diff options
author | Drashna Jael're <drashna@live.com> | 2021-12-07 09:27:44 -0800 |
---|---|---|
committer | Drashna Jael're <drashna@live.com> | 2021-12-07 09:27:44 -0800 |
commit | 7c18b1c9d3d968ded45e072af3483547c3ec7859 (patch) | |
tree | ed7c8a4176033046eacff21228364290b44fcfdb /drivers/sensors | |
parent | 43002bdf77ab0f48af6b04e87edcc37f7cb7b905 (diff) | |
parent | 6d0a62920410f50d7f6707960ca1ca0c8fd1d1fa (diff) |
Merge commit '6d0a62920410f50d7f6707960ca1ca0c8fd1d1fa' into firmware21
Diffstat (limited to 'drivers/sensors')
-rw-r--r-- | drivers/sensors/adns5050.c | 166 | ||||
-rw-r--r-- | drivers/sensors/adns5050.h | 75 | ||||
-rw-r--r-- | drivers/sensors/adns9800.c | 201 | ||||
-rw-r--r-- | drivers/sensors/adns9800.h | 42 | ||||
-rw-r--r-- | drivers/sensors/adns9800_srom_A6.h | 3268 | ||||
-rw-r--r-- | drivers/sensors/analog_joystick.c | 94 | ||||
-rw-r--r-- | drivers/sensors/analog_joystick.h | 51 | ||||
-rw-r--r-- | drivers/sensors/cirque_pinnacle.c | 232 | ||||
-rw-r--r-- | drivers/sensors/cirque_pinnacle.h | 74 | ||||
-rw-r--r-- | drivers/sensors/cirque_pinnacle_i2c.c | 43 | ||||
-rw-r--r-- | drivers/sensors/cirque_pinnacle_spi.c | 52 | ||||
-rw-r--r-- | drivers/sensors/pimoroni_trackball.c | 187 | ||||
-rw-r--r-- | drivers/sensors/pimoroni_trackball.h | 48 | ||||
-rw-r--r-- | drivers/sensors/pmw3360.c | 46 | ||||
-rw-r--r-- | drivers/sensors/pmw3360.h | 43 | ||||
-rw-r--r-- | drivers/sensors/pmw3360_firmware.h | 542 | ||||
-rw-r--r-- | drivers/sensors/pmw3389_firmware.h | 303 |
17 files changed, 1699 insertions, 3768 deletions
diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c index e7273977d5..c23d24d5af 100644 --- a/drivers/sensors/adns5050.c +++ b/drivers/sensors/adns5050.c @@ -17,89 +17,98 @@ * along with this program. If not, see <http://www.gnu.org/licenses/>. */ - #include "adns5050.h" #include "wait.h" #include "debug.h" -#include "print.h" #include "gpio.h" -#ifndef OPTIC_ROTATED -# define OPTIC_ROTATED false -#endif - -// Definitions for the ADNS serial line. -#ifndef ADNS_SCLK_PIN -# define ADNS_SCLK_PIN B7 -#endif - -#ifndef ADNS_SDIO_PIN -# define ADNS_SDIO_PIN C6 -#endif - -#ifndef ADNS_CS_PIN -# define ADNS_CS_PIN B4 -#endif - -#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 - -// Initialize the ADNS serial pins. -void adns_init(void) { - setPinOutput(ADNS_SCLK_PIN); - setPinOutput(ADNS_SDIO_PIN); - setPinOutput(ADNS_CS_PIN); +// Registers +// clang-format off +#define REG_PRODUCT_ID 0x00 +#define REG_REVISION_ID 0x01 +#define REG_MOTION 0x02 +#define REG_DELTA_X 0x03 +#define REG_DELTA_Y 0x04 +#define REG_SQUAL 0x05 +#define REG_SHUTTER_UPPER 0x06 +#define REG_SHUTTER_LOWER 0x07 +#define REG_MAXIMUM_PIXEL 0x08 +#define REG_PIXEL_SUM 0x09 +#define REG_MINIMUM_PIXEL 0x0a +#define REG_PIXEL_GRAB 0x0b +#define REG_MOUSE_CONTROL 0x0d +#define REG_MOUSE_CONTROL2 0x19 +#define REG_LED_DC_MODE 0x22 +#define REG_CHIP_RESET 0x3a +#define REG_PRODUCT_ID2 0x3e +#define REG_INV_REV_ID 0x3f +#define REG_MOTION_BURST 0x63 +// clang-format on + +void adns5050_init(void) { + // Initialize the ADNS serial pins. + setPinOutput(ADNS5050_SCLK_PIN); + setPinOutput(ADNS5050_SDIO_PIN); + setPinOutput(ADNS5050_CS_PIN); + + // reboot the adns. + // if the adns hasn't initialized yet, this is harmless. + adns5050_write_reg(REG_CHIP_RESET, 0x5a); + + // wait maximum time before adns is ready. + // this ensures that the adns is actuall ready after reset. + wait_ms(55); + + // read a burst from the adns and then discard it. + // gets the adns ready for write commands + // (for example, setting the dpi). + adns5050_read_burst(); } // Perform a synchronization with the ADNS. // Just as with the serial protocol, this is used by the slave to send a // synchronization signal to the master. -void adns_sync(void) { - writePinLow(ADNS_CS_PIN); +void adns5050_sync(void) { + writePinLow(ADNS5050_CS_PIN); wait_us(1); - writePinHigh(ADNS_CS_PIN); + writePinHigh(ADNS5050_CS_PIN); } -void adns_cs_select(void) { - writePinLow(ADNS_CS_PIN); -} +void adns5050_cs_select(void) { writePinLow(ADNS5050_CS_PIN); } -void adns_cs_deselect(void) { - writePinHigh(ADNS_CS_PIN); -} +void adns5050_cs_deselect(void) { writePinHigh(ADNS5050_CS_PIN); } -uint8_t adns_serial_read(void) { - setPinInput(ADNS_SDIO_PIN); +uint8_t adns5050_serial_read(void) { + setPinInput(ADNS5050_SDIO_PIN); uint8_t byte = 0; for (uint8_t i = 0; i < 8; ++i) { - writePinLow(ADNS_SCLK_PIN); + writePinLow(ADNS5050_SCLK_PIN); wait_us(1); - byte = (byte << 1) | readPin(ADNS_SDIO_PIN); + byte = (byte << 1) | readPin(ADNS5050_SDIO_PIN); - writePinHigh(ADNS_SCLK_PIN); + writePinHigh(ADNS5050_SCLK_PIN); wait_us(1); } return byte; } -void adns_serial_write(uint8_t data) { - setPinOutput(ADNS_SDIO_PIN); +void adns5050_serial_write(uint8_t data) { + setPinOutput(ADNS5050_SDIO_PIN); for (int8_t b = 7; b >= 0; b--) { - writePinLow(ADNS_SCLK_PIN); + writePinLow(ADNS5050_SCLK_PIN); if (data & (1 << b)) - writePinHigh(ADNS_SDIO_PIN); + writePinHigh(ADNS5050_SDIO_PIN); else - writePinLow(ADNS_SDIO_PIN); + writePinLow(ADNS5050_SDIO_PIN); wait_us(2); - writePinHigh(ADNS_SCLK_PIN); + writePinHigh(ADNS5050_SCLK_PIN); } // tSWR. See page 15 of the ADNS spec sheet. @@ -113,17 +122,17 @@ void adns_serial_write(uint8_t data) { // Read a byte of data from a register on the ADNS. // Don't forget to use the register map (as defined in the header file). -uint8_t adns_read_reg(uint8_t reg_addr) { - adns_cs_select(); +uint8_t adns5050_read_reg(uint8_t reg_addr) { + adns5050_cs_select(); - adns_serial_write(reg_addr); + adns5050_serial_write(reg_addr); // We don't need a minimum tSRAD here. That's because a 4ms wait time is - // already included in adns_serial_write(), so we're good. + // already included in adns5050_serial_write(), so we're good. // See page 10 and 15 of the ADNS spec sheet. - //wait_us(4); + // wait_us(4); - uint8_t byte = adns_serial_read(); + uint8_t byte = adns5050_serial_read(); // tSRW & tSRR. See page 15 of the ADNS spec sheet. // Technically, this is only necessary if the next operation is an SDIO @@ -131,38 +140,38 @@ uint8_t adns_read_reg(uint8_t reg_addr) { // Honestly, this wait could probably be removed. wait_us(1); - adns_cs_deselect(); + adns5050_cs_deselect(); return byte; } -void adns_write_reg(uint8_t reg_addr, uint8_t data) { - adns_cs_select(); - adns_serial_write( 0b10000000 | reg_addr ); - adns_serial_write(data); - adns_cs_deselect(); +void adns5050_write_reg(uint8_t reg_addr, uint8_t data) { + adns5050_cs_select(); + adns5050_serial_write(0b10000000 | reg_addr); + adns5050_serial_write(data); + adns5050_cs_deselect(); } -report_adns_t adns_read_burst(void) { - adns_cs_select(); +report_adns5050_t adns5050_read_burst(void) { + adns5050_cs_select(); - report_adns_t data; + report_adns5050_t data; data.dx = 0; data.dy = 0; - adns_serial_write(REG_MOTION_BURST); + adns5050_serial_write(REG_MOTION_BURST); // We don't need a minimum tSRAD here. That's because a 4ms wait time is - // already included in adns_serial_write(), so we're good. + // already included in adns5050_serial_write(), so we're good. // See page 10 and 15 of the ADNS spec sheet. - //wait_us(4); + // wait_us(4); - uint8_t x = adns_serial_read(); - uint8_t y = adns_serial_read(); + uint8_t x = adns5050_serial_read(); + uint8_t y = adns5050_serial_read(); // Burst mode returns a bunch of other shit that we don't really need. // Setting CS to high ends burst mode early. - adns_cs_deselect(); + adns5050_cs_deselect(); data.dx = convert_twoscomp(x); data.dy = convert_twoscomp(y); @@ -180,14 +189,21 @@ int8_t convert_twoscomp(uint8_t data) { } // Don't forget to use the definitions for CPI in the header file. -void adns_set_cpi(uint8_t cpi) { - adns_write_reg(REG_MOUSE_CONTROL2, cpi); +void adns5050_set_cpi(uint16_t cpi) { + uint8_t cpival = constrain((cpi / 125), 0x1, 0xD); // limits to 0--119 + + adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival); +} + +uint16_t adns5050_get_cpi(void) { + uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2); + return (uint16_t)((cpival & 0b10000) * 125); } -bool adns_check_signature(void) { - uint8_t pid = adns_read_reg(REG_PRODUCT_ID); - uint8_t rid = adns_read_reg(REG_REVISION_ID); - uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2); +bool adns5050_check_signature(void) { + uint8_t pid = adns5050_read_reg(REG_PRODUCT_ID); + uint8_t rid = adns5050_read_reg(REG_REVISION_ID); + uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2); return (pid == 0x12 && rid == 0x01 && pid2 == 0x26); } diff --git a/drivers/sensors/adns5050.h b/drivers/sensors/adns5050.h index ff8e8f78e9..e45a250196 100644 --- a/drivers/sensors/adns5050.h +++ b/drivers/sensors/adns5050.h @@ -21,59 +21,52 @@ #include <stdbool.h> -// Registers -#define REG_PRODUCT_ID 0x00 -#define REG_REVISION_ID 0x01 -#define REG_MOTION 0x02 -#define REG_DELTA_X 0x03 -#define REG_DELTA_Y 0x04 -#define REG_SQUAL 0x05 -#define REG_SHUTTER_UPPER 0x06 -#define REG_SHUTTER_LOWER 0x07 -#define REG_MAXIMUM_PIXEL 0x08 -#define REG_PIXEL_SUM 0x09 -#define REG_MINIMUM_PIXEL 0x0a -#define REG_PIXEL_GRAB 0x0b -#define REG_MOUSE_CONTROL 0x0d -#define REG_MOUSE_CONTROL2 0x19 -#define REG_LED_DC_MODE 0x22 -#define REG_CHIP_RESET 0x3a -#define REG_PRODUCT_ID2 0x3e -#define REG_INV_REV_ID 0x3f -#define REG_MOTION_BURST 0x63 - // CPI values -#define CPI125 0x11 -#define CPI250 0x12 -#define CPI375 0x13 -#define CPI500 0x14 -#define CPI625 0x15 -#define CPI750 0x16 -#define CPI875 0x17 +// clang-format off +#define CPI125 0x11 +#define CPI250 0x12 +#define CPI375 0x13 +#define CPI500 0x14 +#define CPI625 0x15 +#define CPI750 0x16 +#define CPI875 0x17 #define CPI1000 0x18 #define CPI1125 0x19 #define CPI1250 0x1a #define CPI1375 0x1b +// clang-format on + +#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) + +// Definitions for the ADNS serial line. +#ifndef ADNS5050_SCLK_PIN +# error "No clock pin defined -- missing ADNS5050_SCLK_PIN" +#endif + +#ifndef ADNS5050_SDIO_PIN +# error "No data pin defined -- missing ADNS5050_SDIO_PIN" +#endif -#ifdef CONSOLE_ENABLE -void print_byte(uint8_t byte); +#ifndef ADNS5050_CS_PIN +# error "No chip select pin defined -- missing ADNS5050_CS_PIN" #endif typedef struct { int8_t dx; int8_t dy; -} report_adns_t; +} report_adns5050_t; // A bunch of functions to implement the ADNS5050-specific serial protocol. // Note that the "serial.h" driver is insufficient, because it does not // manually manipulate a serial clock signal. -void adns_init(void); -void adns_sync(void); -uint8_t adns_serial_read(void); -void adns_serial_write(uint8_t data); -uint8_t adns_read_reg(uint8_t reg_addr); -void adns_write_reg(uint8_t reg_addr, uint8_t data); -report_adns_t adns_read_burst(void); -int8_t convert_twoscomp(uint8_t data); -void adns_set_cpi(uint8_t cpi); -bool adns_check_signature(void); +void adns5050_init(void); +void adns5050_sync(void); +uint8_t adns5050_serial_read(void); +void adns5050_serial_write(uint8_t data); +uint8_t adns5050_read_reg(uint8_t reg_addr); +void adns5050_write_reg(uint8_t reg_addr, uint8_t data); +report_adns5050_t adns5050_read_burst(void); +void adns5050_set_cpi(uint16_t cpi); +uint16_t adns5050_get_cpi(void); +int8_t convert_twoscomp(uint8_t data); +bool adns5050_check_signature(void); diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c index 36213179f7..c52f991804 100644 --- a/drivers/sensors/adns9800.c +++ b/drivers/sensors/adns9800.c @@ -15,89 +15,81 @@ */ #include "spi_master.h" -#include "quantum.h" #include "adns9800_srom_A6.h" #include "adns9800.h" +#include "wait.h" // registers -#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_Pixel_Sum 0x08 -#define REG_Maximum_Pixel 0x09 -#define REG_Minimum_Pixel 0x0a -#define REG_Shutter_Lower 0x0b -#define REG_Shutter_Upper 0x0c -#define REG_Frame_Period_Lower 0x0d -#define REG_Frame_Period_Upper 0x0e -#define REG_Configuration_I 0x0f -#define REG_Configuration_II 0x10 -#define REG_Frame_Capture 0x12 -#define REG_SROM_Enable 0x13 -#define REG_Run_Downshift 0x14 -#define REG_Rest1_Rate 0x15 -#define REG_Rest1_Downshift 0x16 -#define REG_Rest2_Rate 0x17 -#define REG_Rest2_Downshift 0x18 -#define REG_Rest3_Rate 0x19 -#define REG_Frame_Period_Max_Bound_Lower 0x1a -#define REG_Frame_Period_Max_Bound_Upper 0x1b -#define REG_Frame_Period_Min_Bound_Lower 0x1c -#define REG_Frame_Period_Min_Bound_Upper 0x1d -#define REG_Shutter_Max_Bound_Lower 0x1e -#define REG_Shutter_Max_Bound_Upper 0x1f -#define REG_LASER_CTRL0 0x20 -#define REG_Observation 0x24 -#define REG_Data_Out_Lower 0x25 -#define REG_Data_Out_Upper 0x26 -#define REG_SROM_ID 0x2a -#define REG_Lift_Detection_Thr 0x2e -#define REG_Configuration_V 0x2f -#define REG_Configuration_IV 0x39 -#define REG_Power_Up_Reset 0x3a -#define REG_Shutdown 0x3b -#define REG_Inverse_Product_ID 0x3f -#define REG_Motion_Burst 0x50 -#define REG_SROM_Load_Burst 0x62 -#define REG_Pixel_Burst 0x64 - -#define ADNS_CLOCK_SPEED 2000000 -#define MIN_CPI 200 -#define MAX_CPI 8200 -#define CPI_STEP 200 -#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value -#define SPI_MODE 3 -#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED) +// 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_Pixel_Sum 0x08 +#define REG_Maximum_Pixel 0x09 +#define REG_Minimum_Pixel 0x0a +#define REG_Shutter_Lower 0x0b +#define REG_Shutter_Upper 0x0c +#define REG_Frame_Period_Lower 0x0d +#define REG_Frame_Period_Upper 0x0e +#define REG_Configuration_I 0x0f +#define REG_Configuration_II 0x10 +#define REG_Frame_Capture 0x12 +#define REG_SROM_Enable 0x13 +#define REG_Run_Downshift 0x14 +#define REG_Rest1_Rate 0x15 +#define REG_Rest1_Downshift 0x16 +#define REG_Rest2_Rate 0x17 +#define REG_Rest2_Downshift 0x18 +#define REG_Rest3_Rate 0x19 +#define REG_Frame_Period_Max_Bound_Lower 0x1a +#define REG_Frame_Period_Max_Bound_Upper 0x1b +#define REG_Frame_Period_Min_Bound_Lower 0x1c +#define REG_Frame_Period_Min_Bound_Upper 0x1d +#define REG_Shutter_Max_Bound_Lower 0x1e +#define REG_Shutter_Max_Bound_Upper 0x1f +#define REG_LASER_CTRL0 0x20 +#define REG_Observation 0x24 +#define REG_Data_Out_Lower 0x25 +#define REG_Data_Out_Upper 0x26 +#define REG_SROM_ID 0x2a +#define REG_Lift_Detection_Thr 0x2e +#define REG_Configuration_V 0x2f +#define REG_Configuration_IV 0x39 +#define REG_Power_Up_Reset 0x3a +#define REG_Shutdown 0x3b +#define REG_Inverse_Product_ID 0x3f +#define REG_Motion_Burst 0x50 +#define REG_SROM_Load_Burst 0x62 +#define REG_Pixel_Burst 0x64 + +#define MIN_CPI 200 +#define MAX_CPI 8200 +#define CPI_STEP 200 +#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value #define US_BETWEEN_WRITES 120 -#define US_BETWEEN_READS 20 -#define US_BEFORE_MOTION 100 -#define MSB1 0x80 +#define US_BETWEEN_READS 20 +#define US_BEFORE_MOTION 100 +#define MSB1 0x80 +// clang-format on -extern const uint16_t adns_firmware_length; -extern const uint8_t adns_firmware_data[]; +void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); } -void adns_spi_start(void){ - spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); -} - -void adns_write(uint8_t reg_addr, uint8_t data){ - - adns_spi_start(); +void adns9800_write(uint8_t reg_addr, uint8_t data) { + adns9800_spi_start(); spi_write(reg_addr | MSB1); spi_write(data); spi_stop(); wait_us(US_BETWEEN_WRITES); } -uint8_t adns_read(uint8_t reg_addr){ - - adns_spi_start(); - spi_write(reg_addr & 0x7f ); +uint8_t adns9800_read(uint8_t reg_addr) { + adns9800_spi_start(); + spi_write(reg_addr & 0x7f); uint8_t data = spi_read(); spi_stop(); wait_us(US_BETWEEN_READS); @@ -105,48 +97,47 @@ uint8_t adns_read(uint8_t reg_addr){ return data; } -void adns_init() { - - setPinOutput(SPI_SS_PIN); +void adns9800_init() { + setPinOutput(ADNS9800_CS_PIN); spi_init(); // reboot - adns_write(REG_Power_Up_Reset, 0x5a); + adns9800_write(REG_Power_Up_Reset, 0x5a); wait_ms(50); // read registers and discard - adns_read(REG_Motion); - adns_read(REG_Delta_X_L); - adns_read(REG_Delta_X_H); - adns_read(REG_Delta_Y_L); - adns_read(REG_Delta_Y_H); + adns9800_read(REG_Motion); + adns9800_read(REG_Delta_X_L); + adns9800_read(REG_Delta_X_H); + adns9800_read(REG_Delta_Y_L); + adns9800_read(REG_Delta_Y_H); // upload firmware // 3k firmware mode - adns_write(REG_Configuration_IV, 0x02); + adns9800_write(REG_Configuration_IV, 0x02); // enable initialisation - adns_write(REG_SROM_Enable, 0x1d); + adns9800_write(REG_SROM_Enable, 0x1d); // wait a frame wait_ms(10); // start SROM download - adns_write(REG_SROM_Enable, 0x18); + adns9800_write(REG_SROM_Enable, 0x18); // write the SROM file - adns_spi_start(); + adns9800_spi_start(); spi_write(REG_SROM_Load_Burst | 0x80); wait_us(15); // send all bytes of the firmware unsigned char c; - for(int i = 0; i < adns_firmware_length; i++){ - c = (unsigned char)pgm_read_byte(adns_firmware_data + i); + for (int i = 0; i < FIRMWARE_LENGTH; i++) { + c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i); spi_write(c); wait_us(15); } @@ -156,37 +147,46 @@ void adns_init() { wait_ms(10); // enable laser - uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0); - adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); + uint8_t laser_ctrl0 = adns9800_read(REG_LASER_CTRL0); + adns9800_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0); + + adns9800_set_cpi(ADNS9800_CPI); } -config_adns_t adns_get_config(void) { - uint8_t config_1 = adns_read(REG_Configuration_I); - return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP }; +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}; } -void adns_set_config(config_adns_t config) { +void adns9800_set_config(config_adns9800_t config) { uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF; - adns_write(REG_Configuration_I, config_1); + adns9800_write(REG_Configuration_I, config_1); } -static int16_t convertDeltaToInt(uint8_t high, uint8_t low){ +uint16_t adns9800_get_cpi(void) { + uint8_t config_1 = adns9800_read(REG_Configuration_I); + return (uint16_t){(config_1 & 0xFF) * CPI_STEP}; +} + +void adns9800_set_cpi(uint16_t cpi) { + uint8_t config_1 = (CLAMP_CPI(cpi) / CPI_STEP) & 0xFF; + adns9800_write(REG_Configuration_I, config_1); +} +static int16_t convertDeltaToInt(uint8_t high, uint8_t low) { // join bytes into twos compliment uint16_t twos_comp = (high << 8) | low; // convert twos comp to int - if (twos_comp & 0x8000) - return -1 * (~twos_comp + 1); + if (twos_comp & 0x8000) return -1 * (~twos_comp + 1); return twos_comp; } -report_adns_t adns_get_report(void) { +report_adns9800_t adns9800_get_report(void) { + report_adns9800_t report = {0, 0}; - report_adns_t report = {0, 0}; - - adns_spi_start(); + adns9800_spi_start(); // start burst mode spi_write(REG_Motion_Burst & 0x7f); @@ -195,8 +195,7 @@ report_adns_t adns_get_report(void) { uint8_t motion = spi_read(); - if(motion & 0x80) { - + if (motion & 0x80) { // clear observation register spi_read(); diff --git a/drivers/sensors/adns9800.h b/drivers/sensors/adns9800.h index 2f50b8f1be..e75a869c03 100644 --- a/drivers/sensors/adns9800.h +++ b/drivers/sensors/adns9800.h @@ -18,18 +18,48 @@ #include <stdint.h> +#ifndef ADNS9800_CPI +# define ADNS9800_CPI 1600 +#endif + +#ifndef ADNS9800_CLOCK_SPEED +# define ADNS9800_CLOCK_SPEED 2000000 +#endif + +#ifndef ADNS9800_SPI_LSBFIRST +# define ADNS9800_SPI_LSBFIRST false +#endif + +#ifndef ADNS9800_SPI_MODE +# define ADNS9800_SPI_MODE 3 +#endif + +#ifndef ADNS9800_SPI_DIVISOR +# ifdef __AVR__ +# define ADNS9800_SPI_DIVISOR (F_CPU / ADNS9800_CLOCK_SPEED) +# else +# define ADNS9800_SPI_DIVISOR 64 +# endif +#endif + +#ifndef ADNS9800_CS_PIN +# error "No chip select pin defined -- missing ADNS9800_CS_PIN" +#endif + typedef struct { /* 200 - 8200 CPI supported */ uint16_t cpi; -} config_adns_t; +} config_adns9800_t; typedef struct { int16_t x; int16_t y; -} report_adns_t; +} report_adns9800_t; -void adns_init(void); -config_adns_t adns_get_config(void); -void adns_set_config(config_adns_t); +void adns9800_init(void); +config_adns9800_t adns9800_get_config(void); +void adns9800_set_config(config_adns9800_t); +uint16_t adns9800_get_cpi(void); +void adns9800_set_cpi(uint16_t cpi); /* Reads and clears the current delta values on the ADNS sensor */ -report_adns_t adns_get_report(void); +report_adns9800_t adns9800_get_report(void); diff --git a/drivers/sensors/adns9800_srom_A6.h b/drivers/sensors/adns9800_srom_A6.h index f5b3abeb62..d86ecbbd9e 100644 --- a/drivers/sensors/adns9800_srom_A6.h +++ b/drivers/sensors/adns9800_srom_A6.h @@ -2,3077 +2,201 @@ #include "progmem.h" -const uint16_t adns_firmware_length = 3070; +#define FIRMWARE_LENGTH 3070 -const uint8_t adns_firmware_data[] PROGMEM = { -0x03, -0xa6, -0x68, -0x1e, -0x7d, -0x10, -0x7e, -0x7e, -0x5f, -0x1c, -0xb8, -0xf2, -0x47, -0x0c, -0x7b, -0x74, -0x4b, -0x14, -0x8b, -0x75, -0x66, -0x51, -0x0b, -0x8c, -0x76, -0x74, -0x4b, -0x14, -0xaa, -0xd6, -0x0f, -0x9c, -0xba, -0xf6, -0x6e, -0x3f, -0xdd, -0x38, -0xd5, -0x02, -0x80, -0x9b, -0x82, -0x6d, -0x58, -0x13, -0xa4, -0xab, -0xb5, -0xc9, -0x10, -0xa2, -0xc6, -0x0a, -0x7f, -0x5d, -0x19, -0x91, -0xa0, -0xa3, -0xce, -0xeb, -0x3e, -0xc9, -0xf1, -0x60, -0x42, -0xe7, -0x4c, -0xfb, -0x74, -0x6a, -0x56, -0x2e, -0xbf, -0xdd, -0x38, -0xd3, -0x05, -0x88, -0x92, -0xa6, -0xce, -0xff, -0x5d, -0x38, -0xd1, -0xcf, -0xef, -0x58, -0xcb, -0x65, -0x48, -0xf0, -0x35, -0x85, -0xa9, -0xb2, -0x8f, -0x5e, -0xf3, -0x80, -0x94, -0x97, -0x7e, -0x75, -0x97, -0x87, -0x73, -0x13, -0xb0, -0x8a, -0x69, -0xd4, 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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 "analog_joystick.h" +#include "analog.h" +#include "gpio.h" +#include "wait.h" + +// Set Parameters +uint16_t minAxisValue = ANALOG_JOYSTICK_AXIS_MIN; +uint16_t maxAxisValue = ANALOG_JOYSTICK_AXIS_MAX; + +uint8_t maxCursorSpeed = ANALOG_JOYSTICK_SPEED_MAX; +uint8_t speedRegulator = ANALOG_JOYSTICK_SPEED_REGULATOR; // Lower Values Create Faster Movement + +int16_t xOrigin, yOrigin; + +uint16_t lastCursor = 0; + +int16_t axisCoordinate(uint8_t pin, uint16_t origin) { + int8_t direction; + int16_t distanceFromOrigin; + int16_t range; + + int16_t position = analogReadPin(pin); + + if (origin == position) { + return 0; + } else if (origin > position) { + distanceFromOrigin = origin - position; + range = origin - minAxisValue; + direction = -1; + } else { + distanceFromOrigin = position - origin; + range = maxAxisValue - origin; + direction = 1; + } + + float percent = (float)distanceFromOrigin / range; + int16_t coordinate = (int16_t)(percent * 100); + if (coordinate < 0) { + return 0; + } else if (coordinate > 100) { + return 100 * direction; + } else { + return coordinate * direction; + } +} + +int8_t axisToMouseComponent(uint8_t pin, int16_t origin, uint8_t maxSpeed) { + int16_t coordinate = axisCoordinate(pin, origin); + if (coordinate != 0) { + float percent = (float)coordinate / 100; + return percent * maxCursorSpeed * (abs(coordinate) / speedRegulator); + } else { + return 0; + } +} + +report_analog_joystick_t analog_joystick_read(void) { + report_analog_joystick_t report = {0}; + + if (timer_elapsed(lastCursor) > ANALOG_JOYSTICK_READ_INTERVAL) { + lastCursor = timer_read(); + report.x = axisToMouseComponent(ANALOG_JOYSTICK_X_AXIS_PIN, xOrigin, maxCursorSpeed); + report.y = axisToMouseComponent(ANALOG_JOYSTICK_Y_AXIS_PIN, yOrigin, maxCursorSpeed); + } +#ifdef ANALOG_JOYSTICK_CLICK_PIN + report.button = !readPin(ANALOG_JOYSTICK_CLICK_PIN); +#endif + return report; +} + +void analog_joystick_init(void) { +#ifdef ANALOG_JOYSTICK_CLICK_PIN + setPinInputHigh(ANALOG_JOYSTICK_CLICK_PIN); +#endif + // Account for drift + xOrigin = analogReadPin(ANALOG_JOYSTICK_X_AXIS_PIN); + yOrigin = analogReadPin(ANALOG_JOYSTICK_Y_AXIS_PIN); +} diff --git a/drivers/sensors/analog_joystick.h b/drivers/sensors/analog_joystick.h new file mode 100644 index 0000000000..6892a08817 --- /dev/null +++ b/drivers/sensors/analog_joystick.h @@ -0,0 +1,51 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> + * + * 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 <stdbool.h> +#include <stdint.h> + +#ifndef ANALOG_JOYSTICK_X_AXIS_PIN +# error No pin specified for X Axis +#endif +#ifndef ANALOG_JOYSTICK_Y_AXIS_PIN +# error No pin specified for Y Axis +#endif + +#ifndef ANALOG_JOYSTICK_AXIS_MIN +# define ANALOG_JOYSTICK_AXIS_MIN 0 +#endif +#ifndef ANALOG_JOYSTICK_AXIS_MAX +# define ANALOG_JOYSTICK_AXIS_MAX 1023 +#endif +#ifndef ANALOG_JOYSTICK_SPEED_REGULATOR +# define ANALOG_JOYSTICK_SPEED_REGULATOR 20 +#endif +#ifndef ANALOG_JOYSTICK_READ_INTERVAL +# define ANALOG_JOYSTICK_READ_INTERVAL 10 +#endif +#ifndef ANALOG_JOYSTICK_SPEED_MAX +# define ANALOG_JOYSTICK_SPEED_MAX 2 +#endif + +typedef struct { + int8_t x; + int8_t y; + bool button; +} report_analog_joystick_t; +report_analog_joystick_t analog_joystick_read(void); +void analog_joystick_init(void); diff --git a/drivers/sensors/cirque_pinnacle.c b/drivers/sensors/cirque_pinnacle.c new file mode 100644 index 0000000000..b807c4f076 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle.c @@ -0,0 +1,232 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +#include "cirque_pinnacle.h" +#include "print.h" +#include "debug.h" +#include "wait.h" + +// Registers for RAP +// clang-format off +#define FIRMWARE_ID 0x00 +#define FIRMWARE_VERSION_C 0x01 +#define STATUS_1 0x02 +#define SYSCONFIG_1 0x03 +#define FEEDCONFIG_1 0x04 +#define FEEDCONFIG_2 0x05 +#define CALIBRATION_CONFIG_1 0x07 +#define PS2_AU_CONTROL 0x08 +#define SAMPLE_RATE 0x09 +#define Z_IDLE_COUNT 0x0A +#define Z_SCALER 0x0B +#define SLEEP_INTERVAL 0x0C +#define SLEEP_TIMER 0x0D +#define PACKET_BYTE_0 0x12 +#define PACKET_BYTE_1 0x13 +#define PACKET_BYTE_2 0x14 +#define PACKET_BYTE_3 0x15 +#define PACKET_BYTE_4 0x16 +#define PACKET_BYTE_5 0x17 + +#define ERA_VALUE 0x1B +#define ERA_HIGH_BYTE 0x1C +#define ERA_LOW_BYTE 0x1D +#define ERA_CONTROL 0x1E + +// ADC-attenuation settings (held in BIT_7 and BIT_6) +// 1X = most sensitive, 4X = least sensitive +#define ADC_ATTENUATE_1X 0x00 +#define ADC_ATTENUATE_2X 0x40 +#define ADC_ATTENUATE_3X 0x80 +#define ADC_ATTENUATE_4X 0xC0 + +// Register config values for this demo +#define SYSCONFIG_1_VALUE 0x00 +#define FEEDCONFIG_1_VALUE 0x03 // 0x03 for absolute mode 0x01 for relative mode +#define FEEDCONFIG_2_VALUE 0x1C // 0x1F for normal functionality 0x1E for intellimouse disabled +#define Z_IDLE_COUNT_VALUE 0x05 +// clang-format on + +bool touchpad_init; +uint16_t scale_data = 1024; + +void cirque_pinnacle_clear_flags(void); +void cirque_pinnacle_enable_feed(bool feedEnable); +void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count); +void RAP_Write(uint8_t address, uint8_t data); + +#ifdef CONSOLE_ENABLE +void print_byte(uint8_t byte) { xprintf("%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 + +/* Logical Scaling Functions */ +// Clips raw coordinates to "reachable" window of sensor +// NOTE: values outside this window can only appear as a result of noise +void ClipCoordinates(pinnacle_data_t* coordinates) { + if (coordinates->xValue < CIRQUE_PINNACLE_X_LOWER) { + coordinates->xValue = CIRQUE_PINNACLE_X_LOWER; + } else if (coordinates->xValue > CIRQUE_PINNACLE_X_UPPER) { + coordinates->xValue = CIRQUE_PINNACLE_X_UPPER; + } + if (coordinates->yValue < CIRQUE_PINNACLE_Y_LOWER) { + coordinates->yValue = CIRQUE_PINNACLE_Y_LOWER; + } else if (coordinates->yValue > CIRQUE_PINNACLE_Y_UPPER) { + coordinates->yValue = CIRQUE_PINNACLE_Y_UPPER; + } +} + +uint16_t cirque_pinnacle_get_scale(void) { return scale_data; } +void cirque_pinnacle_set_scale(uint16_t scale) { scale_data = scale; } + +// Scales data to desired X & Y resolution +void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResolution, uint16_t yResolution) { + uint32_t xTemp = 0; + uint32_t yTemp = 0; + + ClipCoordinates(coordinates); + + xTemp = coordinates->xValue; + yTemp = coordinates->yValue; + + // translate coordinates to (0, 0) reference by subtracting edge-offset + xTemp -= CIRQUE_PINNACLE_X_LOWER; + yTemp -= CIRQUE_PINNACLE_Y_LOWER; + + // scale coordinates to (xResolution, yResolution) range + coordinates->xValue = (uint16_t)(xTemp * xResolution / CIRQUE_PINNACLE_X_RANGE); + coordinates->yValue = (uint16_t)(yTemp * yResolution / CIRQUE_PINNACLE_Y_RANGE); +} + +// Clears Status1 register flags (SW_CC and SW_DR) +void cirque_pinnacle_clear_flags() { + RAP_Write(STATUS_1, 0x00); + wait_us(50); +} + +// Enables/Disables the feed +void cirque_pinnacle_enable_feed(bool feedEnable) { + uint8_t temp; + + RAP_ReadBytes(FEEDCONFIG_1, &temp, 1); // Store contents of FeedConfig1 register + + if (feedEnable) { + temp |= 0x01; // Set Feed Enable bit + RAP_Write(0x04, temp); + } else { + temp &= ~0x01; // Clear Feed Enable bit + RAP_Write(0x04, temp); + } +} + +/* ERA (Extended Register Access) Functions */ +// Reads <count> bytes from an extended register at <address> (16-bit address), +// stores values in <*data> +void ERA_ReadBytes(uint16_t address, uint8_t* data, uint16_t count) { + uint8_t ERAControlValue = 0xFF; + + cirque_pinnacle_enable_feed(false); // Disable feed + + RAP_Write(ERA_HIGH_BYTE, (uint8_t)(address >> 8)); // Send upper byte of ERA address + RAP_Write(ERA_LOW_BYTE, (uint8_t)(address & 0x00FF)); // Send lower byte of ERA address + + for (uint16_t i = 0; i < count; i++) { + RAP_Write(ERA_CONTROL, 0x05); // Signal ERA-read (auto-increment) to Pinnacle + + // Wait for status register 0x1E to clear + do { + RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1); + } while (ERAControlValue != 0x00); + + RAP_ReadBytes(ERA_VALUE, data + i, 1); + + cirque_pinnacle_clear_flags(); + } +} + +// Writes a byte, <data>, to an extended register at <address> (16-bit address) +void ERA_WriteByte(uint16_t address, uint8_t data) { + uint8_t ERAControlValue = 0xFF; + + cirque_pinnacle_enable_feed(false); // Disable feed + + RAP_Write(ERA_VALUE, data); // Send data byte to be written + + RAP_Write(ERA_HIGH_BYTE, (uint8_t)(address >> 8)); // Upper byte of ERA address + RAP_Write(ERA_LOW_BYTE, (uint8_t)(address & 0x00FF)); // Lower byte of ERA address + + RAP_Write(ERA_CONTROL, 0x02); // Signal an ERA-write to Pinnacle + + // Wait for status register 0x1E to clear + do { + RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1); + } while (ERAControlValue != 0x00); + + cirque_pinnacle_clear_flags(); +} + +void cirque_pinnacle_set_adc_attenuation(uint8_t adcGain) { + uint8_t temp = 0x00; + + ERA_ReadBytes(0x0187, &temp, 1); + temp &= 0x3F; // clear top two bits + temp |= adcGain; + ERA_WriteByte(0x0187, temp); + ERA_ReadBytes(0x0187, &temp, 1); +} + +// Changes thresholds to improve detection of fingers +void cirque_pinnacle_tune_edge_sensitivity(void) { + uint8_t temp = 0x00; + + ERA_ReadBytes(0x0149, &temp, 1); + ERA_WriteByte(0x0149, 0x04); + ERA_ReadBytes(0x0149, &temp, 1); + + ERA_ReadBytes(0x0168, &temp, 1); + ERA_WriteByte(0x0168, 0x03); + ERA_ReadBytes(0x0168, &temp, 1); +} + +/* Pinnacle-based TM040040 Functions */ +void cirque_pinnacle_init(void) { +#if defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi) + spi_init(); +#elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_i2c) + i2c_init(); +#endif + + touchpad_init = true; + // Host clears SW_CC flag + cirque_pinnacle_clear_flags(); + + // Host configures bits of registers 0x03 and 0x05 + RAP_Write(SYSCONFIG_1, SYSCONFIG_1_VALUE); + RAP_Write(FEEDCONFIG_2, FEEDCONFIG_2_VALUE); + + // Host enables preferred output mode (absolute) + RAP_Write(FEEDCONFIG_1, FEEDCONFIG_1_VALUE); + + // Host sets z-idle packet count to 5 (default is 30) + RAP_Write(Z_IDLE_COUNT, Z_IDLE_COUNT_VALUE); + + cirque_pinnacle_set_adc_attenuation(0xFF); + cirque_pinnacle_tune_edge_sensitivity(); + cirque_pinnacle_enable_feed(true); +} + +// Reads XYZ data from Pinnacle registers 0x14 through 0x17 +// Stores result in pinnacle_data_t struct with xValue, yValue, and zValue members +pinnacle_data_t cirque_pinnacle_read_data(void) { + uint8_t data[6] = {0}; + pinnacle_data_t result = {0}; + RAP_ReadBytes(PACKET_BYTE_0, data, 6); + + cirque_pinnacle_clear_flags(); + + result.buttonFlags = data[0] & 0x3F; + result.xValue = data[2] | ((data[4] & 0x0F) << 8); + result.yValue = data[3] | ((data[4] & 0xF0) << 4); + result.zValue = data[5] & 0x3F; + + result.touchDown = (result.xValue != 0 || result.yValue != 0); + + return result; +} diff --git a/drivers/sensors/cirque_pinnacle.h b/drivers/sensors/cirque_pinnacle.h new file mode 100644 index 0000000000..db891122a6 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle.h @@ -0,0 +1,74 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license + +#pragma once + +#include <stdint.h> +#include <stdbool.h> + +// Convenient way to store and access measurements +typedef struct { + uint16_t xValue; + uint16_t yValue; + uint16_t zValue; + uint8_t buttonFlags; + bool touchDown; +} pinnacle_data_t; + +void cirque_pinnacle_init(void); +pinnacle_data_t cirque_pinnacle_read_data(void); +void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResolution, uint16_t yResolution); +uint16_t cirque_pinnacle_get_scale(void); +void cirque_pinnacle_set_scale(uint16_t scale); + +#ifndef CIRQUE_PINNACLE_TIMEOUT +# define CIRQUE_PINNACLE_TIMEOUT 20 +#endif + +// Coordinate scaling values +#ifndef CIRQUE_PINNACLE_X_LOWER +# define CIRQUE_PINNACLE_X_LOWER 127 // min "reachable" X value +#endif +#ifndef CIRQUE_PINNACLE_X_UPPER +# define CIRQUE_PINNACLE_X_UPPER 1919 // max "reachable" X value +#endif +#ifndef CIRQUE_PINNACLE_Y_LOWER +# define CIRQUE_PINNACLE_Y_LOWER 63 // min "reachable" Y value +#endif +#ifndef CIRQUE_PINNACLE_Y_UPPER +# define CIRQUE_PINNACLE_Y_UPPER 1471 // max "reachable" Y value +#endif +#ifndef CIRQUE_PINNACLE_X_RANGE +# define CIRQUE_PINNACLE_X_RANGE (CIRQUE_PINNACLE_X_UPPER - CIRQUE_PINNACLE_X_LOWER) +#endif +#ifndef CIRQUE_PINNACLE_Y_RANGE +# define CIRQUE_PINNACLE_Y_RANGE (CIRQUE_PINNACLE_Y_UPPER - CIRQUE_PINNACLE_Y_LOWER) +#endif + +#if defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_i2c) +# include "i2c_master.h" +// Cirque's 7-bit I2C Slave Address +# ifndef CIRQUE_PINNACLE_ADDR +# define CIRQUE_PINNACLE_ADDR 0x2A +# endif +#elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi) +# include "spi_master.h" +# ifndef CIRQUE_PINNACLE_CLOCK_SPEED +# define CIRQUE_PINNACLE_CLOCK_SPEED 10000000 +# endif +# ifndef CIRQUE_PINNACLE_SPI_LSBFIRST +# define CIRQUE_PINNACLE_SPI_LSBFIRST false +# endif +# ifndef CIRQUE_PINNACLE_SPI_MODE +# define CIRQUE_PINNACLE_SPI_MODE 1 +# endif +# ifndef CIRQUE_PINNACLE_SPI_DIVISOR +# ifdef __AVR__ +# define CIRQUE_PINNACLE_SPI_DIVISOR (F_CPU / CIRQUE_PINNACLE_CLOCK_SPEED) +# else +# define CIRQUE_PINNACLE_SPI_DIVISOR 64 +# endif +# ifndef CIRQUE_PINNACLE_SPI_CS_PIN +# error "No Chip Select pin has been defined -- missing CIRQUE_PINNACLE_SPI_CS_PIN define" +# endif +# endif +#endif diff --git a/drivers/sensors/cirque_pinnacle_i2c.c b/drivers/sensors/cirque_pinnacle_i2c.c new file mode 100644 index 0000000000..81dd982b0c --- /dev/null +++ b/drivers/sensors/cirque_pinnacle_i2c.c @@ -0,0 +1,43 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +#include "cirque_pinnacle.h" +#include "i2c_master.h" +#include "print.h" +#include "debug.h" +#include "stdio.h" + +// Masks for Cirque Register Access Protocol (RAP) +#define WRITE_MASK 0x80 +#define READ_MASK 0xA0 + +extern bool touchpad_init; + +/* RAP Functions */ +// Reads <count> Pinnacle registers starting at <address> +void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) { + uint8_t cmdByte = READ_MASK | address; // Form the READ command byte + if (touchpad_init) { + i2c_writeReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, NULL, 0, CIRQUE_PINNACLE_TIMEOUT); + if (i2c_readReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, data, count, CIRQUE_PINNACLE_TIMEOUT) != I2C_STATUS_SUCCESS) { +#ifdef CONSOLE_ENABLE + dprintf("error right touchpad\n"); +#endif + touchpad_init = false; + } + i2c_stop(); + } +} + +// Writes single-byte <data> to <address> +void RAP_Write(uint8_t address, uint8_t data) { + uint8_t cmdByte = WRITE_MASK | address; // Form the WRITE command byte + + if (touchpad_init) { + if (i2c_writeReg(CIRQUE_PINNACLE_ADDR << 1, cmdByte, &data, sizeof(data), CIRQUE_PINNACLE_TIMEOUT) != I2C_STATUS_SUCCESS) { +#ifdef CONSOLE_ENABLE + dprintf("error right touchpad\n"); +#endif + touchpad_init = false; + } + i2c_stop(); + } +} diff --git a/drivers/sensors/cirque_pinnacle_spi.c b/drivers/sensors/cirque_pinnacle_spi.c new file mode 100644 index 0000000000..f3eee88758 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle_spi.c @@ -0,0 +1,52 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +#include "cirque_pinnacle.h" +#include "spi_master.h" +#include "print.h" +#include "debug.h" + +// Masks for Cirque Register Access Protocol (RAP) +#define WRITE_MASK 0x80 +#define READ_MASK 0xA0 + +extern bool touchpad_init; + +/* RAP Functions */ +// Reads <count> Pinnacle registers starting at <address> +void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) { + uint8_t cmdByte = READ_MASK | address; // Form the READ command byte + if (touchpad_init) { + if (spi_start(CIRQUE_PINNACLE_SPI_CS_PIN, CIRQUE_TRACKPAD_SPI_LSBFIRST, CIRQUE_PINNACLE_SPI_MODE, CIRQUE_PINNACLE_SPI_DIVISOR)) { + spi_write(cmdByte); + spi_read(); // filler + spi_read(); // filler + for (uint8_t i = 0; i < count; i++) { + data[i] = spi_read(); // each sepsequent read gets another register's contents + } + } else { +#ifdef CONSOLE_ENABLE + dprintf("error right touchpad\n"); +#endif + touchpad_init = false; + j + } + spi_stop(); + } +} + +// Writes single-byte <data> to <address> +void RAP_Write(uint8_t address, uint8_t data) { + uint8_t cmdByte = WRITE_MASK | address; // Form the WRITE command byte + + if (touchpad_init) { + if (spi_start(CIRQUE_PINNACLE_SPI_CS_PIN, CIRQUE_TRACKPAD_SPI_LSBFIRST, CIRQUE_PINNACLE_SPI_MODE, CIRQUE_PINNACLE_SPI_DIVISOR)) { + spi_write(cmdByte); + spi_write(data); + } else { +#ifdef CONSOLE_ENABLE + dprintf("error right touchpad\n"); +#endif + touchpad_init = false; + } + spi_stop(); + } +} diff --git a/drivers/sensors/pimoroni_trackball.c b/drivers/sensors/pimoroni_trackball.c index 48098ff0cc..7d390056ea 100644 --- a/drivers/sensors/pimoroni_trackball.c +++ b/drivers/sensors/pimoroni_trackball.c @@ -17,73 +17,55 @@ #include "pimoroni_trackball.h" #include "i2c_master.h" #include "print.h" - -#ifndef PIMORONI_TRACKBALL_ADDRESS -# define PIMORONI_TRACKBALL_ADDRESS 0x0A -#endif -#ifndef PIMORONI_TRACKBALL_INTERVAL_MS -# define PIMORONI_TRACKBALL_INTERVAL_MS 8 -#endif -#ifndef PIMORONI_TRACKBALL_MOUSE_SCALE -# define PIMORONI_TRACKBALL_MOUSE_SCALE 5 -#endif -#ifndef PIMORONI_TRACKBALL_SCROLL_SCALE -# define PIMORONI_TRACKBALL_SCROLL_SCALE 1 -#endif -#ifndef PIMORONI_TRACKBALL_DEBOUNCE_CYCLES -# define PIMORONI_TRACKBALL_DEBOUNCE_CYCLES 20 -#endif -#ifndef PIMORONI_TRACKBALL_ERROR_COUNT -# define PIMORONI_TRACKBALL_ERROR_COUNT 10 -#endif - -#define TRACKBALL_TIMEOUT 100 -#define TRACKBALL_REG_LED_RED 0x00 -#define TRACKBALL_REG_LED_GRN 0x01 -#define TRACKBALL_REG_LED_BLU 0x02 -#define TRACKBALL_REG_LED_WHT 0x03 -#define TRACKBALL_REG_LEFT 0x04 -#define TRACKBALL_REG_RIGHT 0x05 -#define TRACKBALL_REG_UP 0x06 -#define TRACKBALL_REG_DOWN 0x07 - -static pimoroni_data current_pimoroni_data; -static report_mouse_t mouse_report; -static bool scrolling = false; -static int16_t x_offset = 0; -static int16_t y_offset = 0; -static int16_t h_offset = 0; -static int16_t v_offset = 0; -static uint16_t precision = 128; -static uint8_t error_count = 0; - -float trackball_get_precision(void) { return ((float)precision / 128); } -void trackball_set_precision(float floatprecision) { precision = (floatprecision * 128); } -bool trackball_is_scrolling(void) { return scrolling; } -void trackball_set_scrolling(bool scroll) { scrolling = scroll; } - -void trackball_set_rgbw(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { +#include "debug.h" +#include "timer.h" + +// clang-format off +#define PIMORONI_TRACKBALL_REG_LED_RED 0x00 +#define PIMORONI_TRACKBALL_REG_LED_GRN 0x01 +#define PIMORONI_TRACKBALL_REG_LED_BLU 0x02 +#define PIMORONI_TRACKBALL_REG_LED_WHT 0x03 +#define PIMORONI_TRACKBALL_REG_LEFT 0x04 +#define PIMORONI_TRACKBALL_REG_RIGHT 0x05 +#define PIMORONI_TRACKBALL_REG_UP 0x06 +#define PIMORONI_TRACKBALL_REG_DOWN 0x07 +// clang-format on + +static uint16_t precision = 128; + +float pimoroni_trackball_get_precision(void) { return ((float)precision / 128); } +void pimoroni_trackball_set_precision(float floatprecision) { precision = (floatprecision * 128); } + +void pimoroni_trackball_set_rgbw(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { uint8_t data[4] = {r, g, b, w}; - __attribute__((unused)) i2c_status_t status = i2c_writeReg(PIMORONI_TRACKBALL_ADDRESS << 1, TRACKBALL_REG_LED_RED, data, sizeof(data), TRACKBALL_TIMEOUT); -#ifdef TRACKBALL_DEBUG - dprintf("Trackball RGBW i2c_status_t: %d\n", status); + __attribute__((unused)) i2c_status_t status = i2c_writeReg(PIMORONI_TRACKBALL_ADDRESS << 1, PIMORONI_TRACKBALL_REG_LED_RED, data, sizeof(data), PIMORONI_TRACKBALL_TIMEOUT); + +#ifdef CONSOLE_ENABLE + if (debug_mouse) dprintf("Trackball RGBW i2c_status_t: %d\n", status); #endif } -i2c_status_t read_pimoroni_trackball(pimoroni_data* data) { - i2c_status_t status = i2c_readReg(PIMORONI_TRACKBALL_ADDRESS << 1, TRACKBALL_REG_LEFT, (uint8_t*)data, sizeof(*data), TRACKBALL_TIMEOUT); -#ifdef TRACKBALL_DEBUG - dprintf("Trackball READ i2c_status_t: %d\nLeft: %d\nRight: %d\nUp: %d\nDown: %d\nSwtich: %d\n", status, data->left, data->right, data->up, data->down, data->click); +i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data) { + i2c_status_t status = i2c_readReg(PIMORONI_TRACKBALL_ADDRESS << 1, PIMORONI_TRACKBALL_REG_LEFT, (uint8_t*)data, sizeof(*data), PIMORONI_TRACKBALL_TIMEOUT); +#ifdef CONSOLE_ENABLE + if (debug_mouse) { + static uint16_t d_timer; + if (timer_elapsed(d_timer) > PIMORONI_TRACKBALL_DEBUG_INTERVAL) { + dprintf("Trackball READ i2c_status_t: %d L: %d R: %d Up: %d D: %d SW: %d\n", status, data->left, data->right, data->up, data->down, data->click); + d_timer = timer_read(); + } + } #endif + return status; } -__attribute__((weak)) void pointing_device_init(void) { +__attribute__((weak)) void pimironi_trackball_device_init(void) { i2c_init(); - trackball_set_rgbw(0x00, 0x00, 0x00, 0x00); + pimoroni_trackball_set_rgbw(0x00, 0x00, 0x00, 0x00); } -int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale) { +int16_t pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale) { uint8_t offset = 0; bool isnegative = false; if (negative_dir > positive_dir) { @@ -96,7 +78,7 @@ int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_ return isnegative ? -(int16_t)(magnitude) : (int16_t)(magnitude); } -void trackball_adapt_values(int8_t* mouse, int16_t* offset) { +void pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset) { if (*offset > 127) { *mouse = 127; *offset -= 127; @@ -108,94 +90,3 @@ void trackball_adapt_values(int8_t* mouse, int16_t* offset) { *offset = 0; } } - -__attribute__((weak)) void trackball_click(bool pressed, report_mouse_t* mouse) { -#ifdef PIMORONI_TRACKBALL_CLICK - if (pressed) { - mouse->buttons |= MOUSE_BTN1; - } else { - mouse->buttons &= ~MOUSE_BTN1; - } -#endif -} - -__attribute__((weak)) bool pointing_device_task_user(pimoroni_data* trackball_data) { return true; }; - -__attribute__((weak)) void pointing_device_task() { - static fast_timer_t throttle = 0; - static uint16_t debounce = 0; - - if (error_count < PIMORONI_TRACKBALL_ERROR_COUNT && timer_elapsed_fast(throttle) >= PIMORONI_TRACKBALL_INTERVAL_MS) { - i2c_status_t status = read_pimoroni_trackball(¤t_pimoroni_data); - - if (status == I2C_STATUS_SUCCESS) { - error_count = 0; - - if (pointing_device_task_user(¤t_pimoroni_data)) { - mouse_report = pointing_device_get_report(); - - if (!(current_pimoroni_data.click & 128)) { - trackball_click(false, &mouse_report); - if (!debounce) { - if (scrolling) { -#ifdef PIMORONI_TRACKBALL_INVERT_X - h_offset += trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_SCROLL_SCALE); -#else - h_offset -= trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_SCROLL_SCALE); -#endif -#ifdef PIMORONI_TRACKBALL_INVERT_Y - v_offset += trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_SCROLL_SCALE); -#else - v_offset -= trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_SCROLL_SCALE); -#endif - } else { -#ifdef PIMORONI_TRACKBALL_INVERT_X - x_offset -= trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_MOUSE_SCALE); -#else - x_offset += trackball_get_offsets(current_pimoroni_data.right, current_pimoroni_data.left, PIMORONI_TRACKBALL_MOUSE_SCALE); -#endif -#ifdef PIMORONI_TRACKBALL_INVERT_Y - y_offset -= trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_MOUSE_SCALE); -#else - y_offset += trackball_get_offsets(current_pimoroni_data.down, current_pimoroni_data.up, PIMORONI_TRACKBALL_MOUSE_SCALE); -#endif - } - if (scrolling) { -#ifndef PIMORONI_TRACKBALL_ROTATE - trackball_adapt_values(&mouse_report.h, &h_offset); - trackball_adapt_values(&mouse_report.v, &v_offset); -#else - trackball_adapt_values(&mouse_report.h, &v_offset); - trackball_adapt_values(&mouse_report.v, &h_offset); -#endif - mouse_report.x = 0; - mouse_report.y = 0; - } else { -#ifndef PIMORONI_TRACKBALL_ROTATE - trackball_adapt_values(&mouse_report.x, &x_offset); - trackball_adapt_values(&mouse_report.y, &y_offset); -#else - trackball_adapt_values(&mouse_report.x, &y_offset); - trackball_adapt_values(&mouse_report.y, &x_offset); -#endif - mouse_report.h = 0; - mouse_report.v = 0; - } - } else { - debounce--; - } - } else { - trackball_click(true, &mouse_report); - debounce = PIMORONI_TRACKBALL_DEBOUNCE_CYCLES; - } - } - } else { - error_count++; - } - - pointing_device_set_report(mouse_report); - pointing_device_send(); - - throttle = timer_read_fast(); - } -} diff --git a/drivers/sensors/pimoroni_trackball.h b/drivers/sensors/pimoroni_trackball.h index 6b2a41425d..59ee8724ba 100644 --- a/drivers/sensors/pimoroni_trackball.h +++ b/drivers/sensors/pimoroni_trackball.h @@ -16,22 +16,46 @@ */ #pragma once -#include "quantum.h" -#include "pointing_device.h" +#include <stdint.h> +#include "report.h" +#include "i2c_master.h" -typedef struct pimoroni_data { +#ifndef PIMORONI_TRACKBALL_ADDRESS +# define PIMORONI_TRACKBALL_ADDRESS 0x0A +#endif +#ifndef PIMORONI_TRACKBALL_INTERVAL_MS +# define PIMORONI_TRACKBALL_INTERVAL_MS 8 +#endif +#ifndef PIMORONI_TRACKBALL_SCALE +# define PIMORONI_TRACKBALL_SCALE 5 +#endif +#ifndef PIMORONI_TRACKBALL_DEBOUNCE_CYCLES +# define PIMORONI_TRACKBALL_DEBOUNCE_CYCLES 20 +#endif +#ifndef PIMORONI_TRACKBALL_ERROR_COUNT +# define PIMORONI_TRACKBALL_ERROR_COUNT 10 +#endif + +#ifndef PIMORONI_TRACKBALL_TIMEOUT +# define PIMORONI_TRACKBALL_TIMEOUT 100 +#endif + +#ifndef PIMORONI_TRACKBALL_DEBUG_INTERVAL +# define PIMORONI_TRACKBALL_DEBUG_INTERVAL 100 +#endif + +typedef struct { uint8_t left; uint8_t right; uint8_t up; uint8_t down; uint8_t click; -} pimoroni_data; +} pimoroni_data_t; -void trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white); -void trackball_click(bool pressed, report_mouse_t* mouse); -int16_t trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale); -void trackball_adapt_values(int8_t* mouse, int16_t* offset); -float trackball_get_precision(void); -void trackball_set_precision(float precision); -bool trackball_is_scrolling(void); -void trackball_set_scrolling(bool scroll); +void pimironi_trackball_device_init(void); +void pimoroni_trackball_set_rgbw(uint8_t red, uint8_t green, uint8_t blue, uint8_t white); +int16_t pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_dir, uint8_t scale); +void pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset); +float pimoroni_trackball_get_precision(void); +void pimoroni_trackball_set_precision(float precision); +i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data); diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 17c4675ffa..2b27dccbb6 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -20,9 +20,10 @@ #include "wait.h" #include "debug.h" #include "print.h" -#include "pmw3360_firmware.h" +#include PMW3360_FIRMWARE_H // Registers +// clang-format off #define REG_Product_ID 0x00 #define REG_Revision_ID 0x01 #define REG_Motion 0x02 @@ -72,10 +73,18 @@ #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); @@ -124,20 +133,20 @@ uint8_t spi_read_adv(uint8_t reg_addr) { return data; } -void pmw_set_cpi(uint16_t cpi) { - uint8_t cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119 +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 pmw_get_cpi(void) { +uint16_t pmw3360_get_cpi(void) { uint8_t cpival = spi_read_adv(REG_Config1); return (uint16_t)(cpival & 0xFF) * 100; } -bool pmw_spi_init(void) { +bool pmw3360_init(void) { setPinOutput(PMW3360_CS_PIN); spi_init(); @@ -164,12 +173,12 @@ bool pmw_spi_init(void) { spi_read_adv(REG_Delta_Y_L); spi_read_adv(REG_Delta_Y_H); - pmw_upload_firmware(); + pmw3360_upload_firmware(); spi_stop_adv(); wait_ms(10); - pmw_set_cpi(PMW3360_CPI); + pmw3360_set_cpi(PMW3360_CPI); wait_ms(1); @@ -177,14 +186,14 @@ bool pmw_spi_init(void) { spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -30, 30)); - bool init_success = pmw_check_signature(); + bool init_success = pmw3360_check_signature(); writePinLow(PMW3360_CS_PIN); return init_success; } -void pmw_upload_firmware(void) { +void pmw3360_upload_firmware(void) { spi_write_adv(REG_SROM_Enable, 0x1d); wait_ms(10); @@ -196,7 +205,7 @@ void pmw_upload_firmware(void) { wait_us(15); unsigned char c; - for (int i = 0; i < firmware_length; i++) { + for (int i = 0; i < FIRMWARE_LENGTH; i++) { c = (unsigned char)pgm_read_byte(firmware_data + i); spi_write(c); wait_us(15); @@ -211,16 +220,18 @@ void pmw_upload_firmware(void) { wait_ms(10); } -bool pmw_check_signature(void) { +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 == 0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04 + return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 } -report_pmw_t pmw_read_burst(void) { +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; } @@ -229,12 +240,7 @@ report_pmw_t pmw_read_burst(void) { spi_write(REG_Motion_Burst); wait_us(35); // waits for tSRAD - report_pmw_t data; - data.motion = 0; - data.dx = 0; - data.mdx = 0; - data.dy = 0; - data.mdx = 0; + report_pmw3360_t data = {0}; data.motion = spi_read(); spi_write(0x00); // skip Observation @@ -245,6 +251,7 @@ report_pmw_t pmw_read_burst(void) { spi_stop(); +#ifdef CONSOLE_ENABLE if (debug_mouse) { print_byte(data.motion); print_byte(data.dx); @@ -253,6 +260,7 @@ report_pmw_t pmw_read_burst(void) { print_byte(data.mdy); dprintf("\n"); } +#endif data.isMotion = (data.motion & 0x80) != 0; data.isOnSurface = (data.motion & 0x08) == 0; diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h index 124c62cf00..7b2bef5b80 100644 --- a/drivers/sensors/pmw3360.h +++ b/drivers/sensors/pmw3360.h @@ -18,6 +18,8 @@ #pragma once +#include <stdint.h> +#include "report.h" #include "spi_master.h" #ifndef PMW3360_CPI @@ -25,7 +27,7 @@ #endif #ifndef PMW3360_CLOCK_SPEED -# define PMW3360_CLOCK_SPEED 70000000 +# define PMW3360_CLOCK_SPEED 2000000 #endif #ifndef PMW3360_SPI_LSBFIRST @@ -52,6 +54,17 @@ # 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 + #ifdef CONSOLE_ENABLE void print_byte(uint8_t byte); #endif @@ -64,22 +77,18 @@ typedef struct { int8_t mdx; int16_t dy; // displacement on y directions. int8_t mdy; -} report_pmw_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 pmw_spi_init(void); -void pmw_set_cpi(uint16_t cpi); -uint16_t pmw_get_cpi(void); -void pmw_upload_firmware(void); -bool pmw_check_signature(void); -report_pmw_t pmw_read_burst(void); - +} 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); +report_pmw3360_t pmw3360_read_burst(void); #define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0) #define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI) -#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) diff --git a/drivers/sensors/pmw3360_firmware.h b/drivers/sensors/pmw3360_firmware.h index cca5a6a4d8..ed9fda5a75 100644 --- a/drivers/sensors/pmw3360_firmware.h +++ b/drivers/sensors/pmw3360_firmware.h @@ -18,283 +18,271 @@ #pragma once -// clang-format off +#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 -const uint16_t firmware_length = 4094; -// clang-format off -const uint8_t firmware_data[] PROGMEM = { // SROM 0x04 -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, 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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 }; // 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, 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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 + +// PID, Inverse PID, SROM version +const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04}; + +// clang-format off +// Firmware Blob foor PMW3389 +const uint16_t firmware_length = 4094; +// clang-format off +const uint8_t firmware_data[] PROGMEM = { // SROM 0x04 +0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3, +0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9, +0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7, +0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e, +0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58, +0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02, +0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16, +0xab, 0xbf, 0xdd, 0x38, 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