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218 lines
5.8 KiB
218 lines
5.8 KiB
// Copyright 2022 Pablo Martinez (@elpekenin)
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// Copyright 2022 Daniel Kao (dkao)
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// Copyright 2022 Stefan Kerkmann (KarlK90)
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// Copyright 2022 Ulrich Spörlein (@uqs)
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// Copyright 2021 Alabastard (@Alabastard-64)
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// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
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// Copyright 2019 Sunjun Kim
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// Copyright 2020 Ploopy Corporation
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// SPDX-License-Identifier: GPL-2.0-or-later
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#include "pointing_device_internal.h"
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#include "pmw33xx_common.h"
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#include "string.h"
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#include "wait.h"
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#include "spi_master.h"
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#include "progmem.h"
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extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM;
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extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM;
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static const pin_t cs_pins_left[] = PMW33XX_CS_PINS;
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static const pin_t cs_pins_right[] = PMW33XX_CS_PINS_RIGHT;
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static bool in_burst_left[ARRAY_SIZE(cs_pins_left)] = {0};
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static bool in_burst_right[ARRAY_SIZE(cs_pins_right)] = {0};
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bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor);
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bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor);
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void pmw33xx_set_cpi_all_sensors(uint16_t cpi) {
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for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) {
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pmw33xx_set_cpi(sensor, cpi);
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}
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}
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bool pmw33xx_spi_start(uint8_t sensor) {
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if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) {
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spi_stop();
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return false;
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}
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// tNCS-SCLK, 10ns
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wait_us(1);
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return true;
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}
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bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) {
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if (!pmw33xx_spi_start(sensor)) {
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return false;
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}
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if (reg_addr != REG_Motion_Burst) {
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in_burst[sensor] = false;
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}
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// send address of the register, with MSBit = 1 to indicate it's a write
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uint8_t command[2] = {reg_addr | 0x80, data};
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if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) {
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return false;
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}
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// tSCLK-NCS for write operation is 35us
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wait_us(35);
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spi_stop();
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// tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like
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// a safe lower bound
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wait_us(145);
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return true;
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}
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uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) {
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if (!pmw33xx_spi_start(sensor)) {
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return 0;
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}
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// send adress of the register, with MSBit = 0 to indicate it's a read
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spi_write(reg_addr & 0x7f);
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// tSRAD (=160us)
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wait_us(160);
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uint8_t data = spi_read();
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// tSCLK-NCS, 120ns
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wait_us(1);
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spi_stop();
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// tSRW/tSRR (=20us) mins tSCLK-NCS
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wait_us(19);
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return data;
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}
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bool pmw33xx_check_signature(uint8_t sensor) {
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uint8_t signature_dump[3] = {
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pmw33xx_read(sensor, REG_Product_ID),
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pmw33xx_read(sensor, REG_Inverse_Product_ID),
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pmw33xx_read(sensor, REG_SROM_ID),
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};
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return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0;
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}
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bool pmw33xx_upload_firmware(uint8_t sensor) {
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// Datasheet claims we need to disable REST mode first, but during startup
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// it's already disabled and we're not turning it on ...
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// pmw33xx_write(REG_Config2, 0x00); // disable REST mode
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if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) {
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return false;
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}
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wait_ms(10);
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pmw33xx_write(sensor, REG_SROM_Enable, 0x18);
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if (!pmw33xx_spi_start(sensor)) {
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return false;
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}
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spi_write(REG_SROM_Load_Burst | 0x80);
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wait_us(15);
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for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) {
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spi_write(pgm_read_byte(pmw33xx_firmware_data + i));
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wait_us(15);
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}
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wait_us(200);
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pmw33xx_read(sensor, REG_SROM_ID);
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pmw33xx_write(sensor, REG_Config2, 0x00);
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return true;
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}
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bool pmw33xx_init(uint8_t sensor) {
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if (sensor >= pmw33xx_number_of_sensors) {
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return false;
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}
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spi_init();
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// power up, need to first drive NCS high then low. the datasheet does not
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// say for how long, 40us works well in practice.
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if (!pmw33xx_spi_start(sensor)) {
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return false;
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}
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wait_us(40);
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spi_stop();
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wait_us(40);
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if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) {
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return false;
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}
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wait_ms(50);
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// read registers and discard
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pmw33xx_read(sensor, REG_Motion);
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pmw33xx_read(sensor, REG_Delta_X_L);
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pmw33xx_read(sensor, REG_Delta_X_H);
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pmw33xx_read(sensor, REG_Delta_Y_L);
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pmw33xx_read(sensor, REG_Delta_Y_H);
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if (!pmw33xx_upload_firmware(sensor)) {
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pd_dprintf("PMW33XX (%d): firmware upload failed!\n", sensor);
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return false;
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}
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spi_stop();
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wait_ms(10);
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pmw33xx_set_cpi(sensor, PMW33XX_CPI);
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wait_ms(1);
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pmw33xx_write(sensor, REG_Config2, 0x00);
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pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
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pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE);
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if (!pmw33xx_check_signature(sensor)) {
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pd_dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor);
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return false;
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}
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return true;
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}
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pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) {
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pmw33xx_report_t report = {0};
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if (sensor >= pmw33xx_number_of_sensors) {
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return report;
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}
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if (!in_burst[sensor]) {
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pd_dprintf("PMW33XX (%d): burst\n", sensor);
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if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) {
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return report;
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}
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in_burst[sensor] = true;
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}
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if (!pmw33xx_spi_start(sensor)) {
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return report;
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}
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spi_write(REG_Motion_Burst);
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wait_us(35); // waits for tSRAD_MOTBR
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spi_receive((uint8_t*)&report, sizeof(report));
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// panic recovery, sometimes burst mode works weird.
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if (report.motion.w & 0b111) {
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in_burst[sensor] = false;
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}
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spi_stop();
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pd_dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y);
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report.delta_x *= -1;
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report.delta_y *= -1;
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return report;
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}
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