1 files changed, 219 insertions, 0 deletions

diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c
new file mode 100644
index 000000000..36213179f
--- /dev/null
+++ b/drivers/sensors/adns9800.c
@@ -0,0 +1,219 @@
+/* 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;
+}