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Rework and expand Pointing Device support (#14343)

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Co-authored-by: Dasky <32983009+daskygit@users.noreply.github.com>
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Drashna Jael're 2021-11-14 22:03:24 -08:00 • committed by GitHub
parent 462c3a6151
commit 56e3f06a26
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60 changed files with 2107 additions and 1705 deletions
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149
drivers/sensors/adns5050.c
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@ -20,81 +20,95 @@
#include "adns5050.h"
#include "wait.h"
#include "debug.h"
#include "print.h"
#include "gpio.h"
#ifndef OPTIC_ROTATED
# define OPTIC_ROTATED false
#endif
// Registers
// clang-format off
#define REG_PRODUCT_ID 0x00
#define REG_REVISION_ID 0x01
#define REG_MOTION 0x02
#define REG_DELTA_X 0x03
#define REG_DELTA_Y 0x04
#define REG_SQUAL 0x05
#define REG_SHUTTER_UPPER 0x06
#define REG_SHUTTER_LOWER 0x07
#define REG_MAXIMUM_PIXEL 0x08
#define REG_PIXEL_SUM 0x09
#define REG_MINIMUM_PIXEL 0x0a
#define REG_PIXEL_GRAB 0x0b
#define REG_MOUSE_CONTROL 0x0d
#define REG_MOUSE_CONTROL2 0x19
#define REG_LED_DC_MODE 0x22
#define REG_CHIP_RESET 0x3a
#define REG_PRODUCT_ID2 0x3e
#define REG_INV_REV_ID 0x3f
#define REG_MOTION_BURST 0x63
// clang-format on
// Definitions for the ADNS serial line.
#ifndef ADNS_SCLK_PIN
# define ADNS_SCLK_PIN B7
#endif
void adns5050_init(void) {
// Initialize the ADNS serial pins.
setPinOutput(ADNS5050_SCLK_PIN);
setPinOutput(ADNS5050_SDIO_PIN);
setPinOutput(ADNS5050_CS_PIN);
#ifndef ADNS_SDIO_PIN
# define ADNS_SDIO_PIN C6
#endif
// reboot the adns.
// if the adns hasn't initialized yet, this is harmless.
adns5050_write_reg(REG_CHIP_RESET, 0x5a);
#ifndef ADNS_CS_PIN
# define ADNS_CS_PIN B4
#endif
// wait maximum time before adns is ready.
// this ensures that the adns is actuall ready after reset.
wait_ms(55);
#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
// Initialize the ADNS serial pins.
void adns_init(void) {
setPinOutput(ADNS_SCLK_PIN);
setPinOutput(ADNS_SDIO_PIN);
setPinOutput(ADNS_CS_PIN);
// read a burst from the adns and then discard it.
// gets the adns ready for write commands
// (for example, setting the dpi).
adns5050_read_burst();
}
// Perform a synchronization with the ADNS.
// Just as with the serial protocol, this is used by the slave to send a
// synchronization signal to the master.
void adns_sync(void) {
writePinLow(ADNS_CS_PIN);
void adns5050_sync(void) {
writePinLow(ADNS5050_CS_PIN);
wait_us(1);
writePinHigh(ADNS_CS_PIN);
writePinHigh(ADNS5050_CS_PIN);
}
void adns_cs_select(void) { writePinLow(ADNS_CS_PIN); }
void adns5050_cs_select(void) { writePinLow(ADNS5050_CS_PIN); }
void adns_cs_deselect(void) { writePinHigh(ADNS_CS_PIN); }
void adns5050_cs_deselect(void) { writePinHigh(ADNS5050_CS_PIN); }
uint8_t adns_serial_read(void) {
setPinInput(ADNS_SDIO_PIN);
uint8_t adns5050_serial_read(void) {
setPinInput(ADNS5050_SDIO_PIN);
uint8_t byte = 0;
for (uint8_t i = 0; i < 8; ++i) {
writePinLow(ADNS_SCLK_PIN);
writePinLow(ADNS5050_SCLK_PIN);
wait_us(1);
byte = (byte << 1) | readPin(ADNS_SDIO_PIN);
byte = (byte << 1) | readPin(ADNS5050_SDIO_PIN);
writePinHigh(ADNS_SCLK_PIN);
writePinHigh(ADNS5050_SCLK_PIN);
wait_us(1);
}
return byte;
}
void adns_serial_write(uint8_t data) {
setPinOutput(ADNS_SDIO_PIN);
void adns5050_serial_write(uint8_t data) {
setPinOutput(ADNS5050_SDIO_PIN);
for (int8_t b = 7; b >= 0; b--) {
writePinLow(ADNS_SCLK_PIN);
writePinLow(ADNS5050_SCLK_PIN);
if (data & (1 << b))
writePinHigh(ADNS_SDIO_PIN);
writePinHigh(ADNS5050_SDIO_PIN);
else
writePinLow(ADNS_SDIO_PIN);
writePinLow(ADNS5050_SDIO_PIN);
wait_us(2);
writePinHigh(ADNS_SCLK_PIN);
writePinHigh(ADNS5050_SCLK_PIN);
}
// tSWR. See page 15 of the ADNS spec sheet.
@ -108,17 +122,17 @@ void adns_serial_write(uint8_t data) {
// Read a byte of data from a register on the ADNS.
// Don't forget to use the register map (as defined in the header file).
uint8_t adns_read_reg(uint8_t reg_addr) {
adns_cs_select();
uint8_t adns5050_read_reg(uint8_t reg_addr) {
adns5050_cs_select();
adns_serial_write(reg_addr);
adns5050_serial_write(reg_addr);
// We don't need a minimum tSRAD here. That's because a 4ms wait time is
// already included in adns_serial_write(), so we're good.
// already included in adns5050_serial_write(), so we're good.
// See page 10 and 15 of the ADNS spec sheet.
// wait_us(4);
uint8_t byte = adns_serial_read();
uint8_t byte = adns5050_serial_read();
// tSRW & tSRR. See page 15 of the ADNS spec sheet.
// Technically, this is only necessary if the next operation is an SDIO
@ -126,38 +140,38 @@ uint8_t adns_read_reg(uint8_t reg_addr) {
// Honestly, this wait could probably be removed.
wait_us(1);
adns_cs_deselect();
adns5050_cs_deselect();
return byte;
}
void adns_write_reg(uint8_t reg_addr, uint8_t data) {
adns_cs_select();
adns_serial_write(0b10000000 | reg_addr);
adns_serial_write(data);
adns_cs_deselect();
void adns5050_write_reg(uint8_t reg_addr, uint8_t data) {
adns5050_cs_select();
adns5050_serial_write(0b10000000 | reg_addr);
adns5050_serial_write(data);
adns5050_cs_deselect();
}
report_adns_t adns_read_burst(void) {
adns_cs_select();
report_adns5050_t adns5050_read_burst(void) {
adns5050_cs_select();
report_adns_t data;
report_adns5050_t data;
data.dx = 0;
data.dy = 0;
adns_serial_write(REG_MOTION_BURST);
adns5050_serial_write(REG_MOTION_BURST);
// We don't need a minimum tSRAD here. That's because a 4ms wait time is
// already included in adns_serial_write(), so we're good.
// already included in adns5050_serial_write(), so we're good.
// See page 10 and 15 of the ADNS spec sheet.
// wait_us(4);
uint8_t x = adns_serial_read();
uint8_t y = adns_serial_read();
uint8_t x = adns5050_serial_read();
uint8_t y = adns5050_serial_read();
// Burst mode returns a bunch of other shit that we don't really need.
// Setting CS to high ends burst mode early.
adns_cs_deselect();
adns5050_cs_deselect();
data.dx = convert_twoscomp(x);
data.dy = convert_twoscomp(y);
@ -175,12 +189,21 @@ int8_t convert_twoscomp(uint8_t data) {
}
// Don't forget to use the definitions for CPI in the header file.
void adns_set_cpi(uint8_t cpi) { adns_write_reg(REG_MOUSE_CONTROL2, cpi); }
void adns5050_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / 125), 0x1, 0xD); // limits to 0--119
bool adns_check_signature(void) {
uint8_t pid = adns_read_reg(REG_PRODUCT_ID);
uint8_t rid = adns_read_reg(REG_REVISION_ID);
uint8_t pid2 = adns_read_reg(REG_PRODUCT_ID2);
adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival);
}
uint16_t adns5050_get_cpi(void) {
uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2);
return (uint16_t)((cpival & 0b10000) * 125);
}
bool adns5050_check_signature(void) {
uint8_t pid = adns5050_read_reg(REG_PRODUCT_ID);
uint8_t rid = adns5050_read_reg(REG_REVISION_ID);
uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2);
return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
}