2 files changed, 12 insertions(+), 7 deletions(-)

M docs/feature_pointing_device.md
M drivers/sensors/pmw3360.c

@@ 144,13 144,14 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
 
 | Setting                     | Description                                                                                | Default       |
 |-----------------------------|--------------------------------------------------------------------------------------------|---------------|
-|`PMW3360_CS_PIN`             | (Required) Sets the Cable Select pin connected to the sensor.                              | _not defined_ |
-|`PMW3360_CLOCK_SPEED`        | (Optional) Sets the clock speed that the sensor runs at.                                   | `2000000`     |
-|`PMW3360_SPI_LSBFIRST`       | (Optional) Sets the Least/Most Significant Byte First setting for SPI.                     | `false`       |
-|`PMW3360_SPI_MODE`           | (Optional) Sets the SPI Mode for the sensor.                                               | `3`           |
-|`PMW3360_SPI_DIVISOR`        | (Optional) Sets the SPI Divisor used for SPI communication.                                | _varies_      |
-|`PMW3360_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`           |
+|`PMW3360_CS_PIN`                 | (Required) Sets the Cable Select pin connected to the sensor.                              | _not defined_ |
+|`PMW3360_CLOCK_SPEED`            | (Optional) Sets the clock speed that the sensor runs at.                                   | `2000000`     |
+|`PMW3360_SPI_LSBFIRST`           | (Optional) Sets the Least/Most Significant Byte First setting for SPI.                     | `false`       |
+|`PMW3360_SPI_MODE`               | (Optional) Sets the SPI Mode for the sensor.                                               | `3`           |
+|`PMW3360_SPI_DIVISOR`            | (Optional) Sets the SPI Divisor used for SPI communication.                                | _varies_      |
+|`PMW3360_LIFTOFF_DISTANCE`       | (Optional) Sets the lift off distance at run time                                          | `0x02`        |
+|`ROTATIONAL_TRANSFORM_ANGLE`     | (Optional) Allows for the sensor data to be rotated +/- 127 degrees directly in the sensor. | `0`           |
+|`PMW3360_LEGACY_FIRMWARE_UPLOAD` | (Optional) Switches to older, manual upload of firmware, for compatibility.                | _not defined_     |
 
 The CPI range is 100-12000, in increments of 100. Defaults to 1600 CPI.
 

@@ 209,12 209,16 @@ void pmw3360_upload_firmware(void) {
     spi_write(REG_SROM_Load_Burst | 0x80);
     wait_us(15);
 
+#ifdef PMW3360_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);
 
     pmw3360_read(REG_SROM_ID);