[Core] Add configuration of PMW3360 lift off distance (#15424)

* sensor code add

* update documentation

* add default #define

* Update drivers/sensors/pmw3360.c

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

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

3 files changed, 7 insertions, 0 deletions

diff --git a/docs/feature_pointing_device.md b/docs/feature_pointing_device.md
index 031ee52c1..bd7fb3658 100644
--- a/docs/feature_pointing_device.md
+++ b/docs/feature_pointing_device.md
@@ -150,6 +150,7 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
 |`PMW3360_SPI_LSBFIRST`       | (Optional) Sets the Least/Most Significant Byte First setting for SPI.                     | `false`       |
 |`PMW3360_SPI_MODE`           | (Optional) Sets the SPI Mode for the sensor.                                               | `3`           |
 |`PMW3360_SPI_DIVISOR`        | (Optional) Sets the SPI Divisor used for SPI communication.                                | _varies_      |
+|`PMW3360_LIFTOFF_DISTANCE`   | (Optional) Sets the lift off distance at run time                                          | `0x02`        |
 |`ROTATIONAL_TRANSFORM_ANGLE` | (Optional) Allows for the sensor data to be rotated +/- 30 degrees directly in the sensor. | `0`           |
 
 The CPI range is 100-12000, in increments of 100. Defaults to 1600 CPI.
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
index 2b27dccbb..7e830cdde 100644
--- a/drivers/sensors/pmw3360.c
+++ b/drivers/sensors/pmw3360.c
@@ -186,6 +186,8 @@ bool pmw3360_init(void) {
 
     spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
 
+    spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
+
     bool init_success = pmw3360_check_signature();
 
     writePinLow(PMW3360_CS_PIN);
diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h
index 7b2bef5b8..9aa8e13f8 100644
--- a/drivers/sensors/pmw3360.h
+++ b/drivers/sensors/pmw3360.h
@@ -46,6 +46,10 @@
 #    endif
 #endif
 
+#ifndef PMW3360_LIFTOFF_DISTANCE
+#    define PMW3360_LIFTOFF_DISTANCE 0x02
+#endif
+
 #ifndef ROTATIONAL_TRANSFORM_ANGLE
 #    define ROTATIONAL_TRANSFORM_ANGLE 0x00
 #endif