1 files changed, 254 insertions, 0 deletions

diff --git a/keyboards/molecule/adns.c b/keyboards/molecule/adns.c
new file mode 100644
index 000000000..be40cf7ea
--- /dev/null
+++ b/keyboards/molecule/adns.c
@@ -0,0 +1,254 @@
+/* Copyright 2020 Richard Sutherland <rich@brickbots.com>
+ *
+ * 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 "adns.h"
+#include "debug.h"
+#include "quantum.h"
+#include "pointing_device.h"
+#include "adns9800_srom_A6.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
+
+// pins
+#define NCS F7
+
+extern const uint16_t firmware_length;
+extern const uint8_t firmware_data[];
+
+enum motion_burst_propertr{
+    motion = 0,
+    observation,
+    delta_x_l,
+    delta_x_h,
+    delta_y_l,
+    delta_y_h,
+    squal,
+    pixel_sum,
+    maximum_pixel,
+    minimum_pixel,
+    shutter_upper,
+    shutter_lower,
+    frame_period_upper,
+    frame_period_lower,
+    end_data
+};
+
+void adns_begin(void){
+    spi_start(NCS, false, 3, 8);
+}
+
+void adns_end(void){
+    spi_stop();
+}
+
+void adns_write(uint8_t reg_addr, uint8_t data){
+
+    adns_begin();
+    //send address of the register, with MSBit = 1 to indicate it's a write
+    spi_write(reg_addr | 0x80 );
+    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);
+    adns_end();
+}
+
+uint8_t adns_read(uint8_t reg_addr){
+
+
+    adns_begin();
+    // 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);
+
+    adns_end();
+    return data;
+}
+
+void pointing_device_init(void) {
+    dprint("STARTING INTI\n");
+
+    spi_init();
+    // reset serial port
+    adns_begin();
+    adns_end();
+
+    // 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
+
+    // set the configuration_IV register in 3k firmware mode
+    // bit 1 = 1 for 3k mode, other bits are reserved
+    adns_write(REG_Configuration_IV, 0x02);
+
+    // write 0x1d in SROM_enable reg for initializing
+    adns_write(REG_SROM_Enable, 0x1d);
+
+    // wait for more than one frame period
+    // assume that the frame rate is as low as 100fps... even if it should never be that low
+    wait_ms(10);
+
+    // write 0x18 to SROM_enable to start SROM download
+    adns_write(REG_SROM_Enable, 0x18);
+
+    // write the SROM file (=firmware data)
+
+    // write burst destination adress
+    adns_begin();
+    spi_write(REG_SROM_Load_Burst | 0x80);
+    wait_us(15);
+    // send all bytes of the firmware
+    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);
+    }
+
+    adns_end();
+    wait_ms(10);
+
+    // enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b)
+    // reading the actual value of the register is important because the real
+    // default value is different from what is said in the datasheet, and if you
+    // change the reserved bytes (like by writing 0x00...) it would not work.
+    uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
+    adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
+
+    wait_ms(1);
+
+    // set the configuration_I register to set the CPI
+    // 0x01 = 50, minimum
+    // 0x44 = 3400, default
+    // 0x8e = 7100
+    // 0xA4 = 8200, maximum
+    adns_write(REG_Configuration_I, 0x10);
+
+    wait_ms(100);
+    dprint("INIT ENDED\n");
+}
+
+int16_t convertDeltaToInt(uint8_t high, uint8_t low){
+
+    // join bytes into twos compliment
+    //int16_t twos_comp = (high << 8) | low;
+    //return twos_comp;
+    return (high << 8) | low;
+}
+
+motion_delta_t readSensor(void) {
+    adns_begin();
+
+    // read from Motion_Burst to enable burt mode
+    spi_write(REG_Motion_Burst & 0x7f);
+
+    // Wait one frame per docs, thanks u/kbjunky
+    wait_us(100);
+    uint8_t burst_data[pixel_sum];
+
+    for (int i = 0; i < pixel_sum; ++i) {
+        burst_data[i] = spi_read();
+    }
+
+    uint16_t delta_x = convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
+    uint16_t delta_y = convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);
+    // Only consider the MSB for motion as this byte has other status bits
+    uint8_t motion_ind = burst_data[motion] & 0b10000000;
+    adns_end();
+
+    motion_delta_t delta = {delta_x, delta_y, motion_ind};
+    return delta;
+}
+
+void pointing_device_task(void) {
+    motion_delta_t delta = readSensor();
+
+    report_mouse_t report = pointing_device_get_report();
+   
+    if(delta.motion_ind) {
+        // clamp deltas from -127 to 127
+        report.x = delta.delta_x < -127 ? -127 : delta.delta_x > 127 ? 127 : delta.delta_x;
+        report.x = -report.x;
+        report.y = delta.delta_y < -127 ? -127 : delta.delta_y > 127 ? 127 : delta.delta_y;
+    }
+
+    pointing_device_set_report(report);
+    pointing_device_send();
+}