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Add support for multiple sensors to pmw3360 (#15996)
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@uqs
uqs authored Apr 19, 2022
1 parent 9f63bce commit 690dc4b
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32 changes: 32 additions & 0 deletions docs/feature_pointing_device.md
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Expand Up @@ -134,6 +134,7 @@ The Pimoroni Trackball module is a I2C based breakout board with an RGB enable t

### PMW 3360 Sensor

This drivers supports multiple sensors _per_ controller, so 2 can be attached at the same side for split keyboards (or unsplit keyboards).
To use the PMW 3360 sensor, add this to your `rules.mk`

```make
Expand All @@ -145,6 +146,7 @@ The PMW 3360 is an SPI driven optical sensor, that uses a built in IR LED for su
| Setting | Description | Default |
|-----------------------------|--------------------------------------------------------------------------------------------|---------------|
|`PMW3360_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
|`PMW3360_CS_PINS` | (Alternative) Sets the Cable Select pins connected to multiple sensors. | _not defined_ |
|`PMW3360_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
|`PMW3360_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
|`PMW3360_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
Expand All @@ -155,6 +157,36 @@ 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.

To use multiple sensors, instead of setting `PMW3360_CS_PIN` you need to set `PMW3360_CS_PINS` and also handle and merge the read from this sensor in user code.
Note that different (per sensor) values of CPI, speed liftoff, rotational angle or flipping of X/Y is not currently supported.

```c
// in config.h:
#define PMW3360_CS_PINS { B5, B6 }

// in keyboard.c:
#ifdef POINTING_DEVICE_ENABLE
void pointing_device_init_kb(void) {
pmw3360_init(1); // index 1 is the second device.
pointing_device_set_cpi(800); // applies to both sensors
pointing_device_init_user();
}

// Contains report from sensor #0 already, need to merge in from sensor #1
report_mouse_t pointing_device_task_kb(report_mouse_t mouse_report) {
report_pmw3360_t data = pmw3360_read_burst(1);
if (data.isOnSurface && data.isMotion) {
// From quantum/pointing_device_drivers.c
#define constrain_hid(amt) ((amt) < -127 ? -127 : ((amt) > 127 ? 127 : (amt)))
mouse_report.x = constrain_hid(mouse_report.x + data.dx);
mouse_report.y = constrain_hid(mouse_report.y + data.dy);
}
return pointing_device_task_user(mouse_report);
}
#endif

```

### PMW 3389 Sensor

To use the PMW 3389 sensor, add this to your `rules.mk`
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155 changes: 79 additions & 76 deletions drivers/sensors/pmw3360.c
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@@ -1,6 +1,7 @@
/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
* Copyright 2019 Sunjun Kim
* Copyright 2020 Ploopy Corporation
* Copyright 2022 Ulrich Spörlein
*
* 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
Expand Down Expand Up @@ -83,7 +84,11 @@
# define MAX_CPI 0x77
#endif

bool _inBurst = false;
static const pin_t pins[] = PMW3360_CS_PINS;
#define NUMBER_OF_SENSORS (sizeof(pins) / sizeof(pin_t))

// per-sensor driver state
static bool _inBurst[NUMBER_OF_SENSORS] = {0};

#ifdef CONSOLE_ENABLE
void print_byte(uint8_t byte) {
Expand All @@ -92,18 +97,18 @@ void print_byte(uint8_t byte) {
#endif
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))

bool pmw3360_spi_start(void) {
bool status = spi_start(PMW3360_CS_PIN, PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
bool pmw3360_spi_start(int8_t index) {
bool status = spi_start(pins[index], PMW3360_SPI_LSBFIRST, PMW3360_SPI_MODE, PMW3360_SPI_DIVISOR);
// tNCS-SCLK, 120ns
wait_us(1);
return status;
}

spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
pmw3360_spi_start();
spi_status_t pmw3360_write(int8_t index, uint8_t reg_addr, uint8_t data) {
pmw3360_spi_start(index);

if (reg_addr != REG_Motion_Burst) {
_inBurst = false;
_inBurst[index] = false;
}

// send address of the register, with MSBit = 1 to indicate it's a write
Expand All @@ -114,13 +119,13 @@ spi_status_t pmw3360_write(uint8_t reg_addr, uint8_t data) {
wait_us(35);
spi_stop();

// tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
// tSWW/tSWR (=180us) minus tSCLK-NCS. Could be shortened, but it looks like a safe lower bound
wait_us(145);
return status;
}

uint8_t pmw3360_read(uint8_t reg_addr) {
pmw3360_spi_start();
uint8_t pmw3360_read(int8_t index, uint8_t reg_addr) {
pmw3360_spi_start(index);
// send adress of the register, with MSBit = 0 to indicate it's a read
spi_write(reg_addr & 0x7f);
// tSRAD (=160us)
Expand All @@ -136,36 +141,62 @@ uint8_t pmw3360_read(uint8_t reg_addr) {
return data;
}

bool pmw3360_init(void) {
setPinOutput(PMW3360_CS_PIN);
bool pmw3360_check_signature(int8_t index) {
uint8_t pid = pmw3360_read(index, REG_Product_ID);
uint8_t iv_pid = pmw3360_read(index, REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3360_read(index, REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}

spi_init();
_inBurst = false;
void pmw3360_upload_firmware(int8_t index) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw3360_write(index, REG_Config2, 0x00); // disable REST mode
pmw3360_write(index, REG_SROM_Enable, 0x1d);

spi_stop();
pmw3360_spi_start();
spi_stop();
wait_ms(10);

pmw3360_write(index, REG_SROM_Enable, 0x18);

pmw3360_spi_start(index);
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);

pmw3360_write(REG_Shutdown, 0xb6); // Shutdown first
wait_ms(300);
for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(firmware_data + i));
#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
wait_us(15);
#endif
}
wait_us(200);

pmw3360_spi_start();
pmw3360_read(index, REG_SROM_ID);
pmw3360_write(index, REG_Config2, 0x00);
}

bool pmw3360_init(int8_t index) {
if (index >= NUMBER_OF_SENSORS) {
return false;
}
spi_init();

// power up, need to first drive NCS high then low.
// the datasheet does not say for how long, 40us works well in practice.
pmw3360_spi_start(index);
wait_us(40);
spi_stop();
wait_us(40);

// power up, need to first drive NCS high then low, see above.
pmw3360_write(REG_Power_Up_Reset, 0x5a);
pmw3360_write(index, REG_Power_Up_Reset, 0x5a);
wait_ms(50);

// read registers and discard
pmw3360_read(REG_Motion);
pmw3360_read(REG_Delta_X_L);
pmw3360_read(REG_Delta_X_H);
pmw3360_read(REG_Delta_Y_L);
pmw3360_read(REG_Delta_Y_H);
pmw3360_read(index, REG_Motion);
pmw3360_read(index, REG_Delta_X_L);
pmw3360_read(index, REG_Delta_X_H);
pmw3360_read(index, REG_Delta_Y_L);
pmw3360_read(index, REG_Delta_Y_H);

pmw3360_upload_firmware();
pmw3360_upload_firmware(index);

spi_stop();

Expand All @@ -174,13 +205,13 @@ bool pmw3360_init(void) {

wait_ms(1);

pmw3360_write(REG_Config2, 0x00);
pmw3360_write(index, REG_Config2, 0x00);

pmw3360_write(REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw3360_write(index, REG_Angle_Tune, constrain(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));

pmw3360_write(REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);
pmw3360_write(index, REG_Lift_Config, PMW3360_LIFTOFF_DISTANCE);

bool init_success = pmw3360_check_signature();
bool init_success = pmw3360_check_signature(index);
#ifdef CONSOLE_ENABLE
if (init_success) {
dprintf("pmw3360 signature verified");
Expand All @@ -189,66 +220,38 @@ bool pmw3360_init(void) {
}
#endif

writePinLow(PMW3360_CS_PIN);

return init_success;
}

void pmw3360_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 ...
// pmw3360_write(REG_Config2, 0x00); // disable REST mode
pmw3360_write(REG_SROM_Enable, 0x1d);

wait_ms(10);

pmw3360_write(REG_SROM_Enable, 0x18);

pmw3360_spi_start();
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);

for (uint16_t i = 0; i < FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(firmware_data + i));
#ifndef PMW3360_FIRMWARE_UPLOAD_FAST
wait_us(15);
#endif
}
wait_us(200);

pmw3360_read(REG_SROM_ID);
pmw3360_write(REG_Config2, 0x00);
}

bool pmw3360_check_signature(void) {
uint8_t pid = pmw3360_read(REG_Product_ID);
uint8_t iv_pid = pmw3360_read(REG_Inverse_Product_ID);
uint8_t SROM_ver = pmw3360_read(REG_SROM_ID);
return (pid == firmware_signature[0] && iv_pid == firmware_signature[1] && SROM_ver == firmware_signature[2]); // signature for SROM 0x04
}

// Only support reading the value from sensor #0, no one is using this anyway.
uint16_t pmw3360_get_cpi(void) {
uint8_t cpival = pmw3360_read(REG_Config1);
uint8_t cpival = pmw3360_read(0, REG_Config1);
return (uint16_t)((cpival + 1) & 0xFF) * CPI_STEP;
}

// Write same CPI to all sensors.
void pmw3360_set_cpi(uint16_t cpi) {
uint8_t cpival = constrain((cpi / CPI_STEP) - 1, 0, MAX_CPI);
pmw3360_write(REG_Config1, cpival);
for (size_t i = 0; i < NUMBER_OF_SENSORS; i++) {
pmw3360_write(i, REG_Config1, cpival);
}
}

report_pmw3360_t pmw3360_read_burst(void) {
report_pmw3360_t pmw3360_read_burst(int8_t index) {
report_pmw3360_t report = {0};
if (index >= NUMBER_OF_SENSORS) {
return report;
}

if (!_inBurst) {
if (!_inBurst[index]) {
#ifdef CONSOLE_ENABLE
dprintf("burst on");
dprintf("burst on for index %d", index);
#endif
pmw3360_write(REG_Motion_Burst, 0x00);
_inBurst = true;
pmw3360_write(index, REG_Motion_Burst, 0x00);
_inBurst[index] = true;
}

pmw3360_spi_start();
pmw3360_spi_start(index);
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR

Expand All @@ -261,7 +264,7 @@ report_pmw3360_t pmw3360_read_burst(void) {
report.mdy = spi_read();

if (report.motion & 0b111) { // panic recovery, sometimes burst mode works weird.
_inBurst = false;
_inBurst[index] = false;
}

spi_stop();
Expand Down
16 changes: 10 additions & 6 deletions drivers/sensors/pmw3360.h
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,14 @@
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif

#ifndef PMW3360_CS_PIN
# error "No chip select pin defined -- missing PMW3360_CS_PIN"
// Support single and plural spellings
#ifndef PMW3360_CS_PINS
# ifndef PMW3360_CS_PIN
# error "No chip select pin defined -- missing PMW3360_CS_PIN or PMW3360_CS_PINS"
# else
# define PMW3360_CS_PINS \
{ PMW3360_CS_PIN }
# endif
#endif

typedef struct {
Expand All @@ -66,10 +72,8 @@ typedef struct {
int8_t mdy;
} report_pmw3360_t;

bool pmw3360_init(void);
void pmw3360_upload_firmware(void);
bool pmw3360_check_signature(void);
bool pmw3360_init(int8_t index);
uint16_t pmw3360_get_cpi(void);
void pmw3360_set_cpi(uint16_t cpi);
/* Reads and clears the current delta values on the sensor */
report_pmw3360_t pmw3360_read_burst(void);
report_pmw3360_t pmw3360_read_burst(int8_t index);
4 changes: 2 additions & 2 deletions quantum/pointing_device_drivers.c
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Original file line number Diff line number Diff line change
Expand Up @@ -200,11 +200,11 @@ const pointing_device_driver_t pointing_device_driver = {
// clang-format on
#elif defined(POINTING_DEVICE_DRIVER_pmw3360)
static void pmw3360_device_init(void) {
pmw3360_init();
pmw3360_init(0);
}

report_mouse_t pmw3360_get_report(report_mouse_t mouse_report) {
report_pmw3360_t data = pmw3360_read_burst();
report_pmw3360_t data = pmw3360_read_burst(0);
static uint16_t MotionStart = 0; // Timer for accel, 0 is resting state

if (data.isOnSurface && data.isMotion) {
Expand Down

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