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

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Drashna Jaelre 2022-01-20 09:23:16 -08:00 committed by GitHub
parent 24324378a8
commit 6ebb44f17e
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 21 additions and 28 deletions
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19
docs/feature_pointing_device.md
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@ -40,13 +40,13 @@ POINTING_DEVICE_DRIVER = adns9800
The ADNS 9800 is an SPI driven optical sensor, that uses laser output for surface tracking. The ADNS 9800 is an SPI driven optical sensor, that uses laser output for surface tracking.
| Setting | Description | Default | | Setting | Description | Default |
|------------------------|------------------------------------------------------------------------|---------------| |--------------------------------|------------------------------------------------------------------------|---------------|
|`ADNS9800_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` | |`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_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` | |`ADNS9800_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
|`ADNS9800_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ | |`ADNS9800_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
|`ADNS9800_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ | |`ADNS9800_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
The CPI range is 800-8200, in increments of 200. Defaults to 1800 CPI. The CPI range is 800-8200, in increments of 200. Defaults to 1800 CPI.
@ -150,8 +150,8 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
|`PMW3360_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` | |`PMW3360_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
|`PMW3360_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ | |`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` | |`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` | |`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. 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_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` | |`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` | |`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. The CPI range is 50-16000, in increments of 50. Defaults to 2000 CPI.

6
drivers/sensors/adns9800.c
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@ -135,10 +135,8 @@ void adns9800_init() {
wait_us(15); wait_us(15);
// send all bytes of the firmware // 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); wait_us(15);
} }

2
drivers/sensors/adns9800_srom_A6.h
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@ -6,7 +6,7 @@
// clang-format off // 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, 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, 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, 0xBA, 0xF6, 0x6E, 0x3F, 0xDD, 0x38, 0xD5, 0x02, 0x80, 0x9B, 0x82, 0x6D, 0x58, 0x13, 0xA4, 0xAB,

12
drivers/sensors/pmw3360.c
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@ -206,16 +206,12 @@ void pmw3360_upload_firmware(void) {
spi_write(REG_SROM_Load_Burst | 0x80); spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15); 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); wait_us(15);
}
#else
spi_transmit(firmware_data, sizeof(firmware_data));
#endif #endif
}
wait_us(200); wait_us(200);
pmw3360_read(REG_SROM_ID); pmw3360_read(REG_SROM_ID);

10
drivers/sensors/pmw3389.c
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@ -210,14 +210,12 @@ void pmw3389_upload_firmware(void) {
spi_write(REG_SROM_Load_Burst | 0x80); spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15); 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); wait_us(15);
#endif
} }
wait_us(200); wait_us(200);
pmw3389_read(REG_SROM_ID); pmw3389_read(REG_SROM_ID);