282 lines
7.9 KiB
C
282 lines
7.9 KiB
C
/* 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 "pmw3360.h"
|
|
#include "wait.h"
|
|
#include "debug.h"
|
|
#include "print.h"
|
|
#include PMW3360_FIRMWARE_H
|
|
|
|
// Registers
|
|
// clang-format off
|
|
#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_Raw_Data_Sum 0x08
|
|
#define REG_Maximum_Raw_data 0x09
|
|
#define REG_Minimum_Raw_data 0x0A
|
|
#define REG_Shutter_Lower 0x0B
|
|
#define REG_Shutter_Upper 0x0C
|
|
#define REG_Control 0x0D
|
|
#define REG_Config1 0x0F
|
|
#define REG_Config2 0x10
|
|
#define REG_Angle_Tune 0x11
|
|
#define REG_Frame_Capture 0x12
|
|
#define REG_SROM_Enable 0x13
|
|
#define REG_Run_Downshift 0x14
|
|
#define REG_Rest1_Rate_Lower 0x15
|
|
#define REG_Rest1_Rate_Upper 0x16
|
|
#define REG_Rest1_Downshift 0x17
|
|
#define REG_Rest2_Rate_Lower 0x18
|
|
#define REG_Rest2_Rate_Upper 0x19
|
|
#define REG_Rest2_Downshift 0x1A
|
|
#define REG_Rest3_Rate_Lower 0x1B
|
|
#define REG_Rest3_Rate_Upper 0x1C
|
|
#define REG_Observation 0x24
|
|
#define REG_Data_Out_Lower 0x25
|
|
#define REG_Data_Out_Upper 0x26
|
|
#define REG_Raw_Data_Dump 0x29
|
|
#define REG_SROM_ID 0x2A
|
|
#define REG_Min_SQ_Run 0x2B
|
|
#define REG_Raw_Data_Threshold 0x2C
|
|
#define REG_Config5 0x2F
|
|
#define REG_Power_Up_Reset 0x3A
|
|
#define REG_Shutdown 0x3B
|
|
#define REG_Inverse_Product_ID 0x3F
|
|
#define REG_LiftCutoff_Tune3 0x41
|
|
#define REG_Angle_Snap 0x42
|
|
#define REG_LiftCutoff_Tune1 0x4A
|
|
#define REG_Motion_Burst 0x50
|
|
#define REG_LiftCutoff_Tune_Timeout 0x58
|
|
#define REG_LiftCutoff_Tune_Min_Length 0x5A
|
|
#define REG_SROM_Load_Burst 0x62
|
|
#define REG_Lift_Config 0x63
|
|
#define REG_Raw_Data_Burst 0x64
|
|
#define REG_LiftCutoff_Tune2 0x65
|
|
// clang-format on
|
|
|
|
#ifndef MAX_CPI
|
|
# define MAX_CPI 0x77 // limits to 0--119, should be max cpi/100
|
|
#endif
|
|
|
|
bool _inBurst = false;
|
|
|
|
#ifdef CONSOLE_ENABLE
|
|
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')); }
|
|
#endif
|
|
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
|
|
|
|
bool spi_start_adv(void) {
|
|
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_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 pmw3360_set_cpi(uint16_t cpi) {
|
|
uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);
|
|
|
|
spi_start_adv();
|
|
spi_write_adv(REG_Config1, cpival);
|
|
spi_stop();
|
|
}
|
|
|
|
uint16_t pmw3360_get_cpi(void) {
|
|
uint8_t cpival = spi_read_adv(REG_Config1);
|
|
return (uint16_t)((cpival + 1) & 0xFF) * 100;
|
|
}
|
|
|
|
bool pmw3360_init(void) {
|
|
setPinOutput(PMW3360_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);
|
|
|
|
pmw3360_upload_firmware();
|
|
|
|
spi_stop_adv();
|
|
|
|
wait_ms(10);
|
|
pmw3360_set_cpi(PMW3360_CPI);
|
|
|
|
wait_ms(1);
|
|
|
|
spi_write_adv(REG_Config2, 0x00);
|
|
|
|
spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
|
|
|
|
spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
|
|
|
|
bool init_success = pmw3360_check_signature();
|
|
|
|
writePinLow(PMW3360_CS_PIN);
|
|
|
|
return init_success;
|
|
}
|
|
|
|
void pmw3360_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 pmw3360_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 == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
|
|
}
|
|
|
|
report_pmw3360_t pmw3360_read_burst(void) {
|
|
if (!_inBurst) {
|
|
#ifdef CONSOLE_ENABLE
|
|
dprintf("burst on");
|
|
#endif
|
|
spi_write_adv(REG_Motion_Burst, 0x00);
|
|
_inBurst = true;
|
|
}
|
|
|
|
spi_start_adv();
|
|
spi_write(REG_Motion_Burst);
|
|
wait_us(35); // waits for tSRAD
|
|
|
|
report_pmw3360_t data = {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();
|
|
|
|
#ifdef CONSOLE_ENABLE
|
|
if (debug_mouse) {
|
|
print_byte(data.motion);
|
|
print_byte(data.dx);
|
|
print_byte(data.mdx);
|
|
print_byte(data.dy);
|
|
print_byte(data.mdy);
|
|
dprintf("\n");
|
|
}
|
|
#endif
|
|
|
|
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;
|
|
}
|