diff options
Diffstat (limited to 'drivers/sensors/pmw3360.c')
-rw-r--r-- | drivers/sensors/pmw3360.c | 46 |
1 files changed, 27 insertions, 19 deletions
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; |