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// Copyright 2022 Pablo Martinez (@elpekenin)
// Copyright 2022 Daniel Kao (dkao)
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// Copyright 2021 Alabastard (@Alabastard-64)
// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
// Copyright 2019 Sunjun Kim
// Copyright 2020 Ploopy Corporation
// SPDX-License-Identifier: GPL-2.0-or-later
#include "pointing_device_internal.h"
#include "pmw33xx_common.h"
#include "string.h"
#include "wait.h"
#include "spi_master.h"
#include "progmem.h"
extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM;
extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM;
static const pin_t cs_pins_left[] = PMW33XX_CS_PINS;
static const pin_t cs_pins_right[] = PMW33XX_CS_PINS_RIGHT;
static bool in_burst_left[ARRAY_SIZE(cs_pins_left)] = {0};
static bool in_burst_right[ARRAY_SIZE(cs_pins_right)] = {0};
bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor);
bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor);
void pmw33xx_set_cpi_all_sensors(uint16_t cpi) {
for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) {
pmw33xx_set_cpi(sensor, cpi);
}
}
bool pmw33xx_spi_start(uint8_t sensor) {
if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) {
spi_stop();
return false;
}
// tNCS-SCLK, 10ns
wait_us(1);
return true;
}
bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) {
if (!pmw33xx_spi_start(sensor)) {
return false;
}
if (reg_addr != REG_Motion_Burst) {
in_burst[sensor] = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
uint8_t command[2] = {reg_addr | 0x80, data};
if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) {
return false;
}
// tSCLK-NCS for write operation is 35us
wait_us(35);
spi_stop();
// tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like
// a safe lower bound
wait_us(145);
return true;
}
uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) {
if (!pmw33xx_spi_start(sensor)) {
return 0;
}
// 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) mins tSCLK-NCS
wait_us(19);
return data;
}
bool pmw33xx_check_signature(uint8_t sensor) {
uint8_t signature_dump[3] = {
pmw33xx_read(sensor, REG_Product_ID),
pmw33xx_read(sensor, REG_Inverse_Product_ID),
pmw33xx_read(sensor, REG_SROM_ID),
};
return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0;
}
bool pmw33xx_upload_firmware(uint8_t sensor) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw33xx_write(REG_Config2, 0x00); // disable REST mode
if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) {
return false;
}
wait_ms(10);
pmw33xx_write(sensor, REG_SROM_Enable, 0x18);
if (!pmw33xx_spi_start(sensor)) {
return false;
}
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(pmw33xx_firmware_data + i));
wait_us(15);
}
wait_us(200);
pmw33xx_read(sensor, REG_SROM_ID);
pmw33xx_write(sensor, REG_Config2, 0x00);
return true;
}
bool pmw33xx_init(uint8_t sensor) {
if (sensor >= pmw33xx_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.
if (!pmw33xx_spi_start(sensor)) {
return false;
}
wait_us(40);
spi_stop();
wait_us(40);
if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) {
return false;
}
wait_ms(50);
// read registers and discard
pmw33xx_read(sensor, REG_Motion);
pmw33xx_read(sensor, REG_Delta_X_L);
pmw33xx_read(sensor, REG_Delta_X_H);
pmw33xx_read(sensor, REG_Delta_Y_L);
pmw33xx_read(sensor, REG_Delta_Y_H);
if (!pmw33xx_upload_firmware(sensor)) {
pd_dprintf("PMW33XX (%d): firmware upload failed!\n", sensor);
return false;
}
spi_stop();
wait_ms(10);
pmw33xx_set_cpi(sensor, PMW33XX_CPI);
wait_ms(1);
pmw33xx_write(sensor, REG_Config2, 0x00);
pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE);
if (!pmw33xx_check_signature(sensor)) {
pd_dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor);
return false;
}
return true;
}
pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) {
pmw33xx_report_t report = {0};
if (sensor >= pmw33xx_number_of_sensors) {
return report;
}
if (!in_burst[sensor]) {
pd_dprintf("PMW33XX (%d): burst\n", sensor);
if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) {
return report;
}
in_burst[sensor] = true;
}
if (!pmw33xx_spi_start(sensor)) {
return report;
}
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
spi_receive((uint8_t*)&report, sizeof(report));
// panic recovery, sometimes burst mode works weird.
if (report.motion.w & 0b111) {
in_burst[sensor] = false;
}
spi_stop();
pd_dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y);
report.delta_x *= -1;
report.delta_y *= -1;
return report;
}
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