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path: root/drivers/sensors/adns5050.c
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Diffstat (limited to 'drivers/sensors/adns5050.c')
-rw-r--r--drivers/sensors/adns5050.c157
1 files changed, 90 insertions, 67 deletions
diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c
index 254ef2ee87..c23d24d5af 100644
--- a/drivers/sensors/adns5050.c
+++ b/drivers/sensors/adns5050.c
@@ -20,81 +20,95 @@
#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.
@@ -108,17 +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);
- 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
@@ -126,38 +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);
- 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);
@@ -175,12 +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);
}