diff options
Diffstat (limited to 'drivers/sensors')
| -rw-r--r-- | drivers/sensors/cirque_pinnacle.c | 232 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle.h | 62 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_gestures.c | 227 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_gestures.h | 107 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_i2c.c | 4 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_regdefs.h | 405 | ||||
| -rw-r--r-- | drivers/sensors/cirque_pinnacle_spi.c | 4 | ||||
| -rw-r--r-- | drivers/sensors/paw3204.c | 172 | ||||
| -rw-r--r-- | drivers/sensors/paw3204.h | 68 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.c | 13 | ||||
| -rw-r--r-- | drivers/sensors/pimoroni_trackball.h | 1 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.c | 567 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360.h | 134 | ||||
| -rw-r--r-- | drivers/sensors/pmw3360_firmware.h | 288 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.c | 580 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389.h | 135 | ||||
| -rw-r--r-- | drivers/sensors/pmw3389_firmware.h | 307 | ||||
| -rw-r--r-- | drivers/sensors/pmw33xx_common.c | 219 | ||||
| -rw-r--r-- | drivers/sensors/pmw33xx_common.h | 150 |
19 files changed, 2249 insertions, 1426 deletions
diff --git a/drivers/sensors/cirque_pinnacle.c b/drivers/sensors/cirque_pinnacle.c index 2db7f916fe..c50d5a2525 100644 --- a/drivers/sensors/cirque_pinnacle.c +++ b/drivers/sensors/cirque_pinnacle.c @@ -1,52 +1,24 @@ // Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +// based on https://github.com/cirque-corp/Cirque_Pinnacle_1CA027/tree/master/Circular_Trackpad +// with modifications and changes for QMK +// refer to documentation: Gen2 and Gen3 (Pinnacle ASIC) at https://www.cirque.com/documentation + #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 +#include "timer.h" + +#ifndef CIRQUE_PINNACLE_ATTENUATION +# ifdef CIRQUE_PINNACLE_CURVED_OVERLAY +# define CIRQUE_PINNACLE_ATTENUATION EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_2X +# else +# define CIRQUE_PINNACLE_ATTENUATION EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_4X +# endif +#endif bool touchpad_init; -uint16_t scale_data = 1024; +uint16_t scale_data = CIRQUE_PINNACLE_DEFAULT_SCALE; void cirque_pinnacle_clear_flags(void); void cirque_pinnacle_enable_feed(bool feedEnable); @@ -103,45 +75,45 @@ void cirque_pinnacle_scale_data(pinnacle_data_t* coordinates, uint16_t xResoluti // Clears Status1 register flags (SW_CC and SW_DR) void cirque_pinnacle_clear_flags() { - RAP_Write(STATUS_1, 0x00); + RAP_Write(HOSTREG__STATUS1, HOSTREG__STATUS1_DEFVAL & ~(HOSTREG__STATUS1__COMMAND_COMPLETE | HOSTREG__STATUS1__DATA_READY)); 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 + uint8_t feedconfig1; + RAP_ReadBytes(HOSTREG__FEEDCONFIG1, &feedconfig1, 1); if (feedEnable) { - temp |= 0x01; // Set Feed Enable bit - RAP_Write(0x04, temp); + feedconfig1 |= HOSTREG__FEEDCONFIG1__FEED_ENABLE; } else { - temp &= ~0x01; // Clear Feed Enable bit - RAP_Write(0x04, temp); + feedconfig1 &= ~HOSTREG__FEEDCONFIG1__FEED_ENABLE; } + RAP_Write(HOSTREG__FEEDCONFIG1, feedconfig1); } /* 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; + uint8_t ERAControlValue = 0xFF; + uint16_t timeout_timer; 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 + RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_HIGH, (uint8_t)(address >> 8)); // Send upper byte of ERA address + RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_LOW, (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 + RAP_Write(HOSTREG__EXT_REG_AXS_CTRL, HOSTREG__EREG_AXS__INC_ADDR_READ | HOSTREG__EREG_AXS__READ); // Signal ERA-read (auto-increment) to Pinnacle // Wait for status register 0x1E to clear + timeout_timer = timer_read(); do { - RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1); - } while (ERAControlValue != 0x00); + RAP_ReadBytes(HOSTREG__EXT_REG_AXS_CTRL, &ERAControlValue, 1); + } while ((ERAControlValue != 0x00) && (timer_elapsed(timeout_timer) <= CIRQUE_PINNACLE_TIMEOUT)); - RAP_ReadBytes(ERA_VALUE, data + i, 1); + RAP_ReadBytes(HOSTREG__EXT_REG_AXS_VALUE, data + i, 1); cirque_pinnacle_clear_flags(); } @@ -149,49 +121,83 @@ void ERA_ReadBytes(uint16_t address, uint8_t* data, uint16_t count) { // 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; + uint8_t ERAControlValue = 0xFF; + uint16_t timeout_timer; cirque_pinnacle_enable_feed(false); // Disable feed - RAP_Write(ERA_VALUE, data); // Send data byte to be written + RAP_Write(HOSTREG__EXT_REG_AXS_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(HOSTREG__EXT_REG_AXS_ADDR_HIGH, (uint8_t)(address >> 8)); // Upper byte of ERA address + RAP_Write(HOSTREG__EXT_REG_AXS_ADDR_LOW, (uint8_t)(address & 0x00FF)); // Lower byte of ERA address - RAP_Write(ERA_CONTROL, 0x02); // Signal an ERA-write to Pinnacle + RAP_Write(HOSTREG__EXT_REG_AXS_CTRL, HOSTREG__EREG_AXS__WRITE); // Signal an ERA-write to Pinnacle // Wait for status register 0x1E to clear + timeout_timer = timer_read(); do { - RAP_ReadBytes(ERA_CONTROL, &ERAControlValue, 1); - } while (ERAControlValue != 0x00); + RAP_ReadBytes(HOSTREG__EXT_REG_AXS_CTRL, &ERAControlValue, 1); + } while ((ERAControlValue != 0x00) && (timer_elapsed(timeout_timer) <= CIRQUE_PINNACLE_TIMEOUT)); cirque_pinnacle_clear_flags(); } void cirque_pinnacle_set_adc_attenuation(uint8_t adcGain) { - uint8_t temp = 0x00; + uint8_t adcconfig = 0x00; - ERA_ReadBytes(0x0187, &temp, 1); - temp &= 0x3F; // clear top two bits - temp |= adcGain; - ERA_WriteByte(0x0187, temp); - ERA_ReadBytes(0x0187, &temp, 1); + ERA_ReadBytes(EXTREG__TRACK_ADCCONFIG, &adcconfig, 1); + adcconfig &= EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_MASK; + adcconfig |= adcGain; + ERA_WriteByte(EXTREG__TRACK_ADCCONFIG, adcconfig); + ERA_ReadBytes(EXTREG__TRACK_ADCCONFIG, &adcconfig, 1); } // Changes thresholds to improve detection of fingers +// Not needed for flat overlay? void cirque_pinnacle_tune_edge_sensitivity(void) { - uint8_t temp = 0x00; + uint8_t widezmin = 0x00; - ERA_ReadBytes(0x0149, &temp, 1); - ERA_WriteByte(0x0149, 0x04); - ERA_ReadBytes(0x0149, &temp, 1); + ERA_ReadBytes(EXTREG__XAXIS_WIDEZMIN, &widezmin, 1); + ERA_WriteByte(EXTREG__XAXIS_WIDEZMIN, 0x04); // magic number from Cirque sample code + ERA_ReadBytes(EXTREG__XAXIS_WIDEZMIN, &widezmin, 1); - ERA_ReadBytes(0x0168, &temp, 1); - ERA_WriteByte(0x0168, 0x03); - ERA_ReadBytes(0x0168, &temp, 1); + ERA_ReadBytes(EXTREG__YAXIS_WIDEZMIN, &widezmin, 1); + ERA_WriteByte(EXTREG__YAXIS_WIDEZMIN, 0x03); // magic number from Cirque sample code + ERA_ReadBytes(EXTREG__YAXIS_WIDEZMIN, &widezmin, 1); } -/* Pinnacle-based TM040040 Functions */ +// Perform calibration +void cirque_pinnacle_calibrate(void) { + uint8_t calconfig; + uint16_t timeout_timer; + + RAP_ReadBytes(HOSTREG__CALCONFIG1, &calconfig, 1); + calconfig |= HOSTREG__CALCONFIG1__CALIBRATE; + RAP_Write(HOSTREG__CALCONFIG1, calconfig); + + // Calibration takes ~100ms according to GT-AN-090624, doubling the timeout just to be safe + timeout_timer = timer_read(); + do { + RAP_ReadBytes(HOSTREG__CALCONFIG1, &calconfig, 1); + } while ((calconfig & HOSTREG__CALCONFIG1__CALIBRATE) && (timer_elapsed(timeout_timer) <= 200)); + + cirque_pinnacle_clear_flags(); +} + +// Enable/disable cursor smoothing, smoothing is enabled by default +void cirque_pinnacle_cursor_smoothing(bool enable) { + uint8_t feedconfig3; + + RAP_ReadBytes(HOSTREG__FEEDCONFIG3, &feedconfig3, 1); + if (enable) { + feedconfig3 &= ~HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING; + } else { + feedconfig3 |= HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING; + } + RAP_Write(HOSTREG__FEEDCONFIG3, feedconfig3); +} + +/* Pinnacle-based TM040040/TM035035/TM023023 Functions */ void cirque_pinnacle_init(void) { #if defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi) spi_init(); @@ -200,39 +206,71 @@ void cirque_pinnacle_init(void) { #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); + // send a RESET command now, in case QMK had a soft-reset without a power cycle + RAP_Write(HOSTREG__SYSCONFIG1, HOSTREG__SYSCONFIG1__RESET); + wait_ms(30); // Pinnacle needs 10-15ms to boot, so wait long enough before configuring + RAP_Write(HOSTREG__SYSCONFIG1, HOSTREG__SYSCONFIG1_DEFVAL); + wait_us(50); + + // FeedConfig2 (Feature flags for Relative Mode Only) + RAP_Write(HOSTREG__FEEDCONFIG2, HOSTREG__FEEDCONFIG2_DEFVAL); - // Host enables preferred output mode (absolute) - RAP_Write(FEEDCONFIG_1, FEEDCONFIG_1_VALUE); + // FeedConfig1 (Data Output Flags) + RAP_Write(HOSTREG__FEEDCONFIG1, CIRQUE_PINNACLE_POSITION_MODE ? HOSTREG__FEEDCONFIG1__DATA_TYPE__REL0_ABS1 : HOSTREG__FEEDCONFIG1_DEFVAL); - // Host sets z-idle packet count to 5 (default is 30) - RAP_Write(Z_IDLE_COUNT, Z_IDLE_COUNT_VALUE); + // Host sets z-idle packet count to 5 (default is 0x1E/30) + RAP_Write(HOSTREG__ZIDLE, 5); - cirque_pinnacle_set_adc_attenuation(0xFF); + cirque_pinnacle_set_adc_attenuation(CIRQUE_PINNACLE_ATTENUATION); +#ifdef CIRQUE_PINNACLE_CURVED_OVERLAY cirque_pinnacle_tune_edge_sensitivity(); +#endif + // Force a calibration after setting ADC attenuation + cirque_pinnacle_calibrate(); + 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); + uint8_t data_ready = 0; + uint8_t data[6] = {0}; + pinnacle_data_t result = {0}; + + // Check if there is valid data available + RAP_ReadBytes(HOSTREG__STATUS1, &data_ready, 1); + if ((data_ready & HOSTREG__STATUS1__DATA_READY) == 0) { + // no data available yet + result.valid = false; // be explicit + return result; + } - cirque_pinnacle_clear_flags(); + // Read all data bytes + RAP_ReadBytes(HOSTREG__PACKETBYTE_0, data, 6); - 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; + // Get ready for the next data sample + cirque_pinnacle_clear_flags(); - result.touchDown = (result.xValue != 0 || result.yValue != 0); +#if CIRQUE_PINNACLE_POSITION_MODE + // Decode data for absolute mode + // Register 0x13 is unused in this mode (palm detection area) + result.buttonFlags = data[0] & 0x3F; // bit0 to bit5 are switch 0-5, only hardware button presses (from input pin on the Pinnacle chip) + result.xValue = data[2] | ((data[4] & 0x0F) << 8); // merge high and low bits for X + result.yValue = data[3] | ((data[4] & 0xF0) << 4); // merge high and low bits for Y + result.zValue = data[5] & 0x3F; // Z is only lower 6 bits, upper 2 bits are reserved/unused + result.touchDown = (result.xValue != 0 || result.yValue != 0); // (0,0) is a "magic coordinate" to indicate "finger touched down" +#else + // Decode data for relative mode + // Registers 0x16 and 0x17 are unused in this mode + result.buttons = data[0] & 0x07; // bit0 = primary button, bit1 = secondary button, bit2 = auxilary button, if Taps enabled then also software-recognized taps are reported + result.xDelta = data[1]; + result.yDelta = data[2]; + result.wheelCount = data[3]; +#endif + result.valid = true; return result; } diff --git a/drivers/sensors/cirque_pinnacle.h b/drivers/sensors/cirque_pinnacle.h index c8cb360e03..1c9bf06fd3 100644 --- a/drivers/sensors/cirque_pinnacle.h +++ b/drivers/sensors/cirque_pinnacle.h @@ -2,26 +2,23 @@ #pragma once +#include "cirque_pinnacle_regdefs.h" #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; +#ifndef CIRQUE_PINNACLE_TIMEOUT +# define CIRQUE_PINNACLE_TIMEOUT 20 // I2C timeout in milliseconds +#endif -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); +#define CIRQUE_PINNACLE_ABSOLUTE_MODE 1 +#define CIRQUE_PINNACLE_RELATIVE_MODE 0 +#ifndef CIRQUE_PINNACLE_POSITION_MODE +# define CIRQUE_PINNACLE_POSITION_MODE CIRQUE_PINNACLE_ABSOLUTE_MODE +#endif -#ifndef CIRQUE_PINNACLE_TIMEOUT -# define CIRQUE_PINNACLE_TIMEOUT 20 +#define CIRQUE_PINNACLE_DEFAULT_SCALE 1024 +#ifndef CIRQUE_PINNACLE_DIAMETER_MM +# define CIRQUE_PINNACLE_DIAMETER_MM 40 #endif // Coordinate scaling values @@ -43,12 +40,14 @@ void cirque_pinnacle_set_scale(uint16_t scale); #ifndef CIRQUE_PINNACLE_Y_RANGE # define CIRQUE_PINNACLE_Y_RANGE (CIRQUE_PINNACLE_Y_UPPER - CIRQUE_PINNACLE_Y_LOWER) #endif - +#if !defined(POINTING_DEVICE_TASK_THROTTLE_MS) +# define POINTING_DEVICE_TASK_THROTTLE_MS 10 // Cirque Pinnacle in normal operation produces data every 10ms. Advanced configuration for pen/stylus usage might require lower values. +#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 +# define CIRQUE_PINNACLE_ADDR I2C_ADDRESS_DEFAULT # endif #elif defined(POINTING_DEVICE_DRIVER_cirque_pinnacle_spi) # include "spi_master.h" @@ -72,3 +71,32 @@ void cirque_pinnacle_set_scale(uint16_t scale); # endif # endif #endif + +#define DIVIDE_UNSIGNED_ROUND(numerator, denominator) (((numerator) + ((denominator) / 2)) / (denominator)) +#define CIRQUE_PINNACLE_INCH_TO_PX(inch) (DIVIDE_UNSIGNED_ROUND((inch) * (uint32_t)CIRQUE_PINNACLE_DIAMETER_MM * 10, 254)) +#define CIRQUE_PINNACLE_PX_TO_INCH(px) (DIVIDE_UNSIGNED_ROUND((px) * (uint32_t)254, CIRQUE_PINNACLE_DIAMETER_MM * 10)) + +// Convenient way to store and access measurements +typedef struct { + bool valid; // true if valid data was read, false if no data was ready +#if CIRQUE_PINNACLE_POSITION_MODE + uint16_t xValue; + uint16_t yValue; + uint16_t zValue; + uint8_t buttonFlags; + bool touchDown; +#else + uint8_t xDelta; + uint8_t yDelta; + uint8_t wheelCount; + uint8_t buttons; +#endif +} pinnacle_data_t; + +void cirque_pinnacle_init(void); +void cirque_pinnacle_calibrate(void); +void cirque_pinnacle_cursor_smoothing(bool enable); +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); diff --git a/drivers/sensors/cirque_pinnacle_gestures.c b/drivers/sensors/cirque_pinnacle_gestures.c new file mode 100644 index 0000000000..70f16527ba --- /dev/null +++ b/drivers/sensors/cirque_pinnacle_gestures.c @@ -0,0 +1,227 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> + * Copyright 2022 Daniel Kao <daniel.m.kao@gmail.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/>. + */ +#include <stdlib.h> +#include <lib/lib8tion/lib8tion.h> +#include "cirque_pinnacle_gestures.h" +#include "pointing_device.h" +#include "timer.h" +#include "wait.h" + +#if defined(CIRQUE_PINNACLE_TAP_ENABLE) || defined(CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE) +static cirque_pinnacle_features_t features = {.tap_enable = true, .circular_scroll_enable = true}; +#endif + +#ifdef CIRQUE_PINNACLE_TAP_ENABLE +static trackpad_tap_context_t tap; + +static report_mouse_t trackpad_tap(report_mouse_t mouse_report, pinnacle_data_t touchData) { + if (touchData.touchDown != tap.touchDown) { + tap.touchDown = touchData.touchDown; + if (!touchData.zValue) { + if (timer_elapsed(tap.timer) < CIRQUE_PINNACLE_TAPPING_TERM && tap.timer != 0) { + mouse_report.buttons = pointing_device_handle_buttons(mouse_report.buttons, true, POINTING_DEVICE_BUTTON1); + pointing_device_set_report(mouse_report); + pointing_device_send(); +# if TAP_CODE_DELAY > 0 + wait_ms(TAP_CODE_DELAY); +# endif + mouse_report.buttons = pointing_device_handle_buttons(mouse_report.buttons, false, POINTING_DEVICE_BUTTON1); + pointing_device_set_report(mouse_report); + pointing_device_send(); + } + } + tap.timer = timer_read(); + } + if (timer_elapsed(tap.timer) > (CIRQUE_PINNACLE_TOUCH_DEBOUNCE)) { + tap.timer = 0; + } + + return mouse_report; +} + +void cirque_pinnacle_enable_tap(bool enable) { + features.tap_enable = enable; +} +#endif + +#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE +/* To set a trackpad exclusively as scroll wheel: outer_ring_pct = 100, trigger_px = 0, trigger_ang = 0 */ +static circular_scroll_context_t scroll = {.config = {.outer_ring_pct = 33, + .trigger_px = 16, + .trigger_ang = 9102, /* 50 degrees */ + .wheel_clicks = 18}}; + +static inline uint16_t atan2_16(int32_t dy, int32_t dx) { + if (dy == 0) { + if (dx >= 0) { + return 0; + } else { + return 32768; + } + } + + int32_t abs_y = dy > 0 ? dy : -dy; + int16_t a; + + if (dx >= 0) { + a = 8192 - (8192 * (dx - abs_y) / (dx + abs_y)); + } else { + a = 24576 - (8192 * (dx + abs_y) / (abs_y - dx)); + } + + if (dy < 0) { + return -a; // negate if in quad III or IV + } + return a; +} + +static circular_scroll_t circular_scroll(pinnacle_data_t touchData) { + circular_scroll_t report = {0, 0, false}; + int8_t x, y, wheel_clicks; + uint8_t center = 256 / 2, mag; + int16_t ang, dot, det, opposite_side, adjacent_side; + uint16_t scale = cirque_pinnacle_get_scale(); + + if (touchData.zValue) { + /* + * Place origin at center of trackpad, treat coordinates as vectors. + * Scale to fixed int8_t size; angles are independent of resolution. + */ + if (scale) { + x = (int8_t)((int32_t)touchData.xValue * 256 / scale - center); + y = (int8_t)((int32_t)touchData.yValue * 256 / scale - center); + } else { + x = 0; + y = 0; + } + + /* Check if first touch */ + if (!scroll.z) { + report.suppress_touch = false; + /* Check if touch falls within outer ring */ + mag = sqrt16(x * x + y * y); + if (mag * 100 / center >= 100 - scroll.config.outer_ring_pct) { + scroll.state = SCROLL_DETECTING; + scroll.x = x; + scroll.y = y; + scroll.mag = mag; + /* + * Decide scroll axis: + * Vertical if started from righ half + * Horizontal if started from left half + * Flipped for left-handed + */ +# if defined(POINTING_DEVICE_ROTATION_90) + scroll.axis = y < 0; +# elif defined(POINTING_DEVICE_ROTATION_180) + scroll.axis = x > 0; +# elif defined(POINTING_DEVICE_ROTATION_270) + scroll.axis = y > 0; +# else + scroll.axis = x < 0; +# endif + } + } else if (scroll.state == SCROLL_DETECTING) { + report.suppress_touch = true; + /* Already detecting scroll, check movement from touchdown location */ + mag = sqrt16((x - scroll.x) * (x - scroll.x) + (y - scroll.y) * (y - scroll.y)); + if (mag >= scroll.config.trigger_px) { + /* + * Find angle of movement. + * 0 degrees here means movement towards center of circle + */ + dot = scroll.x * x + scroll.y * y; + det = scroll.x * y - scroll.y * x; + opposite_side = abs(det); /* Based on scalar rejection */ + adjacent_side = abs(scroll.mag * scroll.mag - abs(dot)); /* Based on scalar projection */ + ang = (int16_t)atan2_16(opposite_side, adjacent_side); + if (ang < scroll.config.trigger_ang) { + /* Not a scroll, release coordinates */ + report.suppress_touch = false; + scroll.state = NOT_SCROLL; + } else { + /* Scroll detected */ + scroll.state = SCROLL_VALID; + } + } + } + if (scroll.state == SCROLL_VALID) { + report.suppress_touch = true; + dot = scroll.x * x + scroll.y * y; + det = scroll.x * y - scroll.y * x; + ang = (int16_t)atan2_16(det, dot); + wheel_clicks = ((int32_t)ang * scroll.config.wheel_clicks) / 65536; + if (wheel_clicks >= 1 || wheel_clicks <= -1) { + if (scroll.config.left_handed) { + if (scroll.axis == 0) { + report.h = -wheel_clicks; + } else { + report.v = wheel_clicks; + } + } else { + if (scroll.axis == 0) { + report.v = -wheel_clicks; + } else { + report.h = wheel_clicks; + } + } + scroll.x = x; + scroll.y = y; + } + } + } + + scroll.z = touchData.zValue; + if (!scroll.z) scroll.state = SCROLL_UNINITIALIZED; + + return report; +} + +void cirque_pinnacle_enable_circular_scroll(bool enable) { + features.circular_scroll_enable = enable; +} + +void cirque_pinnacle_configure_circular_scroll(uint8_t outer_ring_pct, uint8_t trigger_px, uint16_t trigger_ang, uint8_t wheel_clicks, bool left_handed) { + scroll.config.outer_ring_pct = outer_ring_pct; + scroll.config.trigger_px = trigger_px; + scroll.config.trigger_ang = trigger_ang; + scroll.config.wheel_clicks = wheel_clicks; + scroll.config.left_handed = left_handed; +} +#endif + +bool cirque_pinnacle_gestures(report_mouse_t* mouse_report, pinnacle_data_t touchData) { + bool suppress_mouse_update = false; + +#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE + circular_scroll_t scroll_report; + if (features.circular_scroll_enable) { + scroll_report = circular_scroll(touchData); + mouse_report->v = scroll_report.v; + mouse_report->h = scroll_report.h; + suppress_mouse_update = scroll_report.suppress_touch; + } +#endif + +#ifdef CIRQUE_PINNACLE_TAP_ENABLE + if (features.tap_enable) { + *mouse_report = trackpad_tap(*mouse_report, touchData); + } +#endif + + return suppress_mouse_update; +} diff --git a/drivers/sensors/cirque_pinnacle_gestures.h b/drivers/sensors/cirque_pinnacle_gestures.h new file mode 100644 index 0000000000..f39782b467 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle_gestures.h @@ -0,0 +1,107 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> + * Copyright 2022 Daniel Kao <daniel.m.kao@gmail.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 "cirque_pinnacle.h" +#include "report.h" + +typedef struct { + bool tap_enable; + bool circular_scroll_enable; +} cirque_pinnacle_features_t; + +#ifdef CIRQUE_PINNACLE_TAP_ENABLE +# ifndef CIRQUE_PINNACLE_TAPPING_TERM +# include "action.h" +# include "action_tapping.h" +# define CIRQUE_PINNACLE_TAPPING_TERM GET_TAPPING_TERM(KC_BTN1, &(keyrecord_t){}) +# endif +# ifndef CIRQUE_PINNACLE_TOUCH_DEBOUNCE +# define CIRQUE_PINNACLE_TOUCH_DEBOUNCE (CIRQUE_PINNACLE_TAPPING_TERM * 8) +# endif + +typedef struct { + uint16_t timer; + bool touchDown; +} trackpad_tap_context_t; + +/* Enable/disable tap gesture */ +void cirque_pinnacle_enable_tap(bool enable); +#endif + +#ifdef CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE +typedef enum { + SCROLL_UNINITIALIZED, + SCROLL_DETECTING, + SCROLL_VALID, + NOT_SCROLL, +} circular_scroll_status_t; + +typedef struct { + int8_t v; + int8_t h; + bool suppress_touch; +} circular_scroll_t; + +typedef struct { + uint8_t outer_ring_pct; /* Width of outer ring, given as a percentage of the radius */ + uint8_t trigger_px; /* Amount of movement before triggering scroll validation, in pixels 0~127 */ + uint16_t trigger_ang; /* Angle required to validate scroll, in radians where pi = 32768 */ + uint8_t wheel_clicks; /* How many clicks to report in a circle */ + bool left_handed; /* Whether scrolling should be flipped for left handed use */ +} circular_scroll_config_t; + +typedef struct { + circular_scroll_config_t config; + circular_scroll_status_t state; + uint8_t mag; + int8_t x; + int8_t y; + uint16_t z; + bool axis; +} circular_scroll_context_t; + +/* Enable/disable circular scroll gesture */ +void cirque_pinnacle_enable_circular_scroll(bool enable); + +/* + * Configure circular scroll gesture. + * Trackpad can be configured to act exclusively as a scroll wheel with outer_ring_pct = 0, trigger_px = 0, trigger_ang = 0. + * @param outer_ring_pct Width of outer ring from which to begin scroll validation, given as a percentage of the radius. + * @param trigger_px Amount of movement before triggering scroll validation. Expressed in pixels, trackpad coordinates are scaled to radius of 128 pixels for circular scroll. + * @param triger_ang Angle required to validate scroll, angle smaller than this will invalidate scroll. In radians where pi = 32768, 0 means movement towards center of trackpad, 16384 means movement perpendicular to center. + * @param wheel_clicks Number of scroll wheel clicks to report in a full rotation. + * @param left_handed Whether scrolling should be flipped for left-handed use. + */ +void cirque_pinnacle_configure_circular_scroll(uint8_t outer_ring_pct, uint8_t trigger_px, uint16_t trigger_ang, uint8_t wheel_clicks, bool left_handed); +#endif + +#ifdef POINTING_DEVICE_GESTURES_CURSOR_GLIDE_ENABLE +/* Implementation in pointing_device_drivers.c */ + +/* Enable/disable inertial cursor */ +void cirque_pinnacle_enable_cursor_glide(bool enable); + +/* + * Configure inertial cursor. + * @param trigger_px Movement required to trigger cursor glide, set this to non-zero if you have some amount of hover. + */ +void cirque_pinnacle_configure_cursor_glide(float trigger_px); +#endif + +/* Process available gestures */ +bool cirque_pinnacle_gestures(report_mouse_t* mouse_report, pinnacle_data_t touchData); diff --git a/drivers/sensors/cirque_pinnacle_i2c.c b/drivers/sensors/cirque_pinnacle_i2c.c index 8a38f1dcea..b328dd9a7a 100644 --- a/drivers/sensors/cirque_pinnacle_i2c.c +++ b/drivers/sensors/cirque_pinnacle_i2c.c @@ -19,7 +19,7 @@ void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) { 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"); + dprintf("error cirque_pinnacle i2c_readReg\n"); #endif touchpad_init = false; } @@ -34,7 +34,7 @@ void RAP_Write(uint8_t address, uint8_t data) { 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"); + dprintf("error cirque_pinnacle i2c_writeReg\n"); #endif touchpad_init = false; } diff --git a/drivers/sensors/cirque_pinnacle_regdefs.h b/drivers/sensors/cirque_pinnacle_regdefs.h new file mode 100644 index 0000000000..993da1e757 --- /dev/null +++ b/drivers/sensors/cirque_pinnacle_regdefs.h @@ -0,0 +1,405 @@ +// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license +// based on https://github.com/cirque-corp/Cirque_Pinnacle_1CA027/tree/master/Additional_Examples +// with modifications and changes for QMK +// refer to documentation: Gen2 and Gen3 (Pinnacle ASIC) at https://www.cirque.com/gen2gen3-asic-details + +#pragma once + +// clang-format off + +#define HostReg__0 (0x00) +#define HostReg__1 (0x01) +#define HostReg__2 (0x02) +#define HostReg__3 (0x03) +#define HostReg__4 (0x04) +#define HostReg__5 (0x05) +#define HostReg__6 (0x06) +#define HostReg__7 (0x07) +#define HostReg__8 (0x08) +#define HostReg__9 (0x09) +#define HostReg__10 (0x0A) +#define HostReg__11 (0x0B) +#define HostReg__12 (0x0C) +#define HostReg__13 (0x0D) +#define HostReg__14 (0x0E) +#define HostReg__15 (0x0F) +#define HostReg__16 (0x10) +#define HostReg__17 (0x11) +#define HostReg__18 (0x12) +#define HostReg__19 (0x13) +#define HostReg__20 (0x14) +#define HostReg__21 (0x15) +#define HostReg__22 (0x16) +#define HostReg__23 (0x17) +#define HostReg__24 (0x18) +#define HostReg__25 (0x19) +#define HostReg__26 (0x1A) +#define HostReg__27 (0x1B) +#define HostReg__28 (0x1C) +#define HostReg__29 (0x1D) +#define HostReg__30 (0x1E) +#define HostReg__31 (0x1F) + +// ---------------- Register Assignments ------------------------------------- + +/*--------------------------------------------------------------------------*\ + Chip ID / Version +\*--------------------------------------------------------------------------*/ +// Chip ID Register +#define HOSTREG__CHIPID HostReg__0 + +// Chip Version Register +#define HOSTREG__VERSION HostReg__1 + +/*--------------------------------------------------------------------------*\ + Status Register +\*--------------------------------------------------------------------------*/ +// Status 1 Register -- MUST BE HOSTREG__2 +#define HOSTREG__STATUS1 HostReg__2 +# define HOSTREG__STATUS1__DATA_READY 0x04 +# define HOSTREG__STATUS1__COMMAND_COMPLETE 0x08 +#define HOSTREG__STATUS1_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + System Config Register +\*--------------------------------------------------------------------------*/ +#define HOSTREG__SYSCONFIG1 HostReg__3 +# define HOSTREG__SYSCONFIG1__RESET 0x01 +# define HOSTREG__SYSCONFIG1__STANDBY 0x02 +# define HOSTREG__SYSCONFIG1__AUTO_SLEEP 0x04 +# define HOSTREG__SYSCONFIG1__TRACK_DISABLE 0x08 +# define HOSTREG__SYSCONFIG1__ANYMEAS_ENABLE 0x10 +# define HOSTREG__SYSCONFIG1__GPIO_CTRL_ENABLE 0x20 +# define HOSTREG__SYSCONFIG1__WAKEUP_TOGGLE 0x40 +# define HOSTREG__SYSCONFIG1__FORCE_WAKEUP 0x80 +#define HOSTREG__SYSCONFIG1_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + Feed Config Registers +\*--------------------------------------------------------------------------*/ +// Feed Config Register1 +#define HOSTREG__FEEDCONFIG1 HostReg__4 +# define HOSTREG__FEEDCONFIG1__FEED_ENABLE 0x01 +# define HOSTREG__FEEDCONFIG1__DATA_TYPE__REL0_ABS1 0x02 +# define HOSTREG__FEEDCONFIG1__FILTER_DISABLE 0x04 +# define HOSTREG__FEEDCONFIG1__X_AXIS_DISABLE 0x08 +# define HOSTREG__FEEDCONFIG1__Y_AXIS_DISABLE 0x10 +# define HOSTREG__FEEDCONFIG1__AXIS_FOR_Z__Y0_X1 0x20 +# define HOSTREG__FEEDCONFIG1__X_DATA_INVERT 0x40 +# define HOSTREG__FEEDCONFIG1__Y_DATA_INVERT 0x80 +#define HOSTREG__FEEDCONFIG1_DEFVAL 0x00 + +// Feed Config Register2 +#define HOSTREG__FEEDCONFIG2 HostReg__5 +# define HOSTREG__FEEDCONFIG2__INTELLIMOUSE_MODE 0x01 +# define HOSTREG__FEEDCONFIG2__ALL_TAP_DISABLE 0x02 +# define HOSTREG__FEEDCONFIG2__SECONDARY_TAP_DISABLE 0x04 +# define HOSTREG__FEEDCONFIG2__SCROLL_DISABLE 0x08 +# define HOSTREG__FEEDCONFIG2__GLIDE_EXTEND_DISABLE 0x10 +# define HOSTREG__FEEDCONFIG2__PALM_BEFORE_Z_ENABLE 0x20 +# define HOSTREG__FEEDCONFIG2__BUTNS_46_SCROLL_5_MIDDLE 0x40 +# define HOSTREG__FEEDCONFIG2__SWAP_XY_RELATIVE 0x80 +#define HOSTREG__FEEDCONFIG2_DEFVAL 0x00 + +// Feed Config Register3 +#define HOSTREG__FEEDCONFIG3 HostReg__6 +# define HOSTREG__FEEDCONFIG3__BTNS_456_TO_123_IN_REL 0x01 +# define HOSTREG__FEEDCONFIG3__DISABLE_CROSS_RATE_SMOOTHING 0x02 +# define HOSTREG__FEEDCONFIG3__DISABLE_PALM_NERD_MEAS 0x04 +# define HOSTREG__FEEDCONFIG3__DISABLE_NOISE_AVOIDANCE 0x08 +# define HOSTREG__FEEDCONFIG3__DISABLE_WRAP_LOCKOUT 0x10 +# define HOSTREG__FEEDCONFIG3__DISABLE_DYNAMIC_EMI_ADJUST 0x20 +# define HOSTREG__FEEDCONFIG3__DISABLE_HW_EMI_DETECT 0x40 +# define HOSTREG__FEEDCONFIG3__DISABLE_SW_EMI_DETECT 0x80 +#define HOSTREG__FEEDCONFIG3_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + Calibration Config +\*--------------------------------------------------------------------------*/ +#define HOSTREG__CALCONFIG1 HostReg__7 +# define HOSTREG__CALCONFIG1__CALIBRATE 0x01 +# define HOSTREG__CALCONFIG1__BACKGROUND_COMP_ENABLE 0x02 +# define HOSTREG__CALCONFIG1__NERD_COMP_ENABLE 0x04 +# define HOSTREG__CALCONFIG1__TRACK_ERROR_COMP_ENABLE 0x08 +# define HOSTREG__CALCONFIG1__TAP_COMP_ENABLE 0x10 +# define HOSTREG__CALCONFIG1__PALM_ERROR_COMP_ENABLE 0x20 +# define HOSTREG__CALCONFIG1__CALIBRATION_MATRIX_DISABLE 0x40 +# define HOSTREG__CALCONFIG1__FORCE_PRECALIBRATION_NOISE_CHECK 0x80 +#define HOSTREG__CALCONFIG1_DEFVAL (HOSTREG__CALCONFIG1__BACKGROUND_COMP_ENABLE | HOSTREG__CALCONFIG1__NERD_COMP_ENABLE | HOSTREG__CALCONFIG1__TRACK_ERROR_COMP_ENABLE | HOSTREG__CALCONFIG1__TAP_COMP_ENABLE | HOSTREG__CALCONFIG1__PALM_ERROR_COMP_ENABLE) + +/*--------------------------------------------------------------------------*\ + PS2 Aux Control Register +\*--------------------------------------------------------------------------*/ +#define HOSTREG__PS2AUX_CTRL HostReg__8 +# define HOSTREG__PS2AUX_CTRL__CMD_PASSTHRU_ENABLE 0x01 +# define HOSTREG__PS2AUX_CTRL__SP_EXTENDED_MODE 0x02 +# define HOSTREG__PS2AUX_CTRL__GS_DISABLE 0x04 +# define HOSTREG__PS2AUX_CTRL__SP_DISABLE 0x08 +# define HOSTREG__PS2AUX_CTRL__GS_COORDINATE_DISABLE 0x10 +# define HOSTREG__PS2AUX_CTRL__SP_COORDINATE_DISABLE 0x20 +# define HOSTREG__PS2AUX_CTRL__DISABLE_AA00_DETECT 0x40 +# define HOSTREG__PS2AUX_CTRL__AUX_PRESENT 0x80 +#define HOSTREG__PR2AUX_CTRL_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + Sample Rate Value +\*--------------------------------------------------------------------------*/ +#define HOSTREG__SAMPLERATE HostReg__9 +# define HOSTREG__SAMPLERATE__10_SPS 0x0A +# define HOSTREG__SAMPLERATE__20_SPS 0x14 +# define HOSTREG__SAMPLERATE__40_SPS 0x28 +# define HOSTREG__SAMPLERATE__60_SPS 0x3C +# define HOSTREG__SAMPLERATE__80_SPS 0x50 +# define HOSTREG__SAMPLERATE__100_SPS 0x64 +# define HOSTREG__SAMPLERATE__200_SPS 0xC8 // 200sps not supported + // only for ps2 compatibility + // rate set to 100sps +#define HOSTREG__SAMPLERATE_DEFVAL HOSTREG__SAMPLERATE__100_SPS + +/*--------------------------------------------------------------------------*\ + Z Idle Value +\*--------------------------------------------------------------------------*/ +#define HOSTREG__ZIDLE HostReg__10 +#define HOSTREG__ZIDLE_DEFVAL 30 // 0x1E + +/*--------------------------------------------------------------------------*\ + Z Scaler Value +\*--------------------------------------------------------------------------*/ +#define HOSTREG__ZSCALER HostReg__11 +#define HOSTREG__ZSCALER_DEFVAL 8 // 0x08 + +/*--------------------------------------------------------------------------*\ + Sleep Interval Value +\*--------------------------------------------------------------------------*/ +#define HOSTREG__SLEEP_INTERVAL HostReg__12 +#define HOSTREG__SLEEP_INTERVAL_DEFVAL 73 // 0x49 + +/*--------------------------------------------------------------------------*\ + Sleep Delay Value +\*--------------------------------------------------------------------------*/ +#define HOSTREG__SLEEP_DELAY HostReg__13 +#define HOSTREG__SLEEP_DELAY_DEFVAL 39 // 0x27 + +/*--------------------------------------------------------------------------*\ + Dynamic EMI Bad Channel Count Thresholds +\*--------------------------------------------------------------------------*/ +#define HOSTREG__DYNAMIC_EMI_ADJUST_THRESHOLD HostReg__14 +#define HOSTREG__DYNAMIC_EMI_ADJUST_THRESHOLD_DEFVAL 66 // 0x42 + +/*--------------------------------------------------------------------------*\ + Packet Registers +\*--------------------------------------------------------------------------*/ +#define HOSTREG__PACKETBYTE_0 HostReg__18 +#define HOSTREG__PACKETBYTE_1 HostReg__19 +#define HOSTREG__PACKETBYTE_2 HostReg__20 +#define HOSTREG__PACKETBYTE_3 HostReg__21 +#define HOSTREG__PACKETBYTE_4 HostReg__22 +#define HOSTREG__PACKETBYTE_5 HostReg__23 + +/*--------------------------------------------------------------------------*\ + Port A GPIO Control +\*--------------------------------------------------------------------------*/ +#define HOSTREG__PORTA_GPIO_CTRL HostReg__24 +#define HOSTREG__PORTA_GPIO_CTRL_DEFVAL 0xFF + +/*--------------------------------------------------------------------------*\ + Port A GPIO Data +\*--------------------------------------------------------------------------*/ +#define HOSTREG__PORTA_GPIO_DATA HostReg__25 +#define HOSTREG__PORTA_GPIO_DATA_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + Port B GPIO Control And Data +\*--------------------------------------------------------------------------*/ + +#define HOSTREG__PORTB_GPIO_CTRL_DATA HostReg__26 +# define HOSTREG__PORTB_GPIO_DATA__PB0 0x01 +# define HOSTREG__PORTB_GPIO_DATA__PB1 0x02 +# define HOSTREG__PORTB_GPIO_DATA__PB2 0x04 +# define HOSTREG__PORTB_GPIO_CTRL__PB0 0x08 +# define HOSTREG__PORTB_GPIO_CTRL__PB1 0x10 +# define HOSTREG__PORTB_GPIO_CTRL__PB2 0x20 +# define HOSTREG__PORTB_GPIO_RSVD_0 0x40 +# define HOSTREG__PORTB_GPIO_READ1_WRITE0 0x80 +#define HOSTREG__PORTB_GPIO_CTRL_DATA_DEFVAL (HOSTREG__PORTB_GPIO_CTRL__PB0 | HOSTREG__PORTB_GPIO_CTRL__PB1 | HOSTREG__PORTB_GPIO_CTRL__PB2) + +/*--------------------------------------------------------------------------*\ + Extended Register Access +\*--------------------------------------------------------------------------*/ +#define HOSTREG__EXT_REG_AXS_VALUE HostReg__27 + +#define HOSTREG__EXT_REG_AXS_ADDR_HIGH HostReg__28 +#define HOSTREG__EXT_REG_AXS_ADDR_LOW HostReg__29 + +#define HOSTREG__EXT_REG_AXS_CTRL HostReg__30 +# define HOSTREG__EREG_AXS__READ 0x01 +# define HOSTREG__EREG_AXS__WRITE 0x02 +# define HOSTREG__EREG_AXS__INC_ADDR_READ 0x04 +# define HOSTREG__EREG_AXS__INC_ADDR_WRITE 0x08 +# define HOSTREG__EREG_AXS__RSVD_3 0x10 +# define HOSTREG__EREG_AXS__RSVD_2 0x20 +# define HOSTREG__EREG_AXS__RSVD_1 0x40 +# define HOSTREG__EREG_AXS__RSVD_0 0x80 + +#define HOSTREG__EXT_REG_AXS_VALUE_DEFVAL 0x00 +#define HOSTREG__EXT_REG_AXS_ADDR_HIGH_DEFVAL 0x00 +#define HOSTREG__EXT_REG_AXS_ADDR_LOW_DEFVAL 0x00 +#define HOSTREG__EXT_REG_AXS_CTRL_DEFVAL 0x00 + +/*--------------------------------------------------------------------------*\ + Product ID +\*--------------------------------------------------------------------------*/ +#define HOSTREG__PRODUCT_ID HostReg__31 + + + +//Some useful values +#define I2C_ADDRESS_DEFAULT 0x2A +#define FIRMWARE_ID 0x07 +#define FIRMWARE_VERSION 0x9D + +//Anymeas config options +//First setting is HostReg 5. This sets toggle frequency (EF) and gain. +//Gain is upper two bits (0xC0), frequency is lower 6 bits (0x3F) +#define AnyMeas_AccumBits_ElecFreq HostReg__5 +# define ADCCNFG_ELEC_FREQ 0x3F /* Bit 4, 3, 2, 1, 0 */ +# define ADCCNFG_EF_0 0x02 // 500,000Hz +# define ADCCNFG_EF_1 0x03 // 444,444Hz +# define ADCCNFG_EF_2 0x04 // 400,000Hz +# define ADCCNFG_EF_3 0x05 // 363,636Hz +# define ADCCNFG_EF_4 0x06 // 333,333Hz +# define ADCCNFG_EF_5 0x07 // 307,692Hz +# define ADCCNFG_EF_6 0x09 // 267,000Hz +# define ADCCNFG_EF_7 0x0B // 235,000Hz +# define ADCCNFG_ACCUMBITSSELECT 0xC0 /* Bit 7, 6 */ +# define ADCCNFG_ACCBITS_17_14_0 0x00 //This is about 2x gain +# define ADCCNFG_ACCBITS_17_15_1 0x40 //This is about 1.6x gain +# define ADCCNFG_ACCBITS_17_2__80 0x80 //This is about 1.3x gain +# define ADCCNFG_ACCBITS_17_2__C0 0xC0 //This is lowest gain +//Note, all frequencies above are based on default 500ns aperture. If aperture is shorter the frequencies will be faster and if aperture is longer the frequencies will be slower. + +//Next is HostReg 6. This sets the sample length. There are four possible settings to bit length. All other settings are not normally used and should be a 0. +#define AnyMeas_BitLength HostReg__6 +# define ADCCTRL_BIT_LENGTH 0x03 /* Bit 1, 0 */ +# define ADCCTRL_SAMPLES_32 0x00 //Note: this does not work. +# define ADCCTRL_SAMPLES_128 0x01 +# define ADCCTRL_SAMPLES_256 0x02 +# define ADCCTRL_SAMPLES_512 0x03 +# define ADCCTRL_ENABLE 0x20 /* Bit 5 */ +# define ADCCTRL_INT_FLAG 0x40 /* Bit 6 */ +# define ADCCTRL_START_BUSY 0x80 /* Bit 7 */ +//The smaller the sample length the faster the measurement but the lower the SNR. For high SNR requirements 512 sample length is recommended. Alternatively, multiple 128 or 256 length measurements could be averaged. + +//Next is HostReg 7. This sets the sense mux. Pinnacle has 2 sense lines, Sense N and Sense P1. There is also a Sense P2 but it is not bonded out, it is only internal. +//Signal on Sense N will be inverted from signal on Sense P1. Other than sign inversion, signal strength should be the same. +#define AnyMeas_ADC_MuxControl HostReg__7 +# define ADCMUXCTRL_SENSEP1GATE 0x01 //Enables Sense P1. Can be combined with Sense N input or exclusivly Sense P1 alone. +# define ADCMUXCTRL_SENSEP2GATE 0x02 //Not used. +# define ADCMUXCTRL_SENSENGATE 0x04 //Enables Sense N. Can be combined with Sense P inputs or exclusivly Sense N alone. +# define ADCMUXCTRL_REF0GATE 0x08 //This enables the RefCap0. This is a capacitor inside the chip that is roughly 0.25pF. It is also controlled with the toggle and polarity bits so those bits must be set properly as well in order to use it. +# define ADCMUXCTRL_REF1GATE 0x10 //This enables the RefCap1. This is a capacitor inside the chip that is roughly 0.5pF. It is also controlled with the toggle and polarity bits so those bits must be set properly as well in order to use it. +# define ADCMUXCTRL_OSCMEASEN 0x80 //this is a test mode for measuring the internal oscillator. It is for IC test only. + +//Next is HostReg 8. This contains various ADC config settings that are not likely to be used. +#define AnyMeas_ADC_Config2 HostReg__8 +# define ADCCNFG2_ADC_CLK_SELECT 0x01 /* Bit 0 */ //If 0 use the standard 8Mhz clock. If 1 use a divide by 2, 4Mhz clock. Only used if extra slow toggle frequencies are required. +# define ADCCNFG2_EMI_FLAG 0x02 /* Bit 1 */ //EMI flag threshold only used with internal FW. Not valid in anymeas mode. +# define ADCCNFG2_EMI_FLAG_THRESHOLD_0 0x04 /* Bit 2 */ //EMI flag threshold only used with internal FW. Not valid in anymeas mode. +# define ADCCNFG2_EMI_FLAG_THRESHOLD_1 0x08 /* Bit 3 */ //EMI flag threshold only used with internal FW. Not valid in anymeas mode. +# define ADCCNFG2_DSX2_EXTEND 0x10 /* Bit 4 */ //extend one signal on the receive. Could also be helpful in situations where sensor cap is extremely high. +# define ADCCNFG2_ETOGGLE_DELAY 0x20 /* Bit 5 */ //delay a bit before toggling electrodes. Could be helpful in situations where sensor cap is extremely high. + +//Next is HostReg 9. This sets the aperture length. Bottom 4 bits set the aperture width +#define AnyMeas_ADC_AWidth HostReg__9 +# define ADCAWIDTH_AWIDTHMASK 0x0F +# define ADCAWIDTH_APERTURE_OPEN 0x00 //does not work +# define ADCAWIDTH_APERTURE_125NS 0x01 //does not work +# define ADCAWIDTH_APERTURE_250NS 0x02 +# define ADCAWIDTH_APERTURE_375NS 0x03 +# define ADCAWIDTH_APERTURE_500NS 0x04 +# define ADCAWIDTH_APERTURE_625NS 0x05 +# define ADCAWIDTH_APERTURE_750NS 0x06 +# define ADCAWIDTH_APERTURE_875NS 0x07 +# define ADCAWIDTH_APERTURE_1000NS 0x08 +# define ADCAWIDTH_APERTURE_1125NS 0x09 +# define ADCAWIDTH_APERTURE_1250NS 0x0A +# define ADCAWIDTH_APERTURE_1375NS 0x0B +# define ADCAWIDTH_APERTURE_1500NS 0x0C +# define ADCAWIDTH_APERTURE_1625NS 0x0D +# define ADCAWIDTH_APERTURE_1750NS 0x0E +# define ADCAWIDTH_APERTURE_1875NS 0x0F +# define ADCAWIDTH_AWIDTHPLUSHALF 0x10 +# define ADCAWIDTH_AOPEN 0x20 +# define ADCAWIDTH_W2WAIT 0x40 + +//next two registers give the high and low bytes to the 16 bit address where Pinnacle will pull the measurement data. Normally these addresses are within the base 32 registers. +#define AnyMeas_pADCMeasInfoStart_High_Byte HostReg__10 +#define AnyMeas_pADCMeasInfoStart_Low_Byte HostReg__11 + +//Next is the measurement index, this sets the measurement state machine to the start and should be a 0 at start. +#define AnyMeas_MeasIndex HostReg__12 +# define ANYMEASSTATE_RESET_START 0x00 +# define ANYMEASSTATE_START_MEASUREMENT 0x01 +# define ANYMEASSTATE_WAIT_FOR_MEASUREMENT_AND_HOST 0x02 + +//next is the state itself of the measurement, should always be 0. +#define AnyMeas_State HostReg__13 + +//next is the number of measurements. Use 0x80 to repeat the single measurement or repeat a number of measurements. +//0x40 will turn the ADC off after measurements. This will result in longer startup time for a subsequent measurement, but lower idle power draw. +#define AnyMeas_Control_NumMeas HostReg__14 +# define ANYMEAS_CONTROL__NUM_MEAS_MASK 0x3F +# define ANYMEAS_CONTROL__ADC_POST_MEAS_PWR 0x40 +# define ANYMEAS_CONTROL__REPEAT 0x80 + +//These are not used +#define AnyMeas_pADCMeasInfo_High_Byte HostReg__15 +#define AnyMeas_pADCMeasInfo_Low_Byte HostReg__16 + +//16 bit result of measurement will be found in these two registers. +#define AnyMeas_Result_High_Byte HostReg__17 +#define AnyMeas_Result_Low_Byte HostReg__18 + +// ---------------- Extended Register Assignments ---------------------------- +/*--------------------------------------------------------------------------*\ + ADC Mux Control +\*--------------------------------------------------------------------------*/ +#define EXTREG__ADCMUX_CTRL 0x00EB +# define EXTREG__ADCMUX_CTRL__SNSP_ENABLE 0x01 +# define EXTREG__ADCMUX_CTRL__SNSN_ENABLE 0x04 + +/*--------------------------------------------------------------------------*\ + Timer Reload Registers +\*--------------------------------------------------------------------------*/ +#define EXTREG__PACKET_TIMER_RELOAD 0x019F +#define EXTREG__TRACK_TIMER_RELOAD 0x019E +// These two registers should have matching content. +# define EXTREG__TIMER_RELOAD__300_SPS 0x06 +# define EXTREG__TIMER_RELOAD__200_SPS 0x09 +# define EXTREG__TIMER_RELOAD__100_SPS 0x13 + +/*--------------------------------------------------------------------------*\ + Track ADC Config +\*--------------------------------------------------------------------------*/ +#define EXTREG__TRACK_ADCCONFIG 0x0187 +// ADC-attenuation settings (held in BIT_7 and BIT_6) +// 1X = most sensitive, 4X = least sensitive +# define EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_MASK 0x3F +# define EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_1X 0x00 +# define EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_2X 0x40 +# define EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_3X 0x80 +# define EXTREG__TRACK_ADCCONFIG__ADC_ATTENUATE_4X 0xC0 +#define EXTREG__TRACK_ADCCONFIG_DEFVAL 0x4E + + +/*--------------------------------------------------------------------------*\ + Tune Edge Sensitivity +\*--------------------------------------------------------------------------*/ +// These registers are not detailed in any publically available documentation +// Names inferred from debug prints in https://github.com/cirque-corp/Cirque_Pinnacle_1CA027/blob/master/Circular_Trackpad +#define EXTREG__XAXIS_WIDEZMIN 0x0149 +#define EXTREG__YAXIS_WIDEZMIN 0x0168 +#define EXTREG__XAXIS_WIDEZMIN_DEFVAL 0x06 +#define EXTREG__YAXIS_WIDEZMIN_DEFVAL 0x05 + +// clang-format on diff --git a/drivers/sensors/cirque_pinnacle_spi.c b/drivers/sensors/cirque_pinnacle_spi.c index 34c77df07b..bd980fc863 100644 --- a/drivers/sensors/cirque_pinnacle_spi.c +++ b/drivers/sensors/cirque_pinnacle_spi.c @@ -25,7 +25,7 @@ void RAP_ReadBytes(uint8_t address, uint8_t* data, uint8_t count) { } } else { #ifdef CONSOLE_ENABLE - dprintf("error right touchpad\n"); + dprintf("error cirque_pinnacle spi_start read\n"); #endif touchpad_init = false; } @@ -43,7 +43,7 @@ void RAP_Write(uint8_t address, uint8_t data) { spi_write(data); } else { #ifdef CONSOLE_ENABLE - dprintf("error right touchpad\n"); + dprintf("error cirque_pinnacle spi_start write\n"); #endif touchpad_init = false; } diff --git a/drivers/sensors/paw3204.c b/drivers/sensors/paw3204.c new file mode 100644 index 0000000000..a13753dd6f --- /dev/null +++ b/drivers/sensors/paw3204.c @@ -0,0 +1,172 @@ +/* Copyright 2021 Gompa (@Gompa) + * + * 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/>. + */ + +// https://github.com/shinoaliceKabocha/choco60_track/tree/master/keymaps/default + +#include "paw3204.h" +#include "wait.h" +#include "debug.h" +#include "gpio.h" + +#define REG_PID1 0x00 +#define REG_PID2 0x01 +#define REG_STAT 0x02 +#define REG_X 0x03 +#define REG_Y 0x04 + +#define REG_SETUP 0x06 +#define REG_IMGQUAL 0x07 +#define REG_IMGREC 0x0E +#define REG_IMGTRASH 0x0D + +#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) + +// CPI values +enum cpi_values { + CPI400, // 0b000 + CPI500, // 0b001 + CPI600, // 0b010 + CPI800, // 0b011 + CPI1000, // 0b100 + CPI1200, // 0b101 + CPI1600, // 0b110 +}; + +uint8_t paw3204_serial_read(void); +void paw3204_serial_write(uint8_t reg_addr); +uint8_t paw3204_read_reg(uint8_t reg_addr); +void paw3204_write_reg(uint8_t reg_addr, uint8_t data); + +void paw3204_init(void) { + setPinOutput(PAW3204_SCLK_PIN); // setclockpin to output + setPinInputHigh(PAW3204_SDIO_PIN); // set datapin input high + + paw3204_write_reg(REG_SETUP, 0x86); // reset sensor and set 1600cpi + wait_us(5); + + paw3204_read_reg(0x00); // read id + paw3204_read_reg(0x01); // read id2 + // PAW3204_write_reg(REG_SETUP,0x06); // dont reset sensor and set cpi 1600 + paw3204_write_reg(REG_IMGTRASH, 0x32); // write image trashhold +} + +uint8_t paw3204_serial_read(void) { + setPinInput(PAW3204_SDIO_PIN); + uint8_t byte = 0; + + for (uint8_t i = 0; i < 8; ++i) { + writePinLow(PAW3204_SCLK_PIN); + wait_us(1); + + byte = (byte << 1) | readPin(PAW3204_SDIO_PIN); + + writePinHigh(PAW3204_SCLK_PIN); + wait_us(1); + } + + return byte; +} + +void paw3204_serial_write(uint8_t data) { + writePinLow(PAW3204_SDIO_PIN); + setPinOutput(PAW3204_SDIO_PIN); + + for (int8_t b = 7; b >= 0; b--) { + writePinLow(PAW3204_SCLK_PIN); + if (data & (1 << b)) { + writePinHigh(PAW3204_SDIO_PIN); + } else { + writePinLow(PAW3204_SDIO_PIN); + } + writePinHigh(PAW3204_SCLK_PIN); + } + + wait_us(4); +} + +report_paw3204_t paw3204_read(void) { + report_paw3204_t data = {0}; + + data.isMotion = paw3204_read_reg(REG_STAT) & (1 << 7); // check for motion only (bit 7 in field) + data.x = (int8_t)paw3204_read_reg(REG_X); + data.y = (int8_t)paw3204_read_reg(REG_Y); + + return data; +} + +void paw3204_write_reg(uint8_t reg_addr, uint8_t data) { + paw3204_serial_write(0b10000000 | reg_addr); + paw3204_serial_write(data); +} + +uint8_t paw3204_read_reg(uint8_t reg_addr) { + paw3204_serial_write(reg_addr); + wait_us(5); + return paw3204_serial_read(); +} + +void paw3204_set_cpi(uint16_t cpi) { + uint8_t cpival = CPI1000; + if (cpi <= 450) { + cpival = CPI400; + } else if (cpi <= 550) { + cpival = CPI500; + } else if (cpi <= 700) { + cpival = CPI600; + } else if (cpi <= 900) { + cpival = CPI800; + } else if (cpi <= 1100) { + cpival = CPI1000; + } else if (cpi <= 1400) { + cpival = CPI1200; + } else if (cpi > 1400) { + cpival = CPI1600; + } + paw3204_write_reg(REG_SETUP, cpival); +} + +uint16_t paw3204_get_cpi(void) { + uint16_t cpival = 1000; + + switch (paw3204_read_reg(REG_SETUP) & 0b111) { + case CPI400: + cpival = 400; + break; + case CPI500: + cpival = 500; + break; + case CPI600: + cpival = 600; + break; + case CPI800: + cpival = 800; + break; + case CPI1000: + cpival = 1000; + break; + case CPI1200: + cpival = 1200; + break; + case CPI1600: + cpival = 1600; + break; + } + return cpival; +} + +uint8_t read_pid_paw3204(void) { + return paw3204_read_reg(REG_PID1); +} diff --git a/drivers/sensors/paw3204.h b/drivers/sensors/paw3204.h new file mode 100644 index 0000000000..bf6dbd04a0 --- /dev/null +++ b/drivers/sensors/paw3204.h @@ -0,0 +1,68 @@ +/* Copyright 2021 Gompa (@Gompa) + * + * 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 <stdint.h> +#include <stdbool.h> + +#ifndef PAW3204_SCLK_PIN +# error "No clock pin defined -- missing PAW3204_SCLK_PIN" +#endif +#ifndef PAW3204_SDIO_PIN +# error "No data pin defined -- missing PAW3204_SDIO_PIN" +#endif + +typedef struct { + int16_t x; + int16_t y; + bool isMotion; +} report_paw3204_t; + +/** + * @brief Initializes the sensor so it is in a working state and ready to + * be polled for data. + * + * @return true Initialization was a success + * @return false Initialization failed, do not proceed operation + */ +void paw3204_init(void); + +/** + * @brief Reads and clears the current delta, and motion register values on the + * given sensor. + * + * @return pmw33xx_report_t Current values of the sensor, if errors occurred all + * fields are set to zero + */ + +report_paw3204_t paw3204_read(void); +/** + * @brief Sets the given CPI value the sensor. CPI is often refereed to + * as the sensors sensitivity. Values outside of the allowed range are + * constrained into legal values. + * + * @param cpi CPI value to set + */ +void paw3204_set_cpi(uint16_t cpi); + +/** + * @brief Gets the currently set CPI value from the sensor. CPI is often + * refereed to as the sensors sensitivity. + * + * @return uint16_t Current CPI value of the sensor + */ +uint16_t paw3204_get_cpi(void); diff --git a/drivers/sensors/pimoroni_trackball.c b/drivers/sensors/pimoroni_trackball.c index 333e017a06..88a351316b 100644 --- a/drivers/sensors/pimoroni_trackball.c +++ b/drivers/sensors/pimoroni_trackball.c @@ -95,16 +95,3 @@ int16_t pimoroni_trackball_get_offsets(uint8_t negative_dir, uint8_t positive_di uint16_t magnitude = (scale * offset * offset * precision) >> 7; return isnegative ? -(int16_t)(magnitude) : (int16_t)(magnitude); } - -void pimoroni_trackball_adapt_values(int8_t* mouse, int16_t* offset) { - if (*offset > 127) { - *mouse = 127; - *offset -= 127; - } else if (*offset < -127) { - *mouse = -127; - *offset += 127; - } else { - *mouse = *offset; - *offset = 0; - } -} diff --git a/drivers/sensors/pimoroni_trackball.h b/drivers/sensors/pimoroni_trackball.h index e20ee748a7..749f381bbd 100644 --- a/drivers/sensors/pimoroni_trackball.h +++ b/drivers/sensors/pimoroni_trackball.h @@ -52,7 +52,6 @@ typedef struct { void pimoroni_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); uint16_t pimoroni_trackball_get_cpi(void); void pimoroni_trackball_set_cpi(uint16_t cpi); i2c_status_t read_pimoroni_trackball(pimoroni_data_t* data); diff --git a/drivers/sensors/pmw3360.c b/drivers/sensors/pmw3360.c index 5f4d17a3f0..2c6d91d588 100644 --- a/drivers/sensors/pmw3360.c +++ b/drivers/sensors/pmw3360.c @@ -1,291 +1,294 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * Copyright 2019 Sunjun Kim - * Copyright 2020 Ploopy Corporation - * Copyright 2022 Ulrich Spörlein - * - * 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/>. - */ - -#include "spi_master.h" -#include "pmw3360.h" -#include "wait.h" -#include "debug.h" -#include "print.h" -#include "pmw3360_firmware.h" - -// Registers -// 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_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 CPI_STEP 100 -// clang-format on - -// limits to 0--119, resulting in a CPI range of 100 -- 12000 (as only steps of 100 are possible). -#ifndef MAX_CPI -# define MAX_CPI 0x77 -#endif - -static const pin_t pins[] = PMW3360_CS_PINS; -#define NUMBER_OF_SENSORS (sizeof(pins) / sizeof(pin_t)) - -// per-sensor driver state -static bool _inBurst[NUMBER_OF_SENSORS] = {0}; - -#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 pmw3360_spi_start(int8_t index) { - bool status = spi_start(pins[index], PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR); - // tNCS-SCLK, 120ns - wait_us(1); - return status; -} - -spi_status_t pmw3360_write(int8_t index, uint8_t reg_addr, uint8_t data) { - pmw3360_spi_start(index); - - if (reg_addr != REG_Motion_Burst) { - _inBurst[index] = false; - } - - // send address of the register, with MSBit = 1 to indicate it's a write - spi_status_t status = spi_write(reg_addr | 0x80); - status = spi_write(data); - - // tSCLK-NCS for write operation is 35us - wait_us(35); - spi_stop(); - - // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but it looks like a safe lower bound - wait_us(145); - return status; -} - -uint8_t pmw3360_read(int8_t index, uint8_t reg_addr) { - pmw3360_spi_start(index); - // send adress of the register, with MSBit = 0 to indicate it's a read - spi_write(reg_addr & 0x7f); - // tSRAD (=160us) - wait_us(160); - uint8_t data = spi_read(); - - // tSCLK-NCS for read operation is 120ns - wait_us(1); - spi_stop(); - - // tSRW/tSRR (=20us) minus tSCLK-NCS - wait_us(19); - return data; -} - -bool pmw3360_check_signature(int8_t index) { - uint8_t pid = pmw3360_read(index, REG_Product_ID); - uint8_t iv_pid = pmw3360_read(index, REG_Inverse_Product_ID); - uint8_t SROM_ver = pmw3360_read(index, REG_SROM_ID); - return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 -} - -void pmw3360_upload_firmware(int8_t index) { - // Datasheet claims we need to disable REST mode first, but during startup - // it's already disabled and we're not turning it on ... - // pmw3360_write(index, REG_Config2, 0x00); // disable REST mode - pmw3360_write(index, REG_SROM_Enable, 0x1d); - - wait_ms(10); - - pmw3360_write(index, REG_SROM_Enable, 0x18); - - pmw3360_spi_start(index); - spi_write(REG_SROM_Load_Burst | 0x80); - wait_us(15); - - for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) { - spi_write(pgm_read_byte(firmware_data + i)); -#ifndef PMW3360_FIRMWARE_UPLOAD_FAST - wait_us(15); -#endif +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#include "pmw33xx_common.h" +#include "progmem.h" + +extern const size_t pmw33xx_number_of_sensors; + +uint16_t pmw33xx_get_cpi(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return 0; } - wait_us(200); - pmw3360_read(index, REG_SROM_ID); - pmw3360_write(index, REG_Config2, 0x00); + uint8_t cpival = pmw33xx_read(sensor, REG_Config1); + return (uint16_t)((cpival + 1) & 0xFF) * PMW33XX_CPI_STEP; } -bool pmw3360_init(int8_t index) { - if (index >= NUMBER_OF_SENSORS) { - return false; +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi) { + if (sensor >= pmw33xx_number_of_sensors) { + return; } - spi_init(); - // power up, need to first drive NCS high then low. - // the datasheet does not say for how long, 40us works well in practice. - pmw3360_spi_start(index); - wait_us(40); - spi_stop(); - wait_us(40); - pmw3360_write(index, REG_Power_Up_Reset, 0x5a); - wait_ms(50); - - // read registers and discard - pmw3360_read(index, REG_Motion); - pmw3360_read(index, REG_Delta_X_L); - pmw3360_read(index, REG_Delta_X_H); - pmw3360_read(index, REG_Delta_Y_L); - pmw3360_read(index, REG_Delta_Y_H); - - pmw3360_upload_firmware(index); - - spi_stop(); - - wait_ms(10); - pmw3360_set_cpi(PMW3360_CPI); - - wait_ms(1); - - pmw3360_write(index, REG_Config2, 0x00); - - pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); - - pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE); - - bool init_success = pmw3360_check_signature(index); -#ifdef CONSOLE_ENABLE - if (init_success) { - dprintf("pmw3360 signature verified"); - } else { - dprintf("pmw3360 signature verification failed!"); - } -#endif - - return init_success; + uint8_t cpival = CONSTRAIN((cpi / PMW33XX_CPI_STEP) - 1, 0, (PMW33XX_CPI_MAX / PMW33XX_CPI_STEP) - 1U); + pmw33xx_write(sensor, REG_Config1, cpival); } -// Only support reading the value from sensor #0, no one is using this anyway. -uint16_t pmw3360_get_cpi(void) { - uint8_t cpival = pmw3360_read(0, REG_Config1); - return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP; -} - -// Write same CPI to all sensors. -void pmw3360_set_cpi(uint16_t cpi) { - uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI); - for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) { - pmw3360_write(i, REG_Config1, cpival); - } -} +// PID, Inverse PID, SROM version +const uint8_t pmw33xx_firmware_signature[3] PROGMEM = {0x42, 0xBD, 0x04}; -report_pmw3360_t pmw3360_read_burst(int8_t index) { - report_pmw3360_t report = {0}; - if (index >= NUMBER_OF_SENSORS) { - return report; - } - - if (!_inBurst[index]) { -#ifdef CONSOLE_ENABLE - dprintf("burst on for index %d", index); -#endif - pmw3360_write(index, REG_Motion_Burst, 0x00); - _inBurst[index] = true; - } - - pmw3360_spi_start(index); - spi_write(REG_Motion_Burst); - wait_us(35); // waits for tSRAD_MOTBR - - report.motion = spi_read(); - spi_read(); // skip Observation - // delta registers - report.dx = spi_read(); - report.mdx = spi_read(); - report.dy = spi_read(); - report.mdy = spi_read(); - - if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird. - _inBurst[index] = false; - } - - spi_stop(); - -#ifdef CONSOLE_ENABLE - if (debug_mouse) { - print_byte(report.motion); - print_byte(report.dx); - print_byte(report.mdx); - print_byte(report.dy); - print_byte(report.mdy); - dprintf("\n"); - } -#endif - - report.isMotion = (report.motion & 0x80) != 0; - report.isOnSurface = (report.motion & 0x08) == 0; - report.dx |= (report.mdx << 8); - report.dx = report.dx * -1; - report.dy |= (report.mdy << 8); - report.dy = report.dy * -1; - - return report; -} +// Firmware Blob for PMW3360 +// clang-format off +const uint8_t pmw33xx_firmware_data[PMW33XX_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, 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, 0xEA, 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0x6E, 0xE8, + 0x77, 0x34, 0xBF, 0x29, 0x40, 0x44, 0xC2, 0xFF, 0x4E, 0x98, 0xD3, 0x9C, 0xA3, 0x32, 0x2B, 0x76, + 0x51, 0x04, 0x09, 0xE7, 0xA9, 0xD1, 0xA6, 0x32, 0xB1, 0x23, 0x53, 0xE2, 0x47, 0xAB, 0xD6, 0xF5, + 0x69, 0x5C, 0x3E, 0x5F, 0xFA, 0xAE, 0x45, 0x20, 0xE5, 0xD2, 0x44, 0xFF, 0x39, 0x32, 0x6D, 0xFD, + 0x27, 0x57, 0x5C, 0xFD, 0xF0, 0xDE, 0xC1, 0xB5, 0x99, 0xE5, 0xF5, 0x1C, 0x77, 0x01, 0x75, 0xC5, + 0x6D, 0x58, 0x92, 0xF2, 0xB2, 0x47, 0x00, 0x01, 0x26, 0x96, 0x7A, 0x30, 0xFF, 0xB7, 0xF0, 0xEF, + 0x77, 0xC1, 0x8A, 0x5D, 0xDC, 0xC0, 0xD1, 0x29, 0x30, 0x1E, 0x77, 0x38, 0x7A, 0x94, 0xF1, 0xB8, + 0x7A, 0x7E, 0xEF, 0xA4, 0xD1, 0xAC, 0x31, 0x4A, 0xF2, 0x5D, 0x64, 0x3D, 0xB2, 0xE2, 0xF0, 0x08, + 0x99, 0xFC, 0x70, 0xEE, 0x24, 0xA7, 0x7E, 0xEE, 0x1E, 0x20, 0x69, 0x7D, 0x44, 0xBF, 0x87, 0x42, + 0xDF, 0x88, 0x3B, 0x0C, 0xDA, 0x42, 0xC9, 0x04, 0xF9, 0x45, 0x50, 0xFC, 0x83, 0x8F, 0x11, 0x6A, + 0x72, 0xBC, 0x99, 0x95, 0xF0, 0xAC, 0x3D, 0xA7, 0x3B, 0xCD, 0x1C, 0xE2, 0x88, 0x79, 0x37, 0x11, + 0x5F, 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Ploopy Corporation - * - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later #pragma once #include <stdint.h> -#ifndef PMW3360_CPI -# define PMW3360_CPI 1600 +#if !defined(PMW33XX_CPI) +# define PMW33XX_CPI 1600U #endif -#ifndef PMW3360_CLOCK_SPEED -# define PMW3360_CLOCK_SPEED 2000000 -#endif - -#ifndef PMW3360_SPI_LSBFIRST -# define PMW3360_SPI_LSBFIRST false -#endif - -#ifndef PMW3360_SPI_MODE -# define PMW3360_SPI_MODE 3 -#endif - -#ifndef PMW3360_SPI_DIVISOR -# ifdef __AVR__ -# define PMW3360_SPI_DIVISOR (F_CPU / PMW3360_CLOCK_SPEED) -# else -# define PMW3360_SPI_DIVISOR 64 -# endif -#endif - -#ifndef PMW3360_LIFTOFF_DISTANCE -# define PMW3360_LIFTOFF_DISTANCE 0x02 -#endif - -#ifndef ROTATIONAL_TRANSFORM_ANGLE -# define ROTATIONAL_TRANSFORM_ANGLE 0x00 -#endif - -// Support single and plural spellings -#ifndef PMW3360_CS_PINS -# ifndef PMW3360_CS_PIN -# error "No chip select pin defined -- missing PMW3360_CS_PIN or PMW3360_CS_PINS" -# else -# define PMW3360_CS_PINS \ - { PMW3360_CS_PIN } -# endif -#endif +#define PMW33XX_CPI_STEP 100 +#define PMW33XX_CPI_MIN 100 +#define PMW33XX_CPI_MAX 12000 -typedef struct { - int8_t motion; - bool isMotion; // True if a motion is detected. - bool isOnSurface; // True when a chip is on a surface - int16_t dx; // displacement on x directions. Unit: Count. (CPI * Count = Inch value) - int8_t mdx; - int16_t dy; // displacement on y directions. - int8_t mdy; -} report_pmw3360_t; +#define PMW33XX_FIRMWARE_LENGTH 4094 -bool pmw3360_init(int8_t index); -uint16_t pmw3360_get_cpi(void); -void pmw3360_set_cpi(uint16_t cpi); -/* Reads and clears the current delta values on the sensor */ -report_pmw3360_t pmw3360_read_burst(int8_t index); +// PMW3360 register addresses +// 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_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 +// clang-format on diff --git a/drivers/sensors/pmw3360_firmware.h b/drivers/sensors/pmw3360_firmware.h deleted file mode 100644 index ed9fda5a75..0000000000 --- a/drivers/sensors/pmw3360_firmware.h +++ /dev/null @@ -1,288 +0,0 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * Copyright 2019 Sunjun Kim - * Copyright 2020 Ploopy Corporation - * - * 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 "progmem.h" - -// PID, Inverse PID, SROM version -const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04}; - -#define FIRMWARE_LENGTH 4094 - -// Firmware Blob foor PMW3360 - -// 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, 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, - 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* - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later -#include "spi_master.h" -#include "pmw3389.h" -#include "wait.h" -#include "debug.h" -#include "print.h" -#include "pmw3389_firmware.h" +#include "pmw33xx_common.h" +#include "progmem.h" -// Registers -// 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_RawData_Sum 0x08 -#define REG_Maximum_RawData 0x09 -#define REG_Minimum_RawData 0x0a -#define REG_Shutter_Lower 0x0b -#define REG_Shutter_Upper 0x0c -#define REG_Ripple_Control 0x0d -#define REG_Resolution_L 0x0e -#define REG_Resolution_H 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_SROM_ID 0x2a -#define REG_Min_SQ_Run 0x2b -#define REG_RawData_Threshold 0x2c -#define REG_Control2 0x2d -#define REG_Config5_L 0x2e -#define REG_Config5_H 0x2f -#define REG_Power_Up_Reset 0X3a -#define REG_Shutdown 0x3b -#define REG_Inverse_Product_ID 0x3f -#define REG_LiftCutoff_Cal3 0x41 -#define REG_Angle_Snap 0x42 -#define REG_LiftCutoff_Cal1 0x4a -#define REG_Motion_Burst 0x50 -#define REG_SROM_Load_Burst 0x62 -#define REG_Lift_Config 0x63 -#define REG_RawData_Burst 0x64 -#define REG_LiftCutoff_Cal2 0x65 -#define REG_LiftCutoff_Cal_Timeout 0x71 -#define REG_LiftCutoff_Cal_Min_Length 0x72 -#define REG_PWM_Period_Cnt 0x73 -#define REG_PWM_Width_Cnt 0x74 - -#define CPI_STEP 50 -// clang-format on - -// limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible). -#ifndef MAX_CPI -# define MAX_CPI 0x013f -#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 pmw3389_spi_start(void) { - bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR); - // tNCS-SCLK, 120ns - wait_us(1); - return status; -} - -spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) { - pmw3389_spi_start(); - - if (reg_addr != REG_Motion_Burst) { - _inBurst = false; - } - - // send address of the register, with MSBit = 1 to indicate it's a write - spi_status_t status = spi_write(reg_addr | 0x80); - status = spi_write(data); - - // tSCLK-NCS for write operation is 35 us - wait_us(35); - spi_stop(); - - // tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound - wait_us(145); - return status; -} - -uint8_t pmw3389_read(uint8_t reg_addr) { - pmw3389_spi_start(); - // send adress of the register, with MSBit = 0 to indicate it's a read - spi_write(reg_addr & 0x7f); - // tSRAD (=160us) - wait_us(160); - uint8_t data = spi_read(); - - // tSCLK-NCS, 120ns - wait_us(1); - spi_stop(); - - // tSRW/tSRR (=20us) minus tSCLK-NCS - wait_us(19); - return data; -} - -bool pmw3389_init(void) { - setPinOutput(PMW3389_CS_PIN); - - spi_init(); - _inBurst = false; - - spi_stop(); - pmw3389_spi_start(); - spi_stop(); - - pmw3389_write(REG_Shutdown, 0xb6); // Shutdown first - wait_ms(300); - - pmw3389_spi_start(); - wait_us(40); - spi_stop(); - wait_us(40); - - // power up, need to first drive NCS high then low, see above. - pmw3389_write(REG_Power_Up_Reset, 0x5a); - wait_ms(50); - - // read registers and discard - pmw3389_read(REG_Motion); - pmw3389_read(REG_Delta_X_L); - pmw3389_read(REG_Delta_X_H); - pmw3389_read(REG_Delta_Y_L); - pmw3389_read(REG_Delta_Y_H); - - pmw3389_upload_firmware(); - - spi_stop(); +extern const size_t pmw33xx_number_of_sensors; - wait_ms(10); - pmw3389_set_cpi(PMW3389_CPI); - - wait_ms(1); - - pmw3389_write(REG_Config2, 0x00); - - pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); - - pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE); - - bool init_success = pmw3389_check_signature(); -#ifdef CONSOLE_ENABLE - if (init_success) { - dprintf("pmw3389 signature verified"); - } else { - dprintf("pmw3389 signature verification failed!"); +uint16_t pmw33xx_get_cpi(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return 0; } -#endif - - writePinLow(PMW3389_CS_PIN); - return init_success; + uint16_t cpival = (pmw33xx_read(sensor, REG_Resolution_H) << 8) | pmw33xx_read(sensor, REG_Resolution_L); + return (uint16_t)((cpival + 1) & 0xFFFF) * PMW33XX_CPI_STEP; } -void pmw3389_upload_firmware(void) { - // Datasheet claims we need to disable REST mode first, but during startup - // it's already disabled and we're not turning it on ... - // pmw3389_write(REG_Config2, 0x00); // disable REST mode - pmw3389_write(REG_SROM_Enable, 0x1d); - - wait_ms(10); - - pmw3389_write(REG_SROM_Enable, 0x18); - - pmw3389_spi_start(); - spi_write(REG_SROM_Load_Burst | 0x80); - wait_us(15); - - for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) { - spi_write(pgm_read_byte(firmware_data + i)); -#ifndef PMW3389_FIRMWARE_UPLOAD_FAST - wait_us(15); -#endif +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi) { + if (sensor >= pmw33xx_number_of_sensors) { + return; } - wait_us(200); - - pmw3389_read(REG_SROM_ID); - pmw3389_write(REG_Config2, 0x00); -} - -bool pmw3389_check_signature(void) { - uint8_t pid = pmw3389_read(REG_Product_ID); - uint8_t iv_pid = pmw3389_read(REG_Inverse_Product_ID); - uint8_t SROM_ver = pmw3389_read(REG_SROM_ID); - return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04 -} -uint16_t pmw3389_get_cpi(void) { - uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L); - return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP; -} - -void pmw3389_set_cpi(uint16_t cpi) { - uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI); + uint16_t cpival = CONSTRAIN((cpi / PMW33XX_CPI_STEP) - 1, 0, (PMW33XX_CPI_MAX / PMW33XX_CPI_STEP) - 1U); // Sets upper byte first for more consistent setting of cpi - pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff); - pmw3389_write(REG_Resolution_L, cpival & 0xff); + pmw33xx_write(sensor, REG_Resolution_H, (cpival >> 8) & 0xFF); + pmw33xx_write(sensor, REG_Resolution_L, cpival & 0xFF); } -report_pmw3389_t pmw3389_read_burst(void) { - report_pmw3389_t report = {0}; - - if (!_inBurst) { -#ifdef CONSOLE_ENABLE - dprintf("burst on"); -#endif - pmw3389_write(REG_Motion_Burst, 0x00); - _inBurst = true; - } - - pmw3389_spi_start(); - spi_write(REG_Motion_Burst); - wait_us(35); // waits for tSRAD_MOTBR - - report.motion = spi_read(); - spi_read(); // skip Observation - // delta registers - report.dx = spi_read(); - report.mdx = spi_read(); - report.dy = spi_read(); - report.mdy = spi_read(); - - if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird. - _inBurst = false; - } - - spi_stop(); - -#ifdef CONSOLE_ENABLE - if (debug_mouse) { - print_byte(report.motion); - print_byte(report.dx); - print_byte(report.mdx); - print_byte(report.dy); - print_byte(report.mdy); - dprintf("\n"); - } -#endif +// PID, Inverse PID, SROM version +const uint8_t pmw33xx_firmware_signature[3] PROGMEM = {0x42, 0xBD, 0x04}; - report.isMotion = (report.motion & 0x80) != 0; - report.isOnSurface = (report.motion & 0x08) == 0; - report.dx |= (report.mdx << 8); - report.dx = report.dx * -1; - report.dy |= (report.mdy << 8); - report.dy = report.dy * -1; +// Firmware Blob for PMW3389 +// clang-format off +const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM = { + 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, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8, + 0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c, + 0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1, + 0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9, + 0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30, + 0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18, + 0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45, + 0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f, + 0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e, + 0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c, + 0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28, + 0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62, + 0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda, + 0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2, + 0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a, + 0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d, + 0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04, + 0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65, + 0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff, + 0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5, + 0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a, + 0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e, + 0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b, + 0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9, + 0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c, + 0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e, + 0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee, + 0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d, + 0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac, + 0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd, + 0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf, + 0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec, + 0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7, + 0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8, + 0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2, + 0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 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0xec, 0x3b, 0xd5, 0x28, 0xb3, 0xc5, 0xe9, 0x31, 0xc1, 0x00, 0x82, 0x67, 0x4c, + 0xfb, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xbd, 0xd9, 0x11, 0x81, 0x61, 0x21, 0xa1, 0xa1, 0xc0, + 0x02, 0x86, 0x6f, 0x5c, 0x1b, 0xb4, 0xcb, 0x14, 0x8b, 0x94, 0xaa, 0xd6, 0x2e, 0xbf, 0xdd, + 0x19, 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x7c, 0x5b, 0x15, 0x89, 0x90, 0x83, 0x84, 0x6b, 0x54, + 0x0b, 0x75, 0x68, 0x52, 0x07, 0x6d, 0x58, 0x32, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0xed, 0x58, + 0x32, 0xe6, 0x4e, 0xff, 0x7c, 0x7a, 0x76, 0x6e, 0x3f, 0xdd, 0x38, 0xd3, 0x05, 0x88, 0x92, + 0xa6, 0xaf, 0xdc, 0x1b, 0xb4, 0xcb, 0xf5, 0x68, 0x52, 0x07, 0x8c, 0x7b, 0x55, 0x09, 0x90, + 0x83, 0x84, 0x6b, 0x54, 0x2a, 0xb7, 0xec, 0x3b, 0xd5, 0x09, 0x90, 0xa2, 0xc6, 0x0e, 0x7f, + 0x7c, 0x7a, 0x57, 0x0d, 0x98, 0xb2, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0x0c, 0x7b, 0x74, 0x4b, + 0x14, 0x8b, 0x94, 0xaa, 0xb7, 0xcd, 0x18, 0x93, 0xa4, 0xca, 0x16, 0xae, 0xbf, 0xdd, 0x19, + 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0xeb, 0x35, 0xc9, + 0x10, 0x83, 0x65, 0x48, 0x12, 0xa6, 0xce, 0x1e, 0x9f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60, + 0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74 +}; - return report; -} +// clang-format off diff --git a/drivers/sensors/pmw3389.h b/drivers/sensors/pmw3389.h index db4a763fe3..fafd1e2046 100644 --- a/drivers/sensors/pmw3389.h +++ b/drivers/sensors/pmw3389.h @@ -1,76 +1,77 @@ -/* Copyright 2021 Alabastard (@Alabastard-64) - * Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * Copyright 2019 Sunjun Kim - * Copyright 2020 Ploopy Corporation - * - * 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/>. - */ +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later #pragma once #include <stdint.h> -#ifndef PMW3389_CPI -# define PMW3389_CPI 2000 +#if !defined(PMW33XX_CPI) +# define PMW33XX_CPI 2000 #endif -#ifndef PMW3389_CLOCK_SPEED -# define PMW3389_CLOCK_SPEED 2000000 -#endif - -#ifndef PMW3389_SPI_LSBFIRST -# define PMW3389_SPI_LSBFIRST false -#endif - -#ifndef PMW3389_SPI_MODE -# define PMW3389_SPI_MODE 3 -#endif - -#ifndef PMW3389_SPI_DIVISOR -# ifdef __AVR__ -# define PMW3389_SPI_DIVISOR (F_CPU / PMW3389_CLOCK_SPEED) -# else -# define PMW3389_SPI_DIVISOR 64 -# endif -#endif - -#ifndef PMW3389_LIFTOFF_DISTANCE -# define PMW3389_LIFTOFF_DISTANCE 0x02 -#endif - -#ifndef ROTATIONAL_TRANSFORM_ANGLE -# define ROTATIONAL_TRANSFORM_ANGLE 0x00 -#endif - -#ifndef PMW3389_CS_PIN -# error "No chip select pin defined -- missing PMW3389_CS_PIN" -#endif +#define PMW33XX_CPI_STEP 50 +#define PMW33XX_CPI_MIN 50 +#define PMW33XX_CPI_MAX 16000 -typedef struct { - int8_t motion; - bool isMotion; // True if a motion is detected. - bool isOnSurface; // True when a chip is on a surface - int16_t dx; // displacement on x directions. Unit: Count. (CPI * Count = Inch value) - int8_t mdx; - int16_t dy; // displacement on y directions. - int8_t mdy; -} report_pmw3389_t; +#define PMW33XX_FIRMWARE_LENGTH 4094 -bool pmw3389_init(void); -void pmw3389_upload_firmware(void); -bool pmw3389_check_signature(void); -uint16_t pmw3389_get_cpi(void); -void pmw3389_set_cpi(uint16_t cpi); -/* Reads and clears the current delta values on the sensor */ -report_pmw3389_t pmw3389_read_burst(void); +// PMW3389 register addresses +// 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_RawData_Sum 0x08 +#define REG_Maximum_RawData 0x09 +#define REG_Minimum_RawData 0x0a +#define REG_Shutter_Lower 0x0b +#define REG_Shutter_Upper 0x0c +#define REG_Ripple_Control 0x0d +#define REG_Resolution_L 0x0e +#define REG_Resolution_H 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_SROM_ID 0x2a +#define REG_Min_SQ_Run 0x2b +#define REG_RawData_Threshold 0x2c +#define REG_Control2 0x2d +#define REG_Config5_L 0x2e +#define REG_Config5_H 0x2f +#define REG_Power_Up_Reset 0X3a +#define REG_Shutdown 0x3b +#define REG_Inverse_Product_ID 0x3f +#define REG_LiftCutoff_Cal3 0x41 +#define REG_Angle_Snap 0x42 +#define REG_LiftCutoff_Cal1 0x4a +#define REG_Motion_Burst 0x50 +#define REG_SROM_Load_Burst 0x62 +#define REG_Lift_Config 0x63 +#define REG_RawData_Burst 0x64 +#define REG_LiftCutoff_Cal2 0x65 +#define REG_LiftCutoff_Cal_Timeout 0x71 +#define REG_LiftCutoff_Cal_Min_Length 0x72 +#define REG_PWM_Period_Cnt 0x73 +#define REG_PWM_Width_Cnt 0x74 +// clang-format on diff --git a/drivers/sensors/pmw3389_firmware.h b/drivers/sensors/pmw3389_firmware.h deleted file mode 100644 index cd9638b605..0000000000 --- a/drivers/sensors/pmw3389_firmware.h +++ /dev/null @@ -1,307 +0,0 @@ -/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> - * Copyright 2019 Sunjun Kim - * Copyright 2020 Ploopy Corporation - * - * 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 "progmem.h" - -// PID, Inverse PID, SROM version -const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04}; - -#define FIRMWARE_LENGTH 4094 - -// Firmware Blob for PMW3389 - -// clang-format off -const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = { - 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, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8, - 0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c, - 0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1, - 0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9, - 0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30, - 0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18, - 0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45, - 0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f, - 0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e, - 0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c, - 0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28, - 0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62, - 0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda, - 0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2, - 0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a, - 0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d, - 0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04, - 0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65, - 0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff, - 0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5, - 0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a, - 0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e, - 0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b, - 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0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74 -}; - -// clang-format off diff --git a/drivers/sensors/pmw33xx_common.c b/drivers/sensors/pmw33xx_common.c new file mode 100644 index 0000000000..13164cb150 --- /dev/null +++ b/drivers/sensors/pmw33xx_common.c @@ -0,0 +1,219 @@ +// Copyright 2022 Daniel Kao (dkao) +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#include "debug.h" +#include "pmw33xx_common.h" +#include "print.h" +#include "string.h" +#include "wait.h" +#include "spi_master.h" +#include "progmem.h" + +extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM; +extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM; + +static const pin_t cs_pins[] = PMW33XX_CS_PINS; +static bool in_burst[sizeof(cs_pins) / sizeof(pin_t)] = {0}; + +const size_t pmw33xx_number_of_sensors = sizeof(cs_pins) / sizeof(pin_t); + +bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor); +bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor); + +void pmw33xx_set_cpi_all_sensors(uint16_t cpi) { + for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) { + pmw33xx_set_cpi(sensor, cpi); + } +} + +bool pmw33xx_spi_start(uint8_t sensor) { + if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) { + spi_stop(); + return false; + } + // tNCS-SCLK, 10ns + wait_us(1); + return true; +} + +bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) { + if (!pmw33xx_spi_start(sensor)) { + return false; + } + + if (reg_addr != REG_Motion_Burst) { + in_burst[sensor] = false; + } + + // send address of the register, with MSBit = 1 to indicate it's a write + uint8_t command[2] = {reg_addr | 0x80, data}; + if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) { + return false; + } + + // tSCLK-NCS for write operation is 35us + wait_us(35); + spi_stop(); + + // tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like + // a safe lower bound + wait_us(145); + return true; +} + +uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) { + if (!pmw33xx_spi_start(sensor)) { + return 0; + } + + // send adress of the register, with MSBit = 0 to indicate it's a read + spi_write(reg_addr & 0x7f); + // tSRAD (=160us) + wait_us(160); + uint8_t data = spi_read(); + + // tSCLK-NCS, 120ns + wait_us(1); + spi_stop(); + + // tSRW/tSRR (=20us) mins tSCLK-NCS + wait_us(19); + return data; +} + +bool pmw33xx_check_signature(uint8_t sensor) { + uint8_t signature_dump[3] = { + pmw33xx_read(sensor, REG_Product_ID), + pmw33xx_read(sensor, REG_Inverse_Product_ID), + pmw33xx_read(sensor, REG_SROM_ID), + }; + + return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0; +} + +bool pmw33xx_upload_firmware(uint8_t sensor) { + // Datasheet claims we need to disable REST mode first, but during startup + // it's already disabled and we're not turning it on ... + // pmw33xx_write(REG_Config2, 0x00); // disable REST mode + if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) { + return false; + } + wait_ms(10); + pmw33xx_write(sensor, REG_SROM_Enable, 0x18); + + if (!pmw33xx_spi_start(sensor)) { + return false; + } + + spi_write(REG_SROM_Load_Burst | 0x80); + wait_us(15); + + for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) { + spi_write(pgm_read_byte(pmw33xx_firmware_data + i)); + wait_us(15); + } + wait_us(200); + + pmw33xx_read(sensor, REG_SROM_ID); + pmw33xx_write(sensor, REG_Config2, 0x00); + + return true; +} + +bool pmw33xx_init(uint8_t sensor) { + if (sensor >= pmw33xx_number_of_sensors) { + return false; + } + spi_init(); + + // power up, need to first drive NCS high then low. the datasheet does not + // say for how long, 40us works well in practice. + if (!pmw33xx_spi_start(sensor)) { + return false; + } + wait_us(40); + spi_stop(); + wait_us(40); + + if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) { + return false; + } + wait_ms(50); + + // read registers and discard + pmw33xx_read(sensor, REG_Motion); + pmw33xx_read(sensor, REG_Delta_X_L); + pmw33xx_read(sensor, REG_Delta_X_H); + pmw33xx_read(sensor, REG_Delta_Y_L); + pmw33xx_read(sensor, REG_Delta_Y_H); + + if (!pmw33xx_upload_firmware(sensor)) { + dprintf("PMW33XX (%d): firmware upload failed!\n", sensor); + return false; + } + + spi_stop(); + + wait_ms(10); + pmw33xx_set_cpi(sensor, PMW33XX_CPI); + + wait_ms(1); + + pmw33xx_write(sensor, REG_Config2, 0x00); + pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127)); + pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE); + + if (!pmw33xx_check_signature(sensor)) { + dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor); + return false; + } + + return true; +} + +pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) { + pmw33xx_report_t report = {0}; + + if (sensor >= pmw33xx_number_of_sensors) { + return report; + } + + if (!in_burst[sensor]) { + dprintf("PMW33XX (%d): burst\n", sensor); + if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) { + return report; + } + in_burst[sensor] = true; + } + + if (!pmw33xx_spi_start(sensor)) { + return report; + } + + spi_write(REG_Motion_Burst); + wait_us(35); // waits for tSRAD_MOTBR + + spi_receive((uint8_t*)&report, sizeof(report)); + + // panic recovery, sometimes burst mode works weird. + if (report.motion.w & 0b111) { + in_burst[sensor] = false; + } + + spi_stop(); + + if (debug_config.mouse) { + dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y); + } + + report.delta_x *= -1; + report.delta_y *= -1; + + return report; +} diff --git a/drivers/sensors/pmw33xx_common.h b/drivers/sensors/pmw33xx_common.h new file mode 100644 index 0000000000..87e8b34d5c --- /dev/null +++ b/drivers/sensors/pmw33xx_common.h @@ -0,0 +1,150 @@ +// Copyright 2022 Daniel Kao (dkao) +// Copyright 2022 Stefan Kerkmann (KarlK90) +// Copyright 2022 Ulrich Spörlein (@uqs) +// Copyright 2021 Alabastard (@Alabastard-64) +// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com> +// Copyright 2019 Sunjun Kim +// Copyright 2020 Ploopy Corporation +// SPDX-License-Identifier: GPL-2.0-or-later + +#pragma once + +#include <stdint.h> +#include "spi_master.h" +#include "util.h" + +#if defined(POINTING_DEVICE_DRIVER_pmw3360) +# include "pmw3360.h" +#elif defined(POINTING_DEVICE_DRIVER_pmw3389) +# include "pmw3389.h" +#endif + +typedef struct __attribute__((packed)) { + union { + struct { + bool capture_from_raw_data : 1; // FRAME_RData_1st + uint8_t operation_mode : 2; // OP_MODE + bool is_lifted : 1; // Lift_stat + bool raw_data_grab_is_raw_data : 1; // RData_1st + uint8_t _reserved : 2; // 1 + Reserved + bool is_motion : 1; // MOT + } b; + uint8_t w; + } motion; + uint8_t observation; + int16_t delta_x; // displacement on x directions. Unit: Count. (CPI * Count = Inch value) + int16_t delta_y; // displacement on y directions. +} pmw33xx_report_t; + +_Static_assert(sizeof(pmw33xx_report_t) == 6, "pmw33xx_report_t must be 6 bytes in size"); +_Static_assert(sizeof((pmw33xx_report_t){0}.motion) == 1, "pmw33xx_report_t.motion must be 1 byte in size"); + +#if !defined(PMW33XX_CLOCK_SPEED) +# define PMW33XX_CLOCK_SPEED 2000000 +#endif + +#if !defined(PMW33XX_SPI_DIVISOR) +# ifdef __AVR__ +# define PMW33XX_SPI_DIVISOR (F_CPU / PMW33XX_CLOCK_SPEED) +# else +# define PMW33XX_SPI_DIVISOR 64 +# endif +#endif + +#if !defined(PMW33XX_LIFTOFF_DISTANCE) +# define PMW33XX_LIFTOFF_DISTANCE 0x02 +#endif + +#if !defined(ROTATIONAL_TRANSFORM_ANGLE) +# define ROTATIONAL_TRANSFORM_ANGLE 0x00 +#endif + +#if ROTATIONAL_TRANSFORM_ANGLE > 127 || ROTATIONAL_TRANSFORM_ANGLE < (-127) +# error ROTATIONAL_TRANSFORM_ANGLE has to be in the range of +/- 127 for all PMW33XX sensors. +#endif + +// Support single and plural spellings +#ifndef PMW33XX_CS_PINS +# ifndef PMW33XX_CS_PIN +# error "No chip select pin defined -- missing PMW33XX_CS_PIN or PMW33XX_CS_PINS" +# else +# define PMW33XX_CS_PINS \ + { PMW33XX_CS_PIN } +# endif +#endif + +#if PMW33XX_CPI > PMW33XX_CPI_MAX || PMW33XX_CPI < PMW33XX_CPI_MIN || (PMW33XX_CPI % PMW33XX_CPI_STEP) != 0U +# pragma message "PMW33XX_CPI has to be in the range of " STR(PMW33XX_CPI_MAX) "-" STR(PMW33XX_CPI_MIN) " in increments of " STR(PMW33XX_CPI_STEP) ". But it is " STR(PMW33XX_CPI) "." +# error Use correct PMW33XX_CPI value. +#endif + +#define CONSTRAIN(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt))) + +/** + * @brief Initializes the given sensor so it is in a working state and ready to + * be polled for data. + * + * @param sensor Index of the sensors chip select pin + * @return true Initialization was a success + * @return false Initialization failed, do not proceed operation + */ +bool __attribute__((cold)) pmw33xx_init(uint8_t sensor); + +/** + * @brief Gets the currently set CPI value from the sensor. CPI is often + * refereed to as the sensors sensitivity. + * + * @param sensor Index of the sensors chip select pin + * @return uint16_t Current CPI value of the sensor + */ +uint16_t pmw33xx_get_cpi(uint8_t sensor); + +/** + * @brief Sets the given CPI value for the given PMW33XX sensor. CIP is often + * refereed to as the sensors sensitivity. Values outside of the allow range are + * constrained into legal values. + * + * @param sensor Index of the sensors chip select pin + * @param cpi CPI value to set, legal range depends on the PMW sensor type + */ +void pmw33xx_set_cpi(uint8_t sensor, uint16_t cpi); + +/** + * @brief Sets the given CPI value to all registered PMW33XX sensors. CPI is + * often refereed to as the sensors sensitivity. Values outside of the allow + * range are constrained into legal values. + * + * @param sensor Index of the sensors chip select pin + * @param cpi CPI value to set, legal range depends on the PMW sensor type + */ +void pmw33xx_set_cpi_all_sensors(uint16_t cpi); + +/** + * @brief Reads and clears the current delta, and motion register values on the + * given sensor. + * + * @param sensor Index of the sensors chip select pin + * @return pmw33xx_report_t Current values of the sensor, if errors occurred all + * fields are set to zero + */ +pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor); + +/** + * @brief Read one byte of data from the given register on the sensor + * + * @param sensor Index of the sensors chip select pin + * @param reg_addr Register address to read from + * @return uint8_t + */ +uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr); + +/** + * @brief Writes one byte of data to the given register on the sensor + * + * @param sensor Index of the sensors chip select pin + * @param reg_addr Registers address to write to + * @param data Data to write to the register + * @return true Write was a success + * @return false Write failed, do not proceed operation + */ +bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data); |