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-rw-r--r--drivers/sensors/pmw3360.c155
1 files changed, 79 insertions, 76 deletions
diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c
index 8c977be1c8..5f4d17a3f0 100644
--- a/drivers/sensors/pmw3360.c
+++ b/drivers/sensors/pmw3360.c
@@ -1,6 +1,7 @@
/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
+ * Copyright 2022 Ulrich Spörlein
*
* 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
@@ -83,7 +84,11 @@
# define MAX_CPI 0x77
#endif
-bool _inBurst = false;
+static const pin_t pins[] = PMW3360_CS_PINS;
+#define NUMBER_OF_SENSORS (sizeof(pins) / sizeof(pin_t))
+
+// per-sensor driver state
+static bool _inBurst[NUMBER_OF_SENSORS] = {0};
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte) {
@@ -92,18 +97,18 @@ void print_byte(uint8_t byte) {
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
-bool pmw3360_spi_start(void) {
- bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
+bool pmw3360_spi_start(int8_t index) {
+ bool status = spi_start(pins[index], PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
// tNCS-SCLK, 120ns
wait_us(1);
return status;
}
-spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
- pmw3360_spi_start();
+spi_status_t pmw3360_write(int8_t index, uint8_t reg_addr, uint8_t data) {
+ pmw3360_spi_start(index);
if (reg_addr != REG_Motion_Burst) {
- _inBurst = false;
+ _inBurst[index] = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
@@ -114,13 +119,13 @@ spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
wait_us(35);
spi_stop();
- // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
+ // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but it looks like a safe lower bound
wait_us(145);
return status;
}
-uint8_t pmw3360_read(uint8_t reg_addr) {
- pmw3360_spi_start();
+uint8_t pmw3360_read(int8_t index, uint8_t reg_addr) {
+ pmw3360_spi_start(index);
// send adress of the register, with MSBit = 0 to indicate it's a read
spi_write(reg_addr & 0x7f);
// tSRAD (=160us)
@@ -136,36 +141,62 @@ uint8_t pmw3360_read(uint8_t reg_addr) {
return data;
}
-bool pmw3360_init(void) {
- setPinOutput(PMW3360_CS_PIN);
+bool pmw3360_check_signature(int8_t index) {
+ uint8_t pid = pmw3360_read(index, REG_Product_ID);
+ uint8_t iv_pid = pmw3360_read(index, REG_Inverse_Product_ID);
+ uint8_t SROM_ver = pmw3360_read(index, REG_SROM_ID);
+ return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
+}
- spi_init();
- _inBurst = false;
+void pmw3360_upload_firmware(int8_t index) {
+ // Datasheet claims we need to disable REST mode first, but during startup
+ // it's already disabled and we're not turning it on ...
+ // pmw3360_write(index, REG_Config2, 0x00); // disable REST mode
+ pmw3360_write(index, REG_SROM_Enable, 0x1d);
- spi_stop();
- pmw3360_spi_start();
- spi_stop();
+ wait_ms(10);
+
+ pmw3360_write(index, REG_SROM_Enable, 0x18);
+
+ pmw3360_spi_start(index);
+ spi_write(REG_SROM_Load_Burst | 0x80);
+ wait_us(15);
- pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first
- wait_ms(300);
+ for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
+ spi_write(pgm_read_byte(firmware_data + i));
+#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
+ wait_us(15);
+#endif
+ }
+ wait_us(200);
- pmw3360_spi_start();
+ pmw3360_read(index, REG_SROM_ID);
+ pmw3360_write(index, REG_Config2, 0x00);
+}
+
+bool pmw3360_init(int8_t index) {
+ if (index >= NUMBER_OF_SENSORS) {
+ return false;
+ }
+ spi_init();
+
+ // power up, need to first drive NCS high then low.
+ // the datasheet does not say for how long, 40us works well in practice.
+ pmw3360_spi_start(index);
wait_us(40);
spi_stop();
wait_us(40);
-
- // power up, need to first drive NCS high then low, see above.
- pmw3360_write(REG_Power_Up_Reset, 0x5a);
+ pmw3360_write(index, REG_Power_Up_Reset, 0x5a);
wait_ms(50);
// read registers and discard
- pmw3360_read(REG_Motion);
- pmw3360_read(REG_Delta_X_L);
- pmw3360_read(REG_Delta_X_H);
- pmw3360_read(REG_Delta_Y_L);
- pmw3360_read(REG_Delta_Y_H);
+ pmw3360_read(index, REG_Motion);
+ pmw3360_read(index, REG_Delta_X_L);
+ pmw3360_read(index, REG_Delta_X_H);
+ pmw3360_read(index, REG_Delta_Y_L);
+ pmw3360_read(index, REG_Delta_Y_H);
- pmw3360_upload_firmware();
+ pmw3360_upload_firmware(index);
spi_stop();
@@ -174,13 +205,13 @@ bool pmw3360_init(void) {
wait_ms(1);
- pmw3360_write(REG_Config2, 0x00);
+ pmw3360_write(index, REG_Config2, 0x00);
- pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
+ pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
- pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
+ pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
- bool init_success = pmw3360_check_signature();
+ bool init_success = pmw3360_check_signature(index);
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3360 signature verified");
@@ -189,66 +220,38 @@ bool pmw3360_init(void) {
}
#endif
- writePinLow(PMW3360_CS_PIN);
-
return init_success;
}
-void pmw3360_upload_firmware(void) {
- // Datasheet claims we need to disable REST mode first, but during startup
- // it's already disabled and we're not turning it on ...
- // pmw3360_write(REG_Config2, 0x00); // disable REST mode
- pmw3360_write(REG_SROM_Enable, 0x1d);
-
- wait_ms(10);
-
- pmw3360_write(REG_SROM_Enable, 0x18);
-
- pmw3360_spi_start();
- spi_write(REG_SROM_Load_Burst | 0x80);
- wait_us(15);
-
- for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
- spi_write(pgm_read_byte(firmware_data + i));
-#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
- wait_us(15);
-#endif
- }
- wait_us(200);
-
- pmw3360_read(REG_SROM_ID);
- pmw3360_write(REG_Config2, 0x00);
-}
-
-bool pmw3360_check_signature(void) {
- uint8_t pid = pmw3360_read(REG_Product_ID);
- uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID);
- uint8_t SROM_ver = pmw3360_read(REG_SROM_ID);
- return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
-}
-
+// Only support reading the value from sensor #0, no one is using this anyway.
uint16_t pmw3360_get_cpi(void) {
- uint8_t cpival = pmw3360_read(REG_Config1);
+ uint8_t cpival = pmw3360_read(0, REG_Config1);
return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
}
+// Write same CPI to all sensors.
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
- pmw3360_write(REG_Config1, cpival);
+ for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) {
+ pmw3360_write(i, REG_Config1, cpival);
+ }
}
-report_pmw3360_t pmw3360_read_burst(void) {
+report_pmw3360_t pmw3360_read_burst(int8_t index) {
report_pmw3360_t report = {0};
+ if (index >= NUMBER_OF_SENSORS) {
+ return report;
+ }
- if (!_inBurst) {
+ if (!_inBurst[index]) {
#ifdef CONSOLE_ENABLE
- dprintf("burst on");
+ dprintf("burst on for index %d", index);
#endif
- pmw3360_write(REG_Motion_Burst, 0x00);
- _inBurst = true;
+ pmw3360_write(index, REG_Motion_Burst, 0x00);
+ _inBurst[index] = true;
}
- pmw3360_spi_start();
+ pmw3360_spi_start(index);
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
@@ -261,7 +264,7 @@ report_pmw3360_t pmw3360_read_burst(void) {
report.mdy = spi_read();
if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
- _inBurst = false;
+ _inBurst[index] = false;
}
spi_stop();
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-10 07:17:34 +0000