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Move optical sensor code to drivers folder (#13044)

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Drashna Jaelre 2021-06-21 13:00:11 -07:00 • committed by GitHub
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32 changed files with 60 additions and 890 deletions
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193
drivers/sensors/adns5050.c Normal file
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/* Copyright 2021 Colin Lam (Ploopy Corporation)
* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2019 Hiroyuki Okada
*
* 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 "adns5050.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "gpio.h"
#ifndef OPTIC_ROTATED
# define OPTIC_ROTATED false
#endif
// Definitions for the ADNS serial line.
#ifndef ADNS_SCLK_PIN
# define ADNS_SCLK_PIN B7
#endif
#ifndef ADNS_SDIO_PIN
# define ADNS_SDIO_PIN C6
#endif
#ifndef ADNS_CS_PIN
# define ADNS_CS_PIN B4
#endif
#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
// Initialize the ADNS serial pins.
void adns_init(void) {
setPinOutput(ADNS_SCLK_PIN);
setPinOutput(ADNS_SDIO_PIN);
setPinOutput(ADNS_CS_PIN);
}
// Perform a synchronization with the ADNS.
// Just as with the serial protocol, this is used by the slave to send a
// synchronization signal to the master.
void adns_sync(void) {
writePinLow(ADNS_CS_PIN);
wait_us(1);
writePinHigh(ADNS_CS_PIN);
}
void adns_cs_select(void) {
writePinLow(ADNS_CS_PIN);
}
void adns_cs_deselect(void) {
writePinHigh(ADNS_CS_PIN);
}
uint8_t adns_serial_read(void) {
setPinInput(ADNS_SDIO_PIN);
uint8_t byte = 0;
for (uint8_t i = 0; i < 8; ++i) {
writePinLow(ADNS_SCLK_PIN);
wait_us(1);
byte = (byte << 1) | readPin(ADNS_SDIO_PIN);
writePinHigh(ADNS_SCLK_PIN);
wait_us(1);
}
return byte;
}
void adns_serial_write(uint8_t data) {
setPinOutput(ADNS_SDIO_PIN);
for (int8_t b = 7; b >= 0; b--) {
writePinLow(ADNS_SCLK_PIN);
if (data & (1 << b))
writePinHigh(ADNS_SDIO_PIN);
else
writePinLow(ADNS_SDIO_PIN);
wait_us(2);
writePinHigh(ADNS_SCLK_PIN);
}
// tSWR. See page 15 of the ADNS spec sheet.
// Technically, this is only necessary if the next operation is an SDIO
// read. This is not guaranteed to be the case, but we're being lazy.
wait_us(4);
// Note that tSWW is never necessary. All write operations require at
// least 32us, which exceeds tSWW, so there's never a need to wait for it.
}
// Read a byte of data from a register on the ADNS.
// Don't forget to use the register map (as defined in the header file).
uint8_t adns_read_reg(uint8_t reg_addr) {
adns_cs_select();
adns_serial_write(reg_addr);
// We don't need a minimum tSRAD here. That's because a 4ms wait time is
// already included in adns_serial_write(), so we're good.
// See page 10 and 15 of the ADNS spec sheet.
//wait_us(4);
uint8_t byte = adns_serial_read();
// tSRW & tSRR. See page 15 of the ADNS spec sheet.
// Technically, this is only necessary if the next operation is an SDIO
// read or write. This is not guaranteed to be the case.
// Honestly, this wait could probably be removed.
wait_us(1);
adns_cs_deselect();
return byte;
}
void adns_write_reg(uint8_t reg_addr, uint8_t data) {
adns_cs_select();
adns_serial_write(reg_addr);
adns_serial_write(data);
adns_cs_deselect();
}
report_adns_t adns_read_burst(void) {
adns_cs_select();
report_adns_t data;
data.dx = 0;
data.dy = 0;
adns_serial_write(REG_MOTION_BURST);
// We don't need a minimum tSRAD here. That's because a 4ms wait time is
// already included in adns_serial_write(), so we're good.
// See page 10 and 15 of the ADNS spec sheet.
//wait_us(4);
uint8_t x = adns_serial_read();
uint8_t y = adns_serial_read();
// Burst mode returns a bunch of other shit that we don't really need.
// Setting CS to high ends burst mode early.
adns_cs_deselect();
data.dx = convert_twoscomp(x);
data.dy = convert_twoscomp(y);
return data;
}
// Convert a two's complement byte from an unsigned data type into a signed
// data type.
int8_t convert_twoscomp(uint8_t data) {
if ((data & 0x80) == 0x80)
return -128 + (data & 0x7F);
else
return data;
}
// Don't forget to use the definitions for CPI in the header file.
void adns_set_cpi(uint8_t cpi) {
adns_write_reg(REG_MOUSE_CONTROL2, cpi);
}
bool adns_check_signature(void) {
uint8_t pid = adns_read_reg(REG_PRODUCT_ID);
uint8_t rid = adns_read_reg(REG_REVISION_ID);
uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2);
return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
}

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drivers/sensors/adns5050.h Normal file
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/* Copyright 2021 Colin Lam (Ploopy Corporation)
* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2019 Hiroyuki Okada
*
* 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 <stdbool.h>
// Registers
#define REG_PRODUCT_ID 0x00
#define REG_REVISION_ID 0x01
#define REG_MOTION 0x02
#define REG_DELTA_X 0x03
#define REG_DELTA_Y 0x04
#define REG_SQUAL 0x05
#define REG_SHUTTER_UPPER 0x06
#define REG_SHUTTER_LOWER 0x07
#define REG_MAXIMUM_PIXEL 0x08
#define REG_PIXEL_SUM 0x09
#define REG_MINIMUM_PIXEL 0x0a
#define REG_PIXEL_GRAB 0x0b
#define REG_MOUSE_CONTROL 0x0d
#define REG_MOUSE_CONTROL2 0x19
#define REG_LED_DC_MODE 0x22
#define REG_CHIP_RESET 0x3a
#define REG_PRODUCT_ID2 0x3e
#define REG_INV_REV_ID 0x3f
#define REG_MOTION_BURST 0x63
// CPI values
#define CPI125 0x11
#define CPI250 0x12
#define CPI375 0x13
#define CPI500 0x14
#define CPI625 0x15
#define CPI750 0x16
#define CPI875 0x17
#define CPI1000 0x18
#define CPI1125 0x19
#define CPI1250 0x1a
#define CPI1375 0x1b
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte);
#endif
typedef struct {
int8_t dx;
int8_t dy;
} report_adns_t;
// A bunch of functions to implement the ADNS5050-specific serial protocol.
// Note that the "serial.h" driver is insufficient, because it does not
// manually manipulate a serial clock signal.
void adns_init(void);
void adns_sync(void);
uint8_t adns_serial_read(void);
void adns_serial_write(uint8_t data);
uint8_t adns_read_reg(uint8_t reg_addr);
void adns_write_reg(uint8_t reg_addr, uint8_t data);
report_adns_t adns_read_burst(void);
int8_t convert_twoscomp(uint8_t data);
void adns_set_cpi(uint8_t cpi);
bool adns_check_signature(void);

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/* Copyright 2020 Alexander Tulloh
*
* 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 "quantum.h"
#include "adns9800_srom_A6.h"
#include "adns9800.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
#define ADNS_CLOCK_SPEED 2000000
#define MIN_CPI 200
#define MAX_CPI 8200
#define CPI_STEP 200
#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
#define SPI_MODE 3
#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED)
#define US_BETWEEN_WRITES 120
#define US_BETWEEN_READS 20
#define US_BEFORE_MOTION 100
#define MSB1 0x80
extern const uint16_t adns_firmware_length;
extern const uint8_t adns_firmware_data[];
void adns_spi_start(void){
spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
}
void adns_write(uint8_t reg_addr, uint8_t data){
adns_spi_start();
spi_write(reg_addr | MSB1);
spi_write(data);
spi_stop();
wait_us(US_BETWEEN_WRITES);
}
uint8_t adns_read(uint8_t reg_addr){
adns_spi_start();
spi_write(reg_addr & 0x7f );
uint8_t data = spi_read();
spi_stop();
wait_us(US_BETWEEN_READS);
return data;
}
void adns_init() {
setPinOutput(SPI_SS_PIN);
spi_init();
// 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
// 3k firmware mode
adns_write(REG_Configuration_IV, 0x02);
// enable initialisation
adns_write(REG_SROM_Enable, 0x1d);
// wait a frame
wait_ms(10);
// start SROM download
adns_write(REG_SROM_Enable, 0x18);
// write the SROM file
adns_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
// send all bytes of the firmware
unsigned char c;
for(int i = 0; i < adns_firmware_length; i++){
c = (unsigned char)pgm_read_byte(adns_firmware_data + i);
spi_write(c);
wait_us(15);
}
spi_stop();
wait_ms(10);
// enable laser
uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
}
config_adns_t adns_get_config(void) {
uint8_t config_1 = adns_read(REG_Configuration_I);
return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP };
}
void adns_set_config(config_adns_t config) {
uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
adns_write(REG_Configuration_I, config_1);
}
static 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 + 1);
return twos_comp;
}
report_adns_t adns_get_report(void) {
report_adns_t report = {0, 0};
adns_spi_start();
// start burst mode
spi_write(REG_Motion_Burst & 0x7f);
wait_us(US_BEFORE_MOTION);
uint8_t motion = spi_read();
if(motion & 0x80) {
// clear observation register
spi_read();
// delta registers
uint8_t delta_x_l = spi_read();
uint8_t delta_x_h = spi_read();
uint8_t delta_y_l = spi_read();
uint8_t delta_y_h = spi_read();
report.x = convertDeltaToInt(delta_x_h, delta_x_l);
report.y = convertDeltaToInt(delta_y_h, delta_y_l);
}
// clear residual motion
spi_write(REG_Motion & 0x7f);
spi_stop();
return report;
}

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/* Copyright 2020 Alexander Tulloh
*
* 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 <stdint.h>
typedef struct {
/* 200 - 8200 CPI supported */
uint16_t cpi;
} config_adns_t;
typedef struct {
int16_t x;
int16_t y;
} report_adns_t;
void adns_init(void);
config_adns_t adns_get_config(void);
void adns_set_config(config_adns_t);
/* Reads and clears the current delta values on the ADNS sensor */
report_adns_t adns_get_report(void);

3078
drivers/sensors/adns9800_srom_A6.h Normal file
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140
drivers/sensors/pimoroni_trackball.c Normal file
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/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
*
* 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 "pimoroni_trackball.h"
#include "i2c_master.h"
static uint8_t scrolling = 0;
static int16_t x_offset = 0;
static int16_t y_offset = 0;
static int16_t h_offset = 0;
static int16_t v_offset = 0;
static float precisionSpeed = 1;
static uint16_t i2c_timeout_timer;
#ifndef PIMORONI_I2C_TIMEOUT
# define PIMORONI_I2C_TIMEOUT 100
#endif
#ifndef I2C_WAITCHECK
# define I2C_WAITCHECK 1000
#endif
#ifndef MOUSE_DEBOUNCE
# define MOUSE_DEBOUNCE 5
#endif
void trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white) {
uint8_t data[] = {0x00, red, green, blue, white};
i2c_transmit(TRACKBALL_WRITE, data, sizeof(data), PIMORONI_I2C_TIMEOUT);
}
int16_t mouse_offset(uint8_t positive, uint8_t negative, int16_t scale) {
int16_t offset = (int16_t)positive - (int16_t)negative;
int16_t magnitude = (int16_t)(scale * offset * offset * precisionSpeed);
return offset < 0 ? -magnitude : magnitude;
}
void update_member(int8_t* member, int16_t* offset) {
if (*offset > 127) {
*member = 127;
*offset -= 127;
} else if (*offset < -127) {
*member = -127;
*offset += 127;
} else {
*member = *offset;
*offset = 0;
}
}
__attribute__((weak)) void trackball_check_click(bool pressed, report_mouse_t* mouse) {
if (pressed) {
mouse->buttons |= MOUSE_BTN1;
} else {
mouse->buttons &= ~MOUSE_BTN1;
}
}
float trackball_get_precision(void) { return precisionSpeed; }
void trackball_set_precision(float precision) { precisionSpeed = precision; }
bool trackball_is_scrolling(void) { return scrolling; }
void trackball_set_scrolling(bool scroll) { scrolling = scroll; }
__attribute__((weak)) void pointing_device_init(void) { i2c_init(); trackball_set_rgbw(0x00, 0x00, 0x00, 0x00); }
void pointing_device_task(void) {
static bool debounce;
static uint16_t debounce_timer;
uint8_t state[5] = {};
if (timer_elapsed(i2c_timeout_timer) > I2C_WAITCHECK) {
if (i2c_readReg(TRACKBALL_READ, 0x04, state, 5, PIMORONI_I2C_TIMEOUT) == I2C_STATUS_SUCCESS) {
if (!state[4] && !debounce) {
if (scrolling) {
#ifdef PIMORONI_TRACKBALL_INVERT_X
h_offset += mouse_offset(state[2], state[3], 1);
#else
h_offset -= mouse_offset(state[2], state[3], 1);
#endif
#ifdef PIMORONI_TRACKBALL_INVERT_Y
v_offset += mouse_offset(state[1], state[0], 1);
#else
v_offset -= mouse_offset(state[1], state[0], 1);
#endif
} else {
#ifdef PIMORONI_TRACKBALL_INVERT_X
x_offset -= mouse_offset(state[2], state[3], 5);
#else
x_offset += mouse_offset(state[2], state[3], 5);
#endif
#ifdef PIMORONI_TRACKBALL_INVERT_Y
y_offset -= mouse_offset(state[1], state[0], 5);
#else
y_offset += mouse_offset(state[1], state[0], 5);
#endif
}
} else {
if (state[4]) {
debounce = true;
debounce_timer = timer_read();
}
}
} else {
i2c_timeout_timer = timer_read();
}
}
if (timer_elapsed(debounce_timer) > MOUSE_DEBOUNCE) debounce = false;
report_mouse_t mouse = pointing_device_get_report();
#ifdef PIMORONI_TRACKBALL_CLICK
trackball_check_click(state[4] & (1 << 7), &mouse);
#endif
#ifndef PIMORONI_TRACKBALL_ROTATE
update_member(&mouse.x, &x_offset);
update_member(&mouse.y, &y_offset);
update_member(&mouse.h, &h_offset);
update_member(&mouse.v, &v_offset);
#else
update_member(&mouse.x, &y_offset);
update_member(&mouse.y, &x_offset);
update_member(&mouse.h, &v_offset);
update_member(&mouse.v, &h_offset);
#endif
pointing_device_set_report(mouse);
pointing_device_send();
}

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drivers/sensors/pimoroni_trackball.h Normal file
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/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
*
* 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 "quantum.h"
#include "pointing_device.h"
#ifndef TRACKBALL_ADDRESS
# define TRACKBALL_ADDRESS 0x0A
#endif
#define TRACKBALL_WRITE ((TRACKBALL_ADDRESS << 1) | I2C_WRITE)
#define TRACKBALL_READ ((TRACKBALL_ADDRESS << 1) | I2C_READ)
void trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white);
void trackball_check_click(bool pressed, report_mouse_t *mouse);
void trackball_register_button(bool pressed, enum mouse_buttons button);
float trackball_get_precision(void);
void trackball_set_precision(float precision);
bool trackball_is_scrolling(void);
void trackball_set_scrolling(bool scroll);

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/* 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 "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3360.h"
#include "pmw3360_firmware.h"
bool _inBurst = false;
#ifndef PMW_CPI
# define PMW_CPI 1600
#endif
#ifndef PMW_CLOCK_SPEED
# define PMW_CLOCK_SPEED 70000000
#endif
#ifndef SPI_MODE
# define SPI_MODE 3
#endif
#ifndef SPI_DIVISOR
# define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
#ifndef PMW_CS_PIN
# define PMW_CS_PIN SPI_SS_PIN
#endif
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')); }
bool spi_start_adv(void) {
bool status = spi_start(PMW_CS_PIN, false, SPI_MODE, SPI_DIVISOR);
wait_us(1);
return status;
}
void spi_stop_adv(void) {
wait_us(1);
spi_stop();
}
spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
if (reg_addr != REG_Motion_Burst) {
_inBurst = false;
}
spi_start_adv();
// 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
wait_us(20);
// tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
wait_us(100);
spi_stop();
return status;
}
uint8_t spi_read_adv(uint8_t reg_addr) {
spi_start_adv();
// 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);
spi_stop();
return data;
}
void pmw_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
spi_start_adv();
spi_write_adv(REG_Config1, cpival);
spi_stop();
}
uint16_t pmw_get_cpi(void) {
uint8_t cpival = spi_read_adv(REG_Config1);
return (uint16_t)(cpival & 0xFF) * 100;
}
bool pmw_spi_init(void) {
setPinOutput(PMW_CS_PIN);
spi_init();
_inBurst = false;
spi_stop();
spi_start_adv();
spi_stop();
spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
spi_start_adv();
wait_us(40);
spi_stop_adv();
wait_us(40);
spi_write_adv(REG_Power_Up_Reset, 0x5a);
wait_ms(50);
spi_read_adv(REG_Motion);
spi_read_adv(REG_Delta_X_L);
spi_read_adv(REG_Delta_X_H);
spi_read_adv(REG_Delta_Y_L);
spi_read_adv(REG_Delta_Y_H);
pmw_upload_firmware();
spi_stop_adv();
wait_ms(10);
pmw_set_cpi(PMW_CPI);
wait_ms(1);
spi_write_adv(REG_Config2, 0x00);
spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
bool init_success = pmw_check_signature();
writePinLow(PMW_CS_PIN);
return init_success;
}
void pmw_upload_firmware(void) {
spi_write_adv(REG_SROM_Enable, 0x1d);
wait_ms(10);
spi_write_adv(REG_SROM_Enable, 0x18);
spi_start_adv();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
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);
}
wait_us(200);
spi_read_adv(REG_SROM_ID);
spi_write_adv(REG_Config2, 0x00);
spi_stop();
wait_ms(10);
}
bool pmw_check_signature(void) {
uint8_t pid = spi_read_adv(REG_Product_ID);
uint8_t iv_pid = spi_read_adv(REG_Inverse_Product_ID);
uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04
}
report_pmw_t pmw_read_burst(void) {
if (!_inBurst) {
dprintf("burst on");
spi_write_adv(REG_Motion_Burst, 0x00);
_inBurst = true;
}
spi_start_adv();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD
report_pmw_t data;
data.motion = 0;
data.dx = 0;
data.mdx = 0;
data.dy = 0;
data.mdx = 0;
data.motion = spi_read();
spi_write(0x00); // skip Observation
data.dx = spi_read();
data.mdx = spi_read();
data.dy = spi_read();
data.mdy = spi_read();
spi_stop();
print_byte(data.motion);
print_byte(data.dx);
print_byte(data.mdx);
print_byte(data.dy);
print_byte(data.mdy);
dprintf("\n");
data.isMotion = (data.motion & 0x80) != 0;
data.isOnSurface = (data.motion & 0x08) == 0;
data.dx |= (data.mdx << 8);
data.dx = data.dx * -1;
data.dy |= (data.mdy << 8);
data.dy = data.dy * -1;
spi_stop();
if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
return data;
}

104
drivers/sensors/pmw3360.h Normal file
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/* 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);
uint16_t pmw_get_cpi(void);
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)))

300
drivers/sensors/pmw3360_firmware.h Normal file
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/* 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
// clang-format off
// Firmware Blob foor PMW3360
const uint16_t firmware_length = 4094;
// clang-format off
const uint8_t firmware_data[] PROGMEM = { // SROM 0x04
0x01, 0x04, 0x8e, 0x96, 0x6e, 0x77, 0x3e, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x4e,
0xff, 0x5d, 0x19, 0xb0, 0xc2, 0x04, 0x69, 0x54, 0x2a, 0xd6, 0x2e, 0xbf, 0xdd, 0x19, 0xb0,
0xc3, 0xe5, 0x29, 0xb1, 0xe0, 0x23, 0xa5, 0xa9, 0xb1, 0xc1, 0x00, 0x82, 0x67, 0x4c, 0x1a,
0x97, 0x8d, 0x79, 0x51, 0x20, 0xc7, 0x06, 0x8e, 0x7c, 0x7c, 0x7a, 0x76, 0x4f, 0xfd, 0x59,
0x30, 0xe2, 0x46, 0x0e, 0x9e, 0xbe, 0xdf, 0x1d, 0x99, 0x91, 0xa0, 0xa5, 0xa1, 0xa9, 0xd0,
0x22, 0xc6, 0xef, 0x5c, 0x1b, 0x95, 0x89, 0x90, 0xa2, 0xa7, 0xcc, 0xfb, 0x55, 0x28, 0xb3,
0xe4, 0x4a, 0xf7, 0x6c, 0x3b, 0xf4, 0x6a, 0x56, 0x2e, 0xde, 0x1f, 0x9d, 0xb8, 0xd3, 0x05,
0x88, 0x92, 0xa6, 0xce, 0x1e, 0xbe, 0xdf, 0x1d, 0x99, 0xb0, 0xe2, 0x46, 0xef, 0x5c, 0x07,
0x11, 0x5d, 0x98, 0x0b, 0x9d, 0x94, 0x97, 0xee, 0x4e, 0x45, 0x33, 0x6b, 0x44, 0xc7, 0x29,
0x56, 0x27, 0x30, 0xc6, 0xa7, 0xd5, 0xf2, 0x56, 0xdf, 0xb4, 0x38, 0x62, 0xcb, 0xa0, 0xb6,
0xe3, 0x0f, 0x84, 0x06, 0x24, 0x05, 0x65, 0x6f, 0x76, 0x89, 0xb5, 0x77, 0x41, 0x27, 0x82,
0x66, 0x65, 0x82, 0xcc, 0xd5, 0xe6, 0x20, 0xd5, 0x27, 0x17, 0xc5, 0xf8, 0x03, 0x23, 0x7c,
0x5f, 0x64, 0xa5, 0x1d, 0xc1, 0xd6, 0x36, 0xcb, 0x4c, 0xd4, 0xdb, 0x66, 0xd7, 0x8b, 0xb1,
0x99, 0x7e, 0x6f, 0x4c, 0x36, 0x40, 0x06, 0xd6, 0xeb, 0xd7, 0xa2, 0xe4, 0xf4, 0x95, 0x51,
0x5a, 0x54, 0x96, 0xd5, 0x53, 0x44, 0xd7, 0x8c, 0xe0, 0xb9, 0x40, 0x68, 0xd2, 0x18, 0xe9,
0xdd, 0x9a, 0x23, 0x92, 0x48, 0xee, 0x7f, 0x43, 0xaf, 0xea, 0x77, 0x38, 0x84, 0x8c, 0x0a,
0x72, 0xaf, 0x69, 0xf8, 0xdd, 0xf1, 0x24, 0x83, 0xa3, 0xf8, 0x4a, 0xbf, 0xf5, 0x94, 0x13,
0xdb, 0xbb, 0xd8, 0xb4, 0xb3, 0xa0, 0xfb, 0x45, 0x50, 0x60, 0x30, 0x59, 0x12, 0x31, 0x71,
0xa2, 0xd3, 0x13, 0xe7, 0xfa, 0xe7, 0xce, 0x0f, 0x63, 0x15, 0x0b, 0x6b, 0x94, 0xbb, 0x37,
0x83, 0x26, 0x05, 0x9d, 0xfb, 0x46, 0x92, 0xfc, 0x0a, 0x15, 0xd1, 0x0d, 0x73, 0x92, 0xd6,
0x8c, 0x1b, 0x8c, 0xb8, 0x55, 0x8a, 0xce, 0xbd, 0xfe, 0x8e, 0xfc, 0xed, 0x09, 0x12, 0x83,
0x91, 0x82, 0x51, 0x31, 0x23, 0xfb, 0xb4, 0x0c, 0x76, 0xad, 0x7c, 0xd9, 0xb4, 0x4b, 0xb2,
0x67, 0x14, 0x09, 0x9c, 0x7f, 0x0c, 0x18, 0xba, 0x3b, 0xd6, 0x8e, 0x14, 0x2a, 0xe4, 0x1b,
0x52, 0x9f, 0x2b, 0x7d, 0xe1, 0xfb, 0x6a, 0x33, 0x02, 0xfa, 0xac, 0x5a, 0xf2, 0x3e, 0x88,
0x7e, 0xae, 0xd1, 0xf3, 0x78, 0xe8, 0x05, 0xd1, 0xe3, 0xdc, 0x21, 0xf6, 0xe1, 0x9a, 0xbd,
0x17, 0x0e, 0xd9, 0x46, 0x9b, 0x88, 0x03, 0xea, 0xf6, 0x66, 0xbe, 0x0e, 0x1b, 0x50, 0x49,
0x96, 0x40, 0x97, 0xf1, 0xf1, 0xe4, 0x80, 0xa6, 0x6e, 0xe8, 0x77, 0x34, 0xbf, 0x29, 0x40,
0x44, 0xc2, 0xff, 0x4e, 0x98, 0xd3, 0x9c, 0xa3, 0x32, 0x2b, 0x76, 0x51, 0x04, 0x09, 0xe7,
0xa9, 0xd1, 0xa6, 0x32, 0xb1, 0x23, 0x53, 0xe2, 0x47, 0xab, 0xd6, 0xf5, 0x69, 0x5c, 0x3e,
0x5f, 0xfa, 0xae, 0x45, 0x20, 0xe5, 0xd2, 0x44, 0xff, 0x39, 0x32, 0x6d, 0xfd, 0x27, 0x57,
0x5c, 0xfd, 0xf0, 0xde, 0xc1, 0xb5, 0x99, 0xe5, 0xf5, 0x1c, 0x77, 0x01, 0x75, 0xc5, 0x6d,
0x58, 0x92, 0xf2, 0xb2, 0x47, 0x00, 0x01, 0x26, 0x96, 0x7a, 0x30, 0xff, 0xb7, 0xf0, 0xef,
0x77, 0xc1, 0x8a, 0x5d, 0xdc, 0xc0, 0xd1, 0x29, 0x30, 0x1e, 0x77, 0x38, 0x7a, 0x94, 0xf1,
0xb8, 0x7a, 0x7e, 0xef, 0xa4, 0xd1, 0xac, 0x31, 0x4a, 0xf2, 0x5d, 0x64, 0x3d, 0xb2, 0xe2,
0xf0, 0x08, 0x99, 0xfc, 0x70, 0xee, 0x24, 0xa7, 0x7e, 0xee, 0x1e, 0x20, 0x69, 0x7d, 0x44,
0xbf, 0x87, 0x42, 0xdf, 0x88, 0x3b, 0x0c, 0xda, 0x42, 0xc9, 0x04, 0xf9, 0x45, 0x50, 0xfc,
0x83, 0x8f, 0x11, 0x6a, 0x72, 0xbc, 0x99, 0x95, 0xf0, 0xac, 0x3d, 0xa7, 0x3b, 0xcd, 0x1c,
0xe2, 0x88, 0x79, 0x37, 0x11, 0x5f, 0x39, 0x89, 0x95, 0x0a, 0x16, 0x84, 0x7a, 0xf6, 0x8a,
0xa4, 0x28, 0xe4, 0xed, 0x83, 0x80, 0x3b, 0xb1, 0x23, 0xa5, 0x03, 0x10, 0xf4, 0x66, 0xea,
0xbb, 0x0c, 0x0f, 0xc5, 0xec, 0x6c, 0x69, 0xc5, 0xd3, 0x24, 0xab, 0xd4, 0x2a, 0xb7, 0x99,
0x88, 0x76, 0x08, 0xa0, 0xa8, 0x95, 0x7c, 0xd8, 0x38, 0x6d, 0xcd, 0x59, 0x02, 0x51, 0x4b,
0xf1, 0xb5, 0x2b, 0x50, 0xe3, 0xb6, 0xbd, 0xd0, 0x72, 0xcf, 0x9e, 0xfd, 0x6e, 0xbb, 0x44,
0xc8, 0x24, 0x8a, 0x77, 0x18, 0x8a, 0x13, 0x06, 0xef, 0x97, 0x7d, 0xfa, 0x81, 0xf0, 0x31,
0xe6, 0xfa, 0x77, 0xed, 0x31, 0x06, 0x31, 0x5b, 0x54, 0x8a, 0x9f, 0x30, 0x68, 0xdb, 0xe2,
0x40, 0xf8, 0x4e, 0x73, 0xfa, 0xab, 0x74, 0x8b, 0x10, 0x58, 0x13, 0xdc, 0xd2, 0xe6, 0x78,
0xd1, 0x32, 0x2e, 0x8a, 0x9f, 0x2c, 0x58, 0x06, 0x48, 0x27, 0xc5, 0xa9, 0x5e, 0x81, 0x47,
0x89, 0x46, 0x21, 0x91, 0x03, 0x70, 0xa4, 0x3e, 0x88, 0x9c, 0xda, 0x33, 0x0a, 0xce, 0xbc,
0x8b, 0x8e, 0xcf, 0x9f, 0xd3, 0x71, 0x80, 0x43, 0xcf, 0x6b, 0xa9, 0x51, 0x83, 0x76, 0x30,
0x82, 0xc5, 0x6a, 0x85, 0x39, 0x11, 0x50, 0x1a, 0x82, 0xdc, 0x1e, 0x1c, 0xd5, 0x7d, 0xa9,
0x71, 0x99, 0x33, 0x47, 0x19, 0x97, 0xb3, 0x5a, 0xb1, 0xdf, 0xed, 0xa4, 0xf2, 0xe6, 0x26,
0x84, 0xa2, 0x28, 0x9a, 0x9e, 0xdf, 0xa6, 0x6a, 0xf4, 0xd6, 0xfc, 0x2e, 0x5b, 0x9d, 0x1a,
0x2a, 0x27, 0x68, 0xfb, 0xc1, 0x83, 0x21, 0x4b, 0x90, 0xe0, 0x36, 0xdd, 0x5b, 0x31, 0x42,
0x55, 0xa0, 0x13, 0xf7, 0xd0, 0x89, 0x53, 0x71, 0x99, 0x57, 0x09, 0x29, 0xc5, 0xf3, 0x21,
0xf8, 0x37, 0x2f, 0x40, 0xf3, 0xd4, 0xaf, 0x16, 0x08, 0x36, 0x02, 0xfc, 0x77, 0xc5, 0x8b,
0x04, 0x90, 0x56, 0xb9, 0xc9, 0x67, 0x9a, 0x99, 0xe8, 0x00, 0xd3, 0x86, 0xff, 0x97, 0x2d,
0x08, 0xe9, 0xb7, 0xb3, 0x91, 0xbc, 0xdf, 0x45, 0xc6, 0xed, 0x0f, 0x8c, 0x4c, 0x1e, 0xe6,
0x5b, 0x6e, 0x38, 0x30, 0xe4, 0xaa, 0xe3, 0x95, 0xde, 0xb9, 0xe4, 0x9a, 0xf5, 0xb2, 0x55,
0x9a, 0x87, 0x9b, 0xf6, 0x6a, 0xb2, 0xf2, 0x77, 0x9a, 0x31, 0xf4, 0x7a, 0x31, 0xd1, 0x1d,
0x04, 0xc0, 0x7c, 0x32, 0xa2, 0x9e, 0x9a, 0xf5, 0x62, 0xf8, 0x27, 0x8d, 0xbf, 0x51, 0xff,
0xd3, 0xdf, 0x64, 0x37, 0x3f, 0x2a, 0x6f, 0x76, 0x3a, 0x7d, 0x77, 0x06, 0x9e, 0x77, 0x7f,
0x5e, 0xeb, 0x32, 0x51, 0xf9, 0x16, 0x66, 0x9a, 0x09, 0xf3, 0xb0, 0x08, 0xa4, 0x70, 0x96,
0x46, 0x30, 0xff, 0xda, 0x4f, 0xe9, 0x1b, 0xed, 0x8d, 0xf8, 0x74, 0x1f, 0x31, 0x92, 0xb3,
0x73, 0x17, 0x36, 0xdb, 0x91, 0x30, 0xd6, 0x88, 0x55, 0x6b, 0x34, 0x77, 0x87, 0x7a, 0xe7,
0xee, 0x06, 0xc6, 0x1c, 0x8c, 0x19, 0x0c, 0x48, 0x46, 0x23, 0x5e, 0x9c, 0x07, 0x5c, 0xbf,
0xb4, 0x7e, 0xd6, 0x4f, 0x74, 0x9c, 0xe2, 0xc5, 0x50, 0x8b, 0xc5, 0x8b, 0x15, 0x90, 0x60,
0x62, 0x57, 0x29, 0xd0, 0x13, 0x43, 0xa1, 0x80, 0x88, 0x91, 0x00, 0x44, 0xc7, 0x4d, 0x19,
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// clang-format off