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pwm3360 driver cleanup and diff reduction to adns9800 (#15559)

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* Diff reduction between ADNS9800 and PMW3360 drivers.

They are very similar devices. This (somewhat) unreadable diff is
essentially a no-op, but it makes a `vimdiff` between the 2 drivers much
more readable.

* Cleanup pwm3360 driver some more.

Remove redundant calls to spi_start() and spi_stop(), as pmw3360_write()
will already call these.
This commit is contained in:
uqs 2021-12-27 11:26:09 +01:00 committed by GitHub
parent 0709d208db
commit d3952523fe
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
4 changed files with 133 additions and 146 deletions
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14
drivers/sensors/adns9800.c
View file

@ -77,7 +77,9 @@
#define MSB1 0x80
// clang-format on
void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); }
void adns9800_spi_start(void) {
spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR);
}
void adns9800_write(uint8_t reg_addr, uint8_t data) {
adns9800_spi_start();
@ -154,8 +156,8 @@ void adns9800_init() {
}
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};
uint8_t cpival = adns9800_read(REG_Configuration_I);
return (config_adns9800_t){(cpival & 0xFF) * CPI_STEP};
}
void adns9800_set_config(config_adns9800_t config) {
@ -164,8 +166,8 @@ void adns9800_set_config(config_adns9800_t config) {
}
uint16_t adns9800_get_cpi(void) {
uint8_t config_1 = adns9800_read(REG_Configuration_I);
return (uint16_t){(config_1 & 0xFF) * CPI_STEP};
uint8_t cpival = adns9800_read(REG_Configuration_I);
return (uint16_t)(cpival & 0xFF) * CPI_STEP;
}
void adns9800_set_cpi(uint16_t cpi) {
@ -184,7 +186,7 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
}
report_adns9800_t adns9800_get_report(void) {
report_adns9800_t report = {0, 0};
report_adns9800_t report = {0};
adns9800_spi_start();

242
drivers/sensors/pmw3360.c
View file

@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "spi_master.h"
#include "pmw3360.h"
#include "wait.h"
#include "debug.h"
@ -24,55 +25,57 @@
// Registers
// 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_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0A
#define REG_Shutter_Lower 0x0B
#define REG_Shutter_Upper 0x0C
#define REG_Control 0x0D
#define REG_Config1 0x0F
#define REG_Config2 0x10
#define REG_Angle_Tune 0x11
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate_Lower 0x15
#define REG_Rest1_Rate_Upper 0x16
#define REG_Rest1_Downshift 0x17
#define REG_Rest2_Rate_Lower 0x18
#define REG_Rest2_Rate_Upper 0x19
#define REG_Rest2_Downshift 0x1A
#define REG_Rest3_Rate_Lower 0x1B
#define REG_Rest3_Rate_Upper 0x1C
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2A
#define REG_Min_SQ_Run 0x2B
#define REG_Raw_Data_Threshold 0x2C
#define REG_Config5 0x2F
#define REG_Power_Up_Reset 0x3A
#define REG_Shutdown 0x3B
#define REG_Inverse_Product_ID 0x3F
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4A
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#define REG_LiftCutoff_Tune_Min_Length 0x5A
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65
#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_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Control 0x0d
#define REG_Config1 0x0f
#define REG_Config2 0x10
#define REG_Angle_Tune 0x11
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate_Lower 0x15
#define REG_Rest1_Rate_Upper 0x16
#define REG_Rest1_Downshift 0x17
#define REG_Rest2_Rate_Lower 0x18
#define REG_Rest2_Rate_Upper 0x19
#define REG_Rest2_Downshift 0x1a
#define REG_Rest3_Rate_Lower 0x1b
#define REG_Rest3_Rate_Upper 0x1c
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2a
#define REG_Min_SQ_Run 0x2b
#define REG_Raw_Data_Threshold 0x2c
#define REG_Config5 0x2f
#define REG_Power_Up_Reset 0x3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4a
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#define REG_LiftCutoff_Tune_Min_Length 0x5a
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65
#define CPI_STEP 100
// clang-format on
#ifndef MAX_CPI
@ -86,23 +89,19 @@ void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1'
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
bool spi_start_adv(void) {
bool pmw3360_spi_start(void) {
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
wait_us(1);
return status;
}
void spi_stop_adv(void) {
wait_us(1);
spi_stop();
}
spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
pmw3360_spi_start();
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);
@ -116,11 +115,10 @@ spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
return status;
}
uint8_t spi_read_adv(uint8_t reg_addr) {
spi_start_adv();
uint8_t pmw3360_read(uint8_t reg_addr) {
pmw3360_spi_start();
// 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
@ -133,19 +131,6 @@ uint8_t spi_read_adv(uint8_t reg_addr) {
return data;
}
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);
spi_start_adv();
spi_write_adv(REG_Config1, cpival);
spi_stop();
}
uint16_t pmw3360_get_cpi(void) {
uint8_t cpival = spi_read_adv(REG_Config1);
return (uint16_t)((cpival + 1) & 0xFF) * 100;
}
bool pmw3360_init(void) {
setPinOutput(PMW3360_CS_PIN);
@ -153,42 +138,51 @@ bool pmw3360_init(void) {
_inBurst = false;
spi_stop();
spi_start_adv();
pmw3360_spi_start();
spi_stop();
spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
spi_start_adv();
pmw3360_spi_start();
wait_us(40);
spi_stop_adv();
spi_stop();
wait_us(40);
spi_write_adv(REG_Power_Up_Reset, 0x5a);
// reboot
pmw3360_write(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);
// read registers and discard
pmw3360_read(REG_Motion);
pmw3360_read(REG_Delta_X_L);
pmw3360_read(REG_Delta_X_H);
pmw3360_read(REG_Delta_Y_L);
pmw3360_read(REG_Delta_Y_H);
pmw3360_upload_firmware();
spi_stop_adv();
spi_stop();
wait_ms(10);
pmw3360_set_cpi(PMW3360_CPI);
wait_ms(1);
spi_write_adv(REG_Config2, 0x00);
pmw3360_write(REG_Config2, 0x00);
spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
bool init_success = pmw3360_check_signature();
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3360 signature verified");
} else {
dprintf("pmw3360 signature verification failed!");
}
#endif
writePinLow(PMW3360_CS_PIN);
@ -196,13 +190,13 @@ bool pmw3360_init(void) {
}
void pmw3360_upload_firmware(void) {
spi_write_adv(REG_SROM_Enable, 0x1d);
pmw3360_write(REG_SROM_Enable, 0x1d);
wait_ms(10);
spi_write_adv(REG_SROM_Enable, 0x18);
pmw3360_write(REG_SROM_Enable, 0x18);
spi_start_adv();
pmw3360_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
@ -214,68 +208,72 @@ void pmw3360_upload_firmware(void) {
}
wait_us(200);
spi_read_adv(REG_SROM_ID);
spi_write_adv(REG_Config2, 0x00);
spi_stop();
wait_ms(10);
pmw3360_read(REG_SROM_ID);
pmw3360_write(REG_Config2, 0x00);
}
bool pmw3360_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);
uint8_t pid = pmw3360_read(REG_Product_ID);
uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3360_read(REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}
uint16_t pmw3360_get_cpi(void) {
uint8_t cpival = pmw3360_read(REG_Config1);
return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
}
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
pmw3360_write(REG_Config1, cpival);
}
report_pmw3360_t pmw3360_read_burst(void) {
report_pmw3360_t report = {0};
if (!_inBurst) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
#endif
spi_write_adv(REG_Motion_Burst, 0x00);
pmw3360_write(REG_Motion_Burst, 0x00);
_inBurst = true;
}
spi_start_adv();
pmw3360_spi_start();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD
report_pmw3360_t data = {0};
data.motion = spi_read();
report.motion = spi_read();
spi_write(0x00); // skip Observation
data.dx = spi_read();
data.mdx = spi_read();
data.dy = spi_read();
data.mdy = spi_read();
report.dx = spi_read();
report.mdx = spi_read();
report.dy = spi_read();
report.mdy = spi_read();
spi_stop();
#ifdef CONSOLE_ENABLE
if (debug_mouse) {
print_byte(data.motion);
print_byte(data.dx);
print_byte(data.mdx);
print_byte(data.dy);
print_byte(data.mdy);
print_byte(report.motion);
print_byte(report.dx);
print_byte(report.mdx);
print_byte(report.dy);
print_byte(report.mdy);
dprintf("\n");
}
#endif
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;
report.isMotion = (report.motion & 0x80) != 0;
report.isOnSurface = (report.motion & 0x08) == 0;
report.dx |= (report.mdx << 8);
report.dx = report.dx * -1;
report.dy |= (report.mdy << 8);
report.dy = report.dy * -1;
spi_stop();
if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
return data;
return report;
}

18
drivers/sensors/pmw3360.h
View file

@ -19,8 +19,6 @@
#pragma once
#include <stdint.h>
#include "report.h"
#include "spi_master.h"
#ifndef PMW3360_CPI
# define PMW3360_CPI 1600
@ -69,10 +67,6 @@ This should work for the 3390 and 3391 too, in theory.
# define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
#endif
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte);
#endif
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.
@ -83,16 +77,10 @@ typedef struct {
int8_t mdy;
} report_pmw3360_t;
bool spi_start_adv(void);
void spi_stop_adv(void);
spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data);
uint8_t spi_read_adv(uint8_t reg_addr);
bool pmw3360_init(void);
void pmw3360_set_cpi(uint16_t cpi);
uint16_t pmw3360_get_cpi(void);
void pmw3360_upload_firmware(void);
bool pmw3360_check_signature(void);
uint16_t pmw3360_get_cpi(void);
void pmw3360_set_cpi(uint16_t cpi);
/* Reads and clears the current delta values on the sensor */
report_pmw3360_t pmw3360_read_burst(void);
#define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0)
#define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI)

5
quantum/pointing_device_drivers.c
View file

@ -207,8 +207,7 @@ const pointing_device_driver_t pointing_device_driver = {
};
// clang-format on
#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
static void init(void) { pmw3360_init(); }
static void pmw3360_device_init(void) { pmw3360_init(); }
report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
report_pmw3360_t data = pmw3360_read_burst();
@ -237,7 +236,7 @@ report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
// clang-format off
const pointing_device_driver_t pointing_device_driver = {
.init = init,
.init = pmw3360_device_init,
.get_report = pmw3360_get_report,
.set_cpi = pmw3360_set_cpi,
.get_cpi = pmw3360_get_cpi