|
@@ -78,8 +78,12 @@
|
|
#define CPI_STEP 100
|
|
#define CPI_STEP 100
|
|
|
|
|
|
|
|
|
|
|
|
+
|
|
|
|
+
|
|
|
|
+
|
|
|
|
+
|
|
#ifndef MAX_CPI
|
|
#ifndef MAX_CPI
|
|
-# define MAX_CPI 0x77
|
|
+# define MAX_CPI 0x77
|
|
#endif
|
|
#endif
|
|
|
|
|
|
bool _inBurst = false;
|
|
bool _inBurst = false;
|
|
@@ -91,6 +95,7 @@ void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1'
|
|
|
|
|
|
bool pmw3360_spi_start(void) {
|
|
bool pmw3360_spi_start(void) {
|
|
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
|
|
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
|
|
|
|
+
|
|
wait_us(1);
|
|
wait_us(1);
|
|
return status;
|
|
return status;
|
|
}
|
|
}
|
|
@@ -106,12 +111,12 @@ spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
|
|
spi_status_t status = spi_write(reg_addr | 0x80);
|
|
spi_status_t status = spi_write(reg_addr | 0x80);
|
|
status = spi_write(data);
|
|
status = spi_write(data);
|
|
|
|
|
|
-
|
|
+
|
|
wait_us(35);
|
|
wait_us(35);
|
|
|
|
+ spi_stop();
|
|
|
|
|
|
|
|
|
|
wait_us(145);
|
|
wait_us(145);
|
|
- spi_stop();
|
|
|
|
return status;
|
|
return status;
|
|
}
|
|
}
|
|
|
|
|
|
@@ -119,15 +124,16 @@ uint8_t pmw3360_read(uint8_t reg_addr) {
|
|
pmw3360_spi_start();
|
|
pmw3360_spi_start();
|
|
|
|
|
|
spi_write(reg_addr & 0x7f);
|
|
spi_write(reg_addr & 0x7f);
|
|
|
|
+
|
|
|
|
+ wait_us(160);
|
|
uint8_t data = spi_read();
|
|
uint8_t data = spi_read();
|
|
|
|
|
|
|
|
|
|
wait_us(1);
|
|
wait_us(1);
|
|
|
|
+ spi_stop();
|
|
|
|
|
|
|
|
|
|
wait_us(19);
|
|
wait_us(19);
|
|
-
|
|
|
|
- spi_stop();
|
|
|
|
return data;
|
|
return data;
|
|
}
|
|
}
|
|
|
|
|
|
@@ -149,7 +155,7 @@ bool pmw3360_init(void) {
|
|
spi_stop();
|
|
spi_stop();
|
|
wait_us(40);
|
|
wait_us(40);
|
|
|
|
|
|
-
|
|
+
|
|
pmw3360_write(REG_Power_Up_Reset, 0x5a);
|
|
pmw3360_write(REG_Power_Up_Reset, 0x5a);
|
|
wait_ms(50);
|
|
wait_ms(50);
|
|
|
|
|
|
@@ -190,6 +196,9 @@ bool pmw3360_init(void) {
|
|
}
|
|
}
|
|
|
|
|
|
void pmw3360_upload_firmware(void) {
|
|
void pmw3360_upload_firmware(void) {
|
|
|
|
+
|
|
|
|
+
|
|
|
|
+
|
|
pmw3360_write(REG_SROM_Enable, 0x1d);
|
|
pmw3360_write(REG_SROM_Enable, 0x1d);
|
|
|
|
|
|
wait_ms(10);
|
|
wait_ms(10);
|
|
@@ -242,15 +251,20 @@ report_pmw3360_t pmw3360_read_burst(void) {
|
|
|
|
|
|
pmw3360_spi_start();
|
|
pmw3360_spi_start();
|
|
spi_write(REG_Motion_Burst);
|
|
spi_write(REG_Motion_Burst);
|
|
- wait_us(35);
|
|
+ wait_us(35);
|
|
|
|
|
|
report.motion = spi_read();
|
|
report.motion = spi_read();
|
|
- spi_write(0x00);
|
|
+ spi_read();
|
|
|
|
+
|
|
report.dx = spi_read();
|
|
report.dx = spi_read();
|
|
report.mdx = spi_read();
|
|
report.mdx = spi_read();
|
|
report.dy = spi_read();
|
|
report.dy = spi_read();
|
|
report.mdy = spi_read();
|
|
report.mdy = spi_read();
|
|
|
|
|
|
|
|
+ if (report.motion & 0b111) {
|
|
|
|
+ _inBurst = false;
|
|
|
|
+ }
|
|
|
|
+
|
|
spi_stop();
|
|
spi_stop();
|
|
|
|
|
|
#ifdef CONSOLE_ENABLE
|
|
#ifdef CONSOLE_ENABLE
|
|
@@ -271,9 +285,5 @@ report_pmw3360_t pmw3360_read_burst(void) {
|
|
report.dy |= (report.mdy << 8);
|
|
report.dy |= (report.mdy << 8);
|
|
report.dy = report.dy * -1;
|
|
report.dy = report.dy * -1;
|
|
|
|
|
|
- if (report.motion & 0b111) {
|
|
|
|
- _inBurst = false;
|
|
|
|
- }
|
|
|
|
-
|
|
|
|
return report;
|
|
return report;
|
|
}
|
|
}
|