M drivers/sensors/adns9800.c => drivers/sensors/adns9800.c +8 -6
@@ 77,7 77,9 @@
#define MSB1 0x80
// clang-format on
-void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); }
+void adns9800_spi_start(void) {
+ spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR);
+}
void adns9800_write(uint8_t reg_addr, uint8_t data) {
adns9800_spi_start();
@@ 154,8 156,8 @@ void adns9800_init() {
}
config_adns9800_t adns9800_get_config(void) {
- uint8_t config_1 = adns9800_read(REG_Configuration_I);
- return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP};
+ uint8_t cpival = adns9800_read(REG_Configuration_I);
+ return (config_adns9800_t){(cpival & 0xFF) * CPI_STEP};
}
void adns9800_set_config(config_adns9800_t config) {
@@ 164,8 166,8 @@ void adns9800_set_config(config_adns9800_t config) {
}
uint16_t adns9800_get_cpi(void) {
- uint8_t config_1 = adns9800_read(REG_Configuration_I);
- return (uint16_t){(config_1 & 0xFF) * CPI_STEP};
+ uint8_t cpival = adns9800_read(REG_Configuration_I);
+ return (uint16_t)(cpival & 0xFF) * CPI_STEP;
}
void adns9800_set_cpi(uint16_t cpi) {
@@ 184,7 186,7 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
}
report_adns9800_t adns9800_get_report(void) {
- report_adns9800_t report = {0, 0};
+ report_adns9800_t report = {0};
adns9800_spi_start();
M drivers/sensors/pmw3360.c => drivers/sensors/pmw3360.c +120 -122
@@ 16,6 16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
+#include "spi_master.h"
#include "pmw3360.h"
#include "wait.h"
#include "debug.h"
@@ 24,55 25,57 @@
// 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
+#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
+
+#define CPI_STEP 100
// clang-format on
#ifndef MAX_CPI
@@ 86,23 89,19 @@ void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1'
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
-bool spi_start_adv(void) {
+bool pmw3360_spi_start(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 pmw3360_write(uint8_t reg_addr, uint8_t data) {
+ pmw3360_spi_start();
-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);
@@ 116,11 115,10 @@ spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
return status;
}
-uint8_t spi_read_adv(uint8_t reg_addr) {
- spi_start_adv();
+uint8_t pmw3360_read(uint8_t reg_addr) {
+ pmw3360_spi_start();
// 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
@@ 133,19 131,6 @@ uint8_t spi_read_adv(uint8_t reg_addr) {
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 + 1) & 0xFF) * 100;
-}
-
bool pmw3360_init(void) {
setPinOutput(PMW3360_CS_PIN);
@@ 153,42 138,51 @@ bool pmw3360_init(void) {
_inBurst = false;
spi_stop();
- spi_start_adv();
+ pmw3360_spi_start();
spi_stop();
- spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
+ pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
- spi_start_adv();
+ pmw3360_spi_start();
wait_us(40);
- spi_stop_adv();
+ spi_stop();
wait_us(40);
- spi_write_adv(REG_Power_Up_Reset, 0x5a);
+ // reboot
+ pmw3360_write(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);
+ // read registers and discard
+ pmw3360_read(REG_Motion);
+ pmw3360_read(REG_Delta_X_L);
+ pmw3360_read(REG_Delta_X_H);
+ pmw3360_read(REG_Delta_Y_L);
+ pmw3360_read(REG_Delta_Y_H);
pmw3360_upload_firmware();
- spi_stop_adv();
+ spi_stop();
wait_ms(10);
pmw3360_set_cpi(PMW3360_CPI);
wait_ms(1);
- spi_write_adv(REG_Config2, 0x00);
+ pmw3360_write(REG_Config2, 0x00);
- spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
+ pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
- spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
+ pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
bool init_success = pmw3360_check_signature();
+#ifdef CONSOLE_ENABLE
+ if (init_success) {
+ dprintf("pmw3360 signature verified");
+ } else {
+ dprintf("pmw3360 signature verification failed!");
+ }
+#endif
writePinLow(PMW3360_CS_PIN);
@@ 196,13 190,13 @@ bool pmw3360_init(void) {
}
void pmw3360_upload_firmware(void) {
- spi_write_adv(REG_SROM_Enable, 0x1d);
+ pmw3360_write(REG_SROM_Enable, 0x1d);
wait_ms(10);
- spi_write_adv(REG_SROM_Enable, 0x18);
+ pmw3360_write(REG_SROM_Enable, 0x18);
- spi_start_adv();
+ pmw3360_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
@@ 214,68 208,72 @@ void pmw3360_upload_firmware(void) {
}
wait_us(200);
- spi_read_adv(REG_SROM_ID);
-
- spi_write_adv(REG_Config2, 0x00);
-
- spi_stop();
- wait_ms(10);
+ pmw3360_read(REG_SROM_ID);
+ pmw3360_write(REG_Config2, 0x00);
}
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);
+ uint8_t pid = pmw3360_read(REG_Product_ID);
+ uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID);
+ uint8_t SROM_ver = pmw3360_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 pmw3360_get_cpi(void) {
+ uint8_t cpival = pmw3360_read(REG_Config1);
+ return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
+}
+
+void pmw3360_set_cpi(uint16_t cpi) {
+ uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
+ pmw3360_write(REG_Config1, cpival);
+}
+
report_pmw3360_t pmw3360_read_burst(void) {
+ report_pmw3360_t report = {0};
+
if (!_inBurst) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
#endif
- spi_write_adv(REG_Motion_Burst, 0x00);
+ pmw3360_write(REG_Motion_Burst, 0x00);
_inBurst = true;
}
- spi_start_adv();
+ pmw3360_spi_start();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD
- report_pmw3360_t data = {0};
-
- data.motion = spi_read();
+ report.motion = spi_read();
spi_write(0x00); // skip Observation
- data.dx = spi_read();
- data.mdx = spi_read();
- data.dy = spi_read();
- data.mdy = spi_read();
+ report.dx = spi_read();
+ report.mdx = spi_read();
+ report.dy = spi_read();
+ report.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);
+ print_byte(report.motion);
+ print_byte(report.dx);
+ print_byte(report.mdx);
+ print_byte(report.dy);
+ print_byte(report.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();
+ 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;
- if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
+ if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
- return data;
+ return report;
}
M drivers/sensors/pmw3360.h => drivers/sensors/pmw3360.h +3 -15
@@ 19,8 19,6 @@
#pragma once
#include <stdint.h>
-#include "report.h"
-#include "spi_master.h"
#ifndef PMW3360_CPI
# define PMW3360_CPI 1600
@@ 69,10 67,6 @@ This should work for the 3390 and 3391 too, in theory.
# define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
#endif
-#ifdef CONSOLE_ENABLE
-void print_byte(uint8_t byte);
-#endif
-
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.
@@ 83,16 77,10 @@ typedef struct {
int8_t mdy;
} report_pmw3360_t;
-bool spi_start_adv(void);
-void spi_stop_adv(void);
-spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data);
-uint8_t spi_read_adv(uint8_t reg_addr);
bool pmw3360_init(void);
-void pmw3360_set_cpi(uint16_t cpi);
-uint16_t pmw3360_get_cpi(void);
void pmw3360_upload_firmware(void);
bool pmw3360_check_signature(void);
+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(void);
-
-#define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0)
-#define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI)
M quantum/pointing_device_drivers.c => quantum/pointing_device_drivers.c +2 -3
@@ 207,8 207,7 @@ const pointing_device_driver_t pointing_device_driver = {
};
// clang-format on
#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
-
-static void init(void) { pmw3360_init(); }
+static void pmw3360_device_init(void) { pmw3360_init(); }
report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
report_pmw3360_t data = pmw3360_read_burst();
@@ 237,7 236,7 @@ report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
// clang-format off
const pointing_device_driver_t pointing_device_driver = {
- .init = init,
+ .init = pmw3360_device_init,
.get_report = pmw3360_get_report,
.set_cpi = pmw3360_set_cpi,
.get_cpi = pmw3360_get_cpi