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- // 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 "pointing_device_internal.h"
- #include "pmw33xx_common.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[ARRAY_SIZE(cs_pins)] = {0};
- const size_t pmw33xx_number_of_sensors = ARRAY_SIZE(cs_pins);
- 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)) {
- pd_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)) {
- pd_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]) {
- pd_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();
- pd_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;
- }
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