- /* Copyright 2021 Colin Lam (Ploopy Corporation)
- * Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
- * Copyright 2019 Sunjun Kim
- * Copyright 2019 Hiroyuki Okada
- *
- * 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 "adns5050.h"
- #include "wait.h"
- #include "debug.h"
- #include "gpio.h"
-
- // Registers
- // clang-format off
- #define REG_PRODUCT_ID 0x00
- #define REG_REVISION_ID 0x01
- #define REG_MOTION 0x02
- #define REG_DELTA_X 0x03
- #define REG_DELTA_Y 0x04
- #define REG_SQUAL 0x05
- #define REG_SHUTTER_UPPER 0x06
- #define REG_SHUTTER_LOWER 0x07
- #define REG_MAXIMUM_PIXEL 0x08
- #define REG_PIXEL_SUM 0x09
- #define REG_MINIMUM_PIXEL 0x0a
- #define REG_PIXEL_GRAB 0x0b
- #define REG_MOUSE_CONTROL 0x0d
- #define REG_MOUSE_CONTROL2 0x19
- #define REG_LED_DC_MODE 0x22
- #define REG_CHIP_RESET 0x3a
- #define REG_PRODUCT_ID2 0x3e
- #define REG_INV_REV_ID 0x3f
- #define REG_MOTION_BURST 0x63
- // clang-format on
-
- void adns5050_init(void) {
- // Initialize the ADNS serial pins.
- setPinOutput(ADNS5050_SCLK_PIN);
- setPinOutput(ADNS5050_SDIO_PIN);
- setPinOutput(ADNS5050_CS_PIN);
-
- // reboot the adns.
- // if the adns hasn't initialized yet, this is harmless.
- adns5050_write_reg(REG_CHIP_RESET, 0x5a);
-
- // wait maximum time before adns is ready.
- // this ensures that the adns is actuall ready after reset.
- wait_ms(55);
-
- // read a burst from the adns and then discard it.
- // gets the adns ready for write commands
- // (for example, setting the dpi).
- adns5050_read_burst();
- }
-
- // Perform a synchronization with the ADNS.
- // Just as with the serial protocol, this is used by the slave to send a
- // synchronization signal to the master.
- void adns5050_sync(void) {
- writePinLow(ADNS5050_CS_PIN);
- wait_us(1);
- writePinHigh(ADNS5050_CS_PIN);
- }
-
- void adns5050_cs_select(void) { writePinLow(ADNS5050_CS_PIN); }
-
- void adns5050_cs_deselect(void) { writePinHigh(ADNS5050_CS_PIN); }
-
- uint8_t adns5050_serial_read(void) {
- setPinInput(ADNS5050_SDIO_PIN);
- uint8_t byte = 0;
-
- for (uint8_t i = 0; i < 8; ++i) {
- writePinLow(ADNS5050_SCLK_PIN);
- wait_us(1);
-
- byte = (byte << 1) | readPin(ADNS5050_SDIO_PIN);
-
- writePinHigh(ADNS5050_SCLK_PIN);
- wait_us(1);
- }
-
- return byte;
- }
-
- void adns5050_serial_write(uint8_t data) {
- setPinOutput(ADNS5050_SDIO_PIN);
-
- for (int8_t b = 7; b >= 0; b--) {
- writePinLow(ADNS5050_SCLK_PIN);
-
- if (data & (1 << b))
- writePinHigh(ADNS5050_SDIO_PIN);
- else
- writePinLow(ADNS5050_SDIO_PIN);
-
- wait_us(2);
-
- writePinHigh(ADNS5050_SCLK_PIN);
- }
-
- // tSWR. See page 15 of the ADNS spec sheet.
- // Technically, this is only necessary if the next operation is an SDIO
- // read. This is not guaranteed to be the case, but we're being lazy.
- wait_us(4);
-
- // Note that tSWW is never necessary. All write operations require at
- // least 32us, which exceeds tSWW, so there's never a need to wait for it.
- }
-
- // Read a byte of data from a register on the ADNS.
- // Don't forget to use the register map (as defined in the header file).
- uint8_t adns5050_read_reg(uint8_t reg_addr) {
- adns5050_cs_select();
-
- adns5050_serial_write(reg_addr);
-
- // We don't need a minimum tSRAD here. That's because a 4ms wait time is
- // already included in adns5050_serial_write(), so we're good.
- // See page 10 and 15 of the ADNS spec sheet.
- // wait_us(4);
-
- uint8_t byte = adns5050_serial_read();
-
- // tSRW & tSRR. See page 15 of the ADNS spec sheet.
- // Technically, this is only necessary if the next operation is an SDIO
- // read or write. This is not guaranteed to be the case.
- // Honestly, this wait could probably be removed.
- wait_us(1);
-
- adns5050_cs_deselect();
-
- return byte;
- }
-
- void adns5050_write_reg(uint8_t reg_addr, uint8_t data) {
- adns5050_cs_select();
- adns5050_serial_write(0b10000000 | reg_addr);
- adns5050_serial_write(data);
- adns5050_cs_deselect();
- }
-
- report_adns5050_t adns5050_read_burst(void) {
- adns5050_cs_select();
-
- report_adns5050_t data;
- data.dx = 0;
- data.dy = 0;
-
- adns5050_serial_write(REG_MOTION_BURST);
-
- // We don't need a minimum tSRAD here. That's because a 4ms wait time is
- // already included in adns5050_serial_write(), so we're good.
- // See page 10 and 15 of the ADNS spec sheet.
- // wait_us(4);
-
- uint8_t x = adns5050_serial_read();
- uint8_t y = adns5050_serial_read();
-
- // Burst mode returns a bunch of other shit that we don't really need.
- // Setting CS to high ends burst mode early.
- adns5050_cs_deselect();
-
- data.dx = convert_twoscomp(x);
- data.dy = convert_twoscomp(y);
-
- return data;
- }
-
- // Convert a two's complement byte from an unsigned data type into a signed
- // data type.
- int8_t convert_twoscomp(uint8_t data) {
- if ((data & 0x80) == 0x80)
- return -128 + (data & 0x7F);
- else
- return data;
- }
-
- // Don't forget to use the definitions for CPI in the header file.
- void adns5050_set_cpi(uint16_t cpi) {
- uint8_t cpival = constrain((cpi / 125), 0x1, 0xD); // limits to 0--119
-
- adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival);
- }
-
- uint16_t adns5050_get_cpi(void) {
- uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2);
- return (uint16_t)((cpival & 0b10000) * 125);
- }
-
- bool adns5050_check_signature(void) {
- uint8_t pid = adns5050_read_reg(REG_PRODUCT_ID);
- uint8_t rid = adns5050_read_reg(REG_REVISION_ID);
- uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2);
-
- return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
- }
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