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- /* Copyright 2020 Richard Sutherland <rich@brickbots.com>
- *
- * 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 "adns.h"
- #include "debug.h"
- #include "quantum.h"
- #include "pointing_device.h"
- #include "adns9800_srom_A6.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_Pixel_Sum 0x08
- #define REG_Maximum_Pixel 0x09
- #define REG_Minimum_Pixel 0x0a
- #define REG_Shutter_Lower 0x0b
- #define REG_Shutter_Upper 0x0c
- #define REG_Frame_Period_Lower 0x0d
- #define REG_Frame_Period_Upper 0x0e
- #define REG_Configuration_I 0x0f
- #define REG_Configuration_II 0x10
- #define REG_Frame_Capture 0x12
- #define REG_SROM_Enable 0x13
- #define REG_Run_Downshift 0x14
- #define REG_Rest1_Rate 0x15
- #define REG_Rest1_Downshift 0x16
- #define REG_Rest2_Rate 0x17
- #define REG_Rest2_Downshift 0x18
- #define REG_Rest3_Rate 0x19
- #define REG_Frame_Period_Max_Bound_Lower 0x1a
- #define REG_Frame_Period_Max_Bound_Upper 0x1b
- #define REG_Frame_Period_Min_Bound_Lower 0x1c
- #define REG_Frame_Period_Min_Bound_Upper 0x1d
- #define REG_Shutter_Max_Bound_Lower 0x1e
- #define REG_Shutter_Max_Bound_Upper 0x1f
- #define REG_LASER_CTRL0 0x20
- #define REG_Observation 0x24
- #define REG_Data_Out_Lower 0x25
- #define REG_Data_Out_Upper 0x26
- #define REG_SROM_ID 0x2a
- #define REG_Lift_Detection_Thr 0x2e
- #define REG_Configuration_V 0x2f
- #define REG_Configuration_IV 0x39
- #define REG_Power_Up_Reset 0x3a
- #define REG_Shutdown 0x3b
- #define REG_Inverse_Product_ID 0x3f
- #define REG_Motion_Burst 0x50
- #define REG_SROM_Load_Burst 0x62
- #define REG_Pixel_Burst 0x64
-
- // pins
- #define NCS F7
-
- extern const uint16_t firmware_length;
- extern const uint8_t firmware_data[];
-
- enum motion_burst_propertr{
- motion = 0,
- observation,
- delta_x_l,
- delta_x_h,
- delta_y_l,
- delta_y_h,
- squal,
- pixel_sum,
- maximum_pixel,
- minimum_pixel,
- shutter_upper,
- shutter_lower,
- frame_period_upper,
- frame_period_lower,
- end_data
- };
-
- void adns_begin(void){
- spi_start(NCS, false, 3, 8);
- }
-
- void adns_end(void){
- spi_stop();
- }
-
- void adns_write(uint8_t reg_addr, uint8_t data){
-
- adns_begin();
- //send address of the register, with MSBit = 1 to indicate it's a write
- spi_write(reg_addr | 0x80 );
- 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);
- adns_end();
- }
-
- uint8_t adns_read(uint8_t reg_addr){
-
-
- adns_begin();
- // 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);
-
- adns_end();
- return data;
- }
-
- void pointing_device_init(void) {
- dprint("STARTING INTI\n");
-
- spi_init();
- // reset serial port
- adns_begin();
- adns_end();
-
- // reboot
- adns_write(REG_Power_Up_Reset, 0x5a);
- wait_ms(50);
- // read registers and discard
- adns_read(REG_Motion);
- adns_read(REG_Delta_X_L);
- adns_read(REG_Delta_X_H);
- adns_read(REG_Delta_Y_L);
- adns_read(REG_Delta_Y_H);
-
- // upload firmware
-
- // set the configuration_IV register in 3k firmware mode
- // bit 1 = 1 for 3k mode, other bits are reserved
- adns_write(REG_Configuration_IV, 0x02);
-
- // write 0x1d in SROM_enable reg for initializing
- adns_write(REG_SROM_Enable, 0x1d);
-
- // wait for more than one frame period
- // assume that the frame rate is as low as 100fps... even if it should never be that low
- wait_ms(10);
-
- // write 0x18 to SROM_enable to start SROM download
- adns_write(REG_SROM_Enable, 0x18);
-
- // write the SROM file (=firmware data)
-
- // write burst destination adress
- adns_begin();
- spi_write(REG_SROM_Load_Burst | 0x80);
- wait_us(15);
- // send all bytes of the firmware
- 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);
- }
-
- adns_end();
- wait_ms(10);
-
- // enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b)
- // reading the actual value of the register is important because the real
- // default value is different from what is said in the datasheet, and if you
- // change the reserved bytes (like by writing 0x00...) it would not work.
- uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
- adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
-
- wait_ms(1);
-
- // set the configuration_I register to set the CPI
- // 0x01 = 50, minimum
- // 0x44 = 3400, default
- // 0x8e = 7100
- // 0xA4 = 8200, maximum
- adns_write(REG_Configuration_I, 0x10);
-
- wait_ms(100);
- dprint("INIT ENDED\n");
- }
-
- int16_t convertDeltaToInt(uint8_t high, uint8_t low){
-
- // join bytes into twos compliment
- //int16_t twos_comp = (high << 8) | low;
- //return twos_comp;
- return (high << 8) | low;
- }
-
- motion_delta_t readSensor(void) {
- adns_begin();
-
- // read from Motion_Burst to enable burt mode
- spi_write(REG_Motion_Burst & 0x7f);
-
- // Wait one frame per docs, thanks u/kbjunky
- wait_us(100);
- uint8_t burst_data[pixel_sum];
-
- for (int i = 0; i < pixel_sum; ++i) {
- burst_data[i] = spi_read();
- }
-
- uint16_t delta_x = convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
- uint16_t delta_y = convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);
- // Only consider the MSB for motion as this byte has other status bits
- uint8_t motion_ind = burst_data[motion] & 0b10000000;
- adns_end();
-
- motion_delta_t delta = {delta_x, delta_y, motion_ind};
- return delta;
- }
-
- void pointing_device_task(void) {
- motion_delta_t delta = readSensor();
-
- report_mouse_t report = pointing_device_get_report();
-
- if(delta.motion_ind) {
- // clamp deltas from -127 to 127
- report.x = delta.delta_x < -127 ? -127 : delta.delta_x > 127 ? 127 : delta.delta_x;
- report.x = -report.x;
- report.y = delta.delta_y < -127 ? -127 : delta.delta_y > 127 ? 127 : delta.delta_y;
- }
-
- pointing_device_set_report(report);
- pointing_device_send();
- }
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