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- #include <avr/io.h>
- #include <avr/interrupt.h>
- #include "quantum.h"
- #include "pointing_device.h"
- #include "adns9800_srom_A4.h"
- #include <LUFA/Drivers/Peripheral/SPI.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 0
-
- extern const uint16_t firmware_length;
- extern const uint8_t firmware_data[];
-
- enum motion_burst_property{
- 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
- };
-
- // used to track the motion delta between updates
- volatile int32_t delta_x;
- volatile int32_t delta_y;
-
- void adns_begin(void){
- PORTB &= ~ (1 << NCS);
- }
-
- void adns_end(void){
- PORTB |= (1 << NCS);
- }
-
- 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_TransferByte(reg_addr | 0x80 );
- SPI_TransferByte(data);
-
- // tSCLK-NCS for write operation
- wait_us(20);
-
- adns_end();
-
- // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
- wait_us(100);
- }
-
- 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_TransferByte(reg_addr & 0x7f );
- uint8_t data = SPI_TransferByte(0);
-
- // tSCLK-NCS for read operation is 120ns
- wait_us(1);
-
- adns_end();
-
- // tSRW/tSRR (=20us) minus tSCLK-NCS
- wait_us(19);
-
- return data;
- }
-
- void pointing_device_init(void) {
-
- if(!is_keyboard_master())
- return;
-
- // interrupt 2
- EICRA &= ~(1 << 4);
- EICRA |= (1 << 5);
- EIMSK |= (1<<INT2);
-
- // mode 3
- SPI_Init(
- SPI_SPEED_FCPU_DIV_8 |
- SPI_ORDER_MSB_FIRST |
- SPI_SCK_LEAD_FALLING |
- SPI_SAMPLE_TRAILING |
- SPI_MODE_MASTER);
-
- // set B0 output
- DDRB |= (1 << 0);
-
- // reset serial port
- adns_end();
- 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)
- adns_begin();
-
- // write burst destination adress
- SPI_TransferByte(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_TransferByte(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, 0x04);
-
- wait_ms(100);
- }
-
- void pointing_device_task(void) {
-
- if(!is_keyboard_master())
- return;
-
- report_mouse_t report = pointing_device_get_report();
-
- // clamp deltas from -127 to 127
- report.x = delta_x < -127 ? 127 : delta_x > 127 ? 127 : delta_x;
- report.x = -report.x;
-
- report.y = delta_y < -127 ? 127 : delta_y > 127 ? 127 : delta_y;
-
- // reset deltas
- delta_x = 0;
- delta_y = 0;
-
- pointing_device_set_report(report);
- pointing_device_send();
- }
-
- int16_t convertDeltaToInt(uint8_t high, uint8_t low){
-
- // join bytes into twos compliment
- uint16_t twos_comp = (high << 8) | low;
-
- // convert twos comp to int
- if (twos_comp & 0x8000)
- return -1 * ((twos_comp ^ 0xffff) + 1);
-
- return twos_comp;
- }
-
- ISR(INT2_vect) {
- // called on interrupt 2 when sensed motion
- // copy burst data from the respective registers
-
- adns_begin();
-
- // send adress of the register, with MSBit = 1 to indicate it's a write
- SPI_TransferByte(REG_Motion_Burst & 0x7f);
-
- uint8_t burst_data[pixel_sum];
-
- for (int i = 0; i < pixel_sum; ++i) {
- burst_data[i] = SPI_TransferByte(0);
- }
-
- delta_x += convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
- delta_y += convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);
-
- adns_end();
- }
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