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qmk_firmware/drivers/sensors/pmw3360.c

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/* 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 "pmw3360.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include PMW3360_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_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
#ifndef MAX_CPI
# define MAX_CPI 0x77 // limits to 0--119, should be max cpi/100
#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 spi_start_adv(void) {
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
wait_us(1);
return status;
}
void spi_stop_adv(void) {
wait_us(1);
spi_stop();
}
spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
if (reg_addr != REG_Motion_Burst) {
_inBurst = false;
}
spi_start_adv();
// 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
wait_us(20);
// tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
wait_us(100);
spi_stop();
return status;
}
uint8_t spi_read_adv(uint8_t reg_addr) {
spi_start_adv();
// send adress of the register, with MSBit = 0 to indicate it's a read
spi_write(reg_addr & 0x7f);
uint8_t data = spi_read();
// tSCLK-NCS for read operation is 120ns
wait_us(1);
// tSRW/tSRR (=20us) minus tSCLK-NCS
wait_us(19);
spi_stop();
return data;
}
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);
spi_start_adv();
spi_write_adv(REG_Config1, cpival);
spi_stop();
}
uint16_t pmw3360_get_cpi(void) {
uint8_t cpival = spi_read_adv(REG_Config1);
return (uint16_t)(cpival & 0xFF) * 100;
}
bool pmw3360_init(void) {
setPinOutput(PMW3360_CS_PIN);
spi_init();
_inBurst = false;
spi_stop();
spi_start_adv();
spi_stop();
spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
spi_start_adv();
wait_us(40);
spi_stop_adv();
wait_us(40);
spi_write_adv(REG_Power_Up_Reset, 0x5a);
wait_ms(50);
spi_read_adv(REG_Motion);
spi_read_adv(REG_Delta_X_L);
spi_read_adv(REG_Delta_X_H);
spi_read_adv(REG_Delta_Y_L);
spi_read_adv(REG_Delta_Y_H);
pmw3360_upload_firmware();
spi_stop_adv();
wait_ms(10);
pmw3360_set_cpi(PMW3360_CPI);
wait_ms(1);
spi_write_adv(REG_Config2, 0x00);
spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
bool init_success = pmw3360_check_signature();
writePinLow(PMW3360_CS_PIN);
return init_success;
}
void pmw3360_upload_firmware(void) {
spi_write_adv(REG_SROM_Enable, 0x1d);
wait_ms(10);
spi_write_adv(REG_SROM_Enable, 0x18);
spi_start_adv();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
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);
}
wait_us(200);
spi_read_adv(REG_SROM_ID);
spi_write_adv(REG_Config2, 0x00);
spi_stop();
wait_ms(10);
}
bool pmw3360_check_signature(void) {
uint8_t pid = spi_read_adv(REG_Product_ID);
uint8_t iv_pid = spi_read_adv(REG_Inverse_Product_ID);
uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}
report_pmw3360_t pmw3360_read_burst(void) {
if (!_inBurst) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
#endif
spi_write_adv(REG_Motion_Burst, 0x00);
_inBurst = true;
}
spi_start_adv();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD
report_pmw3360_t data = {0};
data.motion = spi_read();
spi_write(0x00); // skip Observation
data.dx = spi_read();
data.mdx = spi_read();
data.dy = spi_read();
data.mdy = spi_read();
spi_stop();
#ifdef CONSOLE_ENABLE
if (debug_mouse) {
print_byte(data.motion);
print_byte(data.dx);
print_byte(data.mdx);
print_byte(data.dy);
print_byte(data.mdy);
dprintf("\n");
}
#endif
data.isMotion = (data.motion & 0x80) != 0;
data.isOnSurface = (data.motion & 0x08) == 0;
data.dx |= (data.mdx << 8);
data.dx = data.dx * -1;
data.dy |= (data.mdy << 8);
data.dy = data.dy * -1;
spi_stop();
if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
return data;
}
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