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133 lines
4.4 KiB
133 lines
4.4 KiB
// Copyright 2023 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
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// SPDX-License-Identifier: GPL-2.0-or-later
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#include "spacemouse_module.h"
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#include "pointing_device_internal.h"
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#include "uart.h"
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// datasheet available at https://3dconnexion.com/cn/wp-content/uploads/2020/02/HW-Spec-3DX-700039_Rev001_serial.pdf
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/* Datasheet UART settings specify:
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* baud rate: 38400
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* data bits: 8
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* parity: none
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* stop bits: 1
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* data rate: max 100/s
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*/
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#define SPACEMOUSE_BAUD_RATE 38400
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#define SPACEMOUSE_AXIS_COUNT 6
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#define SPACEMOUSE_LENGTH_DATA (2 * SPACEMOUSE_AXIS_COUNT)
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#define SPACEMOUSE_INPUT_OFFSET (8192)
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enum spacemouse_commands {
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SPACEMOUSE_CMD_REQUEST_DATA = 0xAC,
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SPACEMOUSE_CMD_SET_ZERO_POSITION = 0xAD,
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SPACEMOUSE_CMD_AUTO_DATA_ON = 0xAE,
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SPACEMOUSE_CMD_AUTO_DATA_OFF = 0xAF,
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SPACEMOUSE_CMD_END = 0x8D,
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SPACEMOUSE_DATA_REQUEST_START = 0x96,
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};
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bool spacemouse_send_command(uint8_t cmd) {
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uart_write(cmd);
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uint8_t buf[2];
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uart_receive(buf, 2);
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return (buf[0] == cmd && buf[1] == SPACEMOUSE_CMD_END);
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}
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/**
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* @brief Set the zero position of the module
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*
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* @return true command ran successfully
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* @return false command failed
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*/
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bool spacemouse_cmd_set_zero_position(void) {
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return spacemouse_send_command(SPACEMOUSE_CMD_SET_ZERO_POSITION);
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}
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/**
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* @brief Starts automatic transmission of data, at 30ms invervals
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* Automatic data transmission happens at 30 ms intervals, we don't need need the stream command,
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* but it is here for completeness, in case somebody wants to implement it elsewhere.
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*
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* @return true command ran successfully
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* @return false command failed
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*/
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bool spacemouse_cmd_enable_stream(void) {
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return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_ON);
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}
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/**
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* @brief Stops automatic transmission of data, at 30ms invervals
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*
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* @return true command ran successfully
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* @return false command failed
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*/
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bool spacemouse_cmd_disable_stream(void) {
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return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_OFF);
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}
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/**
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* @brief Initialize UART connection and send command to zero out starting position.
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*
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* @return true
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* @return false
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*/
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bool spacemouse_init(void) {
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uart_init(SPACEMOUSE_BAUD_RATE);
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// position is zeroed out during device start, but re-zero it out to ensure that the
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// device is present and working properly.
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return spacemouse_cmd_set_zero_position();
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}
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spacemouse_data_t spacemouse_get_data(void) {
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spacemouse_data_t data = {0};
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uint8_t retry_attempts = 0, index = 0, payload[SPACEMOUSE_LENGTH_DATA + SPACEMOUSE_LENGTH_CHECKSUM] = {0};
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uint16_t checksum = 0, checksum_received = 0;
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bool has_started = false;
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uart_write(SPACEMOUSE_CMD_REQUEST_DATA);
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while (retry_attempts <= 15) {
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uint8_t buf = uart_read();
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if (buf == SPACEMOUSE_DATA_REQUEST_START) {
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has_started = true;
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checksum = buf;
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retry_attempts = 0;
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continue;
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} else if (has_started) {
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if (buf == SPACEMOUSE_CMD_END) {
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break;
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} else {
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if (index >= SPACEMOUSE_LENGTH_DATA) {
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if (index == SPACEMOUSE_LENGTH_DATA) {
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checksum_received = buf << 7;
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} else {
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checksum_received += buf;
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}
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} else {
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payload[index] = buf;
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checksum += buf;
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}
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index++;
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}
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}
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retry_attempts++;
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};
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checksum &= 0x3FFF;
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if (has_started) {
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if (checksum_received == checksum) {
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data.x = (int16_t)((payload[0] << 7) + payload[1]) - SPACEMOUSE_INPUT_OFFSET;
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data.z = (int16_t)((payload[2] << 7) + payload[3]) - SPACEMOUSE_INPUT_OFFSET;
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data.y = (int16_t)((payload[4] << 7) + payload[5]) - SPACEMOUSE_INPUT_OFFSET;
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data.tilt_y = (int16_t)((payload[6] << 7) + payload[7]) - SPACEMOUSE_INPUT_OFFSET;
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data.twist = (int16_t)((payload[8] << 7) + payload[9]) - SPACEMOUSE_INPUT_OFFSET;
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data.tilt_x = (int16_t)((payload[10] << 7) + payload[11]) - SPACEMOUSE_INPUT_OFFSET;
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} else {
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pd_dprintf("Space Mouse Checksum error: 0x%04x != 0x%04x \n", checksum_received, checksum);
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}
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}
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return data;
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}
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