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Improve pmw3360 sensor and make it more hardware agnostic (#14097)

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Drashna Jaelre 2021-08-20 21:14:23 -07:00 • committed by GitHub
parent 3452c89c8b
commit da1c011afc
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GPG key ID: 4AEE18F83AFDEB23
6 changed files with 99 additions and 74 deletions
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80
drivers/sensors/pmw3360.c
View file

@ -16,37 +16,69 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "pmw3360.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3360.h"
#include "pmw3360_firmware.h"
bool _inBurst = false;
// 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
#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
bool _inBurst = false;
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);
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
wait_us(1);
return status;
}
@ -106,7 +138,7 @@ uint16_t pmw_get_cpi(void) {
}
bool pmw_spi_init(void) {
setPinOutput(PMW_CS_PIN);
setPinOutput(PMW3360_CS_PIN);
spi_init();
_inBurst = false;
@ -137,7 +169,7 @@ bool pmw_spi_init(void) {
spi_stop_adv();
wait_ms(10);
pmw_set_cpi(PMW_CPI);
pmw_set_cpi(PMW3360_CPI);
wait_ms(1);
@ -147,7 +179,7 @@ bool pmw_spi_init(void) {
bool init_success = pmw_check_signature();
writePinLow(PMW_CS_PIN);
writePinLow(PMW3360_CS_PIN);
return init_success;
}

81
drivers/sensors/pmw3360.h
View file

@ -20,56 +20,37 @@
#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
#ifndef PMW3360_CPI
# define PMW3360_CPI 1600
#endif
#ifndef PMW3360_CLOCK_SPEED
# define PMW3360_CLOCK_SPEED 70000000
#endif
#ifndef PMW3360_SPI_LSBFIRST
# define PMW3360_SPI_LSBFIRST false
#endif
#ifndef PMW3360_SPI_MODE
# define PMW3360_SPI_MODE 3
#endif
#ifndef PMW3360_SPI_DIVISOR
# ifdef __AVR__
# define PMW3360_SPI_DIVISOR (F_CPU / PMW3360_CLOCK_SPEED)
# else
# define EXTERNAL_EEPROM_SPI_CLOCK_DIVISOR 64
# endif
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
#ifndef PMW3360_CS_PIN
# error "No chip select pin defined -- missing PMW3360_CS_PIN"
#endif
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte);