pwm3360 driver cleanup and diff reduction to adns9800 (#15559)
* Diff reduction between ADNS9800 and PMW3360 drivers. They are very similar devices. This (somewhat) unreadable diff is essentially a no-op, but it makes a `vimdiff` between the 2 drivers much more readable. * Cleanup pwm3360 driver some more. Remove redundant calls to spi_start() and spi_stop(), as pmw3360_write() will already call these.
This commit is contained in:
uqs
GitHub
parent
0709d208db
commit
d3952523fe
4 changed files with 133 additions and 146 deletions
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@ -77,7 +77,9 @@
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#define MSB1 0x80
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// clang-format on
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void adns9800_spi_start(void) { spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR); }
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void adns9800_spi_start(void) {
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spi_start(ADNS9800_CS_PIN, false, ADNS9800_SPI_MODE, ADNS9800_SPI_DIVISOR);
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}
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void adns9800_write(uint8_t reg_addr, uint8_t data) {
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adns9800_spi_start();
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@ -154,8 +156,8 @@ void adns9800_init() {
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}
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config_adns9800_t adns9800_get_config(void) {
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uint8_t config_1 = adns9800_read(REG_Configuration_I);
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return (config_adns9800_t){(config_1 & 0xFF) * CPI_STEP};
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uint8_t cpival = adns9800_read(REG_Configuration_I);
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return (config_adns9800_t){(cpival & 0xFF) * CPI_STEP};
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}
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void adns9800_set_config(config_adns9800_t config) {
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@ -164,8 +166,8 @@ void adns9800_set_config(config_adns9800_t config) {
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}
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uint16_t adns9800_get_cpi(void) {
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uint8_t config_1 = adns9800_read(REG_Configuration_I);
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return (uint16_t){(config_1 & 0xFF) * CPI_STEP};
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uint8_t cpival = adns9800_read(REG_Configuration_I);
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return (uint16_t)(cpival & 0xFF) * CPI_STEP;
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}
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void adns9800_set_cpi(uint16_t cpi) {
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@ -184,7 +186,7 @@ static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
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}
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report_adns9800_t adns9800_get_report(void) {
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report_adns9800_t report = {0, 0};
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report_adns9800_t report = {0};
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adns9800_spi_start();
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@ -16,6 +16,7 @@
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "spi_master.h"
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#include "pmw3360.h"
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#include "wait.h"
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#include "debug.h"
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@ -34,11 +35,11 @@
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#define REG_SQUAL 0x07
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#define REG_Raw_Data_Sum 0x08
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#define REG_Maximum_Raw_data 0x09
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#define REG_Minimum_Raw_data 0x0A
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#define REG_Shutter_Lower 0x0B
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#define REG_Shutter_Upper 0x0C
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#define REG_Control 0x0D
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#define REG_Config1 0x0F
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#define REG_Minimum_Raw_data 0x0a
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#define REG_Shutter_Lower 0x0b
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#define REG_Shutter_Upper 0x0c
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#define REG_Control 0x0d
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#define REG_Config1 0x0f
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#define REG_Config2 0x10
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#define REG_Angle_Tune 0x11
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#define REG_Frame_Capture 0x12
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@ -49,30 +50,32 @@
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#define REG_Rest1_Downshift 0x17
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#define REG_Rest2_Rate_Lower 0x18
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#define REG_Rest2_Rate_Upper 0x19
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#define REG_Rest2_Downshift 0x1A
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#define REG_Rest3_Rate_Lower 0x1B
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#define REG_Rest3_Rate_Upper 0x1C
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#define REG_Rest2_Downshift 0x1a
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#define REG_Rest3_Rate_Lower 0x1b
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#define REG_Rest3_Rate_Upper 0x1c
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#define REG_Observation 0x24
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#define REG_Data_Out_Lower 0x25
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#define REG_Data_Out_Upper 0x26
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#define REG_Raw_Data_Dump 0x29
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#define REG_SROM_ID 0x2A
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#define REG_Min_SQ_Run 0x2B
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#define REG_Raw_Data_Threshold 0x2C
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#define REG_Config5 0x2F
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#define REG_Power_Up_Reset 0x3A
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#define REG_Shutdown 0x3B
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#define REG_Inverse_Product_ID 0x3F
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#define REG_SROM_ID 0x2a
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#define REG_Min_SQ_Run 0x2b
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#define REG_Raw_Data_Threshold 0x2c
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#define REG_Config5 0x2f
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#define REG_Power_Up_Reset 0x3a
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#define REG_Shutdown 0x3b
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#define REG_Inverse_Product_ID 0x3f
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#define REG_LiftCutoff_Tune3 0x41
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#define REG_Angle_Snap 0x42
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#define REG_LiftCutoff_Tune1 0x4A
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#define REG_LiftCutoff_Tune1 0x4a
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#define REG_Motion_Burst 0x50
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#define REG_LiftCutoff_Tune_Timeout 0x58
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#define REG_LiftCutoff_Tune_Min_Length 0x5A
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#define REG_LiftCutoff_Tune_Min_Length 0x5a
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#define REG_SROM_Load_Burst 0x62
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#define REG_Lift_Config 0x63
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#define REG_Raw_Data_Burst 0x64
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#define REG_LiftCutoff_Tune2 0x65
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#define CPI_STEP 100
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// clang-format on
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#ifndef MAX_CPI
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@ -86,23 +89,19 @@ void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1'
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#endif
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#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
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bool spi_start_adv(void) {
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bool pmw3360_spi_start(void) {
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bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
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wait_us(1);
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return status;
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}
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void spi_stop_adv(void) {
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wait_us(1);
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spi_stop();
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}
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spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
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pmw3360_spi_start();
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spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
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if (reg_addr != REG_Motion_Burst) {
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_inBurst = false;
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}
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spi_start_adv();
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// send address of the register, with MSBit = 1 to indicate it's a write
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spi_status_t status = spi_write(reg_addr | 0x80);
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status = spi_write(data);
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@ -116,11 +115,10 @@ spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data) {
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return status;
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}
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uint8_t spi_read_adv(uint8_t reg_addr) {
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spi_start_adv();
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uint8_t pmw3360_read(uint8_t reg_addr) {
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pmw3360_spi_start();
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// send adress of the register, with MSBit = 0 to indicate it's a read
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spi_write(reg_addr & 0x7f);
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uint8_t data = spi_read();
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// tSCLK-NCS for read operation is 120ns
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@ -133,19 +131,6 @@ uint8_t spi_read_adv(uint8_t reg_addr) {
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return data;
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}
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void pmw3360_set_cpi(uint16_t cpi) {
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uint8_t cpival = constrain((cpi / 100) - 1, 0, MAX_CPI);
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spi_start_adv();
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spi_write_adv(REG_Config1, cpival);
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spi_stop();
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}
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uint16_t pmw3360_get_cpi(void) {
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uint8_t cpival = spi_read_adv(REG_Config1);
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return (uint16_t)((cpival + 1) & 0xFF) * 100;
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}
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bool pmw3360_init(void) {
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setPinOutput(PMW3360_CS_PIN);
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@ -153,42 +138,51 @@ bool pmw3360_init(void) {
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_inBurst = false;
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spi_stop();
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spi_start_adv();
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pmw3360_spi_start();
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spi_stop();
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spi_write_adv(REG_Shutdown, 0xb6); // Shutdown first
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pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first
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wait_ms(300);
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spi_start_adv();
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pmw3360_spi_start();
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wait_us(40);
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spi_stop_adv();
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spi_stop();
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wait_us(40);
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spi_write_adv(REG_Power_Up_Reset, 0x5a);
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// reboot
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pmw3360_write(REG_Power_Up_Reset, 0x5a);
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wait_ms(50);
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spi_read_adv(REG_Motion);
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spi_read_adv(REG_Delta_X_L);
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spi_read_adv(REG_Delta_X_H);
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spi_read_adv(REG_Delta_Y_L);
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spi_read_adv(REG_Delta_Y_H);
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// read registers and discard
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pmw3360_read(REG_Motion);
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pmw3360_read(REG_Delta_X_L);
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pmw3360_read(REG_Delta_X_H);
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pmw3360_read(REG_Delta_Y_L);
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pmw3360_read(REG_Delta_Y_H);
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pmw3360_upload_firmware();
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spi_stop_adv();
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spi_stop();
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wait_ms(10);
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pmw3360_set_cpi(PMW3360_CPI);
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wait_ms(1);
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spi_write_adv(REG_Config2, 0x00);
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pmw3360_write(REG_Config2, 0x00);
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spi_write_adv(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
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pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
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spi_write_adv(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
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pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
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bool init_success = pmw3360_check_signature();
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#ifdef CONSOLE_ENABLE
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if (init_success) {
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dprintf("pmw3360 signature verified");
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} else {
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dprintf("pmw3360 signature verification failed!");
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}
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#endif
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writePinLow(PMW3360_CS_PIN);
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@ -196,13 +190,13 @@ bool pmw3360_init(void) {
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}
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void pmw3360_upload_firmware(void) {
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spi_write_adv(REG_SROM_Enable, 0x1d);
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pmw3360_write(REG_SROM_Enable, 0x1d);
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wait_ms(10);
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spi_write_adv(REG_SROM_Enable, 0x18);
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pmw3360_write(REG_SROM_Enable, 0x18);
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spi_start_adv();
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pmw3360_spi_start();
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spi_write(REG_SROM_Load_Burst | 0x80);
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wait_us(15);
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@ -214,68 +208,72 @@ void pmw3360_upload_firmware(void) {
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}
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wait_us(200);
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spi_read_adv(REG_SROM_ID);
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spi_write_adv(REG_Config2, 0x00);
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spi_stop();
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wait_ms(10);
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pmw3360_read(REG_SROM_ID);
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pmw3360_write(REG_Config2, 0x00);
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}
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bool pmw3360_check_signature(void) {
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uint8_t pid = spi_read_adv(REG_Product_ID);
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uint8_t iv_pid = spi_read_adv(REG_Inverse_Product_ID);
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uint8_t SROM_ver = spi_read_adv(REG_SROM_ID);
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uint8_t pid = pmw3360_read(REG_Product_ID);
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uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID);
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uint8_t SROM_ver = pmw3360_read(REG_SROM_ID);
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return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
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}
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uint16_t pmw3360_get_cpi(void) {
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uint8_t cpival = pmw3360_read(REG_Config1);
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return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
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}
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void pmw3360_set_cpi(uint16_t cpi) {
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uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
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pmw3360_write(REG_Config1, cpival);
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}
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report_pmw3360_t pmw3360_read_burst(void) {
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report_pmw3360_t report = {0};
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if (!_inBurst) {
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#ifdef CONSOLE_ENABLE
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dprintf("burst on");
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#endif
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spi_write_adv(REG_Motion_Burst, 0x00);
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pmw3360_write(REG_Motion_Burst, 0x00);
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_inBurst = true;
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}
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spi_start_adv();
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pmw3360_spi_start();
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spi_write(REG_Motion_Burst);
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wait_us(35); // waits for tSRAD
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report_pmw3360_t data = {0};
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data.motion = spi_read();
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report.motion = spi_read();
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spi_write(0x00); // skip Observation
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data.dx = spi_read();
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data.mdx = spi_read();
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data.dy = spi_read();
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data.mdy = spi_read();
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report.dx = spi_read();
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report.mdx = spi_read();
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report.dy = spi_read();
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report.mdy = spi_read();
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spi_stop();
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#ifdef CONSOLE_ENABLE
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if (debug_mouse) {
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print_byte(data.motion);
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print_byte(data.dx);
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print_byte(data.mdx);
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print_byte(data.dy);
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print_byte(data.mdy);
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print_byte(report.motion);
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print_byte(report.dx);
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print_byte(report.mdx);
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print_byte(report.dy);
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print_byte(report.mdy);
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dprintf("\n");
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}
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#endif
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data.isMotion = (data.motion & 0x80) != 0;
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data.isOnSurface = (data.motion & 0x08) == 0;
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data.dx |= (data.mdx << 8);
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data.dx = data.dx * -1;
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data.dy |= (data.mdy << 8);
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data.dy = data.dy * -1;
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report.isMotion = (report.motion & 0x80) != 0;
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report.isOnSurface = (report.motion & 0x08) == 0;
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report.dx |= (report.mdx << 8);
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report.dx = report.dx * -1;
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report.dy |= (report.mdy << 8);
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report.dy = report.dy * -1;
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spi_stop();
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if (data.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
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if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
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_inBurst = false;
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}
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return data;
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return report;
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}
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@ -19,8 +19,6 @@
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#pragma once
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#include <stdint.h>
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#include "report.h"
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#include "spi_master.h"
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#ifndef PMW3360_CPI
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# define PMW3360_CPI 1600
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@ -69,10 +67,6 @@ This should work for the 3390 and 3391 too, in theory.
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# define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
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#endif
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#ifdef CONSOLE_ENABLE
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void print_byte(uint8_t byte);
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#endif
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typedef struct {
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int8_t motion;
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bool isMotion; // True if a motion is detected.
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@ -83,16 +77,10 @@ typedef struct {
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int8_t mdy;
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} report_pmw3360_t;
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bool spi_start_adv(void);
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void spi_stop_adv(void);
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spi_status_t spi_write_adv(uint8_t reg_addr, uint8_t data);
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uint8_t spi_read_adv(uint8_t reg_addr);
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bool pmw3360_init(void);
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void pmw3360_set_cpi(uint16_t cpi);
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uint16_t pmw3360_get_cpi(void);
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void pmw3360_upload_firmware(void);
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bool pmw3360_check_signature(void);
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uint16_t pmw3360_get_cpi(void);
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void pmw3360_set_cpi(uint16_t cpi);
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/* Reads and clears the current delta values on the sensor */
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report_pmw3360_t pmw3360_read_burst(void);
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#define degToRad(angleInDegrees) ((angleInDegrees)*M_PI / 180.0)
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#define radToDeg(angleInRadians) ((angleInRadians)*180.0 / M_PI)
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@ -207,8 +207,7 @@ const pointing_device_driver_t pointing_device_driver = {
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};
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// clang-format on
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#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
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static void init(void) { pmw3360_init(); }
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static void pmw3360_device_init(void) { pmw3360_init(); }
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report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
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report_pmw3360_t data = pmw3360_read_burst();
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@ -237,7 +236,7 @@ report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
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// clang-format off
|
||||
const pointing_device_driver_t pointing_device_driver = {
|
||||
.init = init,
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.init = pmw3360_device_init,
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.get_report = pmw3360_get_report,
|
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.set_cpi = pmw3360_set_cpi,
|
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.get_cpi = pmw3360_get_cpi
|
||||
|
|
|
|||
Loading…
Reference in a new issue