/* Copyright 2020 Richard Sutherland <rich@brickbots.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 "spi_master.h" #include "adns.h" #include "debug.h" #include "quantum.h" #include "pointing_device.h" #include "adns9800_srom_A6.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 #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 // pins #define NCS F7 extern const uint16_t firmware_length; extern const uint8_t firmware_data[]; enum motion_burst_propertr{ motion = 0, observation, delta_x_l, delta_x_h, delta_y_l, delta_y_h, squal, pixel_sum, maximum_pixel, minimum_pixel, shutter_upper, shutter_lower, frame_period_upper, frame_period_lower, end_data }; void adns_begin(void){ spi_start(NCS, false, 3, 8); } void adns_end(void){ spi_stop(); } void adns_write(uint8_t reg_addr, uint8_t data){ adns_begin(); //send address of the register, with MSBit = 1 to indicate it's a write spi_write(reg_addr | 0x80 ); 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); adns_end(); } uint8_t adns_read(uint8_t reg_addr){ adns_begin(); // 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); adns_end(); return data; } void pointing_device_init(void) { dprint("STARTING INTI\n"); spi_init(); // reset serial port adns_begin(); adns_end(); // reboot adns_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); // upload firmware // set the configuration_IV register in 3k firmware mode // bit 1 = 1 for 3k mode, other bits are reserved adns_write(REG_Configuration_IV, 0x02); // write 0x1d in SROM_enable reg for initializing adns_write(REG_SROM_Enable, 0x1d); // wait for more than one frame period // assume that the frame rate is as low as 100fps... even if it should never be that low wait_ms(10); // write 0x18 to SROM_enable to start SROM download adns_write(REG_SROM_Enable, 0x18); // write the SROM file (=firmware data) // write burst destination adress adns_begin(); spi_write(REG_SROM_Load_Burst | 0x80); wait_us(15); // 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); spi_write(c); wait_us(15); } adns_end(); wait_ms(10); // enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b) // reading the actual value of the register is important because the real // default value is different from what is said in the datasheet, and if you // change the reserved bytes (like by writing 0x00...) it would not work. uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0); adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); wait_ms(1); // set the configuration_I register to set the CPI // 0x01 = 50, minimum // 0x44 = 3400, default // 0x8e = 7100 // 0xA4 = 8200, maximum adns_write(REG_Configuration_I, 0x10); wait_ms(100); dprint("INIT ENDED\n"); } int16_t convertDeltaToInt(uint8_t high, uint8_t low){ // join bytes into twos compliment //int16_t twos_comp = (high << 8) | low; //return twos_comp; return (high << 8) | low; } motion_delta_t readSensor(void) { adns_begin(); // read from Motion_Burst to enable burt mode spi_write(REG_Motion_Burst & 0x7f); // Wait one frame per docs, thanks u/kbjunky wait_us(100); uint8_t burst_data[pixel_sum]; for (int i = 0; i < pixel_sum; ++i) { burst_data[i] = spi_read(); } uint16_t delta_x = convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]); uint16_t delta_y = convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]); // Only consider the MSB for motion as this byte has other status bits uint8_t motion_ind = burst_data[motion] & 0b10000000; adns_end(); motion_delta_t delta = {delta_x, delta_y, motion_ind}; return delta; } void pointing_device_task(void) { motion_delta_t delta = readSensor(); report_mouse_t report = pointing_device_get_report(); if(delta.motion_ind) { // clamp deltas from -127 to 127 report.x = delta.delta_x < -127 ? -127 : delta.delta_x > 127 ? 127 : delta.delta_x; report.x = -report.x; report.y = delta.delta_y < -127 ? -127 : delta.delta_y > 127 ? 127 : delta.delta_y; } pointing_device_set_report(report); pointing_device_send(); }