
+
+#ifdef PMW3389_LEGACY_FIRMWARE_UPLOAD
+    unsigned char c;
+    for (int i = 0; i < FIRMWARE_LENGTH; i++) {
+        c = (unsigned char)pgm_read_byte(firmware_data + i);
+        spi_write(c);
+        wait_us(15);
+    }
+#else
+    spi_transmit(firmware_data, sizeof(firmware_data));
+#endif
+    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);
+    // 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);
+}
+
+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
+
+    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;
+
+    return report;
+}