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- /* 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 "spi_master.h"
- #include "pmw3389.h"
- #include "wait.h"
- #include "debug.h"
- #include "print.h"
- #include "pmw3389_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_RawData_Sum 0x08
- #define REG_Maximum_RawData 0x09
- #define REG_Minimum_RawData 0x0a
- #define REG_Shutter_Lower 0x0b
- #define REG_Shutter_Upper 0x0c
- #define REG_Ripple_Control 0x0d
- #define REG_Resolution_L 0x0e
- #define REG_Resolution_H 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_SROM_ID 0x2a
- #define REG_Min_SQ_Run 0x2b
- #define REG_RawData_Threshold 0x2c
- #define REG_Control2 0x2d
- #define REG_Config5_L 0x2e
- #define REG_Config5_H 0x2f
- #define REG_Power_Up_Reset 0X3a
- #define REG_Shutdown 0x3b
- #define REG_Inverse_Product_ID 0x3f
- #define REG_LiftCutoff_Cal3 0x41
- #define REG_Angle_Snap 0x42
- #define REG_LiftCutoff_Cal1 0x4a
- #define REG_Motion_Burst 0x50
- #define REG_SROM_Load_Burst 0x62
- #define REG_Lift_Config 0x63
- #define REG_RawData_Burst 0x64
- #define REG_LiftCutoff_Cal2 0x65
- #define REG_LiftCutoff_Cal_Timeout 0x71
- #define REG_LiftCutoff_Cal_Min_Length 0x72
- #define REG_PWM_Period_Cnt 0x73
- #define REG_PWM_Width_Cnt 0x74
-
- #define CPI_STEP 50
- // clang-format on
-
- // limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible).
- #ifndef MAX_CPI
- # define MAX_CPI 0x013f
- #endif
-
- bool _inBurst = false;
-
- #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 pmw3389_spi_start(void) {
- bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR);
- // tNCS-SCLK, 120ns
- wait_us(1);
- return status;
- }
-
- spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) {
- pmw3389_spi_start();
-
- if (reg_addr != REG_Motion_Burst) {
- _inBurst = 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 35 us
- wait_us(35);
- spi_stop();
-
- // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
- wait_us(145);
- return status;
- }
-
- uint8_t pmw3389_read(uint8_t reg_addr) {
- pmw3389_spi_start();
- // 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, 120ns
- wait_us(1);
- spi_stop();
-
- // tSRW/tSRR (=20us) minus tSCLK-NCS
- wait_us(19);
- return data;
- }
-
- bool pmw3389_init(void) {
- setPinOutput(PMW3389_CS_PIN);
-
- spi_init();
- _inBurst = false;
-
- spi_stop();
- pmw3389_spi_start();
- spi_stop();
-
- pmw3389_write(REG_Shutdown, 0xb6); // Shutdown first
- wait_ms(300);
-
- pmw3389_spi_start();
- wait_us(40);
- spi_stop();
- wait_us(40);
-
- // power up, need to first drive NCS high then low, see above.
- pmw3389_write(REG_Power_Up_Reset, 0x5a);
- wait_ms(50);
-
- // read registers and discard
- pmw3389_read(REG_Motion);
- pmw3389_read(REG_Delta_X_L);
- pmw3389_read(REG_Delta_X_H);
- pmw3389_read(REG_Delta_Y_L);
- pmw3389_read(REG_Delta_Y_H);
-
- pmw3389_upload_firmware();
-
- spi_stop();
-
- wait_ms(10);
- pmw3389_set_cpi(PMW3389_CPI);
-
- wait_ms(1);
-
- pmw3389_write(REG_Config2, 0x00);
-
- pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
-
- pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE);
-
- bool init_success = pmw3389_check_signature();
- #ifdef CONSOLE_ENABLE
- if (init_success) {
- dprintf("pmw3389 signature verified");
- } else {
- dprintf("pmw3389 signature verification failed!");
- }
- #endif
-
- writePinLow(PMW3389_CS_PIN);
-
- return init_success;
- }
-
- void pmw3389_upload_firmware(void) {
- // Datasheet claims we need to disable REST mode first, but during startup
- // it's already disabled and we're not turning it on ...
- // pmw3389_write(REG_Config2, 0x00); // disable REST mode
- pmw3389_write(REG_SROM_Enable, 0x1d);
-
- wait_ms(10);
-
- pmw3389_write(REG_SROM_Enable, 0x18);
-
- pmw3389_spi_start();
- 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 PMW3389_FIRMWARE_UPLOAD_FAST
- wait_us(15);
- #endif
- }
- wait_us(200);
-
- pmw3389_read(REG_SROM_ID);
- pmw3389_write(REG_Config2, 0x00);
- }
-
- bool pmw3389_check_signature(void) {
- uint8_t pid = pmw3389_read(REG_Product_ID);
- uint8_t iv_pid = pmw3389_read(REG_Inverse_Product_ID);
- uint8_t SROM_ver = pmw3389_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 pmw3389_get_cpi(void) {
- uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L);
- return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP;
- }
-
- void pmw3389_set_cpi(uint16_t cpi) {
- uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
- // Sets upper byte first for more consistent setting of cpi
- pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff);
- pmw3389_write(REG_Resolution_L, cpival & 0xff);
- }
-
- report_pmw3389_t pmw3389_read_burst(void) {
- report_pmw3389_t report = {0};
-
- if (!_inBurst) {
- #ifdef CONSOLE_ENABLE
- dprintf("burst on");
- #endif
- pmw3389_write(REG_Motion_Burst, 0x00);
- _inBurst = true;
- }
-
- pmw3389_spi_start();
- 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 = 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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