[Bug][Core] Fix optical sensor firmware upload (#15919)

docs/feature_pointing_device.md

@@ -41,7 +41,7 @@ POINTING_DEVICE_DRIVER = adns9800
 The ADNS 9800 is an SPI driven optical sensor, that uses laser output for surface tracking. 
 
 | Setting                        | Description                                                            | Default       |
-|------------------------|------------------------------------------------------------------------|---------------|
+|--------------------------------|------------------------------------------------------------------------|---------------|
 |`ADNS9800_CLOCK_SPEED`          | (Optional) Sets the clock speed that the sensor runs at.               | `2000000`     |
 |`ADNS9800_SPI_LSBFIRST`         | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false`       |
 |`ADNS9800_SPI_MODE`             | (Optional) Sets the SPI Mode for the sensor.                           | `3`           |
@@ -151,7 +151,7 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
 |`PMW3360_SPI_DIVISOR`            | (Optional) Sets the SPI Divisor used for SPI communication.                                | _varies_      |
 |`PMW3360_LIFTOFF_DISTANCE`       | (Optional) Sets the lift off distance at run time                                          | `0x02`        |
 |`ROTATIONAL_TRANSFORM_ANGLE`     | (Optional) Allows for the sensor data to be rotated +/- 127 degrees directly in the sensor.| `0`           |
-|`PMW3360_LEGACY_FIRMWARE_UPLOAD` | (Optional) Switches to older, manual upload of firmware, for compatibility.                | _not defined_     |
+|`PMW3360_FIRMWARE_UPLOAD_FAST`   | (Optional) Skips the 15us wait between firmware blocks.                                    | _not defined_ |
 
 The CPI range is 100-12000, in increments of 100. Defaults to 1600 CPI.
 
@@ -174,6 +174,7 @@ The PMW 3389 is an SPI driven optical sensor, that uses a built in IR LED for su
 |`PMW3389_SPI_DIVISOR`            | (Optional) Sets the SPI Divisor used for SPI communication.                                | _varies_      |
 |`PMW3389_LIFTOFF_DISTANCE`       | (Optional) Sets the lift off distance at run time                                          | `0x02`        |
 |`ROTATIONAL_TRANSFORM_ANGLE`     | (Optional) Allows for the sensor data to be rotated +/- 30 degrees directly in the sensor. | `0`           |
+|`PMW3389_FIRMWARE_UPLOAD_FAST`   | (Optional) Skips the 15us wait between firmware blocks.                                    | _not defined_ |
 
 The CPI range is 50-16000, in increments of 50. Defaults to 2000 CPI.
 

drivers/sensors/adns9800.c

@@ -135,10 +135,8 @@ void adns9800_init() {
     wait_us(15);
 
     // send all bytes of the firmware
-    unsigned char c;
+    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
-    for (int i = 0; i < FIRMWARE_LENGTH; i++) {
+        spi_write(pgm_read_byte(firmware_data + i));
-        c = (unsigned char)pgm_read_byte(adns9800_firmware_data + i);
-        spi_write(c);
         wait_us(15);
     }
 

drivers/sensors/adns9800_srom_A6.h

@@ -6,7 +6,7 @@
 
 // clang-format off
 
-const uint8_t adns9800_firmware_data[FIRMWARE_LENGTH] PROGMEM = {
+const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {
     0x03, 0xA6, 0x68, 0x1E, 0x7D, 0x10, 0x7E, 0x7E, 0x5F, 0x1C, 0xB8, 0xF2, 0x47, 0x0C, 0x7B, 0x74,
     0x4B, 0x14, 0x8B, 0x75, 0x66, 0x51, 0x0B, 0x8C, 0x76, 0x74, 0x4B, 0x14, 0xAA, 0xD6, 0x0F, 0x9C,
     0xBA, 0xF6, 0x6E, 0x3F, 0xDD, 0x38, 0xD5, 0x02, 0x80, 0x9B, 0x82, 0x6D, 0x58, 0x13, 0xA4, 0xAB,

drivers/sensors/pmw3360.c

@@ -206,16 +206,12 @@ void pmw3360_upload_firmware(void) {
     spi_write(REG_SROM_Load_Burst | 0x80);
     wait_us(15);
 
-#ifdef PMW3360_LEGACY_FIRMWARE_UPLOAD
+    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
-    unsigned char c;
+        spi_write(pgm_read_byte(firmware_data + i));
-    for (int i = 0; i < FIRMWARE_LENGTH; i++) {
+#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
-        c = (unsigned char)pgm_read_byte(firmware_data + i);
-        spi_write(c);
         wait_us(15);
-    }
-#else
-    spi_transmit(firmware_data, sizeof(firmware_data));
 #endif
+    }
     wait_us(200);
 
     pmw3360_read(REG_SROM_ID);

drivers/sensors/pmw3389.c

@@ -210,14 +210,12 @@ void pmw3389_upload_firmware(void) {
     spi_write(REG_SROM_Load_Burst | 0x80);
     wait_us(15);
 
-    // legacy only for PMW3389 spi_transmit failed to load firmware
+    for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
-    unsigned char c;
+        spi_write(pgm_read_byte(firmware_data + i));
-    for (int i = 0; i < FIRMWARE_LENGTH; i++) {
+#ifndef PMW3389_FIRMWARE_UPLOAD_FAST
-        c = (unsigned char)pgm_read_byte(firmware_data + i);
-        spi_write(c);
         wait_us(15);
+#endif
     }
-
     wait_us(200);
 
     pmw3389_read(REG_SROM_ID);