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/* Copyright 2020 Alexander Tulloh
*
* 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 "quantum.h"
#include "pmw3360_srom_0x04.h"
#include "pmw.h"
// registers
#define Product_ID 0x00
#define Revision_ID 0x01
#define Motion 0x02
#define Delta_X_L 0x03
#define Delta_X_H 0x04
#define Delta_Y_L 0x05
#define Delta_Y_H 0x06
#define SQUAL 0x07
#define Raw_Data_Sum 0x08
#define Maximum_Raw_data 0x09
#define Minimum_Raw_data 0x0A
#define Shutter_Lower 0x0B
#define Shutter_Upper 0x0C
#define Control 0x0D
#define Config1 0x0F
#define Config2 0x10
#define Angle_Tune 0x11
#define Frame_Capture 0x12
#define SROM_Enable 0x13
#define Run_Downshift 0x14
#define Rest1_Rate_Lower 0x15
#define Rest1_Rate_Upper 0x16
#define Rest1_Downshift 0x17
#define Rest2_Rate_Lower 0x18
#define Rest2_Rate_Upper 0x19
#define Rest2_Downshift 0x1A
#define Rest3_Rate_Lower 0x1B
#define Rest3_Rate_Upper 0x1C
#define Observation 0x24
#define Data_Out_Lower 0x25
#define Data_Out_Upper 0x26
#define Raw_Data_Dump 0x29
#define SROM_ID 0x2A
#define Min_SQ_Run 0x2B
#define Raw_Data_Threshold 0x2C
#define Config5 0x2F
#define Power_Up_Reset 0x3A
#define Shutdown 0x3B
#define Inverse_Product_ID 0x3F
#define LiftCutoff_Tune3 0x41
#define Angle_Snap 0x42
#define LiftCutoff_Tune1 0x4A
#define Motion_Burst 0x50
#define LiftCutoff_Tune_Timeout 0x58
#define LiftCutoff_Tune_Min_Length 0x5A
#define SROM_Load_Burst 0x62
#define Lift_Config 0x63
#define Raw_Data_Burst 0x64
#define LiftCutoff_Tune2 0x65
#define PMW_CLOCK_SPEED 70000000
#define MIN_CPI 100
#define MAX_CPI 12000
#define CPI_STEP 100
#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
#define SPI_MODE 3
#define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
#define US_BETWEEN_WRITES 180
#define US_BETWEEN_READS 20
#define US_BEFORE_MOTION 35
#define MSB1 0x80
extern const uint16_t pmw_firmware_length;
extern const uint8_t pmw_firmware_data[];
void pmw_spi_start(void){
spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
}
void pmw_write(uint8_t reg_addr, uint8_t data){
pmw_spi_start();
spi_write(reg_addr | MSB1 );
spi_write(data);
spi_stop();
wait_us(US_BETWEEN_WRITES);
}
uint8_t pmw_read(uint8_t reg_addr){
pmw_spi_start();
spi_write(reg_addr & 0x7f );
uint8_t data = spi_read();
spi_stop();
wait_us(US_BETWEEN_READS);
return data;
}
void pmw_init() {
setPinOutput(SPI_SS_PIN);
spi_init();
// reboot
pmw_write(Power_Up_Reset, 0x5a);
wait_ms(50);
// read registers and discard
pmw_read(Motion);
pmw_read(Delta_X_L);
pmw_read(Delta_X_H);
pmw_read(Delta_Y_L);
pmw_read(Delta_Y_H);
// upload firmware
// disable rest mode
pmw_write(Config2, 0x20);
// enable initialisation
pmw_write(SROM_Enable, 0x1d);
// wait a frame
wait_ms(10);
// start SROM download
pmw_write(SROM_Enable, 0x18);
// write the SROM file
pmw_spi_start();
spi_write(SROM_Load_Burst | 0x80);
wait_us(15);
// send all bytes of the firmware
unsigned char c;
for(int i = 0; i < pmw_firmware_length; i++){
c = (unsigned char)pgm_read_byte(pmw_firmware_data + i);
spi_write(c);
wait_us(15);
}
spi_stop();
wait_us(US_BETWEEN_WRITES);
// read id
pmw_read(SROM_ID);
// wired mouse
pmw_write(Config2, 0x00);
// first motion burst; write anything
pmw_write(Motion_Burst, 0xFF);
writePinLow(SPI_SS_PIN);
}
config_pmw_t pmw_get_config(void) {
uint8_t config_1 = pmw_read(Config1);
return (config_pmw_t){ (config_1 & 0xFF) * CPI_STEP };
}
void pmw_set_config(config_pmw_t config) {
uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
pmw_write(Config1, config_1);
}
static int16_t convertDeltaToInt(uint8_t high, uint8_t low){
// join bytes into twos compliment
uint16_t twos_comp = (high << 8) | low;
// convert twos comp to int
if (twos_comp & 0x8000)
return -1 * (~twos_comp + 1);
return twos_comp;
}
report_pmw_t pmw_get_report(void) {
report_pmw_t report = {0, 0};
pmw_spi_start();
// start burst mode
spi_write(Motion_Burst & 0x7f);
wait_us(US_BEFORE_MOTION);
uint8_t motion = spi_read();
if(motion & 0x80) {
// clear observation register
spi_read();
// delta registers
uint8_t delta_x_l = spi_read();
uint8_t delta_x_h = spi_read();
uint8_t delta_y_l = spi_read();
uint8_t delta_y_h = spi_read();
report.x = convertDeltaToInt(delta_x_h, delta_x_l);
report.y = convertDeltaToInt(delta_y_h, delta_y_l);
}
spi_stop();
return report;
}
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