summaryrefslogtreecommitdiffstats
path: root/keyboards/handwired/dactyl_manuform/5x6_right_trackball/pmw3360.c
blob: 59e34951270e90e19b164dcedf45104bee547376 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
/* 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/>.
 */

#ifdef POINTING_DEVICE_ENABLE

#include "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3360.h"
#include "pmw3360_firmware.h"

bool _inBurst = false;

#ifndef PMW_CPI
#    define PMW_CPI 1600
#endif
#ifndef SPI_DIVISOR
#    define SPI_DIVISOR 2
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
#    define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif

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')); }

bool spi_start_adv(void) {
    bool status = spi_start(SPI_SS_PIN, false, 3, SPI_DIVISOR);
    wait_us(1);
    return status;
}

void spi_stop_adv(void) {
    wait_us(1);
    spi_stop();
}

spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
    if (reg_addr != REG_Motion_Burst) {
        _inBurst = false;
    }

    spi_start_adv();
    // 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
    wait_us(20);

    // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
    wait_us(100);
    spi_stop();
    return status;
}

uint8_t spi_read_adv(uint8_t reg_addr) {
    spi_start_adv();
    // 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);

    spi_stop();
    return data;
}

void pmw_set_cpi(uint16_t cpi) {
    int cpival = constrain((cpi / 100) - 1, 0, 0x77);  // limits to 0--119

    spi_start_adv();
    spi_write_adv(REG_Config1, cpival);
    spi_stop();
}

bool pmw_spi_init(void) {
    spi_init();
    _inBurst = false;

    spi_stop();
    spi_start_adv();
    spi_stop();

    spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
    wait_ms(300);

    spi_start_adv();
    wait_us(40);
    spi_stop_adv();
    wait_us(40);

    spi_write_adv(REG_Power_Up_Reset, 0x5a);
    wait_ms(50);

    spi_read_adv(REG_Motion);
    spi_read_adv(REG_Delta_X_L);
    spi_read_adv(REG_Delta_X_H);
    spi_read_adv(REG_Delta_Y_L);
    spi_read_adv(REG_Delta_Y_H);

    pmw_upload_firmware();

    spi_stop_adv();

    wait_ms(10);
    pmw_set_cpi(PMW_CPI);

    wait_ms(1);

    return pmw_check_signature();
}

void pmw_upload_firmware(void) {
    spi_write_adv(REG_Config2, 0x00);

    spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));

    spi_write_adv(REG_SROM_Enable, 0x1d);

    wait_ms(10);

    spi_write_adv(REG_SROM_Enable, 0x18);

    spi_start_adv();
    spi_write(REG_SROM_Load_Burst | 0x80);
    wait_us(15);

    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);
    }
    wait_us(200);

    spi_read_adv(REG_SROM_ID);

    spi_write_adv(REG_Config2, 0x00);

    spi_stop();
    wait_ms(10);
}

bool pmw_check_signature(void) {
    uint8_t pid      = spi_read_adv(REG_Product_ID);
    uint8_t iv_pid   = spi_read_adv(REG_Inverse_Product_ID);
    uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
    return (pid == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04);  // signature for SROM 0x04
}

report_pmw_t pmw_read_burst(void) {
    if (!_inBurst) {
        dprintf("burst on");
        spi_write_adv(REG_Motion_Burst, 0x00);
        _inBurst = true;
    }

    spi_start_adv();
    spi_write(REG_Motion_Burst);
    wait_us(35);  // waits for tSRAD

    report_pmw_t data;
    data.motion = 0;
    data.dx     = 0;
    data.mdx    = 0;
    data.dy     = 0;
    data.mdx    = 0;

    data.motion = spi_read();
    spi_write(0x00);  // skip Observation
    data.dx  = spi_read();
    data.mdx = spi_read();
    data.dy  = spi_read();
    data.mdy = spi_read();

    spi_stop();

    print_byte(data.motion);
    print_byte(data.dx);
    print_byte(data.mdx);
    print_byte(data.dy);
    print_byte(data.mdy);
    dprintf("\n");

    data.isMotion    = (data.motion & 0x80) != 0;
    data.isOnSurface = (data.motion & 0x08) == 0;
    data.dx |= (data.mdx << 8);
    data.dx = data.dx * -1;
    data.dy |= (data.mdy << 8);
    data.dy = data.dy * -1;

    spi_stop();

    if (data.motion & 0b111) {  // panic recovery, sometimes burst mode works weird.
        _inBurst = false;
    }

    return data;
}

#endif