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Diffstat (limited to 'drivers/sensors/pmw3389.c')
| -rw-r--r-- | drivers/sensors/pmw3389.c | 292 |
1 files changed, 292 insertions, 0 deletions
diff --git a/drivers/sensors/pmw3389.c b/drivers/sensors/pmw3389.c new file mode 100644 index 0000000000..963925bd38 --- /dev/null +++ b/drivers/sensors/pmw3389.c @@ -0,0 +1,292 @@ +/* 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; +} |