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[Core] PMW33XX drivers overhaul (#17613)

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* PMW33XX drivers overhaul

This combines the PMW3389 and PM3360 drivers as they only differ in the
firmware blobs and CPI get and set functions. The following changes have
been made:

* PMW3389 now gets the same multi-sensor feature that is already available on the
  PMW3360.

* Introduced a shared pmw33xx_report_t struct is now directly readable via SPI
  transactions instead of individual byte-sized reads, saving multiple
  copies and bitshift operations.

* pmw33(89/60)_get_report functions had unreachable branches in their motion
  detection logic these have been simplied as much as possible.

* The fast firmware upload option has been removed as this becomes obsolete by
  the newly introduced polled waiting functions for ChibiOS polled waiting

* PMW33(60/89)_SPI_LSBFIRST and PMW33(60/89)_SPI_MODE config options
  have been removed as they don't need to be configurable.

* All PMW3389 and PMW3360 defines have been unified to a PMW33XX prefix
  to reduce code duplication and make the defines interchangeable

* Adjust keyboards to PMW33XX naming scheme
This commit is contained in:
Stefan Kerkmann
2022-07-14 11:50:00 +02:00
committed by GitHub
parent 82685fc2ac
commit 3c58f98929
26 changed files with 1179 additions and 1456 deletions
Download Patch File Download Diff File Expand all files Collapse all files
drivers/sensors/pmw3360.c
+291 -288
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File diff suppressed because it is too large Load Diff
drivers/sensors/pmw3360.h
+64 -70
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@@ -1,79 +1,73 @@
/* 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/>.
*/
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
// Copyright 2019 Sunjun Kim
// Copyright 2020 Ploopy Corporation
// SPDX-License-Identifier: GPL-2.0-or-later
#pragma once
#include <stdint.h>
#ifndef PMW3360_CPI
# define PMW3360_CPI 1600
#if !defined(PMW33XX_CPI)
# define PMW33XX_CPI 1600U
#endif
#ifndef PMW3360_CLOCK_SPEED
# define PMW3360_CLOCK_SPEED 2000000
#endif
#define PMW33XX_CPI_STEP 100
#define PMW33XX_CPI_MIN 100
#define PMW33XX_CPI_MAX 12000
#ifndef PMW3360_SPI_LSBFIRST
# define PMW3360_SPI_LSBFIRST false
#endif
#define PMW33XX_FIRMWARE_LENGTH 4094
#ifndef PMW3360_SPI_MODE
# define PMW3360_SPI_MODE 3
#endif
#ifndef PMW3360_SPI_DIVISOR
# ifdef __AVR__
# define PMW3360_SPI_DIVISOR (F_CPU / PMW3360_CLOCK_SPEED)
# else
# define PMW3360_SPI_DIVISOR 64
# endif
#endif
#ifndef PMW3360_LIFTOFF_DISTANCE
# define PMW3360_LIFTOFF_DISTANCE 0x02
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
// Support single and plural spellings
#ifndef PMW3360_CS_PINS
# ifndef PMW3360_CS_PIN
# error "No chip select pin defined -- missing PMW3360_CS_PIN or PMW3360_CS_PINS"
# else
# define PMW3360_CS_PINS \
{ PMW3360_CS_PIN }
# endif
#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_pmw3360_t;
bool pmw3360_init(int8_t index);
uint16_t pmw3360_get_cpi(void);
void pmw3360_set_cpi(uint16_t cpi);
/* Reads and clears the current delta values on the sensor */
report_pmw3360_t pmw3360_read_burst(int8_t index);
// PMW3360 register addresses
// 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_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Control 0x0d
#define REG_Config1 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_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2a
#define REG_Min_SQ_Run 0x2b
#define REG_Raw_Data_Threshold 0x2c
#define REG_Config5 0x2f
#define REG_Power_Up_Reset 0x3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4a
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#define REG_LiftCutoff_Tune_Min_Length 0x5a
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65
// clang-format on
drivers/sensors/pmw3360_firmware.h
-288
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@@ -1,288 +0,0 @@
/* 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 "progmem.h"
// PID, Inverse PID, SROM version
const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04};
#define FIRMWARE_LENGTH 4094
// Firmware Blob foor PMW3360
// clang-format off
const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {
0x01, 0x04, 0x8E, 0x96, 0x6E, 0x77, 0x3E, 0xFE, 0x7E, 0x5F, 0x1D, 0xB8, 0xF2, 0x66, 0x4E, 0xFF,
0x5D, 0x19, 0xB0, 0xC2, 0x04, 0x69, 0x54, 0x2A, 0xD6, 0x2E, 0xBF, 0xDD, 0x19, 0xB0, 0xC3, 0xE5,
0x29, 0xB1, 0xE0, 0x23, 0xA5, 0xA9, 0xB1, 0xC1, 0x00, 0x82, 0x67, 0x4C, 0x1A, 0x97, 0x8D, 0x79,
0x51, 0x20, 0xC7, 0x06, 0x8E, 0x7C, 0x7C, 0x7A, 0x76, 0x4F, 0xFD, 0x59, 0x30, 0xE2, 0x46, 0x0E,
0x9E, 0xBE, 0xDF, 0x1D, 0x99, 0x91, 0xA0, 0xA5, 0xA1, 0xA9, 0xD0, 0x22, 0xC6, 0xEF, 0x5C, 0x1B,
0x95, 0x89, 0x90, 0xA2, 0xA7, 0xCC, 0xFB, 0x55, 0x28, 0xB3, 0xE4, 0x4A, 0xF7, 0x6C, 0x3B, 0xF4,
0x6A, 0x56, 0x2E, 0xDE, 0x1F, 0x9D, 0xB8, 0xD3, 0x05, 0x88, 0x92, 0xA6, 0xCE, 0x1E, 0xBE, 0xDF,
0x1D, 0x99, 0xB0, 0xE2, 0x46, 0xEF, 0x5C, 0x07, 0x11, 0x5D, 0x98, 0x0B, 0x9D, 0x94, 0x97, 0xEE,
0x4E, 0x45, 0x33, 0x6B, 0x44, 0xC7, 0x29, 0x56, 0x27, 0x30, 0xC6, 0xA7, 0xD5, 0xF2, 0x56, 0xDF,
0xB4, 0x38, 0x62, 0xCB, 0xA0, 0xB6, 0xE3, 0x0F, 0x84, 0x06, 0x24, 0x05, 0x65, 0x6F, 0x76, 0x89,
0xB5, 0x77, 0x41, 0x27, 0x82, 0x66, 0x65, 0x82, 0xCC, 0xD5, 0xE6, 0x20, 0xD5, 0x27, 0x17, 0xC5,
0xF8, 0x03, 0x23, 0x7C, 0x5F, 0x64, 0xA5, 0x1D, 0xC1, 0xD6, 0x36, 0xCB, 0x4C, 0xD4, 0xDB, 0x66,
0xD7, 0x8B, 0xB1, 0x99, 0x7E, 0x6F, 0x4C, 0x36, 0x40, 0x06, 0xD6, 0xEB, 0xD7, 0xA2, 0xE4, 0xF4,
0x95, 0x51, 0x5A, 0x54, 0x96, 0xD5, 0x53, 0x44, 0xD7, 0x8C, 0xE0, 0xB9, 0x40, 0x68, 0xD2, 0x18,
0xE9, 0xDD, 0x9A, 0x23, 0x92, 0x48, 0xEE, 0x7F, 0x43, 0xAF, 0xEA, 0x77, 0x38, 0x84, 0x8C, 0x0A,
0x72, 0xAF, 0x69, 0xF8, 0xDD, 0xF1, 0x24, 0x83, 0xA3, 0xF8, 0x4A, 0xBF, 0xF5, 0x94, 0x13, 0xDB,
0xBB, 0xD8, 0xB4, 0xB3, 0xA0, 0xFB, 0x45, 0x50, 0x60, 0x30, 0x59, 0x12, 0x31, 0x71, 0xA2, 0xD3,
0x13, 0xE7, 0xFA, 0xE7, 0xCE, 0x0F, 0x63, 0x15, 0x0B, 0x6B, 0x94, 0xBB, 0x37, 0x83, 0x26, 0x05,
0x9D, 0xFB, 0x46, 0x92, 0xFC, 0x0A, 0x15, 0xD1, 0x0D, 0x73, 0x92, 0xD6, 0x8C, 0x1B, 0x8C, 0xB8,
0x55, 0x8A, 0xCE, 0xBD, 0xFE, 0x8E, 0xFC, 0xED, 0x09, 0x12, 0x83, 0x91, 0x82, 0x51, 0x31, 0x23,
0xFB, 0xB4, 0x0C, 0x76, 0xAD, 0x7C, 0xD9, 0xB4, 0x4B, 0xB2, 0x67, 0x14, 0x09, 0x9C, 0x7F, 0x0C,
0x18, 0xBA, 0x3B, 0xD6, 0x8E, 0x14, 0x2A, 0xE4, 0x1B, 0x52, 0x9F, 0x2B, 0x7D, 0xE1, 0xFB, 0x6A,
0x33, 0x02, 0xFA, 0xAC, 0x5A, 0xF2, 0x3E, 0x88, 0x7E, 0xAE, 0xD1, 0xF3, 0x78, 0xE8, 0x05, 0xD1,
0xE3, 0xDC, 0x21, 0xF6, 0xE1, 0x9A, 0xBD, 0x17, 0x0E, 0xD9, 0x46, 0x9B, 0x88, 0x03, 0xEA, 0xF6,
0x66, 0xBE, 0x0E, 0x1B, 0x50, 0x49, 0x96, 0x40, 0x97, 0xF1, 0xF1, 0xE4, 0x80, 0xA6, 0x6E, 0xE8,
0x77, 0x34, 0xBF, 0x29, 0x40, 0x44, 0xC2, 0xFF, 0x4E, 0x98, 0xD3, 0x9C, 0xA3, 0x32, 0x2B, 0x76,
0x51, 0x04, 0x09, 0xE7, 0xA9, 0xD1, 0xA6, 0x32, 0xB1, 0x23, 0x53, 0xE2, 0x47, 0xAB, 0xD6, 0xF5,
0x69, 0x5C, 0x3E, 0x5F, 0xFA, 0xAE, 0x45, 0x20, 0xE5, 0xD2, 0x44, 0xFF, 0x39, 0x32, 0x6D, 0xFD,
0x27, 0x57, 0x5C, 0xFD, 0xF0, 0xDE, 0xC1, 0xB5, 0x99, 0xE5, 0xF5, 0x1C, 0x77, 0x01, 0x75, 0xC5,
0x6D, 0x58, 0x92, 0xF2, 0xB2, 0x47, 0x00, 0x01, 0x26, 0x96, 0x7A, 0x30, 0xFF, 0xB7, 0xF0, 0xEF,
0x77, 0xC1, 0x8A, 0x5D, 0xDC, 0xC0, 0xD1, 0x29, 0x30, 0x1E, 0x77, 0x38, 0x7A, 0x94, 0xF1, 0xB8,
0x7A, 0x7E, 0xEF, 0xA4, 0xD1, 0xAC, 0x31, 0x4A, 0xF2, 0x5D, 0x64, 0x3D, 0xB2, 0xE2, 0xF0, 0x08,
0x99, 0xFC, 0x70, 0xEE, 0x24, 0xA7, 0x7E, 0xEE, 0x1E, 0x20, 0x69, 0x7D, 0x44, 0xBF, 0x87, 0x42,
0xDF, 0x88, 0x3B, 0x0C, 0xDA, 0x42, 0xC9, 0x04, 0xF9, 0x45, 0x50, 0xFC, 0x83, 0x8F, 0x11, 0x6A,
0x72, 0xBC, 0x99, 0x95, 0xF0, 0xAC, 0x3D, 0xA7, 0x3B, 0xCD, 0x1C, 0xE2, 0x88, 0x79, 0x37, 0x11,
0x5F, 0x39, 0x89, 0x95, 0x0A, 0x16, 0x84, 0x7A, 0xF6, 0x8A, 0xA4, 0x28, 0xE4, 0xED, 0x83, 0x80,
0x3B, 0xB1, 0x23, 0xA5, 0x03, 0x10, 0xF4, 0x66, 0xEA, 0xBB, 0x0C, 0x0F, 0xC5, 0xEC, 0x6C, 0x69,
0xC5, 0xD3, 0x24, 0xAB, 0xD4, 0x2A, 0xB7, 0x99, 0x88, 0x76, 0x08, 0xA0, 0xA8, 0x95, 0x7C, 0xD8,
0x38, 0x6D, 0xCD, 0x59, 0x02, 0x51, 0x4B, 0xF1, 0xB5, 0x2B, 0x50, 0xE3, 0xB6, 0xBD, 0xD0, 0x72,
0xCF, 0x9E, 0xFD, 0x6E, 0xBB, 0x44, 0xC8, 0x24, 0x8A, 0x77, 0x18, 0x8A, 0x13, 0x06, 0xEF, 0x97,
0x7D, 0xFA, 0x81, 0xF0, 0x31, 0xE6, 0xFA, 0x77, 0xED, 0x31, 0x06, 0x31, 0x5B, 0x54, 0x8A, 0x9F,
0x30, 0x68, 0xDB, 0xE2, 0x40, 0xF8, 0x4E, 0x73, 0xFA, 0xAB, 0x74, 0x8B, 0x10, 0x58, 0x13, 0xDC,
0xD2, 0xE6, 0x78, 0xD1, 0x32, 0x2E, 0x8A, 0x9F, 0x2C, 0x58, 0x06, 0x48, 0x27, 0xC5, 0xA9, 0x5E,
0x81, 0x47, 0x89, 0x46, 0x21, 0x91, 0x03, 0x70, 0xA4, 0x3E, 0x88, 0x9C, 0xDA, 0x33, 0x0A, 0xCE,
0xBC, 0x8B, 0x8E, 0xCF, 0x9F, 0xD3, 0x71, 0x80, 0x43, 0xCF, 0x6B, 0xA9, 0x51, 0x83, 0x76, 0x30,
0x82, 0xC5, 0x6A, 0x85, 0x39, 0x11, 0x50, 0x1A, 0x82, 0xDC, 0x1E, 0x1C, 0xD5, 0x7D, 0xA9, 0x71,
0x99, 0x33, 0x47, 0x19, 0x97, 0xB3, 0x5A, 0xB1, 0xDF, 0xED, 0xA4, 0xF2, 0xE6, 0x26, 0x84, 0xA2,
0x28, 0x9A, 0x9E, 0xDF, 0xA6, 0x6A, 0xF4, 0xD6, 0xFC, 0x2E, 0x5B, 0x9D, 0x1A, 0x2A, 0x27, 0x68,
0xFB, 0xC1, 0x83, 0x21, 0x4B, 0x90, 0xE0, 0x36, 0xDD, 0x5B, 0x31, 0x42, 0x55, 0xA0, 0x13, 0xF7,
0xD0, 0x89, 0x53, 0x71, 0x99, 0x57, 0x09, 0x29, 0xC5, 0xF3, 0x21, 0xF8, 0x37, 0x2F, 0x40, 0xF3,
0xD4, 0xAF, 0x16, 0x08, 0x36, 0x02, 0xFC, 0x77, 0xC5, 0x8B, 0x04, 0x90, 0x56, 0xB9, 0xC9, 0x67,
0x9A, 0x99, 0xE8, 0x00, 0xD3, 0x86, 0xFF, 0x97, 0x2D, 0x08, 0xE9, 0xB7, 0xB3, 0x91, 0xBC, 0xDF,
0x45, 0xC6, 0xED, 0x0F, 0x8C, 0x4C, 0x1E, 0xE6, 0x5B, 0x6E, 0x38, 0x30, 0xE4, 0xAA, 0xE3, 0x95,
0xDE, 0xB9, 0xE4, 0x9A, 0xF5, 0xB2, 0x55, 0x9A, 0x87, 0x9B, 0xF6, 0x6A, 0xB2, 0xF2, 0x77, 0x9A,
0x31, 0xF4, 0x7A, 0x31, 0xD1, 0x1D, 0x04, 0xC0, 0x7C, 0x32, 0xA2, 0x9E, 0x9A, 0xF5, 0x62, 0xF8,
0x27, 0x8D, 0xBF, 0x51, 0xFF, 0xD3, 0xDF, 0x64, 0x37, 0x3F, 0x2A, 0x6F, 0x76, 0x3A, 0x7D, 0x77,
0x06, 0x9E, 0x77, 0x7F, 0x5E, 0xEB, 0x32, 0x51, 0xF9, 0x16, 0x66, 0x9A, 0x09, 0xF3, 0xB0, 0x08,
0xA4, 0x70, 0x96, 0x46, 0x30, 0xFF, 0xDA, 0x4F, 0xE9, 0x1B, 0xED, 0x8D, 0xF8, 0x74, 0x1F, 0x31,
0x92, 0xB3, 0x73, 0x17, 0x36, 0xDB, 0x91, 0x30, 0xD6, 0x88, 0x55, 0x6B, 0x34, 0x77, 0x87, 0x7A,
0xE7, 0xEE, 0x06, 0xC6, 0x1C, 0x8C, 0x19, 0x0C, 0x48, 0x46, 0x23, 0x5E, 0x9C, 0x07, 0x5C, 0xBF,
0xB4, 0x7E, 0xD6, 0x4F, 0x74, 0x9C, 0xE2, 0xC5, 0x50, 0x8B, 0xC5, 0x8B, 0x15, 0x90, 0x60, 0x62,
0x57, 0x29, 0xD0, 0x13, 0x43, 0xA1, 0x80, 0x88, 0x91, 0x00, 0x44, 0xC7, 0x4D, 0x19, 0x86, 0xCC,
0x2F, 0x2A, 0x75, 0x5A, 0xFC, 0xEB, 0x97, 0x2A, 0x70, 0xE3, 0x78, 0xD8, 0x91, 0xB0, 0x4F, 0x99,
0x07, 0xA3, 0x95, 0xEA, 0x24, 0x21, 0xD5, 0xDE, 0x51, 0x20, 0x93, 0x27, 0x0A, 0x30, 0x73, 0xA8,
0xFF, 0x8A, 0x97, 0xE9, 0xA7, 0x6A, 0x8E, 0x0D, 0xE8, 0xF0, 0xDF, 0xEC, 0xEA, 0xB4, 0x6C, 0x1D,
0x39, 0x2A, 0x62, 0x2D, 0x3D, 0x5A, 0x8B, 0x65, 0xF8, 0x90, 0x05, 0x2E, 0x7E, 0x91, 0x2C, 0x78,
0xEF, 0x8E, 0x7A, 0xC1, 0x2F, 0xAC, 0x78, 0xEE, 0xAF, 0x28, 0x45, 0x06, 0x4C, 0x26, 0xAF, 0x3B,
0xA2, 0xDB, 0xA3, 0x93, 0x06, 0xB5, 0x3C, 0xA5, 0xD8, 0xEE, 0x8F, 0xAF, 0x25, 0xCC, 0x3F, 0x85,
0x68, 0x48, 0xA9, 0x62, 0xCC, 0x97, 0x8F, 0x7F, 0x2A, 0xEA, 0xE0, 0x15, 0x0A, 0xAD, 0x62, 0x07,
0xBD, 0x45, 0xF8, 0x41, 0xD8, 0x36, 0xCB, 0x4C, 0xDB, 0x6E, 0xE6, 0x3A, 0xE7, 0xDA, 0x15, 0xE9,
0x29, 0x1E, 0x12, 0x10, 0xA0, 0x14, 0x2C, 0x0E, 0x3D, 0xF4, 0xBF, 0x39, 0x41, 0x92, 0x75, 0x0B,
0x25, 0x7B, 0xA3, 0xCE, 0x39, 0x9C, 0x15, 0x64, 0xC8, 0xFA, 0x3D, 0xEF, 0x73, 0x27, 0xFE, 0x26,
0x2E, 0xCE, 0xDA, 0x6E, 0xFD, 0x71, 0x8E, 0xDD, 0xFE, 0x76, 0xEE, 0xDC, 0x12, 0x5C, 0x02, 0xC5,
0x3A, 0x4E, 0x4E, 0x4F, 0xBF, 0xCA, 0x40, 0x15, 0xC7, 0x6E, 0x8D, 0x41, 0xF1, 0x10, 0xE0, 0x4F,
0x7E, 0x97, 0x7F, 0x1C, 0xAE, 0x47, 0x8E, 0x6B, 0xB1, 0x25, 0x31, 0xB0, 0x73, 0xC7, 0x1B, 0x97,
0x79, 0xF9, 0x80, 0xD3, 0x66, 0x22, 0x30, 0x07, 0x74, 0x1E, 0xE4, 0xD0, 0x80, 0x21, 0xD6, 0xEE,
0x6B, 0x6C, 0x4F, 0xBF, 0xF5, 0xB7, 0xD9, 0x09, 0x87, 0x2F, 0xA9, 0x14, 0xBE, 0x27, 0xD9, 0x72,
0x50, 0x01, 0xD4, 0x13, 0x73, 0xA6, 0xA7, 0x51, 0x02, 0x75, 0x25, 0xE1, 0xB3, 0x45, 0x34, 0x7D,
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0x6C, 0xA4, 0x55, 0xB1, 0xBC, 0xE2, 0x33, 0xC0, 0x9A, 0xCA, 0xB0, 0x11, 0x49, 0x4F, 0x68, 0x9B,
0x3B, 0x6B, 0x3C, 0xCC, 0x13, 0xF6, 0xC7, 0x85, 0x61, 0x68, 0x42, 0xAE, 0xBB, 0xDD, 0xCD, 0x45,
0x16, 0x29, 0x1D, 0xEA, 0xDB, 0xC8, 0x03, 0x94, 0x3C, 0xEE, 0x4F, 0x82, 0x11, 0xC3, 0xEC, 0x28,
0xBD, 0x97, 0x05, 0x99, 0xDE, 0xD7, 0xBB, 0x5E, 0x22, 0x1F, 0xD4, 0xEB, 0x64, 0xD9, 0x92, 0xD9,
0x85, 0xB7, 0x6A, 0x05, 0x6A, 0xE4, 0x24, 0x41, 0xF1, 0xCD, 0xF0, 0xD8, 0x3F, 0xF8, 0x9E, 0x0E,
0xCD, 0x0B, 0x7A, 0x70, 0x6B, 0x5A, 0x75, 0x0A, 0x6A, 0x33, 0x88, 0xEC, 0x17, 0x75, 0x08, 0x70,
0x10, 0x2F, 0x24, 0xCF, 0xC4, 0xE9, 0x42, 0x00, 0x61, 0x94, 0xCA, 0x1F, 0x3A, 0x76, 0x06, 0xFA,
0xD2, 0x48, 0x81, 0xF0, 0x77, 0x60, 0x03, 0x45, 0xD9, 0x61, 0xF4, 0xA4, 0x6F, 0x3D, 0xD9, 0x30,
0xC3, 0x04, 0x6B, 0x54, 0x2A, 0xB7, 0xEC, 0x3B, 0xF4, 0x4B, 0xF5, 0x68, 0x52, 0x26, 0xCE, 0xFF,
0x5D, 0x19, 0x91, 0xA0, 0xA3, 0xA5, 0xA9, 0xB1, 0xE0, 0x23, 0xC4, 0x0A, 0x77, 0x4D, 0xF9, 0x51,
0x20, 0xA3, 0xA5, 0xA9, 0xB1, 0xC1, 0x00, 0x82, 0x86, 0x8E, 0x7F, 0x5D, 0x19, 0x91, 0xA0, 0xA3,
0xC4, 0xEB, 0x54, 0x0B, 0x75, 0x68, 0x52, 0x07, 0x8C, 0x9A, 0x97, 0x8D, 0x79, 0x70, 0x62, 0x46,
0xEF, 0x5C, 0x1B, 0x95, 0x89, 0x71, 0x41, 0xE1, 0x21, 0xA1, 0xA1, 0xA1, 0xC0, 0x02, 0x67, 0x4C,
0x1A, 0xB6, 0xCF, 0xFD, 0x78, 0x53, 0x24, 0xAB, 0xB5, 0xC9, 0xF1, 0x60, 0x23, 0xA5, 0xC8, 0x12,
0x87, 0x6D, 0x58, 0x13, 0x85, 0x88, 0x92, 0x87, 0x6D, 0x58, 0x32, 0xC7, 0x0C, 0x9A, 0x97, 0xAC,
0xDA, 0x36, 0xEE, 0x5E, 0x3E, 0xDF, 0x1D, 0xB8, 0xF2, 0x66, 0x2F, 0xBD, 0xF8, 0x72, 0x47, 0xED,
0x58, 0x13, 0x85, 0x88, 0x92, 0x87, 0x8C, 0x7B, 0x55, 0x09, 0x90, 0xA2, 0xC6, 0xEF, 0x3D, 0xF8,
0x53, 0x24, 0xAB, 0xD4, 0x2A, 0xB7, 0xEC, 0x5A, 0x36, 0xEE, 0x5E, 0x3E, 0xDF, 0x3C, 0xFA, 0x76,
0x4F, 0xFD, 0x59, 0x30, 0xE2, 0x46, 0xEF, 0x3D, 0xF8, 0x53, 0x05, 0x69, 0x31, 0xC1, 0x00, 0x82,
0x86, 0x8E, 0x7F, 0x5D, 0x19, 0xB0, 0xE2, 0x27, 0xCC, 0xFB, 0x74, 0x4B, 0x14, 0x8B, 0x94, 0x8B,
0x75, 0x68, 0x33, 0xC5, 0x08, 0x92, 0x87, 0x8C, 0x9A, 0xB6, 0xCF, 0x1C, 0xBA, 0xD7, 0x0D, 0x98,
0xB2, 0xE6, 0x2F, 0xDC, 0x1B, 0x95, 0x89, 0x71, 0x60, 0x23, 0xC4, 0x0A, 0x96, 0x8F, 0x9C, 0xBA,
0xF6, 0x6E, 0x3F, 0xFC, 0x5B, 0x15, 0xA8, 0xD2, 0x26, 0xAF, 0xBD, 0xF8, 0x72, 0x66, 0x2F, 0xDC,
0x1B, 0xB4, 0xCB, 0x14, 0x8B, 0x94, 0xAA, 0xB7, 0xCD, 0xF9, 0x51, 0x01, 0x80, 0x82, 0x86, 0x6F,
0x3D, 0xD9, 0x30, 0xE2, 0x27, 0xCC, 0xFB, 0x74, 0x4B, 0x14, 0xAA, 0xB7, 0xCD, 0xF9, 0x70, 0x43,
0x04, 0x6B, 0x35, 0xC9, 0xF1, 0x60, 0x23, 0xA5, 0xC8, 0xF3, 0x45, 0x08, 0x92, 0x87, 0x6D, 0x58,
0x32, 0xE6, 0x2F, 0xBD, 0xF8, 0x72, 0x66, 0x4E, 0x1E, 0xBE, 0xFE, 0x7E, 0x7E, 0x7E, 0x5F, 0x1D,
0x99, 0x91, 0xA0, 0xA3, 0xC4, 0x0A, 0x77, 0x4D, 0x18, 0x93, 0xA4, 0xAB, 0xD4, 0x0B, 0x75, 0x49,
0x10, 0xA2, 0xC6, 0xEF, 0x3D, 0xF8, 0x53, 0x24, 0xAB, 0xB5, 0xE8, 0x33, 0xE4, 0x4A, 0x16, 0xAE,
0xDE, 0x1F, 0xBC, 0xDB, 0x15, 0xA8, 0xB3, 0xC5, 0x08, 0x73, 0x45, 0xE9, 0x31, 0xC1, 0xE1, 0x21,
0xA1, 0xA1, 0xA1, 0xC0, 0x02, 0x86, 0x6F, 0x5C, 0x3A, 0xD7, 0x0D, 0x98, 0x93, 0xA4, 0xCA, 0x16,
0xAE, 0xDE, 0x1F, 0x9D, 0x99, 0xB0, 0xE2, 0x46, 0xEF, 0x3D, 0xF8, 0x72, 0x47, 0x0C, 0x9A, 0xB6,
0xCF, 0xFD, 0x59, 0x11, 0xA0, 0xA3, 0xA5, 0xC8, 0xF3, 0x45, 0x08, 0x92, 0x87, 0x6D, 0x39, 0xF0,
0x43, 0x04, 0x8A, 0x96, 0xAE, 0xDE, 0x3E, 0xDF, 0x1D, 0x99, 0x91, 0xA0, 0xC2, 0x06, 0x6F, 0x3D,
0xF8, 0x72, 0x47, 0x0C, 0x9A, 0x97, 0x8D, 0x98, 0x93, 0x85, 0x88, 0x73, 0x45, 0xE9, 0x31, 0xE0,
0x23, 0xA5, 0xA9, 0xD0, 0x03, 0x84, 0x8A, 0x96, 0xAE, 0xDE, 0x1F, 0xBC, 0xDB, 0x15, 0xA8, 0xD2,
0x26, 0xCE, 0xFF, 0x5D, 0x19, 0x91, 0x81, 0x80, 0x82, 0x67, 0x2D, 0xD8, 0x13, 0xA4, 0xAB, 0xD4,
0x0B, 0x94, 0xAA, 0xB7, 0xCD, 0xF9, 0x51, 0x20, 0xA3, 0xA5, 0xC8, 0xF3, 0x45, 0xE9, 0x50, 0x22,
0xC6, 0xEF, 0x5C, 0x3A, 0xD7, 0x0D, 0x98, 0x93, 0x85, 0x88, 0x73, 0x64, 0x4A, 0xF7, 0x4D, 0xF9,
0x51, 0x20, 0xA3, 0xC4, 0x0A, 0x96, 0xAE, 0xDE, 0x3E, 0xFE, 0x7E, 0x7E, 0x7E, 0x5F, 0x3C, 0xFA,
0x76, 0x4F, 0xFD, 0x78, 0x72, 0x66, 0x2F, 0xBD, 0xD9, 0x30, 0xC3, 0xE5, 0x48, 0x12, 0x87, 0x8C,
0x7B, 0x55, 0x28, 0xD2, 0x07, 0x8C, 0x9A, 0x97, 0xAC, 0xDA, 0x17, 0x8D, 0x79, 0x51, 0x20, 0xA3,
0xC4, 0xEB, 0x54, 0x0B, 0x94, 0x8B, 0x94, 0xAA, 0xD6, 0x2E, 0xBF, 0xFC, 0x5B, 0x15, 0xA8, 0xD2,
0x26, 0xAF, 0xDC, 0x1B, 0xB4, 0xEA, 0x37, 0xEC, 0x3B, 0xF4, 0x6A, 0x37, 0xCD, 0x18, 0x93, 0x85,
0x69, 0x31, 0xC1, 0xE1, 0x40, 0xE3, 0x25, 0xC8, 0x12, 0x87, 0x8C, 0x9A, 0xB6, 0xCF, 0xFD, 0x59,
0x11, 0xA0, 0xC2, 0x06, 0x8E, 0x7F, 0x5D, 0x38, 0xF2, 0x47, 0x0C, 0x7B, 0x74, 0x6A, 0x37, 0xEC,
0x5A, 0x36, 0xEE, 0x3F, 0xFC, 0x7A, 0x76, 0x4F, 0x1C, 0x9B, 0x95, 0x89, 0x71, 0x41, 0x00, 0x63,
0x44, 0xEB, 0x54, 0x2A, 0xD6, 0x0F, 0x9C, 0xBA, 0xD7, 0x0D, 0x98, 0x93, 0x85, 0x69, 0x31, 0xC1,
0x00, 0x82, 0x86, 0x8E, 0x9E, 0xBE, 0xDF, 0x3C, 0xFA, 0x57, 0x2C, 0xDA, 0x36, 0xEE, 0x3F, 0xFC,
0x5B, 0x15, 0x89, 0x71, 0x41, 0x00, 0x82, 0x86, 0x8E, 0x7F, 0x5D, 0x38, 0xF2, 0x47, 0xED, 0x58,
0x13, 0xA4, 0xCA, 0xF7, 0x4D, 0xF9, 0x51, 0x01, 0x80, 0x63, 0x44, 0xEB, 0x54, 0x2A, 0xD6, 0x2E,
0xBF, 0xDD, 0x19, 0x91, 0xA0, 0xA3, 0xA5, 0xA9, 0xB1, 0xE0, 0x42, 0x06, 0x8E, 0x7F, 0x5D, 0x19,
0x91, 0xA0, 0xA3, 0xC4, 0x0A, 0x96, 0x8F, 0x7D, 0x78, 0x72, 0x47, 0x0C, 0x7B, 0x74, 0x6A, 0x56,
0x2E, 0xDE, 0x1F, 0xBC, 0xFA, 0x57, 0x0D, 0x79, 0x51, 0x01, 0x61, 0x21, 0xA1, 0xC0, 0xE3, 0x25,
0xA9, 0xB1, 0xC1, 0xE1, 0x40, 0x02, 0x67, 0x4C, 0x1A, 0x97, 0x8D, 0x98, 0x93, 0xA4, 0xAB, 0xD4,
0x2A, 0xD6, 0x0F, 0x9C, 0x9B, 0xB4, 0xCB, 0x14, 0xAA, 0xB7, 0xCD, 0xF9, 0x51, 0x20, 0xA3, 0xC4,
0xEB, 0x35, 0xC9, 0xF1, 0x60, 0x42, 0x06, 0x8E, 0x7F, 0x7C, 0x7A, 0x76, 0x6E, 0x3F, 0xFC, 0x7A,
0x76, 0x6E, 0x5E, 0x3E, 0xFE, 0x7E, 0x5F, 0x3C, 0xDB, 0x15, 0x89, 0x71, 0x41, 0xE1, 0x21, 0xC0,
0xE3, 0x44, 0xEB, 0x54, 0x2A, 0xB7, 0xCD, 0xF9, 0x70, 0x62, 0x27, 0xAD, 0xD8, 0x32, 0xC7, 0x0C,
0x7B, 0x74, 0x4B, 0x14, 0xAA, 0xB7, 0xEC, 0x3B, 0xD5, 0x28, 0xD2, 0x07, 0x6D, 0x39, 0xD1, 0x20,
0xC2, 0xE7, 0x4C, 0x1A, 0x97, 0x8D, 0x98, 0xB2, 0xC7, 0x0C, 0x59, 0x28, 0xF3, 0x9B
};
drivers/sensors/pmw3389.c
+300 -280
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drivers/sensors/pmw3389.h
+68 -67
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@@ -1,76 +1,77 @@
/* 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/>.
*/
// Copyright 2022 Stefan Kerkmann (KarlK90)
// 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
// SPDX-License-Identifier: GPL-2.0-or-later
#pragma once
#include <stdint.h>
#ifndef PMW3389_CPI
# define PMW3389_CPI 2000
#if !defined(PMW33XX_CPI)
# define PMW33XX_CPI 2000
#endif
#ifndef PMW3389_CLOCK_SPEED
# define PMW3389_CLOCK_SPEED 2000000
#endif
#define PMW33XX_CPI_STEP 50
#define PMW33XX_CPI_MIN 50
#define PMW33XX_CPI_MAX 16000
#ifndef PMW3389_SPI_LSBFIRST
# define PMW3389_SPI_LSBFIRST false
#endif
#define PMW33XX_FIRMWARE_LENGTH 4094
#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);
// PMW3389 register addresses
// 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
// clang-format on
drivers/sensors/pmw3389_firmware.h
-307
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File diff suppressed because it is too large Load Diff
drivers/sensors/pmw33xx_common.c
+218
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@@ -0,0 +1,218 @@
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// 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
// SPDX-License-Identifier: GPL-2.0-or-later
#include "debug.h"
#include "pmw33xx_common.h"
#include "print.h"
#include "string.h"
#include "wait.h"
#include "spi_master.h"
#include "progmem.h"
extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM;
extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM;
static const pin_t cs_pins[] = PMW33XX_CS_PINS;
static bool in_burst[sizeof(cs_pins) / sizeof(pin_t)] = {0};
const size_t pmw33xx_number_of_sensors = sizeof(cs_pins) / sizeof(pin_t);
bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor);
bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor);
void pmw33xx_set_cpi_all_sensors(uint16_t cpi) {
for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) {
pmw33xx_set_cpi(sensor, cpi);
}
}
bool pmw33xx_spi_start(uint8_t sensor) {
if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) {
spi_stop();
return false;
}
// tNCS-SCLK, 10ns
wait_us(1);
return true;
}
bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) {
if (!pmw33xx_spi_start(sensor)) {
return false;
}
if (reg_addr != REG_Motion_Burst) {
in_burst[sensor] = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
uint8_t command[2] = {reg_addr | 0x80, data};
if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) {
return false;
}
// tSCLK-NCS for write operation is 35us
wait_us(35);
spi_stop();
// tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like
// a safe lower bound
wait_us(145);
return true;
}
uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) {
if (!pmw33xx_spi_start(sensor)) {
return 0;
}
// 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) mins tSCLK-NCS
wait_us(19);
return data;
}
bool pmw33xx_check_signature(uint8_t sensor) {
uint8_t signature_dump[3] = {
pmw33xx_read(sensor, REG_Product_ID),
pmw33xx_read(sensor, REG_Inverse_Product_ID),
pmw33xx_read(sensor, REG_SROM_ID),
};
return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0;
}
bool pmw33xx_upload_firmware(uint8_t sensor) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw33xx_write(REG_Config2, 0x00); // disable REST mode
if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) {
return false;
}
wait_ms(10);
pmw33xx_write(sensor, REG_SROM_Enable, 0x18);
if (!pmw33xx_spi_start(sensor)) {
return false;
}
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(pmw33xx_firmware_data + i));
wait_us(15);
}
wait_us(200);
pmw33xx_read(sensor, REG_SROM_ID);
pmw33xx_write(sensor, REG_Config2, 0x00);
return true;
}
bool pmw33xx_init(uint8_t sensor) {
if (sensor >= pmw33xx_number_of_sensors) {
return false;
}
spi_init();
// power up, need to first drive NCS high then low. the datasheet does not
// say for how long, 40us works well in practice.
if (!pmw33xx_spi_start(sensor)) {
return false;
}
wait_us(40);
spi_stop();
wait_us(40);
if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) {
return false;
}
wait_ms(50);
// read registers and discard
pmw33xx_read(sensor, REG_Motion);
pmw33xx_read(sensor, REG_Delta_X_L);
pmw33xx_read(sensor, REG_Delta_X_H);
pmw33xx_read(sensor, REG_Delta_Y_L);
pmw33xx_read(sensor, REG_Delta_Y_H);
if (!pmw33xx_upload_firmware(sensor)) {
dprintf("PMW33XX (%d): firmware upload failed!\n", sensor);
return false;
}
spi_stop();
wait_ms(10);
pmw33xx_set_cpi(sensor, PMW33XX_CPI);
wait_ms(1);
pmw33xx_write(sensor, REG_Config2, 0x00);
pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE);
if (!pmw33xx_check_signature(sensor)) {
dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor);
return false;
}
return true;
}
pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) {
pmw33xx_report_t report = {0};
if (sensor >= pmw33xx_number_of_sensors) {
return report;
}
if (!in_burst[sensor]) {
dprintf("PMW33XX (%d): burst\n", sensor);
if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) {
return report;
}
in_burst[sensor] = true;
}
if (!pmw33xx_spi_start(sensor)) {
return report;
}
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
spi_receive((uint8_t*)&report, sizeof(report));
// panic recovery, sometimes burst mode works weird.
if (report.motion.w & 0b111) {
in_burst[sensor] = false;
}
spi_stop();
if (debug_config.mouse) {
dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y);
}
report.delta_x *= -1;
report.delta_y *= -1;
return report;
}
drivers/sensors/pmw33xx_common.h
+145
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// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// 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
// SPDX-License-Identifier: GPL-2.0-or-later
#pragma once
#include <stdint.h>
#include "spi_master.h"
#include "util.h"
#if defined(POINTING_DEVICE_DRIVER_pmw3360)
# include "pmw3360.h"
#elif defined(POINTING_DEVICE_DRIVER_pmw3389)
# include "pmw3389.h"
#endif
typedef struct __attribute__((packed)) {
union {
struct {
bool capture_from_raw_data : 1; // FRAME_RData_1st
uint8_t operation_mode : 2; // OP_MODE
bool is_lifted : 1; // Lift_stat
bool raw_data_grab_is_raw_data : 1; // RData_1st
uint8_t _reserved : 2; // 1 + Reserved
bool is_motion : 1; // MOT
} b;
uint8_t w;
} motion;
uint8_t observation;
int16_t delta_x; // displacement on x directions. Unit: Count. (CPI * Count = Inch value)
int16_t delta_y; // displacement on y directions.
} pmw33xx_report_t;
_Static_assert(sizeof(pmw33xx_report_t) == 6, "pmw33xx_report_t must be 6 bytes in size");
_Static_assert(sizeof((pmw33xx_report_t){0}.motion) == 1, "pmw33xx_report_t.motion must be 1 byte in size");
#if !defined(PMW33XX_CLOCK_SPEED)
# define PMW33XX_CLOCK_SPEED 2000000
#endif
#if !defined(PMW33XX_SPI_DIVISOR)
# ifdef __AVR__
# define PMW33XX_SPI_DIVISOR (F_CPU / PMW33XX_CLOCK_SPEED)
# else
# define PMW33XX_SPI_DIVISOR 64
# endif
#endif
#if !defined(PMW33XX_LIFTOFF_DISTANCE)
# define PMW33XX_LIFTOFF_DISTANCE 0x02
#endif
#if !defined(ROTATIONAL_TRANSFORM_ANGLE)
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
// Support single and plural spellings
#ifndef PMW33XX_CS_PINS
# ifndef PMW33XX_CS_PIN
# error "No chip select pin defined -- missing PMW33XX_CS_PIN or PMW33XX_CS_PINS"
# else
# define PMW33XX_CS_PINS \
{ PMW33XX_CS_PIN }
# endif
#endif
#if PMW33XX_CPI > PMW33XX_CPI_MAX || PMW33XX_CPI < PMW33XX_CPI_MIN || (PMW33XX_CPI % PMW33XX_CPI_STEP) != 0U
# pragma message "PMW33XX_CPI has to be in the range of " STR(PMW33XX_CPI_MAX) "-" STR(PMW33XX_CPI_MIN) " in increments of " STR(PMW33XX_CPI_STEP) ". But it is " STR(PMW33XX_CPI) "."
# error Use correct PMW33XX_CPI value.
#endif
#define CONSTRAIN(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
/**
* @brief Initializes the given sensor so it is in a working state and ready to
* be polled for data.
*
* @param sensor Index of the sensors chip select pin
* @return true Initialization was a success
* @return false Initialization failed, do not proceed operation
*/
bool __attribute__((cold)) pmw33xx_init(uint8_t sensor);
/**
* @brief Gets the currently set CPI value from the sensor. CPI is often
* refereed to as the sensors sensitivity.
*
* @param sensor Index of the sensors chip select pin
* @return uint16_t Current CPI value of the sensor
*/
uint16_t pmw33xx_get_cpi(uint8_t sensor);
/**
* @brief Sets the given CPI value for the given PMW33XX sensor. CIP is often
* refereed to as the sensors sensitivity. Values outside of the allow range are
* constrained into legal values.
*
* @param sensor Index of the sensors chip select pin
* @param cpi CPI value to set, legal range depends on the PMW sensor type
*/
void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi);
/**
* @brief Sets the given CPI value to all registered PMW33XX sensors. CPI is
* often refereed to as the sensors sensitivity. Values outside of the allow
* range are constrained into legal values.
*
* @param sensor Index of the sensors chip select pin
* @param cpi CPI value to set, legal range depends on the PMW sensor type
*/
void pmw33xx_set_cpi_all_sensors(uint16_t cpi);
/**
* @brief Reads and clears the current delta, and motion register values on the
* given sensor.
*
* @param sensor Index of the sensors chip select pin
* @return pmw33xx_report_t Current values of the sensor, if errors occurred all
* fields are set to zero
*/
pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor);
/**
* @brief Read one byte of data from the given register on the sensor
*
* @param sensor Index of the sensors chip select pin
* @param reg_addr Register address to read from
* @return uint8_t
*/
uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr);
/**
* @brief Writes one byte of data to the given register on the sensor
*
* @param sensor Index of the sensors chip select pin
* @param reg_addr Registers address to write to
* @param data Data to write to the register
* @return true Write was a success
* @return false Write failed, do not proceed operation
*/
bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data);