drashna/qmk_firmware
1
0
Fork 0
Code Activity Actions

[MERGE] Add UART based SpaceMouse Module support (22519)

Browse source
This commit is contained in:
Drashna Jael're 2024-01-06 23:42:18 -08:00
parent 54e78ad86f
commit 26ff67ff78
Signed by: drashna
GPG key ID: DBA1FD3A860D1B11
5 changed files with 222 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

169
drivers/sensors/spacemouse_module.c Normal file
View file

@ -0,0 +1,169 @@
// Copyright 2023 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
// SPDX-License-Identifier: GPL-2.0-or-later
#include "spacemouse_module.h"
#include "pointing_device_internal.h"
#include "pointing_device.h"
#include "uart.h"
// datasheet available at https://3dconnexion.com/cn/wp-content/uploads/2020/02/HW-Spec-3DX-700039_Rev001_serial.pdf
/* Datasheet UART settings specify:
* baud rate: 38400
* data bits: 8
* parity: none
* stop bits: 1
* data rate: max 100/s
*/
#define SPACEMOUSE_BAUD_RATE 38400
#define SPACEMOUSE_AXIS_COUNT 6
#define SPACEMOUSE_LENGTH_DATA (2 * SPACEMOUSE_AXIS_COUNT)
#define SPACEMOUSE_INPUT_OFFSET (8192)
enum spacemouse_commands {
SPACEMOUSE_CMD_REQUEST_DATA = 0xAC,
SPACEMOUSE_CMD_SET_ZERO_POSITION = 0xAD,
SPACEMOUSE_CMD_AUTO_DATA_ON = 0xAE,
SPACEMOUSE_CMD_AUTO_DATA_OFF = 0xAF,
SPACEMOUSE_CMD_END = 0x8D,
SPACEMOUSE_DATA_REQUEST_START = 0x96,
};
bool spacemouse_send_command(uint8_t cmd) {
uart_write(cmd);
uint8_t buf[2];
uart_receive(buf, 2);
return (buf[0] == cmd && buf[1] == SPACEMOUSE_CMD_END);
}
/**
* @brief Set the zero position of the module
*
* @return true command ran successfully
* @return false command failed
*/
bool spacemouse_cmd_set_zero_position(void) {
return spacemouse_send_command(SPACEMOUSE_CMD_SET_ZERO_POSITION);
}
/**
* @brief Starts automatic transmission of data, at 30ms invervals
* Automatic data transmission happens at 30 ms intervals, we don't need need the stream command,
* but it is here for completeness, in case somebody wants to implement it elsewhere.
*
* @return true command ran successfully
* @return false command failed
*/
bool spacemouse_cmd_enable_stream(void) {
return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_ON);
}
/**
* @brief Stops automatic transmission of data, at 30ms invervals
*
* @return true command ran successfully
* @return false command failed
*/
bool spacemouse_cmd_disable_stream(void) {
return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_OFF);
}
/**
* @brief Initialize UART connection and send command to zero out starting position.
*
* @return true
* @return false
*/
bool spacemouse_init(void) {
uart_init(SPACEMOUSE_BAUD_RATE);
// position is zeroed out during device start, but re-zero it out to ensure that the
// device is present and working properly.
return spacemouse_cmd_set_zero_position();
}
spacemouse_data_t spacemouse_get_data(void) {
spacemouse_data_t data = {0};
uint8_t retry_attempts = 0, index = 0, payload[SPACEMOUSE_LENGTH_DATA + SPACEMOUSE_LENGTH_CHECKSUM] = {0};
uint16_t checksum = 0, checksum_received = 0;
bool has_started = false;
uart_write(SPACEMOUSE_CMD_REQUEST_DATA);
while (retry_attempts <= 15) {
uint8_t buf = uart_read();
if (buf == SPACEMOUSE_DATA_REQUEST_START) {
has_started = true;
checksum = buf;
retry_attempts = 0;
continue;
} else if (has_started) {
if (buf == SPACEMOUSE_CMD_END) {
break;
} else {
if (index >= SPACEMOUSE_LENGTH_DATA) {
if (index == SPACEMOUSE_LENGTH_DATA) {
checksum_received = buf << 7;
} else {
checksum_received += buf;
}
} else {
payload[index] = buf;
checksum += buf;
}
index++;
}
}
retry_attempts++;
};
checksum &= 0x3FFF;
if (has_started) {
if (checksum_received == checksum) {
data.x = (int16_t)((payload[0] << 7) + payload[1]) - SPACEMOUSE_INPUT_OFFSET;
data.z = (int16_t)((payload[2] << 7) + payload[3]) - SPACEMOUSE_INPUT_OFFSET;
data.y = (int16_t)((payload[4] << 7) + payload[5]) - SPACEMOUSE_INPUT_OFFSET;
data.tilt_y = (int16_t)((payload[6] << 7) + payload[7]) - SPACEMOUSE_INPUT_OFFSET;
data.twist = (int16_t)((payload[8] << 7) + payload[9]) - SPACEMOUSE_INPUT_OFFSET;
data.tilt_x = (int16_t)((payload[10] << 7) + payload[11]) - SPACEMOUSE_INPUT_OFFSET;
} else {
pd_dprintf("Space Mouse Checksum error: 0x%04x != 0x%04x \n", checksum_received, checksum);
}
}
return data;
}
static bool spacemouse_present = false;
__attribute__((weak)) void spacemouse_module_handle_axes(spacemouse_data_t* spacemouse_data, report_mouse_t* mouse_report) {
#ifdef SPACEMOUSE_USE_TILT_AXIS
mouse_report->x = CONSTRAIN_HID_XY(spacemouse_data->tilt_x);
mouse_report->y = CONSTRAIN_HID_XY(spacemouse_data->tilt_y);
#else
mouse_report->x = CONSTRAIN_HID_XY(spacemouse_data->x);
mouse_report->y = CONSTRAIN_HID_XY(spacemouse_data->y);
#endif
}
report_mouse_t spacemouse_get_report(report_mouse_t mouse_report) {
if (spacemouse_present) {
spacemouse_data_t data = spacemouse_get_data();
if (data.x || data.y || data.z || data.twist || data.tilt_x || data.tilt_y) {
pd_dprintf("Raw ] X: %d, Y: %d, Z: %d, twist: %d, tilt X: %d, tilt Y: %d\n", data.x, data.y, data.z, data.twist, data.tilt_x, data.tilt_y);
}
spacemouse_module_handle_axes(&data, &mouse_report);
}
return mouse_report;
}
static void init(void) {
spacemouse_present = spacemouse_init();
}
const pointing_device_driver_t pointing_device_driver = {
.init = init,
.get_report = spacemouse_get_report,
.set_cpi = NULL,
.get_cpi = NULL,
};

20
drivers/sensors/spacemouse_module.h Normal file
View file

@ -0,0 +1,20 @@
// Copyright 2023 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
// SPDX-License-Identifier: GPL-2.0-or-later
#pragma once
#include <stdint.h>
#include <stdbool.h>
typedef struct {
int16_t x;
int16_t y;
int16_t z;
int16_t twist;
int16_t tilt_x;
int16_t tilt_y;
} spacemouse_data_t;
bool spacemouse_send_command(uint8_t cmd);
bool spacemouse_init(void);
spacemouse_data_t spacemouse_get_data(void);