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-rw-r--r--drivers/sensors/pmw3389.c294
1 files changed, 294 insertions, 0 deletions
diff --git a/drivers/sensors/pmw3389.c b/drivers/sensors/pmw3389.c
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+++ b/drivers/sensors/pmw3389.c
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+/* 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 "spi_master.h"
+#include "pmw3389.h"
+#include "wait.h"
+#include "debug.h"
+#include "print.h"
+#include "pmw3389_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_RawData_Sum 0x08
+#define REG_Maximum_RawData 0x09
+#define REG_Minimum_RawData 0x0a
+#define REG_Shutter_Lower 0x0b
+#define REG_Shutter_Upper 0x0c
+#define REG_Ripple_Control 0x0d
+#define REG_Resolution_L 0x0e
+#define REG_Resolution_H 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_SROM_ID 0x2a
+#define REG_Min_SQ_Run 0x2b
+#define REG_RawData_Threshold 0x2c
+#define REG_Control2 0x2d
+#define REG_Config5_L 0x2e
+#define REG_Config5_H 0x2f
+#define REG_Power_Up_Reset 0X3a
+#define REG_Shutdown 0x3b
+#define REG_Inverse_Product_ID 0x3f
+#define REG_LiftCutoff_Cal3 0x41
+#define REG_Angle_Snap 0x42
+#define REG_LiftCutoff_Cal1 0x4a
+#define REG_Motion_Burst 0x50
+#define REG_SROM_Load_Burst 0x62
+#define REG_Lift_Config 0x63
+#define REG_RawData_Burst 0x64
+#define REG_LiftCutoff_Cal2 0x65
+#define REG_LiftCutoff_Cal_Timeout 0x71
+#define REG_LiftCutoff_Cal_Min_Length 0x72
+#define REG_PWM_Period_Cnt 0x73
+#define REG_PWM_Width_Cnt 0x74
+
+#define CPI_STEP 50
+// clang-format on
+
+// limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible).
+#ifndef MAX_CPI
+# define MAX_CPI 0x013f
+#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 pmw3389_spi_start(void) {
+ bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR);
+ // tNCS-SCLK, 120ns
+ wait_us(1);
+ return status;
+}
+
+spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) {
+ pmw3389_spi_start();
+
+ if (reg_addr != REG_Motion_Burst) {
+ _inBurst = false;
+ }
+
+ // 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 is 35 us
+ wait_us(35);
+ spi_stop();
+
+ // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
+ wait_us(145);
+ return status;
+}
+
+uint8_t pmw3389_read(uint8_t reg_addr) {
+ pmw3389_spi_start();
+ // send adress of the register, with MSBit = 0 to indicate it's a read
+ spi_write(reg_addr & 0x7f);
+ // tSRAD (=160us)
+ wait_us(160);
+ uint8_t data = spi_read();
+
+ // tSCLK-NCS, 120ns
+ wait_us(1);
+ spi_stop();
+
+ // tSRW/tSRR (=20us) minus tSCLK-NCS
+ wait_us(19);
+ return data;
+}
+
+bool pmw3389_init(void) {
+ setPinOutput(PMW3389_CS_PIN);
+
+ spi_init();
+ _inBurst = false;
+
+ spi_stop();
+ pmw3389_spi_start();
+ spi_stop();
+
+ pmw3389_write(REG_Shutdown, 0xb6); // Shutdown first
+ wait_ms(300);
+
+ pmw3389_spi_start();
+ wait_us(40);
+ spi_stop();
+ wait_us(40);
+
+ // power up, need to first drive NCS high then low, see above.
+ pmw3389_write(REG_Power_Up_Reset, 0x5a);
+ wait_ms(50);
+
+ // read registers and discard
+ pmw3389_read(REG_Motion);
+ pmw3389_read(REG_Delta_X_L);
+ pmw3389_read(REG_Delta_X_H);
+ pmw3389_read(REG_Delta_Y_L);
+ pmw3389_read(REG_Delta_Y_H);
+
+ pmw3389_upload_firmware();
+
+ spi_stop();
+
+ wait_ms(10);
+ pmw3389_set_cpi(PMW3389_CPI);
+
+ wait_ms(1);
+
+ pmw3389_write(REG_Config2, 0x00);
+
+ pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
+
+ pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE);
+
+ bool init_success = pmw3389_check_signature();
+#ifdef CONSOLE_ENABLE
+ if (init_success) {
+ dprintf("pmw3389 signature verified");
+ } else {
+ dprintf("pmw3389 signature verification failed!");
+ }
+#endif
+
+ writePinLow(PMW3389_CS_PIN);
+
+ return init_success;
+}
+
+void pmw3389_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 ...
+ // pmw3389_write(REG_Config2, 0x00); // disable REST mode
+ pmw3389_write(REG_SROM_Enable, 0x1d);
+
+ wait_ms(10);
+
+ pmw3389_write(REG_SROM_Enable, 0x18);
+
+ pmw3389_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 PMW3389_FIRMWARE_UPLOAD_FAST
+ wait_us(15);
+#endif
+ }
+ wait_us(200);
+
+ pmw3389_read(REG_SROM_ID);
+ pmw3389_write(REG_Config2, 0x00);
+}
+
+bool pmw3389_check_signature(void) {
+ uint8_t pid = pmw3389_read(REG_Product_ID);
+ uint8_t iv_pid = pmw3389_read(REG_Inverse_Product_ID);
+ uint8_t SROM_ver = pmw3389_read(REG_SROM_ID);
+ return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
+}
+
+uint16_t pmw3389_get_cpi(void) {
+ uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L);
+ return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP;
+}
+
+void pmw3389_set_cpi(uint16_t cpi) {
+ uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
+ // Sets upper byte first for more consistent setting of cpi
+ pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff);
+ pmw3389_write(REG_Resolution_L, cpival & 0xff);
+}
+
+report_pmw3389_t pmw3389_read_burst(void) {
+ report_pmw3389_t report = {0};
+
+ if (!_inBurst) {
+#ifdef CONSOLE_ENABLE
+ dprintf("burst on");
+#endif
+ pmw3389_write(REG_Motion_Burst, 0x00);
+ _inBurst = true;
+ }
+
+ pmw3389_spi_start();
+ spi_write(REG_Motion_Burst);
+ wait_us(35); // waits for tSRAD_MOTBR
+
+ report.motion = spi_read();
+ spi_read(); // skip Observation
+ // delta registers
+ report.dx = spi_read();
+ report.mdx = spi_read();
+ report.dy = spi_read();
+ report.mdy = spi_read();
+
+ if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
+ _inBurst = false;
+ }
+
+ spi_stop();
+
+#ifdef CONSOLE_ENABLE
+ if (debug_mouse) {
+ print_byte(report.motion);
+ print_byte(report.dx);
+ print_byte(report.mdx);
+ print_byte(report.dy);
+ print_byte(report.mdy);
+ dprintf("\n");
+ }
+#endif
+
+ report.isMotion = (report.motion & 0x80) != 0;
+ report.isOnSurface = (report.motion & 0x08) == 0;
+ report.dx |= (report.mdx << 8);
+ report.dx = report.dx * -1;
+ report.dy |= (report.mdy << 8);
+ report.dy = report.dy * -1;
+
+ return report;
+}
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