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qmk_sweep_skeletyl/drivers/sensors/pmw3360.c

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/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
* Copyright 2022 Ulrich Spörlein
*
* 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 "pmw3360.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3360_firmware.h"
// 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 CPI_STEP 100
// clang-format on
// limits to 0--119, resulting in a CPI range of 100 -- 12000 (as only steps of 100 are possible).
#ifndef MAX_CPI
# define MAX_CPI 0x77
#endif
static const pin_t pins[] = PMW3360_CS_PINS;
#define NUMBER_OF_SENSORS (sizeof(pins) / sizeof(pin_t))
// per-sensor driver state
static bool _inBurst[NUMBER_OF_SENSORS] = {0};
#ifdef CONSOLE_ENABLE
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'));
}
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
bool pmw3360_spi_start(int8_t index) {
bool status = spi_start(pins[index], PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
// tNCS-SCLK, 120ns
wait_us(1);
return status;
}
spi_status_t pmw3360_write(int8_t index, uint8_t reg_addr, uint8_t data) {
pmw3360_spi_start(index);
if (reg_addr != REG_Motion_Burst) {
_inBurst[index] = false;
}
// 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 is 35us
wait_us(35);
spi_stop();
// tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but it looks like a safe lower bound
wait_us(145);
return status;
}
uint8_t pmw3360_read(int8_t index, uint8_t reg_addr) {
pmw3360_spi_start(index);
// 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 for read operation is 120ns
wait_us(1);
spi_stop();
// tSRW/tSRR (=20us) minus tSCLK-NCS
wait_us(19);
return data;
}
bool pmw3360_check_signature(int8_t index) {
uint8_t pid = pmw3360_read(index, REG_Product_ID);
uint8_t iv_pid = pmw3360_read(index, REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3360_read(index, REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}
void pmw3360_upload_firmware(int8_t index) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw3360_write(index, REG_Config2, 0x00); // disable REST mode
pmw3360_write(index, REG_SROM_Enable, 0x1d);
wait_ms(10);
pmw3360_write(index, REG_SROM_Enable, 0x18);
pmw3360_spi_start(index);
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(firmware_data + i));
#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
wait_us(15);
#endif
}
wait_us(200);
pmw3360_read(index, REG_SROM_ID);
pmw3360_write(index, REG_Config2, 0x00);
}
bool pmw3360_init(int8_t index) {
if (index >= 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.
pmw3360_spi_start(index);
wait_us(40);
spi_stop();
wait_us(40);
pmw3360_write(index, REG_Power_Up_Reset, 0x5a);
wait_ms(50);
// read registers and discard
pmw3360_read(index, REG_Motion);
pmw3360_read(index, REG_Delta_X_L);
pmw3360_read(index, REG_Delta_X_H);
pmw3360_read(index, REG_Delta_Y_L);
pmw3360_read(index, REG_Delta_Y_H);
pmw3360_upload_firmware(index);
spi_stop();
wait_ms(10);
pmw3360_set_cpi(PMW3360_CPI);
wait_ms(1);
pmw3360_write(index, REG_Config2, 0x00);
pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
bool init_success = pmw3360_check_signature(index);
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3360 signature verified");
} else {
dprintf("pmw3360 signature verification failed!");
}
#endif
return init_success;
}
// Only support reading the value from sensor #0, no one is using this anyway.
uint16_t pmw3360_get_cpi(void) {
uint8_t cpival = pmw3360_read(0, REG_Config1);
return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
}
// Write same CPI to all sensors.
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) {
pmw3360_write(i, REG_Config1, cpival);
}
}
report_pmw3360_t pmw3360_read_burst(int8_t index) {
report_pmw3360_t report = {0};
if (index >= NUMBER_OF_SENSORS) {
return report;
}
if (!_inBurst[index]) {
#ifdef CONSOLE_ENABLE
dprintf("burst on for index %d", index);
#endif
pmw3360_write(index, REG_Motion_Burst, 0x00);
_inBurst[index] = true;
}
pmw3360_spi_start(index);
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
report.motion = spi_read();
spi_read(); // skip Observation
// delta registers
report.dx = spi_read();
report.mdx = spi_read();
report.dy = spi_read();
report.mdy = spi_read();
if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst[index] = false;
}
spi_stop();
#ifdef CONSOLE_ENABLE
if (debug_mouse) {
print_byte(report.motion);
print_byte(report.dx);
print_byte(report.mdx);
print_byte(report.dy);
print_byte(report.mdy);
dprintf("\n");
}
#endif
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;
return report;
}
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