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Add PMW3389 optical sensor Support (Updated) (#15740)

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Co-authored-by: Drashna Jaelre <drashna@live.com>
This commit is contained in:
Alabastard-64 2022-01-11 15:33:13 -07:00 committed by GitHub
parent a7eb27b867
commit 2842ab4052
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 721 additions and 294 deletions
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5
common_features.mk
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@ -109,7 +109,7 @@ ifeq ($(strip $(MOUSEKEY_ENABLE)), yes)
SRC += $(QUANTUM_DIR)/mousekey.c
endif
VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick cirque_pinnacle_i2c cirque_pinnacle_spi pmw3360 pimoroni_trackball custom
VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick cirque_pinnacle_i2c cirque_pinnacle_spi pmw3360 pmw3389 pimoroni_trackball custom
POINTING_DEVICE_DRIVER ?= custom
ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
ifeq ($(filter $(POINTING_DEVICE_DRIVER),$(VALID_POINTING_DEVICE_DRIVER_TYPES)),)
@ -144,6 +144,9 @@ ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), pmw3360)
OPT_DEFS += -DSTM32_SPI -DHAL_USE_SPI=TRUE
QUANTUM_LIB_SRC += spi_master.c
else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), pmw3389)
OPT_DEFS += -DSTM32_SPI -DHAL_USE_SPI=TRUE
QUANTUM_LIB_SRC += spi_master.c
endif
endif
endif

23
docs/feature_pointing_device.md
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@ -155,6 +155,29 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
The CPI range is 100-12000, in increments of 100. Defaults to 1600 CPI.
### PMW 3389 Sensor
To use the PMW 3389 sensor, add this to your `rules.mk`
```make
POINTING_DEVICE_DRIVER = pmw3389
```
The PMW 3389 is an SPI driven optical sensor, that uses a built in IR LED for surface tracking.
| Setting | Description | Default |
|---------------------------------|--------------------------------------------------------------------------------------------|---------------|
|`PMW3389_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
|`PMW3389_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
|`PMW3389_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
|`PMW3389_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
|`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_LEGACY_FIRMWARE_UPLOAD` | (Optional) Switches to older, manual upload of firmware, for compatibility. | _not defined_ |
The CPI range is 50-16000, in increments of 50. Defaults to 2000 CPI.
### Custom Driver

5
drivers/sensors/pmw3360.c
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@ -21,7 +21,7 @@
#include "wait.h"
#include "debug.h"
#include "print.h"
#include PMW3360_FIRMWARE_H
#include "pmw3360_firmware.h"
// Registers
// clang-format off
@ -79,9 +79,6 @@
// clang-format on
// limits to 0--119, resulting in a CPI range of 100 -- 12000 (as only steps of 100 are possible).
// Note that for the PMW3389DM chip, the step size is 50 and supported range is
// up to 16000. The datasheet does not indicate the minimum CPI though, neither
// whether this uses 2 bytes (as 16000/50 == 320)
#ifndef MAX_CPI
# define MAX_CPI 0x77
#endif

11
drivers/sensors/pmw3360.h
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@ -56,17 +56,6 @@
# error "No chip select pin defined -- missing PMW3360_CS_PIN"
#endif
/*
The pmw33660 and pmw3389 use the same registers and timing and such.
The only differences between the two is the firmware used, and the
range for the DPI. So add a semi-secret hack to allow use of the
pmw3389's firmware blob. Also, can set the max cpi range too.
This should work for the 3390 and 3391 too, in theory.
*/
#ifndef PMW3360_FIRMWARE_H
# define PMW3360_FIRMWARE_H "pmw3360_firmware.h"
#endif
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.

296
drivers/sensors/pmw3389.c Normal file
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@ -0,0 +1,296 @@
/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "spi_master.h"
#include "pmw3389.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "pmw3389_firmware.h"
// Registers
// clang-format off
#define REG_Product_ID 0x00
#define REG_Revision_ID 0x01
#define REG_Motion 0x02
#define REG_Delta_X_L 0x03
#define REG_Delta_X_H 0x04
#define REG_Delta_Y_L 0x05
#define REG_Delta_Y_H 0x06
#define REG_SQUAL 0x07
#define REG_RawData_Sum 0x08
#define REG_Maximum_RawData 0x09
#define REG_Minimum_RawData 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Ripple_Control 0x0d
#define REG_Resolution_L 0x0e
#define REG_Resolution_H 0x0f
#define REG_Config2 0x10
#define REG_Angle_Tune 0x11
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate_Lower 0x15
#define REG_Rest1_Rate_Upper 0x16
#define REG_Rest1_Downshift 0x17
#define REG_Rest2_Rate_Lower 0x18
#define REG_Rest2_Rate_Upper 0x19
#define REG_Rest2_Downshift 0x1a
#define REG_Rest3_Rate_Lower 0x1b
#define REG_Rest3_Rate_Upper 0x1c
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_SROM_ID 0x2a
#define REG_Min_SQ_Run 0x2b
#define REG_RawData_Threshold 0x2c
#define REG_Control2 0x2d
#define REG_Config5_L 0x2e
#define REG_Config5_H 0x2f
#define REG_Power_Up_Reset 0X3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_LiftCutoff_Cal3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Cal1 0x4a
#define REG_Motion_Burst 0x50
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_RawData_Burst 0x64
#define REG_LiftCutoff_Cal2 0x65
#define REG_LiftCutoff_Cal_Timeout 0x71
#define REG_LiftCutoff_Cal_Min_Length 0x72
#define REG_PWM_Period_Cnt 0x73
#define REG_PWM_Width_Cnt 0x74
#define CPI_STEP 50
// clang-format on
// limits to 0--319, resulting in a CPI range of 50 -- 16000 (as only steps of 50 are possible).
#ifndef MAX_CPI
# define MAX_CPI 0x013f
#endif
bool _inBurst = false;
#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte) { dprintf("%c%c%c%c%c%c%c%c|", (byte & 0x80 ? '1' : '0'), (byte & 0x40 ? '1' : '0'), (byte & 0x20 ? '1' : '0'), (byte & 0x10 ? '1' : '0'), (byte & 0x08 ? '1' : '0'), (byte & 0x04 ? '1' : '0'), (byte & 0x02 ? '1' : '0'), (byte & 0x01 ? '1' : '0')); }
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
bool pmw3389_spi_start(void) {
bool status = spi_start(PMW3389_CS_PIN, PMW3389_SPI_LSBFIRST, PMW3389_SPI_MODE, PMW3389_SPI_DIVISOR);
// tNCS-SCLK, 120ns
wait_us(1);
return status;
}
spi_status_t pmw3389_write(uint8_t reg_addr, uint8_t data) {
pmw3389_spi_start();
if (reg_addr != REG_Motion_Burst) {
_inBurst = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
spi_status_t status = spi_write(reg_addr | 0x80);
status = spi_write(data);
// tSCLK-NCS for write operation is 35 us
wait_us(35);
spi_stop();
// tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
wait_us(145);
return status;
}
uint8_t pmw3389_read(uint8_t reg_addr) {
pmw3389_spi_start();
// 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) minus tSCLK-NCS
wait_us(19);
return data;
}
bool pmw3389_init(void) {
setPinOutput(PMW3389_CS_PIN);
spi_init();
_inBurst = false;
spi_stop();
pmw3389_spi_start();
spi_stop();
pmw3389_write(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
pmw3389_spi_start();
wait_us(40);
spi_stop();
wait_us(40);
// power up, need to first drive NCS high then low, see above.
pmw3389_write(REG_Power_Up_Reset, 0x5a);
wait_ms(50);
// read registers and discard
pmw3389_read(REG_Motion);
pmw3389_read(REG_Delta_X_L);
pmw3389_read(REG_Delta_X_H);
pmw3389_read(REG_Delta_Y_L);
pmw3389_read(REG_Delta_Y_H);
pmw3389_upload_firmware();
spi_stop();
wait_ms(10);
pmw3389_set_cpi(PMW3389_CPI);
wait_ms(1);
pmw3389_write(REG_Config2, 0x00);
pmw3389_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw3389_write(REG_Lift_Config, PMW3389_LIFTOFF_DISTANCE);
bool init_success = pmw3389_check_signature();
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3389 signature verified");
} else {
dprintf("pmw3389 signature verification failed!");
}
#endif
writePinLow(PMW3389_CS_PIN);
return init_success;
}
void pmw3389_upload_firmware(void) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw3389_write(REG_Config2, 0x00); // disable REST mode
pmw3389_write(REG_SROM_Enable, 0x1d);
wait_ms(10);
pmw3389_write(REG_SROM_Enable, 0x18);
pmw3389_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
#ifdef PMW3389_LEGACY_FIRMWARE_UPLOAD
unsigned char c;
for (int i = 0; i < FIRMWARE_LENGTH; i++) {
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);
pmw3389_read(REG_SROM_ID);
pmw3389_write(REG_Config2, 0x00);
}
bool pmw3389_check_signature(void) {
uint8_t pid = pmw3389_read(REG_Product_ID);
uint8_t iv_pid = pmw3389_read(REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3389_read(REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}
uint16_t pmw3389_get_cpi(void) {
uint16_t cpival = (pmw3389_read(REG_Resolution_H) << 8) | pmw3389_read(REG_Resolution_L);
return (uint16_t)((cpival + 1) & 0xffff) * CPI_STEP;
}
void pmw3389_set_cpi(uint16_t cpi) {
uint16_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
// Sets upper byte first for more consistent setting of cpi
pmw3389_write(REG_Resolution_H, (cpival >> 8) & 0xff);
pmw3389_write(REG_Resolution_L, cpival & 0xff);
}
report_pmw3389_t pmw3389_read_burst(void) {
report_pmw3389_t report = {0};
if (!_inBurst) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
#endif
pmw3389_write(REG_Motion_Burst, 0x00);
_inBurst = true;
}
pmw3389_spi_start();
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
report.motion = spi_read();
spi_read(); // skip Observation
// delta registers
report.dx = spi_read();
report.mdx = spi_read();
report.dy = spi_read();
report.mdy = spi_read();
if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
}
spi_stop();
#ifdef CONSOLE_ENABLE
if (debug_mouse) {
print_byte(report.motion);
print_byte(report.dx);
print_byte(report.mdx);
print_byte(report.dy);
print_byte(report.mdy);
dprintf("\n");
}
#endif
report.isMotion = (report.motion & 0x80) != 0;
report.isOnSurface = (report.motion & 0x08) == 0;
report.dx |= (report.mdx << 8);
report.dx = report.dx * -1;
report.dy |= (report.mdy << 8);
report.dy = report.dy * -1;
return report;
}

76
drivers/sensors/pmw3389.h Normal file
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@ -0,0 +1,76 @@
/* 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
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#ifndef PMW3389_CPI
# define PMW3389_CPI 2000
#endif
#ifndef PMW3389_CLOCK_SPEED
# define PMW3389_CLOCK_SPEED 2000000
#endif
#ifndef PMW3389_SPI_LSBFIRST
# define PMW3389_SPI_LSBFIRST false
#endif
#ifndef PMW3389_SPI_MODE
# define PMW3389_SPI_MODE 3
#endif
#ifndef PMW3389_SPI_DIVISOR
# ifdef __AVR__
# define PMW3389_SPI_DIVISOR (F_CPU / PMW3389_CLOCK_SPEED)
# else
# define PMW3389_SPI_DIVISOR 64
# endif
#endif
#ifndef PMW3389_LIFTOFF_DISTANCE
# define PMW3389_LIFTOFF_DISTANCE 0x02
#endif
#ifndef ROTATIONAL_TRANSFORM_ANGLE
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
#ifndef PMW3389_CS_PIN
# error "No chip select pin defined -- missing PMW3389_CS_PIN"
#endif
typedef struct {
int8_t motion;
bool isMotion; // True if a motion is detected.
bool isOnSurface; // True when a chip is on a surface
int16_t dx; // displacement on x directions. Unit: Count. (CPI * Count = Inch value)
int8_t mdx;
int16_t dy; // displacement on y directions.
int8_t mdy;
} report_pmw3389_t;
bool pmw3389_init(void);
void pmw3389_upload_firmware(void);
bool pmw3389_check_signature(void);
uint16_t pmw3389_get_cpi(void);
void pmw3389_set_cpi(uint16_t cpi);
/* Reads and clears the current delta values on the sensor */
report_pmw3389_t pmw3389_read_burst(void);

14
drivers/sensors/pmw3389_firmware.h
View File

@ -18,14 +18,17 @@
#pragma once
#include "progmem.h"
// PID, Inverse PID, SROM version
const uint8_t firmware_signature[] PROGMEM = {0x42, 0xBD, 0x04};
#define FIRMWARE_LENGTH 4094
// Firmware Blob for PMW3389
// clang-format off
// Firmware Blob foor PMW3389
const uint16_t firmware_length = 4094;
// clang-format off
const uint8_t firmware_data[] PROGMEM = { // SROM 0x04
const uint8_t firmware_data[FIRMWARE_LENGTH] PROGMEM = {
0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
@ -298,6 +301,7 @@ const uint8_t firmware_data[] PROGMEM = { // SROM 0x04
0x14, 0x8b, 0x94, 0xaa, 0xb7, 0xcd, 0x18, 0x93, 0xa4, 0xca, 0x16, 0xae, 0xbf, 0xdd, 0x19,
0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0xeb, 0x35, 0xc9,
0x10, 0x83, 0x65, 0x48, 0x12, 0xa6, 0xce, 0x1e, 0x9f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60,
0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74 };
0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74
};
// clang-format off

3
quantum/pointing_device.h
View File

@ -47,6 +47,9 @@ along with this program. If not, see <http://www.gnu.org/licenses/>.
#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
# include "spi_master.h"
# include "drivers/sensors/pmw3360.h"
#elif defined(POINTING_DEVICE_DRIVER_pmw3389)
# include "spi_master.h"
# include "drivers/sensors/pmw3389.h"
#else
void pointing_device_driver_init(void);
report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report);

36
quantum/pointing_device_drivers.c
View File

@ -242,6 +242,42 @@ const pointing_device_driver_t pointing_device_driver = {
.get_cpi = pmw3360_get_cpi
};
// clang-format on
#elif defined(POINTING_DEVICE_DRIVER_pmw3389)
static void pmw3389_device_init(void) { pmw3389_init(); }
report_mouse_t pmw3389_get_report(report_mouse_t mouse_report) {
report_pmw3389_t data = pmw3389_read_burst();
static uint16_t MotionStart = 0; // Timer for accel, 0 is resting state
if (data.isOnSurface && data.isMotion) {
// Reset timer if stopped moving
if (!data.isMotion) {
if (MotionStart != 0) MotionStart = 0;
return mouse_report;
}
// Set timer if new motion
if ((MotionStart == 0) && data.isMotion) {
# ifdef CONSOLE_ENABLE
if (debug_mouse) dprintf("Starting motion.\n");
# endif
MotionStart = timer_read();
}
mouse_report.x = constrain_hid(data.dx);
mouse_report.y = constrain_hid(data.dy);
}
return mouse_report;
}
// clang-format off
const pointing_device_driver_t pointing_device_driver = {
.init = pmw3389_device_init,
.get_report = pmw3389_get_report,
.set_cpi = pmw3389_set_cpi,
.get_cpi = pmw3389_get_cpi
};
// clang-format on
#else
__attribute__((weak)) void pointing_device_driver_init(void) {}
__attribute__((weak)) report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report) { return mouse_report; }