- /* 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/>.
- */
-
- #include "pmw3360.h"
- #include "wait.h"
- #include "debug.h"
- #include "print.h"
- #include "pmw3360_firmware.h"
-
- // Registers
- #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
-
- bool _inBurst = false;
-
- 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(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 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) {
- uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
-
- spi_start_adv();
- spi_write_adv(REG_Config1, cpival);
- spi_stop();
- }
-
- uint16_t pmw_get_cpi(void) {
- uint8_t cpival = spi_read_adv(REG_Config1);
- return (uint16_t)(cpival & 0xFF) * 100;
- }
-
- bool pmw_spi_init(void) {
- setPinOutput(PMW3360_CS_PIN);
-
- 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(PMW3360_CPI);
-
- wait_ms(1);
-
- spi_write_adv(REG_Config2, 0x00);
-
- spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
-
- bool init_success = pmw_check_signature();
-
- writePinLow(PMW3360_CS_PIN);
-
- return init_success;
- }
-
- void pmw_upload_firmware(void) {
- 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();
-
- if (debug_mouse) {
- 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;
- }
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