summaryrefslogtreecommitdiff
path: root/keyboards/oddball/adns.c
blob: 4582be1f2c56e2367caef794d3eb7214a1d75836 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
#include <avr/io.h>
#include <avr/interrupt.h>
#include "quantum.h"
#include "pointing_device.h"
#include "adns9800_srom_A4.h"
#include <LUFA/Drivers/Peripheral/SPI.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 0

extern const uint16_t firmware_length;
extern const uint8_t firmware_data[];

enum motion_burst_property{
    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
};

// used to track the motion delta between updates
volatile int32_t delta_x;
volatile int32_t delta_y;

void adns_begin(void){
    PORTB &= ~ (1 << NCS);
}

void adns_end(void){
    PORTB |= (1 << NCS);
}

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_TransferByte(reg_addr | 0x80 );
    SPI_TransferByte(data);

    // tSCLK-NCS for write operation
    wait_us(20);

    adns_end();

    // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
    wait_us(100);
}

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_TransferByte(reg_addr & 0x7f );
    uint8_t data = SPI_TransferByte(0);

    // tSCLK-NCS for read operation is 120ns
    wait_us(1);

    adns_end();

    //  tSRW/tSRR (=20us) minus tSCLK-NCS
    wait_us(19);

    return data;
}

void pointing_device_init(void) {

    if(!is_keyboard_master())
        return;

    // interrupt 2
    EICRA &= ~(1 << 4);
    EICRA |= (1 << 5);
    EIMSK |= (1<<INT2);

    // mode 3
    SPI_Init(
        SPI_SPEED_FCPU_DIV_8 |
        SPI_ORDER_MSB_FIRST |
        SPI_SCK_LEAD_FALLING |
        SPI_SAMPLE_TRAILING |
        SPI_MODE_MASTER);

    // set B0 output
    DDRB |= (1 << 0);

    // reset serial port
    adns_end();
    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)
    adns_begin();

    // write burst destination adress
    SPI_TransferByte(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_TransferByte(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, 0x04);

    wait_ms(100);
}

void pointing_device_task(void) {

    if(!is_keyboard_master())
        return;

    report_mouse_t report = pointing_device_get_report();

    // clamp deltas from -127 to 127
    report.x = delta_x < -127 ? 127 : delta_x > 127 ? 127 : delta_x;
    report.x = -report.x;

    report.y = delta_y < -127 ? 127 : delta_y > 127 ? 127 : delta_y;

    // reset deltas
    delta_x = 0;
    delta_y = 0;

    pointing_device_set_report(report);
    pointing_device_send();
}

int16_t convertDeltaToInt(uint8_t high, uint8_t low){

    // join bytes into twos compliment
    uint16_t twos_comp = (high << 8) | low;

    // convert twos comp to int
    if (twos_comp & 0x8000)
        return -1 * ((twos_comp ^ 0xffff) + 1);

    return twos_comp;
}

ISR(INT2_vect) {
    // called on interrupt 2 when sensed motion
    // copy burst data from the respective registers

    adns_begin();

    // send adress of the register, with MSBit = 1 to indicate it's a write
    SPI_TransferByte(REG_Motion_Burst & 0x7f);

    uint8_t burst_data[pixel_sum];

    for (int i = 0; i < pixel_sum; ++i) {
        burst_data[i] = SPI_TransferByte(0);
    }

    delta_x += convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
    delta_y += convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);

    adns_end();
}