diff options
Diffstat (limited to 'drivers/sensors')
| -rw-r--r-- | drivers/sensors/adns5050.c | 23 | ||||
| -rw-r--r-- | drivers/sensors/adns5050.h | 18 | ||||
| -rw-r--r-- | drivers/sensors/adns9800.c | 119 | ||||
| -rw-r--r-- | drivers/sensors/adns9800.h | 4 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.c | 96 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.h | 19 |
6 files changed, 130 insertions, 149 deletions
diff --git a/drivers/sensors/adns5050.c b/drivers/sensors/adns5050.c index e7273977d5..254ef2ee87 100644 --- a/drivers/sensors/adns5050.c +++ b/drivers/sensors/adns5050.c @@ -17,7 +17,6 @@ * along with this program. If not, see <http://www.gnu.org/licenses/>. */ - #include "adns5050.h" #include "wait.h" #include "debug.h" @@ -61,13 +60,9 @@ void adns_sync(void) { writePinHigh(ADNS_CS_PIN); } -void adns_cs_select(void) { - writePinLow(ADNS_CS_PIN); -} +void adns_cs_select(void) { writePinLow(ADNS_CS_PIN); } -void adns_cs_deselect(void) { - writePinHigh(ADNS_CS_PIN); -} +void adns_cs_deselect(void) { writePinHigh(ADNS_CS_PIN); } uint8_t adns_serial_read(void) { setPinInput(ADNS_SDIO_PIN); @@ -121,7 +116,7 @@ uint8_t adns_read_reg(uint8_t 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. // See page 10 and 15 of the ADNS spec sheet. - //wait_us(4); + // wait_us(4); uint8_t byte = adns_serial_read(); @@ -138,7 +133,7 @@ uint8_t adns_read_reg(uint8_t reg_addr) { void adns_write_reg(uint8_t reg_addr, uint8_t data) { adns_cs_select(); - adns_serial_write( 0b10000000 | reg_addr ); + adns_serial_write(0b10000000 | reg_addr); adns_serial_write(data); adns_cs_deselect(); } @@ -155,7 +150,7 @@ report_adns_t adns_read_burst(void) { // 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. // 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(); @@ -180,13 +175,11 @@ 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 adns_set_cpi(uint8_t cpi) { adns_write_reg(REG_MOUSE_CONTROL2, cpi); } 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 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); return (pid == 0x12 && rid == 0x01 && pid2 == 0x26); diff --git a/drivers/sensors/adns5050.h b/drivers/sensors/adns5050.h index ff8e8f78e9..5e9edc2962 100644 --- a/drivers/sensors/adns5050.h +++ b/drivers/sensors/adns5050.h @@ -67,13 +67,13 @@ typedef struct { // 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); +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); +int8_t convert_twoscomp(uint8_t data); +void adns_set_cpi(uint8_t cpi); +bool adns_check_signature(void); diff --git a/drivers/sensors/adns9800.c b/drivers/sensors/adns9800.c index 17966b81f9..b4f683452c 100644 --- a/drivers/sensors/adns9800.c +++ b/drivers/sensors/adns9800.c @@ -20,57 +20,57 @@ #include "adns9800.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 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 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) #define US_BETWEEN_WRITES 120 @@ -80,12 +80,9 @@ extern const uint8_t firmware_data[]; -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){ +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(); spi_write(reg_addr | MSB1); spi_write(data); @@ -93,10 +90,9 @@ void adns_write(uint8_t reg_addr, uint8_t data){ wait_us(US_BETWEEN_WRITES); } -uint8_t adns_read(uint8_t reg_addr){ - +uint8_t adns_read(uint8_t reg_addr) { adns_spi_start(); - spi_write(reg_addr & 0x7f ); + spi_write(reg_addr & 0x7f); uint8_t data = spi_read(); spi_stop(); wait_us(US_BETWEEN_READS); @@ -105,7 +101,6 @@ uint8_t adns_read(uint8_t reg_addr){ } void adns_init() { - setPinOutput(SPI_SS_PIN); spi_init(); @@ -144,7 +139,7 @@ void adns_init() { // send all bytes of the firmware 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); @@ -161,7 +156,7 @@ void adns_init() { 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 }; + return (config_adns_t){(config_1 & 0xFF) * CPI_STEP}; } void adns_set_config(config_adns_t config) { @@ -169,20 +164,17 @@ void adns_set_config(config_adns_t config) { adns_write(REG_Configuration_I, config_1); } -static int16_t convertDeltaToInt(uint8_t high, uint8_t low){ - +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_adns_t report = {0, 0}; adns_spi_start(); @@ -194,8 +186,7 @@ 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..d19ded4012 100644 --- a/drivers/sensors/adns9800.h +++ b/drivers/sensors/adns9800.h @@ -28,8 +28,8 @@ typedef struct { int16_t y; } report_adns_t; -void adns_init(void); +void adns_init(void); config_adns_t adns_get_config(void); -void adns_set_config(config_adns_t); +void adns_set_config(config_adns_t); /* Reads and clears the current delta values on the ADNS sensor */ report_adns_t adns_get_report(void); diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 5463bfc594..79b653e452 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -23,55 +23,55 @@ #include "pmw3360_firmware.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_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_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_SROM_Load_Burst 0x62 +#define REG_Lift_Config 0x63 +#define REG_Raw_Data_Burst 0x64 +#define REG_LiftCutoff_Tune2 0x65 bool _inBurst = false; diff --git a/drivers/sensors/pmw3360.h b/drivers/sensors/pmw3360.h index 124c62cf00..7429a6ba09 100644 --- a/drivers/sensors/pmw3360.h +++ b/drivers/sensors/pmw3360.h @@ -66,20 +66,17 @@ typedef struct { int8_t mdy; } report_pmw_t; - - -bool spi_start_adv(void); -void spi_stop_adv(void); +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); +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); - #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))) |