1 files changed, 237 insertions, 0 deletions

diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
new file mode 100644
index 000000000..91ee87b95
--- /dev/null
+++ b/drivers/sensors/pmw3360.c
@@ -0,0 +1,237 @@
+/* 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;
+}