From 7b666245d6e6baea939e0088fbbf9104d8efaca1 Mon Sep 17 00:00:00 2001 From: bbrfkr Date: Mon, 7 Jun 2021 14:08:20 +0900 Subject: [Keyboard] add molecule (#12601) Co-authored-by: Ryan Co-authored-by: Drashna Jaelre --- keyboards/molecule/adns.c | 254 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 254 insertions(+) create mode 100644 keyboards/molecule/adns.c (limited to 'keyboards/molecule/adns.c') diff --git a/keyboards/molecule/adns.c b/keyboards/molecule/adns.c new file mode 100644 index 0000000000..be40cf7ea7 --- /dev/null +++ b/keyboards/molecule/adns.c @@ -0,0 +1,254 @@ +/* Copyright 2020 Richard Sutherland + * + * 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 . + */ +#include "spi_master.h" +#include "adns.h" +#include "debug.h" +#include "quantum.h" +#include "pointing_device.h" +#include "adns9800_srom_A6.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_Pixel_Sum 0x08 +#define REG_Maximum_Pixel 0x09 +#define REG_Minimum_Pixel 0x0a +#define REG_Shutter_Lower 0x0b +#define REG_Shutter_Upper 0x0c +#define REG_Frame_Period_Lower 0x0d +#define REG_Frame_Period_Upper 0x0e +#define REG_Configuration_I 0x0f +#define REG_Configuration_II 0x10 +#define REG_Frame_Capture 0x12 +#define REG_SROM_Enable 0x13 +#define REG_Run_Downshift 0x14 +#define REG_Rest1_Rate 0x15 +#define REG_Rest1_Downshift 0x16 +#define REG_Rest2_Rate 0x17 +#define REG_Rest2_Downshift 0x18 +#define REG_Rest3_Rate 0x19 +#define REG_Frame_Period_Max_Bound_Lower 0x1a +#define REG_Frame_Period_Max_Bound_Upper 0x1b +#define REG_Frame_Period_Min_Bound_Lower 0x1c +#define REG_Frame_Period_Min_Bound_Upper 0x1d +#define REG_Shutter_Max_Bound_Lower 0x1e +#define REG_Shutter_Max_Bound_Upper 0x1f +#define REG_LASER_CTRL0 0x20 +#define REG_Observation 0x24 +#define REG_Data_Out_Lower 0x25 +#define REG_Data_Out_Upper 0x26 +#define REG_SROM_ID 0x2a +#define REG_Lift_Detection_Thr 0x2e +#define REG_Configuration_V 0x2f +#define REG_Configuration_IV 0x39 +#define REG_Power_Up_Reset 0x3a +#define REG_Shutdown 0x3b +#define REG_Inverse_Product_ID 0x3f +#define REG_Motion_Burst 0x50 +#define REG_SROM_Load_Burst 0x62 +#define REG_Pixel_Burst 0x64 + +// pins +#define NCS F7 + +extern const uint16_t firmware_length; +extern const uint8_t firmware_data[]; + +enum motion_burst_propertr{ + motion = 0, + observation, + delta_x_l, + delta_x_h, + delta_y_l, + delta_y_h, + squal, + pixel_sum, + maximum_pixel, + minimum_pixel, + shutter_upper, + shutter_lower, + frame_period_upper, + frame_period_lower, + end_data +}; + +void adns_begin(void){ + spi_start(NCS, false, 3, 8); +} + +void adns_end(void){ + spi_stop(); +} + +void adns_write(uint8_t reg_addr, uint8_t data){ + + adns_begin(); + //send address of the register, with MSBit = 1 to indicate it's a write + spi_write(reg_addr | 0x80 ); + spi_write(data); + + // tSCLK-NCS for write operation + wait_us(20); + + + // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound + wait_us(100); + adns_end(); +} + +uint8_t adns_read(uint8_t reg_addr){ + + + adns_begin(); + // send adress of the register, with MSBit = 0 to indicate it's a read + spi_write(reg_addr & 0x7f ); + uint8_t data = spi_read(); + + // tSCLK-NCS for read operation is 120ns + wait_us(1); + + + // tSRW/tSRR (=20us) minus tSCLK-NCS + wait_us(19); + + adns_end(); + return data; +} + +void pointing_device_init(void) { + dprint("STARTING INTI\n"); + + spi_init(); + // reset serial port + adns_begin(); + adns_end(); + + // reboot + adns_write(REG_Power_Up_Reset, 0x5a); + wait_ms(50); + // read registers and discard + adns_read(REG_Motion); + adns_read(REG_Delta_X_L); + adns_read(REG_Delta_X_H); + adns_read(REG_Delta_Y_L); + adns_read(REG_Delta_Y_H); + + // upload firmware + + // set the configuration_IV register in 3k firmware mode + // bit 1 = 1 for 3k mode, other bits are reserved + adns_write(REG_Configuration_IV, 0x02); + + // write 0x1d in SROM_enable reg for initializing + adns_write(REG_SROM_Enable, 0x1d); + + // wait for more than one frame period + // assume that the frame rate is as low as 100fps... even if it should never be that low + wait_ms(10); + + // write 0x18 to SROM_enable to start SROM download + adns_write(REG_SROM_Enable, 0x18); + + // write the SROM file (=firmware data) + + // write burst destination adress + adns_begin(); + spi_write(REG_SROM_Load_Burst | 0x80); + wait_us(15); + // send all bytes of the firmware + 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); + } + + adns_end(); + wait_ms(10); + + // enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b) + // reading the actual value of the register is important because the real + // default value is different from what is said in the datasheet, and if you + // change the reserved bytes (like by writing 0x00...) it would not work. + uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0); + adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); + + wait_ms(1); + + // set the configuration_I register to set the CPI + // 0x01 = 50, minimum + // 0x44 = 3400, default + // 0x8e = 7100 + // 0xA4 = 8200, maximum + adns_write(REG_Configuration_I, 0x10); + + wait_ms(100); + dprint("INIT ENDED\n"); +} + +int16_t convertDeltaToInt(uint8_t high, uint8_t low){ + + // join bytes into twos compliment + //int16_t twos_comp = (high << 8) | low; + //return twos_comp; + return (high << 8) | low; +} + +motion_delta_t readSensor(void) { + adns_begin(); + + // read from Motion_Burst to enable burt mode + spi_write(REG_Motion_Burst & 0x7f); + + // Wait one frame per docs, thanks u/kbjunky + wait_us(100); + uint8_t burst_data[pixel_sum]; + + for (int i = 0; i < pixel_sum; ++i) { + burst_data[i] = spi_read(); + } + + uint16_t delta_x = convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]); + uint16_t delta_y = convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]); + // Only consider the MSB for motion as this byte has other status bits + uint8_t motion_ind = burst_data[motion] & 0b10000000; + adns_end(); + + motion_delta_t delta = {delta_x, delta_y, motion_ind}; + return delta; +} + +void pointing_device_task(void) { + motion_delta_t delta = readSensor(); + + report_mouse_t report = pointing_device_get_report(); + + if(delta.motion_ind) { + // clamp deltas from -127 to 127 + report.x = delta.delta_x < -127 ? -127 : delta.delta_x > 127 ? 127 : delta.delta_x; + report.x = -report.x; + report.y = delta.delta_y < -127 ? -127 : delta.delta_y > 127 ? 127 : delta.delta_y; + } + + pointing_device_set_report(report); + pointing_device_send(); +} -- cgit v1.2.3