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226 lines
5.2 KiB
226 lines
5.2 KiB
/* Copyright 2020 Alexander Tulloh
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "spi_master.h"
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#include "quantum.h"
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#include "pmw3360_srom_0x04.h"
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#include "pmw.h"
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// registers
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#define Product_ID 0x00
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#define Revision_ID 0x01
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#define Motion 0x02
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#define Delta_X_L 0x03
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#define Delta_X_H 0x04
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#define Delta_Y_L 0x05
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#define Delta_Y_H 0x06
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#define SQUAL 0x07
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#define Raw_Data_Sum 0x08
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#define Maximum_Raw_data 0x09
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#define Minimum_Raw_data 0x0A
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#define Shutter_Lower 0x0B
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#define Shutter_Upper 0x0C
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#define Control 0x0D
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#define Config1 0x0F
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#define Config2 0x10
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#define Angle_Tune 0x11
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#define Frame_Capture 0x12
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#define SROM_Enable 0x13
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#define Run_Downshift 0x14
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#define Rest1_Rate_Lower 0x15
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#define Rest1_Rate_Upper 0x16
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#define Rest1_Downshift 0x17
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#define Rest2_Rate_Lower 0x18
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#define Rest2_Rate_Upper 0x19
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#define Rest2_Downshift 0x1A
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#define Rest3_Rate_Lower 0x1B
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#define Rest3_Rate_Upper 0x1C
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#define Observation 0x24
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#define Data_Out_Lower 0x25
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#define Data_Out_Upper 0x26
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#define Raw_Data_Dump 0x29
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#define SROM_ID 0x2A
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#define Min_SQ_Run 0x2B
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#define Raw_Data_Threshold 0x2C
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#define Config5 0x2F
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#define Power_Up_Reset 0x3A
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#define Shutdown 0x3B
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#define Inverse_Product_ID 0x3F
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#define LiftCutoff_Tune3 0x41
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#define Angle_Snap 0x42
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#define LiftCutoff_Tune1 0x4A
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#define Motion_Burst 0x50
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#define LiftCutoff_Tune_Timeout 0x58
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#define LiftCutoff_Tune_Min_Length 0x5A
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#define SROM_Load_Burst 0x62
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#define Lift_Config 0x63
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#define Raw_Data_Burst 0x64
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#define LiftCutoff_Tune2 0x65
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#define PMW_CLOCK_SPEED 70000000
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#define MIN_CPI 100
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#define MAX_CPI 12000
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#define CPI_STEP 100
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#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
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#define SPI_MODE 3
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#define SPI_DIVISOR (F_CPU / PMW_CLOCK_SPEED)
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#define US_BETWEEN_WRITES 180
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#define US_BETWEEN_READS 20
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#define US_BEFORE_MOTION 35
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#define MSB1 0x80
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extern const uint16_t pmw_firmware_length;
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extern const uint8_t pmw_firmware_data[];
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void pmw_spi_start(void){
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spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
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}
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void pmw_write(uint8_t reg_addr, uint8_t data){
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pmw_spi_start();
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spi_write(reg_addr | MSB1 );
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spi_write(data);
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spi_stop();
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wait_us(US_BETWEEN_WRITES);
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}
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uint8_t pmw_read(uint8_t reg_addr){
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pmw_spi_start();
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spi_write(reg_addr & 0x7f );
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uint8_t data = spi_read();
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spi_stop();
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wait_us(US_BETWEEN_READS);
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return data;
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}
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void pmw_init() {
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setPinOutput(SPI_SS_PIN);
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spi_init();
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// reboot
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pmw_write(Power_Up_Reset, 0x5a);
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wait_ms(50);
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// read registers and discard
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pmw_read(Motion);
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pmw_read(Delta_X_L);
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pmw_read(Delta_X_H);
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pmw_read(Delta_Y_L);
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pmw_read(Delta_Y_H);
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// upload firmware
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// disable rest mode
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pmw_write(Config2, 0x20);
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// enable initialisation
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pmw_write(SROM_Enable, 0x1d);
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// wait a frame
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wait_ms(10);
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// start SROM download
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pmw_write(SROM_Enable, 0x18);
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// write the SROM file
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pmw_spi_start();
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spi_write(SROM_Load_Burst | 0x80);
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wait_us(15);
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// send all bytes of the firmware
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unsigned char c;
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for(int i = 0; i < pmw_firmware_length; i++){
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c = (unsigned char)pgm_read_byte(pmw_firmware_data + i);
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spi_write(c);
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wait_us(15);
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}
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spi_stop();
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wait_us(US_BETWEEN_WRITES);
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// read id
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pmw_read(SROM_ID);
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// wired mouse
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pmw_write(Config2, 0x00);
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// first motion burst; write anything
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pmw_write(Motion_Burst, 0xFF);
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writePinLow(SPI_SS_PIN);
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}
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config_pmw_t pmw_get_config(void) {
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uint8_t config_1 = pmw_read(Config1);
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return (config_pmw_t){ (config_1 & 0xFF) * CPI_STEP };
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}
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void pmw_set_config(config_pmw_t config) {
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uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
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pmw_write(Config1, config_1);
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}
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static int16_t convertDeltaToInt(uint8_t high, uint8_t low){
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// join bytes into twos compliment
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uint16_t twos_comp = (high << 8) | low;
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// convert twos comp to int
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if (twos_comp & 0x8000)
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return -1 * (~twos_comp + 1);
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return twos_comp;
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}
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report_pmw_t pmw_get_report(void) {
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report_pmw_t report = {0, 0};
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pmw_spi_start();
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// start burst mode
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spi_write(Motion_Burst & 0x7f);
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wait_us(US_BEFORE_MOTION);
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uint8_t motion = spi_read();
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if(motion & 0x80) {
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// clear observation register
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spi_read();
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// delta registers
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uint8_t delta_x_l = spi_read();
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uint8_t delta_x_h = spi_read();
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uint8_t delta_y_l = spi_read();
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uint8_t delta_y_h = spi_read();
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report.x = convertDeltaToInt(delta_x_h, delta_x_l);
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report.y = convertDeltaToInt(delta_y_h, delta_y_l);
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}
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spi_stop();
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return report;
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}
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