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Add PMW3389 optical sensor Support (Updated) (#15740)

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Co-authored-by: Drashna Jaelre <drashna@live.com>
This commit is contained in:
Alabastard-64 2022-01-11 15:33:13 -07:00 committed by GitHub
parent a7eb27b867
commit 2842ab4052
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 721 additions and 294 deletions
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5
common_features.mk
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@ -109,7 +109,7 @@ ifeq ($(strip $(MOUSEKEY_ENABLE)), yes)
SRC += $(QUANTUM_DIR)/mousekey.c
endif
VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick cirque_pinnacle_i2c cirque_pinnacle_spi pmw3360 pimoroni_trackball custom
VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick cirque_pinnacle_i2c cirque_pinnacle_spi pmw3360 pmw3389 pimoroni_trackball custom
POINTING_DEVICE_DRIVER ?= custom
ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
ifeq ($(filter $(POINTING_DEVICE_DRIVER),$(VALID_POINTING_DEVICE_DRIVER_TYPES)),)
@ -144,6 +144,9 @@ ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), pmw3360)
OPT_DEFS += -DSTM32_SPI -DHAL_USE_SPI=TRUE
QUANTUM_LIB_SRC += spi_master.c
else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), pmw3389)
OPT_DEFS += -DSTM32_SPI -DHAL_USE_SPI=TRUE
QUANTUM_LIB_SRC += spi_master.c
endif
endif
endif

23
docs/feature_pointing_device.md
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@ -155,6 +155,29 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
The CPI range is 100-12000, in increments of 100. Defaults to 1600 CPI.
### PMW 3389 Sensor
To use the PMW 3389 sensor, add this to your `rules.mk`
```make
POINTING_DEVICE_DRIVER = pmw3389
```
The PMW 3389 is an SPI driven optical sensor, that uses a built in IR LED for surface tracking.
| Setting | Description | Default |
|---------------------------------|--------------------------------------------------------------------------------------------|---------------|
|`PMW3389_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
|`PMW3389_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
|`PMW3389_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
|`PMW3389_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
|`PMW3389_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
|`PMW3389_LIFTOFF_DISTANCE` | (Optional) Sets the lift off distance at run time | `0x02` |
|`ROTATIONAL_TRANSFORM_ANGLE` | (Optional) Allows for the sensor data to be rotated +/- 30 degrees directly in the sensor. | `0` |
|`PMW3389_LEGACY_FIRMWARE_UPLOAD` | (Optional) Switches to older, manual upload of firmware, for compatibility. | _not defined_ |
The CPI range is 50-16000, in increments of 50. Defaults to 2000 CPI.
### Custom Driver

5
drivers/sensors/pmw3360.c
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@ -21,7 +21,7 @@
#include "wait.h"
#include "debug.h"
#include "print.h"
#include PMW3360_FIRMWARE_H
#include "pmw3360_firmware.h"
// Registers
// clang-format off
@ -79,9 +79,6 @@
// clang-format on
// limits to 0--119, resulting in a CPI range of 100 -- 12000 (as only steps of 100 are possible).
// Note that for the PMW3389DM chip, the step size is 50 and supported range is
// up to 16000. The datasheet does not indicate the minimum CPI though, neither
// whether this uses 2 bytes (as 16000/50 == 320)
#ifndef MAX_CPI
# define MAX_CPI 0x77
#endif

11
drivers/sensors/pmw3360.h
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@ -56,17 +56,6 @@
# error "No chip select pin defined -- missing PMW3360_CS_PIN"
#endif
/*
The pmw33660 and pmw3389 use the same registers and timing and such.
The only differences between the two is the firmware used, and the
range for the DPI. So add a semi-secret hack to allow use of the
pmw3389's firmware blob. Also, can set the max cpi range too.
This should work for the 3390 and 3391 too, in theory.
*/
#ifndef PMW3360_FIRMWARE_H
# define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
#endif
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.

296
drivers/sensors/pmw3389.c Normal file
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@ -0,0 +1,296 @@
/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
*
* 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 "pmw3389.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3389_firmware.h"
// Registers
// clang-format off
#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_RawData_Sum 0x08
#define REG_Maximum_RawData 0x09
#define REG_Minimum_RawData 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Ripple_Control 0x0d
#define REG_Resolution_L 0x0e
#define REG_Resolution_H 0x0f
#define REG_Config2 0x10
#define REG_Angle_Tune 0x11
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate_Lower 0x15
#define REG_Rest1_Rate_Upper 0x16
#define REG_Rest1_Downshift 0x17
#define REG_Rest2_Rate_Lower 0x18
#define REG_Rest2_Rate_Upper 0x19
#define REG_Rest2_Downshift 0x1a
#define REG_Rest3_Rate_Lower 0x1b
#define REG_Rest3_Rate_Upper 0x1c
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_SROM_ID 0x2a
#define REG_Min_SQ_Run 0x2b
#define REG_RawData_Threshold 0x2c
#define REG_Control2 0x2d
#define REG_Config5_L 0x2e
#define REG_Config5_H 0x2f
#define REG_Power_Up_Reset 0X3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_LiftCutoff_Cal3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Cal1 0x4a
#define REG_Motion_Burst 0x50
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_RawData_Burst 0x64
#define REG_LiftCutoff_Cal2 0x65
#define REG_LiftCutoff_Cal_Timeout 0x71
#define REG_LiftCutoff_Cal_Min_Length 0x72
#define REG_PWM_Period_Cnt 0x73
#define REG_PWM_Width_Cnt 0x74
#define CPI_STEP 50
// clang-format on
// limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible).
#ifndef MAX_CPI
# define MAX_CPI 0x013f
#endif
bool _inBurst = false;
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
bool pmw3389_spi_start(void) {
bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR);
// tNCS-SCLK, 120ns
wait_us(1);
return status;
}
spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) {
pmw3389_spi_start();
if (reg_addr != REG_Motion_Burst) {
_inBurst = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
spi_status_t status = spi_write(reg_addr | 0x80);
status = spi_write(data);
// tSCLK-NCS for write operation is 35 us
wait_us(35);
spi_stop();
// tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
wait_us(145);
return status;
}
uint8_t pmw3389_read(uint8_t reg_addr) {
pmw3389_spi_start();
// send adress of the register, with MSBit = 0 to indicate it's a read
spi_write(reg_addr & 0x7f);
// tSRAD (=160us)
wait_us(160);
uint8_t data = spi_read();
// tSCLK-NCS, 120ns
wait_us(1);
spi_stop();
// tSRW/tSRR (=20us) minus tSCLK-NCS
wait_us(19);
return data;
}
bool pmw3389_init(void) {
setPinOutput(PMW3389_CS_PIN);
spi_init();
_inBurst = false;
spi_stop();
pmw3389_spi_start();
spi_stop();
pmw3389_write(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
pmw3389_spi_start();
wait_us(40);
spi_stop();
wait_us(40);
// power up, need to first drive NCS high then low, see above.
pmw3389_write(REG_Power_Up_Reset, 0x5a);
wait_ms(50);
// read registers and discard
pmw3389_read(REG_Motion);
pmw3389_read(REG_Delta_X_L);
pmw3389_read(REG_Delta_X_H);
pmw3389_read(REG_Delta_Y_L);
pmw3389_read(REG_Delta_Y_H);
pmw3389_upload_firmware();
spi_stop();
wait_ms(10);
pmw3389_set_cpi(PMW3389_CPI);
wait_ms(1);
pmw3389_write(REG_Config2, 0x00);
pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE);
bool init_success = pmw3389_check_signature();
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3389 signature verified");
} else {
dprintf("pmw3389 signature verification failed!");
}
#endif
writePinLow(PMW3389_CS_PIN);
return init_success;
}
void pmw3389_upload_firmware(void) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw3389_write(REG_Config2, 0x00); // disable REST mode
pmw3389_write(REG_SROM_Enable, 0x1d);
wait_ms(10);
pmw3389_write(REG_SROM_Enable, 0x18);
pmw3389_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
#ifdef PMW3389_LEGACY_FIRMWARE_UPLOAD
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);
}
#else
spi_transmit(firmware_data, sizeof(firmware_data));
#endif
wait_us(200);
pmw3389_read(REG_SROM_ID);
pmw3389_write(REG_Config2, 0x00);
}
bool pmw3389_check_signature(void) {
uint8_t pid = pmw3389_read(REG_Product_ID);
uint8_t iv_pid = pmw3389_read(REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3389_read(REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}
uint16_t pmw3389_get_cpi(void) {
uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L);
return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP;
}
void pmw3389_set_cpi(uint16_t cpi) {
uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
// Sets upper byte first for more consistent setting of cpi
pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff);
pmw3389_write(REG_Resolution_L, cpival & 0xff);
}
report_pmw3389_t pmw3389_read_burst(void) {
report_pmw3389_t report = {0};
if (!_inBurst) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
#endif
pmw3389_write(REG_Motion_Burst, 0x00);
_inBurst = true;
}
pmw3389_spi_start();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
report.motion = spi_read();
spi_read(); // skip Observation
// delta registers
report.dx = spi_read();
report.mdx = spi_read();
report.dy = spi_read();
report.mdy = spi_read();
if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
spi_stop();
#ifdef CONSOLE_ENABLE
if (debug_mouse) {
print_byte(report.motion);
print_byte(report.dx);
print_byte(report.mdx);
print_byte(report.dy);
print_byte(report.mdy);
dprintf("\n");
}
#endif
report.isMotion = (report.motion & 0x80) != 0;
report.isOnSurface = (report.motion & 0x08) == 0;
report.dx |= (report.mdx << 8);
report.dx = report.dx * -1;
report.dy |= (report.mdy << 8);
report.dy = report.dy * -1;
return report;
}

76
drivers/sensors/pmw3389.h Normal file
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@ -0,0 +1,76 @@
/* Copyright 2021 Alabastard (@Alabastard-64)
* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
*
* 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/>.
*/
#pragma once
#include <stdint.h>
#ifndef PMW3389_CPI
# define PMW3389_CPI 2000
#endif
#ifndef PMW3389_CLOCK_SPEED
# define PMW3389_CLOCK_SPEED 2000000
#endif
#ifndef PMW3389_SPI_LSBFIRST
# define PMW3389_SPI_LSBFIRST false
#endif
#ifndef PMW3389_SPI_MODE
# define PMW3389_SPI_MODE 3
#endif
#ifndef PMW3389_SPI_DIVISOR
# ifdef __AVR__
# define PMW3389_SPI_DIVISOR (F_CPU / PMW3389_CLOCK_SPEED)
# else
# define PMW3389_SPI_DIVISOR 64
# endif
#endif
#ifndef PMW3389_LIFTOFF_DISTANCE
# define PMW3389_LIFTOFF_DISTANCE 0x02
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
#ifndef PMW3389_CS_PIN
# error "No chip select pin defined -- missing PMW3389_CS_PIN"
#endif
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.
bool isOnSurface; // True when a chip is on a surface
int16_t dx; // displacement on x directions. Unit: Count. (CPI * Count = Inch value)
int8_t mdx;
int16_t dy; // displacement on y directions.
int8_t mdy;
} report_pmw3389_t;
bool pmw3389_init(void);
void pmw3389_upload_firmware(void);
bool pmw3389_check_signature(void);
uint16_t pmw3389_get_cpi(void);
void pmw3389_set_cpi(uint16_t cpi);
/* Reads and clears the current delta values on the sensor */
report_pmw3389_t pmw3389_read_burst(void);

560
drivers/sensors/pmw3389_firmware.h
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File diff suppressed because it is too large Load Diff

3
quantum/pointing_device.h
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@ -47,6 +47,9 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
# include "spi_master.h"
# include "drivers/sensors/pmw3360.h"
#elif defined(POINTING_DEVICE_DRIVER_pmw3389)
# include "spi_master.h"
# include "drivers/sensors/pmw3389.h"
#else
void pointing_device_driver_init(void);
report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report);

36
quantum/pointing_device_drivers.c
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@ -242,6 +242,42 @@ const pointing_device_driver_t pointing_device_driver = {
.get_cpi = pmw3360_get_cpi
};
// clang-format on
#elif defined(POINTING_DEVICE_DRIVER_pmw3389)
static void pmw3389_device_init(void) { pmw3389_init(); }
report_mouse_t pmw3389_get_report(report_mouse_t mouse_report) {
report_pmw3389_t data = pmw3389_read_burst();
static uint16_t MotionStart = 0; // Timer for accel, 0 is resting state
if (data.isOnSurface && data.isMotion) {
// Reset timer if stopped moving
if (!data.isMotion) {
if (MotionStart != 0) MotionStart = 0;
return mouse_report;
}
// Set timer if new motion
if ((MotionStart == 0) && data.isMotion) {
# ifdef CONSOLE_ENABLE
if (debug_mouse) dprintf("Starting motion.\n");
# endif
MotionStart = timer_read();
}
mouse_report.x = constrain_hid(data.dx);
mouse_report.y = constrain_hid(data.dy);
}
return mouse_report;
}
// clang-format off
const pointing_device_driver_t pointing_device_driver = {
.init = pmw3389_device_init,
.get_report = pmw3389_get_report,
.set_cpi = pmw3389_set_cpi,
.get_cpi = pmw3389_get_cpi
};
// clang-format on
#else
__attribute__((weak)) void pointing_device_driver_init(void) {}
__attribute__((weak)) report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report) { return mouse_report; }