218 lines
6.4 KiB
C
218 lines
6.4 KiB
C
/* Copyright 2020 Alexander Tulloh
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "spi_master.h"
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#include "adns9800_srom_A6.h"
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#include "adns9800.h"
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#include "wait.h"
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// registers
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// clang-format off
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#define REG_Product_ID 0x00
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#define REG_Revision_ID 0x01
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#define REG_Motion 0x02
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#define REG_Delta_X_L 0x03
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#define REG_Delta_X_H 0x04
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#define REG_Delta_Y_L 0x05
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#define REG_Delta_Y_H 0x06
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#define REG_SQUAL 0x07
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#define REG_Pixel_Sum 0x08
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#define REG_Maximum_Pixel 0x09
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#define REG_Minimum_Pixel 0x0a
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#define REG_Shutter_Lower 0x0b
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#define REG_Shutter_Upper 0x0c
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#define REG_Frame_Period_Lower 0x0d
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#define REG_Frame_Period_Upper 0x0e
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#define REG_Configuration_I 0x0f
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#define REG_Configuration_II 0x10
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#define REG_Frame_Capture 0x12
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#define REG_SROM_Enable 0x13
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#define REG_Run_Downshift 0x14
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#define REG_Rest1_Rate 0x15
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#define REG_Rest1_Downshift 0x16
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#define REG_Rest2_Rate 0x17
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#define REG_Rest2_Downshift 0x18
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#define REG_Rest3_Rate 0x19
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#define REG_Frame_Period_Max_Bound_Lower 0x1a
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#define REG_Frame_Period_Max_Bound_Upper 0x1b
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#define REG_Frame_Period_Min_Bound_Lower 0x1c
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#define REG_Frame_Period_Min_Bound_Upper 0x1d
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#define REG_Shutter_Max_Bound_Lower 0x1e
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#define REG_Shutter_Max_Bound_Upper 0x1f
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#define REG_LASER_CTRL0 0x20
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#define REG_Observation 0x24
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#define REG_Data_Out_Lower 0x25
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#define REG_Data_Out_Upper 0x26
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#define REG_SROM_ID 0x2a
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#define REG_Lift_Detection_Thr 0x2e
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#define REG_Configuration_V 0x2f
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#define REG_Configuration_IV 0x39
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#define REG_Power_Up_Reset 0x3a
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#define REG_Shutdown 0x3b
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#define REG_Inverse_Product_ID 0x3f
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#define REG_Motion_Burst 0x50
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#define REG_SROM_Load_Burst 0x62
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#define REG_Pixel_Burst 0x64
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#define MIN_CPI 200
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#define MAX_CPI 8200
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#define CPI_STEP 200
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#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
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#define US_BETWEEN_WRITES 120
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#define US_BETWEEN_READS 20
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#define US_BEFORE_MOTION 100
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#define MSB1 0x80
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// clang-format on
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void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); }
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void adns9800_write(uint8_t reg_addr, uint8_t data) {
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adns9800_spi_start();
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spi_write(reg_addr | MSB1);
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spi_write(data);
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spi_stop();
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wait_us(US_BETWEEN_WRITES);
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}
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uint8_t adns9800_read(uint8_t reg_addr) {
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adns9800_spi_start();
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spi_write(reg_addr & 0x7f);
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uint8_t data = spi_read();
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spi_stop();
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wait_us(US_BETWEEN_READS);
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return data;
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}
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void adns9800_init() {
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setPinOutput(ADNS9800_CS_PIN);
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spi_init();
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// reboot
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adns9800_write(REG_Power_Up_Reset, 0x5a);
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wait_ms(50);
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// read registers and discard
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adns9800_read(REG_Motion);
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adns9800_read(REG_Delta_X_L);
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adns9800_read(REG_Delta_X_H);
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adns9800_read(REG_Delta_Y_L);
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adns9800_read(REG_Delta_Y_H);
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// upload firmware
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// 3k firmware mode
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adns9800_write(REG_Configuration_IV, 0x02);
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// enable initialisation
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adns9800_write(REG_SROM_Enable, 0x1d);
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// wait a frame
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wait_ms(10);
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// start SROM download
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adns9800_write(REG_SROM_Enable, 0x18);
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// write the SROM file
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adns9800_spi_start();
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spi_write(REG_SROM_Load_Burst | 0x80);
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wait_us(15);
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// send all bytes of the firmware
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unsigned char c;
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for (int i = 0; i < FIRMWARE_LENGTH; i++) {
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c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i);
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spi_write(c);
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wait_us(15);
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}
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spi_stop();
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wait_ms(10);
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// enable laser
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uint8_t laser_ctrl0 = adns9800_read(REG_LASER_CTRL0);
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adns9800_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
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adns9800_set_cpi(ADNS9800_CPI);
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}
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config_adns9800_t adns9800_get_config(void) {
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uint8_t config_1 = adns9800_read(REG_Configuration_I);
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return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP};
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}
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void adns9800_set_config(config_adns9800_t config) {
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uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
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adns9800_write(REG_Configuration_I, config_1);
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}
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uint16_t adns9800_get_cpi(void) {
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uint8_t config_1 = adns9800_read(REG_Configuration_I);
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return (uint16_t){(config_1 & 0xFF) * CPI_STEP};
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}
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void adns9800_set_cpi(uint16_t cpi) {
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uint8_t config_1 = (CLAMP_CPI(cpi) / CPI_STEP) & 0xFF;
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adns9800_write(REG_Configuration_I, config_1);
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}
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static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
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// join bytes into twos compliment
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uint16_t twos_comp = (high << 8) | low;
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// convert twos comp to int
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if (twos_comp & 0x8000) return -1 * (~twos_comp + 1);
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return twos_comp;
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}
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report_adns9800_t adns9800_get_report(void) {
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report_adns9800_t report = {0, 0};
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adns9800_spi_start();
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// start burst mode
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spi_write(REG_Motion_Burst & 0x7f);
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wait_us(US_BEFORE_MOTION);
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uint8_t motion = spi_read();
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if (motion & 0x80) {
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// clear observation register
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spi_read();
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// delta registers
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uint8_t delta_x_l = spi_read();
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uint8_t delta_x_h = spi_read();
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uint8_t delta_y_l = spi_read();
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uint8_t delta_y_h = spi_read();
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report.x = convertDeltaToInt(delta_x_h, delta_x_l);
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report.y = convertDeltaToInt(delta_y_h, delta_y_l);
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}
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// clear residual motion
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spi_write(REG_Motion & 0x7f);
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spi_stop();
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return report;
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}
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