255 lines
7.8 KiB
C
255 lines
7.8 KiB
C
/* Copyright 2020 Richard Sutherland <rich@brickbots.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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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 "adns.h"
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#include "debug.h"
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#include "wait.h"
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#include "pointing_device.h"
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#include "adns9800_srom_A6.h"
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// registers
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#define REG_Product_ID 0x00
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#define REG_Revision_ID 0x01
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#define REG_Motion 0x02
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#define REG_Delta_X_L 0x03
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#define REG_Delta_X_H 0x04
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#define REG_Delta_Y_L 0x05
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#define REG_Delta_Y_H 0x06
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#define REG_SQUAL 0x07
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#define REG_Pixel_Sum 0x08
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#define REG_Maximum_Pixel 0x09
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#define REG_Minimum_Pixel 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_Frame_Period_Lower 0x0d
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#define REG_Frame_Period_Upper 0x0e
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#define REG_Configuration_I 0x0f
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#define REG_Configuration_II 0x10
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#define REG_Frame_Capture 0x12
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#define REG_SROM_Enable 0x13
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#define REG_Run_Downshift 0x14
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#define REG_Rest1_Rate 0x15
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#define REG_Rest1_Downshift 0x16
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#define REG_Rest2_Rate 0x17
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#define REG_Rest2_Downshift 0x18
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#define REG_Rest3_Rate 0x19
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#define REG_Frame_Period_Max_Bound_Lower 0x1a
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#define REG_Frame_Period_Max_Bound_Upper 0x1b
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#define REG_Frame_Period_Min_Bound_Lower 0x1c
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#define REG_Frame_Period_Min_Bound_Upper 0x1d
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#define REG_Shutter_Max_Bound_Lower 0x1e
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#define REG_Shutter_Max_Bound_Upper 0x1f
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#define REG_LASER_CTRL0 0x20
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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_SROM_ID 0x2a
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#define REG_Lift_Detection_Thr 0x2e
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#define REG_Configuration_V 0x2f
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#define REG_Configuration_IV 0x39
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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_Motion_Burst 0x50
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#define REG_SROM_Load_Burst 0x62
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#define REG_Pixel_Burst 0x64
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// pins
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#define NCS F7
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extern const uint16_t firmware_length;
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extern const uint8_t firmware_data[];
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enum motion_burst_propertr{
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motion = 0,
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observation,
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delta_x_l,
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delta_x_h,
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delta_y_l,
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delta_y_h,
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squal,
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pixel_sum,
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maximum_pixel,
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minimum_pixel,
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shutter_upper,
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shutter_lower,
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frame_period_upper,
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frame_period_lower,
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end_data
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};
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void adns_begin(void){
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spi_start(NCS, false, 3, 8);
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}
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void adns_end(void){
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spi_stop();
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}
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void adns_write(uint8_t reg_addr, uint8_t data){
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adns_begin();
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//send address of the register, with MSBit = 1 to indicate it's a write
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spi_write(reg_addr | 0x80 );
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spi_write(data);
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// tSCLK-NCS for write operation
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wait_us(20);
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// tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
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wait_us(100);
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adns_end();
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}
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uint8_t adns_read(uint8_t reg_addr){
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adns_begin();
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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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wait_us(1);
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// tSRW/tSRR (=20us) minus tSCLK-NCS
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wait_us(19);
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adns_end();
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return data;
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}
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void pointing_device_init(void) {
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dprint("STARTING INTI\n");
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spi_init();
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// reset serial port
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adns_begin();
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adns_end();
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// reboot
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adns_write(REG_Power_Up_Reset, 0x5a);
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wait_ms(50);
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// read registers and discard
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adns_read(REG_Motion);
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adns_read(REG_Delta_X_L);
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adns_read(REG_Delta_X_H);
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adns_read(REG_Delta_Y_L);
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adns_read(REG_Delta_Y_H);
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// upload firmware
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// set the configuration_IV register in 3k firmware mode
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// bit 1 = 1 for 3k mode, other bits are reserved
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adns_write(REG_Configuration_IV, 0x02);
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// write 0x1d in SROM_enable reg for initializing
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adns_write(REG_SROM_Enable, 0x1d);
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// wait for more than one frame period
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// assume that the frame rate is as low as 100fps... even if it should never be that low
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wait_ms(10);
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// write 0x18 to SROM_enable to start SROM download
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adns_write(REG_SROM_Enable, 0x18);
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// write the SROM file (=firmware data)
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// write burst destination adress
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adns_begin();
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spi_write(REG_SROM_Load_Burst | 0x80);
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wait_us(15);
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// send all bytes of the firmware
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unsigned char c;
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for(int i = 0; i < firmware_length; i++){
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c = (unsigned char)pgm_read_byte(firmware_data + i);
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spi_write(c);
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wait_us(15);
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}
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adns_end();
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wait_ms(10);
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// enable laser(bit 0 = 0b), in normal mode (bits 3,2,1 = 000b)
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// reading the actual value of the register is important because the real
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// default value is different from what is said in the datasheet, and if you
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// change the reserved bytes (like by writing 0x00...) it would not work.
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uint8_t laser_ctrl0 = adns_read(REG_LASER_CTRL0);
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adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
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wait_ms(1);
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// set the configuration_I register to set the CPI
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// 0x01 = 50, minimum
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// 0x44 = 3400, default
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// 0x8e = 7100
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// 0xA4 = 8200, maximum
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adns_write(REG_Configuration_I, 0x10);
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wait_ms(100);
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dprint("INIT ENDED\n");
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}
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int16_t convertDeltaToInt(uint8_t high, uint8_t low){
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// join bytes into twos compliment
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//int16_t twos_comp = (high << 8) | low;
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//return twos_comp;
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return (high << 8) | low;
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}
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motion_delta_t readSensor(void) {
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adns_begin();
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// read from Motion_Burst to enable burt mode
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spi_write(REG_Motion_Burst & 0x7f);
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// Wait one frame per docs, thanks u/kbjunky
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wait_us(100);
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uint8_t burst_data[pixel_sum];
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for (int i = 0; i < pixel_sum; ++i) {
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burst_data[i] = spi_read();
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}
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uint16_t delta_x = convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
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uint16_t delta_y = convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);
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// Only consider the MSB for motion as this byte has other status bits
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uint8_t motion_ind = burst_data[motion] & 0b10000000;
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adns_end();
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motion_delta_t delta = {delta_x, delta_y, motion_ind};
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return delta;
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}
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bool pointing_device_task(void) {
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motion_delta_t delta = readSensor();
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report_mouse_t report = pointing_device_get_report();
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if(delta.motion_ind) {
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// clamp deltas from -127 to 127
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report.x = delta.delta_x < -127 ? -127 : delta.delta_x > 127 ? 127 : delta.delta_x;
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report.x = -report.x;
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report.y = delta.delta_y < -127 ? -127 : delta.delta_y > 127 ? 127 : delta.delta_y;
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}
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pointing_device_set_report(report);
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return pointing_device_send();
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}
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