diff options
Diffstat (limited to 'drivers/sensors')
| -rw-r--r-- | drivers/sensors/adns5050.c | 157 | ||||
| -rw-r--r-- | drivers/sensors/adns5050.h | 75 | ||||
| -rw-r--r-- | drivers/sensors/adns9800.c | 175 | ||||
| -rw-r--r-- | drivers/sensors/adns9800.h | 42 | ||||
| -rw-r--r-- | drivers/sensors/adns9800_srom_A6.h | 2 | ||||
| -rw-r--r-- | drivers/sensors/analog_joystick.c | 94 | ||||
| -rw-r--r-- | drivers/sensors/analog_joystick.h | 51 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle.c | 232 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle.h | 74 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_i2c.c | 43 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_spi.c | 52 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.c | 187 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.h | 48 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.c | 140 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.h | 38 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360_firmware.h | 5 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389_firmware.h | 303 |
17 files changed, 1281 insertions, 437 deletions
diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c index 254ef2ee87..c23d24d5af 100644 --- a/drivers/sensors/adns5050.c +++ b/drivers/sensors/adns5050.c @@ -20,81 +20,95 @@ #include "adns5050.h" #include "wait.h" #include "debug.h" -#include "print.h" #include "gpio.h" -#ifndef OPTIC_ROTATED -# define OPTIC_ROTATED false -#endif - -// Definitions for the ADNS serial line. -#ifndef ADNS_SCLK_PIN -# define ADNS_SCLK_PIN B7 -#endif - -#ifndef ADNS_SDIO_PIN -# define ADNS_SDIO_PIN C6 -#endif - -#ifndef ADNS_CS_PIN -# define ADNS_CS_PIN B4 -#endif - -#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 - -// Initialize the ADNS serial pins. -void adns_init(void) { - setPinOutput(ADNS_SCLK_PIN); - setPinOutput(ADNS_SDIO_PIN); - setPinOutput(ADNS_CS_PIN); +// Registers +// clang-format off +#define REG_PRODUCT_ID 0x00 +#define REG_REVISION_ID 0x01 +#define REG_MOTION 0x02 +#define REG_DELTA_X 0x03 +#define REG_DELTA_Y 0x04 +#define REG_SQUAL 0x05 +#define REG_SHUTTER_UPPER 0x06 +#define REG_SHUTTER_LOWER 0x07 +#define REG_MAXIMUM_PIXEL 0x08 +#define REG_PIXEL_SUM 0x09 +#define REG_MINIMUM_PIXEL 0x0a +#define REG_PIXEL_GRAB 0x0b +#define REG_MOUSE_CONTROL 0x0d +#define REG_MOUSE_CONTROL2 0x19 +#define REG_LED_DC_MODE 0x22 +#define REG_CHIP_RESET 0x3a +#define REG_PRODUCT_ID2 0x3e +#define REG_INV_REV_ID 0x3f +#define REG_MOTION_BURST 0x63 +// clang-format on + +void adns5050_init(void) { + // Initialize the ADNS serial pins. + setPinOutput(ADNS5050_SCLK_PIN); + setPinOutput(ADNS5050_SDIO_PIN); + setPinOutput(ADNS5050_CS_PIN); + + // reboot the adns. + // if the adns hasn't initialized yet, this is harmless. + adns5050_write_reg(REG_CHIP_RESET, 0x5a); + + // wait maximum time before adns is ready. + // this ensures that the adns is actuall ready after reset. + wait_ms(55); + + // read a burst from the adns and then discard it. + // gets the adns ready for write commands + // (for example, setting the dpi). + adns5050_read_burst(); } // Perform a synchronization with the ADNS. // Just as with the serial protocol, this is used by the slave to send a // synchronization signal to the master. -void adns_sync(void) { - writePinLow(ADNS_CS_PIN); +void adns5050_sync(void) { + writePinLow(ADNS5050_CS_PIN); wait_us(1); - writePinHigh(ADNS_CS_PIN); + writePinHigh(ADNS5050_CS_PIN); } -void adns_cs_select(void) { writePinLow(ADNS_CS_PIN); } +void adns5050_cs_select(void) { writePinLow(ADNS5050_CS_PIN); } -void adns_cs_deselect(void) { writePinHigh(ADNS_CS_PIN); } +void adns5050_cs_deselect(void) { writePinHigh(ADNS5050_CS_PIN); } -uint8_t adns_serial_read(void) { - setPinInput(ADNS_SDIO_PIN); +uint8_t adns5050_serial_read(void) { + setPinInput(ADNS5050_SDIO_PIN); uint8_t byte = 0; for (uint8_t i = 0; i < 8; ++i) { - writePinLow(ADNS_SCLK_PIN); + writePinLow(ADNS5050_SCLK_PIN); wait_us(1); - byte = (byte << 1) | readPin(ADNS_SDIO_PIN); + byte = (byte << 1) | readPin(ADNS5050_SDIO_PIN); - writePinHigh(ADNS_SCLK_PIN); + writePinHigh(ADNS5050_SCLK_PIN); wait_us(1); } return byte; } -void adns_serial_write(uint8_t data) { - setPinOutput(ADNS_SDIO_PIN); +void adns5050_serial_write(uint8_t data) { + setPinOutput(ADNS5050_SDIO_PIN); for (int8_t b = 7; b >= 0; b--) { - writePinLow(ADNS_SCLK_PIN); + writePinLow(ADNS5050_SCLK_PIN); if (data & (1 << b)) - writePinHigh(ADNS_SDIO_PIN); + writePinHigh(ADNS5050_SDIO_PIN); else - writePinLow(ADNS_SDIO_PIN); + writePinLow(ADNS5050_SDIO_PIN); wait_us(2); - writePinHigh(ADNS_SCLK_PIN); + writePinHigh(ADNS5050_SCLK_PIN); } // tSWR. See page 15 of the ADNS spec sheet. @@ -108,17 +122,17 @@ void adns_serial_write(uint8_t data) { // Read a byte of data from a register on the ADNS. // Don't forget to use the register map (as defined in the header file). -uint8_t adns_read_reg(uint8_t reg_addr) { - adns_cs_select(); +uint8_t adns5050_read_reg(uint8_t reg_addr) { + adns5050_cs_select(); - adns_serial_write(reg_addr); + adns5050_serial_write(reg_addr); // We don't need a minimum tSRAD here. That's because a 4ms wait time is - // already included in adns_serial_write(), so we're good. + // already included in adns5050_serial_write(), so we're good. // See page 10 and 15 of the ADNS spec sheet. // wait_us(4); - uint8_t byte = adns_serial_read(); + uint8_t byte = adns5050_serial_read(); // tSRW & tSRR. See page 15 of the ADNS spec sheet. // Technically, this is only necessary if the next operation is an SDIO @@ -126,38 +140,38 @@ uint8_t adns_read_reg(uint8_t reg_addr) { // Honestly, this wait could probably be removed. wait_us(1); - adns_cs_deselect(); + adns5050_cs_deselect(); return byte; } -void adns_write_reg(uint8_t reg_addr, uint8_t data) { - adns_cs_select(); - adns_serial_write(0b10000000 | reg_addr); - adns_serial_write(data); - adns_cs_deselect(); +void adns5050_write_reg(uint8_t reg_addr, uint8_t data) { + adns5050_cs_select(); + adns5050_serial_write(0b10000000 | reg_addr); + adns5050_serial_write(data); + adns5050_cs_deselect(); } -report_adns_t adns_read_burst(void) { - adns_cs_select(); +report_adns5050_t adns5050_read_burst(void) { + adns5050_cs_select(); - report_adns_t data; + report_adns5050_t data; data.dx = 0; data.dy = 0; - adns_serial_write(REG_MOTION_BURST); + adns5050_serial_write(REG_MOTION_BURST); // We don't need a minimum tSRAD here. That's because a 4ms wait time is - // already included in adns_serial_write(), so we're good. + // already included in adns5050_serial_write(), so we're good. // See page 10 and 15 of the ADNS spec sheet. // wait_us(4); - uint8_t x = adns_serial_read(); - uint8_t y = adns_serial_read(); + uint8_t x = adns5050_serial_read(); + uint8_t y = adns5050_serial_read(); // Burst mode returns a bunch of other shit that we don't really need. // Setting CS to high ends burst mode early. - adns_cs_deselect(); + adns5050_cs_deselect(); data.dx = convert_twoscomp(x); data.dy = convert_twoscomp(y); @@ -175,12 +189,21 @@ int8_t convert_twoscomp(uint8_t data) { } // Don't forget to use the definitions for CPI in the header file. -void adns_set_cpi(uint8_t cpi) { adns_write_reg(REG_MOUSE_CONTROL2, cpi); } +void adns5050_set_cpi(uint16_t cpi) { + uint8_t cpival = constrain((cpi / 125), 0x1, 0xD); // limits to 0--119 + + adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival); +} + +uint16_t adns5050_get_cpi(void) { + uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2); + return (uint16_t)((cpival & 0b10000) * 125); +} -bool adns_check_signature(void) { - uint8_t pid = adns_read_reg(REG_PRODUCT_ID); - uint8_t rid = adns_read_reg(REG_REVISION_ID); - uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2); +bool adns5050_check_signature(void) { + uint8_t pid = adns5050_read_reg(REG_PRODUCT_ID); + uint8_t rid = adns5050_read_reg(REG_REVISION_ID); + uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2); return (pid == 0x12 && rid == 0x01 && pid2 == 0x26); } diff --git a/drivers/sensors/adns5050.h b/drivers/sensors/adns5050.h index 5e9edc2962..e45a250196 100644 --- a/drivers/sensors/adns5050.h +++ b/drivers/sensors/adns5050.h @@ -21,59 +21,52 @@ #include <stdbool.h> -// Registers -#define REG_PRODUCT_ID 0x00 -#define REG_REVISION_ID 0x01 -#define REG_MOTION 0x02 -#define REG_DELTA_X 0x03 -#define REG_DELTA_Y 0x04 -#define REG_SQUAL 0x05 -#define REG_SHUTTER_UPPER 0x06 -#define REG_SHUTTER_LOWER 0x07 -#define REG_MAXIMUM_PIXEL 0x08 -#define REG_PIXEL_SUM 0x09 -#define REG_MINIMUM_PIXEL 0x0a -#define REG_PIXEL_GRAB 0x0b -#define REG_MOUSE_CONTROL 0x0d -#define REG_MOUSE_CONTROL2 0x19 -#define REG_LED_DC_MODE 0x22 -#define REG_CHIP_RESET 0x3a -#define REG_PRODUCT_ID2 0x3e -#define REG_INV_REV_ID 0x3f -#define REG_MOTION_BURST 0x63 - // CPI values -#define CPI125 0x11 -#define CPI250 0x12 -#define CPI375 0x13 -#define CPI500 0x14 -#define CPI625 0x15 -#define CPI750 0x16 -#define CPI875 0x17 +// clang-format off +#define CPI125 0x11 +#define CPI250 0x12 +#define CPI375 0x13 +#define CPI500 0x14 +#define CPI625 0x15 +#define CPI750 0x16 +#define CPI875 0x17 #define CPI1000 0x18 #define CPI1125 0x19 #define CPI1250 0x1a #define CPI1375 0x1b +// clang-format on + +#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) + +// Definitions for the ADNS serial line. +#ifndef ADNS5050_SCLK_PIN +# error "No clock pin defined -- missing ADNS5050_SCLK_PIN" +#endif + +#ifndef ADNS5050_SDIO_PIN +# error "No data pin defined -- missing ADNS5050_SDIO_PIN" +#endif -#ifdef CONSOLE_ENABLE -void print_byte(uint8_t byte); +#ifndef ADNS5050_CS_PIN +# error "No chip select pin defined -- missing ADNS5050_CS_PIN" #endif typedef struct { int8_t dx; int8_t dy; -} report_adns_t; +} report_adns5050_t; // A bunch of functions to implement the ADNS5050-specific serial protocol. // Note that the "serial.h" driver is insufficient, because it does not // manually manipulate a serial clock signal. -void adns_init(void); -void adns_sync(void); -uint8_t adns_serial_read(void); -void adns_serial_write(uint8_t data); -uint8_t adns_read_reg(uint8_t reg_addr); -void adns_write_reg(uint8_t reg_addr, uint8_t data); -report_adns_t adns_read_burst(void); -int8_t convert_twoscomp(uint8_t data); -void adns_set_cpi(uint8_t cpi); -bool adns_check_signature(void); +void adns5050_init(void); +void adns5050_sync(void); +uint8_t adns5050_serial_read(void); +void adns5050_serial_write(uint8_t data); +uint8_t adns5050_read_reg(uint8_t reg_addr); +void adns5050_write_reg(uint8_t reg_addr, uint8_t data); +report_adns5050_t adns5050_read_burst(void); +void adns5050_set_cpi(uint16_t cpi); +uint16_t adns5050_get_cpi(void); +int8_t convert_twoscomp(uint8_t data); +bool adns5050_check_signature(void); diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c index b4f683452c..c52f991804 100644 --- a/drivers/sensors/adns9800.c +++ b/drivers/sensors/adns9800.c @@ -15,83 +15,80 @@ */ #include "spi_master.h" -#include "quantum.h" #include "adns9800_srom_A6.h" #include "adns9800.h" +#include "wait.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 +// 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_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 - -#define ADNS_CLOCK_SPEED 2000000 -#define MIN_CPI 200 -#define MAX_CPI 8200 -#define CPI_STEP 200 -#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value -#define SPI_MODE 3 -#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED) +#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 + +#define MIN_CPI 200 +#define MAX_CPI 8200 +#define CPI_STEP 200 +#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value #define US_BETWEEN_WRITES 120 -#define US_BETWEEN_READS 20 -#define US_BEFORE_MOTION 100 -#define MSB1 0x80 +#define US_BETWEEN_READS 20 +#define US_BEFORE_MOTION 100 +#define MSB1 0x80 +// clang-format on -extern const uint8_t firmware_data[]; +void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); } -void adns_spi_start(void) { spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); } - -void adns_write(uint8_t reg_addr, uint8_t data) { - adns_spi_start(); +void adns9800_write(uint8_t reg_addr, uint8_t data) { + adns9800_spi_start(); spi_write(reg_addr | MSB1); spi_write(data); spi_stop(); wait_us(US_BETWEEN_WRITES); } -uint8_t adns_read(uint8_t reg_addr) { - adns_spi_start(); +uint8_t adns9800_read(uint8_t reg_addr) { + adns9800_spi_start(); spi_write(reg_addr & 0x7f); uint8_t data = spi_read(); spi_stop(); @@ -100,39 +97,39 @@ uint8_t adns_read(uint8_t reg_addr) { return data; } -void adns_init() { - setPinOutput(SPI_SS_PIN); +void adns9800_init() { + setPinOutput(ADNS9800_CS_PIN); spi_init(); // reboot - adns_write(REG_Power_Up_Reset, 0x5a); + adns9800_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); + adns9800_read(REG_Motion); + adns9800_read(REG_Delta_X_L); + adns9800_read(REG_Delta_X_H); + adns9800_read(REG_Delta_Y_L); + adns9800_read(REG_Delta_Y_H); // upload firmware // 3k firmware mode - adns_write(REG_Configuration_IV, 0x02); + adns9800_write(REG_Configuration_IV, 0x02); // enable initialisation - adns_write(REG_SROM_Enable, 0x1d); + adns9800_write(REG_SROM_Enable, 0x1d); // wait a frame wait_ms(10); // start SROM download - adns_write(REG_SROM_Enable, 0x18); + adns9800_write(REG_SROM_Enable, 0x18); // write the SROM file - adns_spi_start(); + adns9800_spi_start(); spi_write(REG_SROM_Load_Burst | 0x80); wait_us(15); @@ -140,7 +137,7 @@ void adns_init() { // 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); + c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i); spi_write(c); wait_us(15); } @@ -150,18 +147,30 @@ void adns_init() { wait_ms(10); // enable laser - uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0); - adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); + uint8_t laser_ctrl0 = adns9800_read(REG_LASER_CTRL0); + adns9800_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); + + adns9800_set_cpi(ADNS9800_CPI); } -config_adns_t adns_get_config(void) { - uint8_t config_1 = adns_read(REG_Configuration_I); - return (config_adns_t){(config_1 & 0xFF) * CPI_STEP}; +config_adns9800_t adns9800_get_config(void) { + uint8_t config_1 = adns9800_read(REG_Configuration_I); + return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP}; } -void adns_set_config(config_adns_t config) { +void adns9800_set_config(config_adns9800_t config) { uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF; - adns_write(REG_Configuration_I, config_1); + adns9800_write(REG_Configuration_I, config_1); +} + +uint16_t adns9800_get_cpi(void) { + uint8_t config_1 = adns9800_read(REG_Configuration_I); + return (uint16_t){(config_1 & 0xFF) * CPI_STEP}; +} + +void adns9800_set_cpi(uint16_t cpi) { + uint8_t config_1 = (CLAMP_CPI(cpi) / CPI_STEP) & 0xFF; + adns9800_write(REG_Configuration_I, config_1); } static int16_t convertDeltaToInt(uint8_t high, uint8_t low) { @@ -174,10 +183,10 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) { return twos_comp; } -report_adns_t adns_get_report(void) { - report_adns_t report = {0, 0}; +report_adns9800_t adns9800_get_report(void) { + report_adns9800_t report = {0, 0}; - adns_spi_start(); + adns9800_spi_start(); // start burst mode spi_write(REG_Motion_Burst & 0x7f); diff --git a/drivers/sensors/adns9800.h b/drivers/sensors/adns9800.h index d19ded4012..e75a869c03 100644 --- a/drivers/sensors/adns9800.h +++ b/drivers/sensors/adns9800.h @@ -18,18 +18,48 @@ #include <stdint.h> +#ifndef ADNS9800_CPI +# define ADNS9800_CPI 1600 +#endif + +#ifndef ADNS9800_CLOCK_SPEED +# define ADNS9800_CLOCK_SPEED 2000000 +#endif + +#ifndef ADNS9800_SPI_LSBFIRST +# define ADNS9800_SPI_LSBFIRST false +#endif + +#ifndef ADNS9800_SPI_MODE +# define ADNS9800_SPI_MODE 3 +#endif + +#ifndef ADNS9800_SPI_DIVISOR +# ifdef __AVR__ +# define ADNS9800_SPI_DIVISOR (F_CPU / ADNS9800_CLOCK_SPEED) +# else +# define ADNS9800_SPI_DIVISOR 64 +# endif +#endif + +#ifndef ADNS9800_CS_PIN +# error "No chip select pin defined -- missing ADNS9800_CS_PIN" +#endif + typedef struct { /* 200 - 8200 CPI supported */ uint16_t cpi; -} config_adns_t; +} config_adns9800_t; typedef struct { int16_t x; int16_t y; -} report_adns_t; +} report_adns9800_t; -void adns_init(void); -config_adns_t adns_get_config(void); -void adns_set_config(config_adns_t); +void adns9800_init(void); +config_adns9800_t adns9800_get_config(void); +void adns9800_set_config(config_adns9800_t); +uint16_t adns9800_get_cpi(void); +void adns9800_set_cpi(uint16_t cpi); /* Reads and clears the current delta values on the ADNS sensor */ -report_adns_t adns_get_report(void); +report_adns9800_t adns9800_get_report(void); diff --git a/drivers/sensors/adns9800_srom_A6.h b/drivers/sensors/adns9800_srom_A6.h index e698a401b9..d86ecbbd9e 100644 --- a/drivers/sensors/adns9800_srom_A6.h +++ b/drivers/sensors/adns9800_srom_A6.h @@ -6,7 +6,7 @@ // clang-format off -const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = { +const uint8_t adns9800_firmware_data[FIRMWARE_LENGTH] PROGMEM = { 0x03, 0xA6, 0x68, 0x1E, 0x7D, 0x10, 0x7E, 0x7E, 0x5F, 0x1C, 0xB8, 0xF2, 0x47, 0x0C, 0x7B, 0x74, 0x4B, 0x14, 0x8B, 0x75, 0x66, 0x51, 0x0B, 0x8C, 0x76, 0x74, 0x4B, 0x14, 0xAA, 0xD6, 0x0F, 0x9C, 0xBA, 0xF6, 0x6E, 0x3F, 0xDD, 0x38, 0xD5, 0x02, 0x80, 0x9B, 0x82, 0x6D, 0x58, 0x13, 0xA4, 0xAB, diff --git a/drivers/sensors/analog_joystick.c b/drivers/sensors/analog_joystick.c new file mode 100644 index 0000000000..0f4d1d7a4c --- /dev/null +++ b/drivers/sensors/analog_joystick.c @@ -0,0 +1,94 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.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 "analog_joystick.h" +#include "analog.h" +#include "gpio.h" +#include "wait.h" + +// Set Parameters +uint16_t minAxisValue = ANALOG_JOYSTICK_AXIS_MIN; +uint16_t maxAxisValue = ANALOG_JOYSTICK_AXIS_MAX; + +uint8_t maxCursorSpeed = ANALOG_JOYSTICK_SPEED_MAX; +uint8_t speedRegulator = ANALOG_JOYSTICK_SPEED_REGULATOR; // Lower Values Create Faster Movement + +int16_t xOrigin, yOrigin; + +uint16_t lastCursor = 0; + +int16_t axisCoordinate(uint8_t pin, uint16_t origin) { + int8_t direction; + int16_t distanceFromOrigin; + int16_t range; + + int16_t position = analogReadPin(pin); + + if (origin == position) { + return 0; + } else if (origin > position) { + distanceFromOrigin = origin - position; + range = origin - minAxisValue; + direction = -1; + } else { + distanceFromOrigin = position - origin; + range = maxAxisValue - origin; + direction = 1; + } + + float percent = (float)distanceFromOrigin / range; + int16_t coordinate = (int16_t)(percent * 100); + if (coordinate < 0) { + return 0; + } else if (coordinate > 100) { + return 100 * direction; + } else { + return coordinate * direction; + } +} + +int8_t axisToMouseComponent(uint8_t pin, int16_t origin, uint8_t maxSpeed) { + int16_t coordinate = axisCoordinate(pin, origin); + if (coordinate != 0) { + float percent = (float)coordinate / 100; + return percent * maxCursorSpeed * (abs(coordinate) / speedRegulator); + } else { + return 0; + } +} + +report_analog_joystick_t analog_joystick_read(void) { + report_analog_joystick_t report = {0}; + + if (timer_elapsed(lastCursor) > ANALOG_JOYSTICK_READ_INTERVAL) { + lastCursor = timer_read(); + report.x = axisToMouseComponent(ANALOG_JOYSTICK_X_AXIS_PIN, xOrigin, maxCursorSpeed); + report.y = axisToMouseComponent(ANALOG_JOYSTICK_Y_AXIS_PIN, yOrigin, maxCursorSpeed); + } +#ifdef ANALOG_JOYSTICK_CLICK_PIN + report.button = !readPin(ANALOG_JOYSTICK_CLICK_PIN); +#endif + return report; +} + +void analog_joystick_init(void) { +#ifdef ANALOG_JOYSTICK_CLICK_PIN + setPinInputHigh(ANALOG_JOYSTICK_CLICK_PIN); +#endif + // Account for drift + xOrigin = analogReadPin(ANALOG_JOYSTICK_X_AXIS_PIN); + yOrigin = analogReadPin(ANALOG_JOYSTICK_Y_AXIS_PIN); +} diff --git a/drivers/sensors/analog_joystick.h b/drivers/sensors/analog_joystick.h new file mode 100644 index 0000000000..6892a08817 --- /dev/null +++ b/drivers/sensors/analog_joystick.h @@ -0,0 +1,51 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.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/>. + */ + +#pragma once + +#include <stdbool.h> +#include <stdint.h> + +#ifndef ANALOG_JOYSTICK_X_AXIS_PIN +# error No pin specified for X Axis +#endif +#ifndef ANALOG_JOYSTICK_Y_AXIS_PIN +# error No pin specified for Y Axis +#endif + +#ifndef ANALOG_JOYSTICK_AXIS_MIN +# define ANALOG_JOYSTICK_AXIS_MIN 0 +#endif +#ifndef ANALOG_JOYSTICK_AXIS_MAX +# define ANALOG_JOYSTICK_AXIS_MAX 1023 +#endif +#ifndef ANALOG_JOYSTICK_SPEED_REGULATOR +# define ANALOG_JOYSTICK_SPEED_REGULATOR 20 +#endif +#ifndef ANALOG_JOYSTICK_READ_INTERVAL +# define ANALOG_JOYSTICK_READ_INTERVAL 10 +#endif +#ifndef ANALOG_JOYSTICK_SPEED_MAX +# define ANALOG_JOYSTICK_SPEED_MAX 2 +#endif + +typedef struct { + int8_t x; + int8_t y; + bool button; +} report_analog_joystick_t; +report_analog_joystick_t analog_joystick_read(void); +void analog_joystick_init(void); diff --git a/drivers/sensors/cirque_pinnacle.c b/drivers/sensors/cirque_pinnacle.c new file mode 100644 index 0000000000..b807c4f076 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle.c @@ -0,0 +1,232 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +#include "cirque_pinnacle.h" +#include "print.h" +#include "debug.h" +#include "wait.h" + +// Registers for RAP +// clang-format off +#define FIRMWARE_ID 0x00 +#define FIRMWARE_VERSION_C 0x01 +#define STATUS_1 0x02 +#define SYSCONFIG_1 0x03 +#define FEEDCONFIG_1 0x04 +#define FEEDCONFIG_2 0x05 +#define CALIBRATION_CONFIG_1 0x07 +#define PS2_AU_CONTROL 0x08 +#define SAMPLE_RATE 0x09 +#define Z_IDLE_COUNT 0x0A +#define Z_SCALER 0x0B +#define SLEEP_INTERVAL 0x0C +#define SLEEP_TIMER 0x0D +#define PACKET_BYTE_0 0x12 +#define PACKET_BYTE_1 0x13 +#define PACKET_BYTE_2 0x14 +#define PACKET_BYTE_3 0x15 +#define PACKET_BYTE_4 0x16 +#define PACKET_BYTE_5 0x17 + +#define ERA_VALUE 0x1B +#define ERA_HIGH_BYTE 0x1C +#define ERA_LOW_BYTE 0x1D +#define ERA_CONTROL 0x1E + +// ADC-attenuation settings (held in BIT_7 and BIT_6) +// 1X = most sensitive, 4X = least sensitive +#define ADC_ATTENUATE_1X 0x00 +#define ADC_ATTENUATE_2X 0x40 +#define ADC_ATTENUATE_3X 0x80 +#define ADC_ATTENUATE_4X 0xC0 + +// Register config values for this demo +#define SYSCONFIG_1_VALUE 0x00 +#define FEEDCONFIG_1_VALUE 0x03 // 0x03 for absolute mode 0x01 for relative mode +#define FEEDCONFIG_2_VALUE 0x1C // 0x1F for normal functionality 0x1E for intellimouse disabled +#define Z_IDLE_COUNT_VALUE 0x05 +// clang-format on + +bool touchpad_init; +uint16_t scale_data = 1024; + +void cirque_pinnacle_clear_flags(void); +void cirque_pinnacle_enable_feed(bool feedEnable); +void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count); +void RAP_Write(uint8_t address, uint8_t data); + +#ifdef CONSOLE_ENABLE +void print_byte(uint8_t byte) { xprintf("%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 + +/* Logical Scaling Functions */ +// Clips raw coordinates to "reachable" window of sensor +// NOTE: values outside this window can only appear as a result of noise +void ClipCoordinates(pinnacle_data_t* coordinates) { + if (coordinates->xValue < CIRQUE_PINNACLE_X_LOWER) { + coordinates->xValue = CIRQUE_PINNACLE_X_LOWER; + } else if (coordinates->xValue > CIRQUE_PINNACLE_X_UPPER) { + coordinates->xValue = CIRQUE_PINNACLE_X_UPPER; + } + if (coordinates->yValue < CIRQUE_PINNACLE_Y_LOWER) { + coordinates->yValue = CIRQUE_PINNACLE_Y_LOWER; + } else if (coordinates->yValue > CIRQUE_PINNACLE_Y_UPPER) { + coordinates->yValue = CIRQUE_PINNACLE_Y_UPPER; + } +} + +uint16_t cirque_pinnacle_get_scale(void) { return scale_data; } +void cirque_pinnacle_set_scale(uint16_t scale) { scale_data = scale; } + +// Scales data to desired X & Y resolution +void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResolution, uint16_t yResolution) { + uint32_t xTemp = 0; + uint32_t yTemp = 0; + + ClipCoordinates(coordinates); + + xTemp = coordinates->xValue; + yTemp = coordinates->yValue; + + // translate coordinates to (0, 0) reference by subtracting edge-offset + xTemp -= CIRQUE_PINNACLE_X_LOWER; + yTemp -= CIRQUE_PINNACLE_Y_LOWER; + + // scale coordinates to (xResolution, yResolution) range + coordinates->xValue = (uint16_t)(xTemp * xResolution / CIRQUE_PINNACLE_X_RANGE); + coordinates->yValue = (uint16_t)(yTemp * yResolution / CIRQUE_PINNACLE_Y_RANGE); +} + +// Clears Status1 register flags (SW_CC and SW_DR) +void cirque_pinnacle_clear_flags() { + RAP_Write(STATUS_1, 0x00); + wait_us(50); +} + +// Enables/Disables the feed +void cirque_pinnacle_enable_feed(bool feedEnable) { + uint8_t temp; + + RAP_ReadBytes(FEEDCONFIG_1, &temp, 1); // Store contents of FeedConfig1 register + + if (feedEnable) { + temp |= 0x01; // Set Feed Enable bit + RAP_Write(0x04, temp); + } else { + temp &= ~0x01; // Clear Feed Enable bit + RAP_Write(0x04, temp); + } +} + +/* ERA (Extended Register Access) Functions */ +// Reads <count> bytes from an extended register at <address> (16-bit address), +// stores values in <*data> +void ERA_ReadBytes(uint16_t address, uint8_t* data, uint16_t count) { + uint8_t ERAControlValue = 0xFF; + + cirque_pinnacle_enable_feed(false); // Disable feed < |