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-rw-r--r--drivers/sensors/pmw3360.c237
1 files changed, 237 insertions, 0 deletions
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
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1/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
2 * Copyright 2019 Sunjun Kim
3 * Copyright 2020 Ploopy Corporation
4 *
5 * This program is free software: you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation, either version 2 of the License, or
8 * (at your option) any later version.
9 *
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
14 *
15 * You should have received a copy of the GNU General Public License
16 * along with this program. If not, see <http://www.gnu.org/licenses/>.
17 */
18
19#include "wait.h"
20#include "debug.h"
21#include "print.h"
22#include "pmw3360.h"
23#include "pmw3360_firmware.h"
24
25bool _inBurst = false;
26
27#ifndef PMW_CPI
28# define PMW_CPI 1600
29#endif
30#ifndef PMW_CLOCK_SPEED
31# define PMW_CLOCK_SPEED 70000000
32#endif
33#ifndef SPI_MODE
34# define SPI_MODE 3
35#endif
36#ifndef SPI_DIVISOR
37# define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
38#endif
39#ifndef ROTATIONAL_TRANSFORM_ANGLE
40# define ROTATIONAL_TRANSFORM_ANGLE 0x00
41#endif
42#ifndef PMW_CS_PIN
43# define PMW_CS_PIN SPI_SS_PIN
44#endif
45
46void 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')); }
47
48bool spi_start_adv(void) {
49 bool status = spi_start(PMW_CS_PIN, false, SPI_MODE, SPI_DIVISOR);
50 wait_us(1);
51 return status;
52}
53
54void spi_stop_adv(void) {
55 wait_us(1);
56 spi_stop();
57}
58
59spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
60 if (reg_addr != REG_Motion_Burst) {
61 _inBurst = false;
62 }
63
64 spi_start_adv();
65 // send address of the register, with MSBit = 1 to indicate it's a write
66 spi_status_t status = spi_write(reg_addr | 0x80);
67 status = spi_write(data);
68
69 // tSCLK-NCS for write operation
70 wait_us(20);
71
72 // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
73 wait_us(100);
74 spi_stop();
75 return status;
76}
77
78uint8_t spi_read_adv(uint8_t reg_addr) {
79 spi_start_adv();
80 // send adress of the register, with MSBit = 0 to indicate it's a read
81 spi_write(reg_addr & 0x7f);
82
83 uint8_t data = spi_read();
84
85 // tSCLK-NCS for read operation is 120ns
86 wait_us(1);
87
88 // tSRW/tSRR (=20us) minus tSCLK-NCS
89 wait_us(19);
90
91 spi_stop();
92 return data;
93}
94
95void pmw_set_cpi(uint16_t cpi) {
96 uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
97
98 spi_start_adv();
99 spi_write_adv(REG_Config1, cpival);
100 spi_stop();
101}
102
103uint16_t pmw_get_cpi(void) {
104 uint8_t cpival = spi_read_adv(REG_Config1);
105 return (uint16_t)(cpival & 0xFF) * 100;
106}
107
108bool pmw_spi_init(void) {
109 setPinOutput(PMW_CS_PIN);
110
111 spi_init();
112 _inBurst = false;
113
114 spi_stop();
115 spi_start_adv();
116 spi_stop();
117
118 spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
119 wait_ms(300);
120
121 spi_start_adv();
122 wait_us(40);
123 spi_stop_adv();
124 wait_us(40);
125
126 spi_write_adv(REG_Power_Up_Reset, 0x5a);
127 wait_ms(50);
128
129 spi_read_adv(REG_Motion);
130 spi_read_adv(REG_Delta_X_L);
131 spi_read_adv(REG_Delta_X_H);
132 spi_read_adv(REG_Delta_Y_L);
133 spi_read_adv(REG_Delta_Y_H);
134
135 pmw_upload_firmware();
136
137 spi_stop_adv();
138
139 wait_ms(10);
140 pmw_set_cpi(PMW_CPI);
141
142 wait_ms(1);
143
144 spi_write_adv(REG_Config2, 0x00);
145
146 spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
147
148 bool init_success = pmw_check_signature();
149
150 writePinLow(PMW_CS_PIN);
151
152 return init_success;
153}
154
155void pmw_upload_firmware(void) {
156 spi_write_adv(REG_SROM_Enable, 0x1d);
157
158 wait_ms(10);
159
160 spi_write_adv(REG_SROM_Enable, 0x18);
161
162 spi_start_adv();
163 spi_write(REG_SROM_Load_Burst | 0x80);
164 wait_us(15);
165
166 unsigned char c;
167 for (int i = 0; i < firmware_length; i++) {
168 c = (unsigned char)pgm_read_byte(firmware_data + i);
169 spi_write(c);
170 wait_us(15);
171 }
172 wait_us(200);
173
174 spi_read_adv(REG_SROM_ID);
175
176 spi_write_adv(REG_Config2, 0x00);
177
178 spi_stop();
179 wait_ms(10);
180}
181
182bool pmw_check_signature(void) {
183 uint8_t pid = spi_read_adv(REG_Product_ID);
184 uint8_t iv_pid = spi_read_adv(REG_Inverse_Product_ID);
185 uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
186 return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04
187}
188
189report_pmw_t pmw_read_burst(void) {
190 if (!_inBurst) {
191 dprintf("burst on");
192 spi_write_adv(REG_Motion_Burst, 0x00);
193 _inBurst = true;
194 }
195
196 spi_start_adv();
197 spi_write(REG_Motion_Burst);
198 wait_us(35); // waits for tSRAD
199
200 report_pmw_t data;
201 data.motion = 0;
202 data.dx = 0;
203 data.mdx = 0;
204 data.dy = 0;
205 data.mdx = 0;
206
207 data.motion = spi_read();
208 spi_write(0x00); // skip Observation
209 data.dx = spi_read();
210 data.mdx = spi_read();
211 data.dy = spi_read();
212 data.mdy = spi_read();
213
214 spi_stop();
215
216 print_byte(data.motion);
217 print_byte(data.dx);
218 print_byte(data.mdx);
219 print_byte(data.dy);
220 print_byte(data.mdy);
221 dprintf("\n");
222
223 data.isMotion = (data.motion & 0x80) != 0;
224 data.isOnSurface = (data.motion & 0x08) == 0;
225 data.dx |= (data.mdx << 8);
226 data.dx = data.dx * -1;
227 data.dy |= (data.mdy << 8);
228 data.dy = data.dy * -1;
229
230 spi_stop();
231
232 if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
233 _inBurst = false;
234 }
235
236 return data;
237}