Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Manually format develop #15003

Merged
merged 1 commit into from
Nov 1, 2021
Merged

Manually format develop #15003

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
23 changes: 8 additions & 15 deletions drivers/sensors/adns5050.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/


#include "adns5050.h"
#include "wait.h"
#include "debug.h"
Expand Down Expand Up @@ -61,13 +60,9 @@ void adns_sync(void) {
writePinHigh(ADNS_CS_PIN);
}

void adns_cs_select(void) {
writePinLow(ADNS_CS_PIN);
}
void adns_cs_select(void) { writePinLow(ADNS_CS_PIN); }

void adns_cs_deselect(void) {
writePinHigh(ADNS_CS_PIN);
}
void adns_cs_deselect(void) { writePinHigh(ADNS_CS_PIN); }

uint8_t adns_serial_read(void) {
setPinInput(ADNS_SDIO_PIN);
Expand Down Expand Up @@ -121,7 +116,7 @@ uint8_t adns_read_reg(uint8_t 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.
// See page 10 and 15 of the ADNS spec sheet.
//wait_us(4);
// wait_us(4);

uint8_t byte = adns_serial_read();

Expand All @@ -138,7 +133,7 @@ uint8_t adns_read_reg(uint8_t reg_addr) {

void adns_write_reg(uint8_t reg_addr, uint8_t data) {
adns_cs_select();
adns_serial_write( 0b10000000 | reg_addr );
adns_serial_write(0b10000000 | reg_addr);
adns_serial_write(data);
adns_cs_deselect();
}
Expand All @@ -155,7 +150,7 @@ report_adns_t adns_read_burst(void) {
// 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.
// See page 10 and 15 of the ADNS spec sheet.
//wait_us(4);
// wait_us(4);

uint8_t x = adns_serial_read();
uint8_t y = adns_serial_read();
Expand All @@ -180,13 +175,11 @@ 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 adns_set_cpi(uint8_t cpi) { adns_write_reg(REG_MOUSE_CONTROL2, cpi); }

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 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);

return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
Expand Down
18 changes: 9 additions & 9 deletions drivers/sensors/adns5050.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,13 +67,13 @@ typedef struct {
// A bunch of functions to implement the ADNS5050-specific serial protocol.
// Note that the "serial.h" driver is insufficient, because it does not
// manually manipulate a serial clock signal.
void adns_init(void);
void adns_sync(void);
uint8_t adns_serial_read(void);
void adns_serial_write(uint8_t data);
uint8_t adns_read_reg(uint8_t reg_addr);
void adns_write_reg(uint8_t reg_addr, uint8_t data);
void adns_init(void);
void adns_sync(void);
uint8_t adns_serial_read(void);
void adns_serial_write(uint8_t data);
uint8_t adns_read_reg(uint8_t reg_addr);
void adns_write_reg(uint8_t reg_addr, uint8_t data);
report_adns_t adns_read_burst(void);
int8_t convert_twoscomp(uint8_t data);
void adns_set_cpi(uint8_t cpi);
bool adns_check_signature(void);
int8_t convert_twoscomp(uint8_t data);
void adns_set_cpi(uint8_t cpi);
bool adns_check_signature(void);
119 changes: 55 additions & 64 deletions drivers/sensors/adns9800.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,57 +20,57 @@
#include "adns9800.h"

// registers
#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_Pixel_Sum 0x08
#define REG_Maximum_Pixel 0x09
#define REG_Minimum_Pixel 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Frame_Period_Lower 0x0d
#define REG_Frame_Period_Upper 0x0e
#define REG_Configuration_I 0x0f
#define REG_Configuration_II 0x10
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate 0x15
#define REG_Rest1_Downshift 0x16
#define REG_Rest2_Rate 0x17
#define REG_Rest2_Downshift 0x18
#define REG_Rest3_Rate 0x19
#define REG_Frame_Period_Max_Bound_Lower 0x1a
#define REG_Frame_Period_Max_Bound_Upper 0x1b
#define REG_Frame_Period_Min_Bound_Lower 0x1c
#define REG_Frame_Period_Min_Bound_Upper 0x1d
#define REG_Shutter_Max_Bound_Lower 0x1e
#define REG_Shutter_Max_Bound_Upper 0x1f
#define REG_LASER_CTRL0 0x20
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_SROM_ID 0x2a
#define REG_Lift_Detection_Thr 0x2e
#define REG_Configuration_V 0x2f
#define REG_Configuration_IV 0x39
#define REG_Power_Up_Reset 0x3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_Motion_Burst 0x50
#define REG_SROM_Load_Burst 0x62
#define REG_Pixel_Burst 0x64
#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_Pixel_Sum 0x08
#define REG_Maximum_Pixel 0x09
#define REG_Minimum_Pixel 0x0a
#define REG_Shutter_Lower 0x0b
#define REG_Shutter_Upper 0x0c
#define REG_Frame_Period_Lower 0x0d
#define REG_Frame_Period_Upper 0x0e
#define REG_Configuration_I 0x0f
#define REG_Configuration_II 0x10
#define REG_Frame_Capture 0x12
#define REG_SROM_Enable 0x13
#define REG_Run_Downshift 0x14
#define REG_Rest1_Rate 0x15
#define REG_Rest1_Downshift 0x16
#define REG_Rest2_Rate 0x17
#define REG_Rest2_Downshift 0x18
#define REG_Rest3_Rate 0x19
#define REG_Frame_Period_Max_Bound_Lower 0x1a
#define REG_Frame_Period_Max_Bound_Upper 0x1b
#define REG_Frame_Period_Min_Bound_Lower 0x1c
#define REG_Frame_Period_Min_Bound_Upper 0x1d
#define REG_Shutter_Max_Bound_Lower 0x1e
#define REG_Shutter_Max_Bound_Upper 0x1f
#define REG_LASER_CTRL0 0x20
#define REG_Observation 0x24
#define REG_Data_Out_Lower 0x25
#define REG_Data_Out_Upper 0x26
#define REG_SROM_ID 0x2a
#define REG_Lift_Detection_Thr 0x2e
#define REG_Configuration_V 0x2f
#define REG_Configuration_IV 0x39
#define REG_Power_Up_Reset 0x3a
#define REG_Shutdown 0x3b
#define REG_Inverse_Product_ID 0x3f
#define REG_Motion_Burst 0x50
#define REG_SROM_Load_Burst 0x62
#define REG_Pixel_Burst 0x64

#define ADNS_CLOCK_SPEED 2000000
#define MIN_CPI 200
#define MAX_CPI 8200
#define CPI_STEP 200
#define CLAMP_CPI(value) value < MIN_CPI ? MIN_CPI : value > MAX_CPI ? MAX_CPI : value
#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
#define SPI_MODE 3
#define SPI_DIVISOR (F_CPU / ADNS_CLOCK_SPEED)
#define US_BETWEEN_WRITES 120
Expand All @@ -80,23 +80,19 @@

extern const uint8_t firmware_data[];

void adns_spi_start(void){
spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR);
}

void adns_write(uint8_t reg_addr, uint8_t data){
void adns_spi_start(void) { spi_start(SPI_SS_PIN, false, SPI_MODE, SPI_DIVISOR); }

void adns_write(uint8_t reg_addr, uint8_t data) {
adns_spi_start();
spi_write(reg_addr | MSB1);
spi_write(data);
spi_stop();
wait_us(US_BETWEEN_WRITES);
}

uint8_t adns_read(uint8_t reg_addr){

uint8_t adns_read(uint8_t reg_addr) {
adns_spi_start();
spi_write(reg_addr & 0x7f );
spi_write(reg_addr & 0x7f);
uint8_t data = spi_read();
spi_stop();
wait_us(US_BETWEEN_READS);
Expand All @@ -105,7 +101,6 @@ uint8_t adns_read(uint8_t reg_addr){
}

void adns_init() {

setPinOutput(SPI_SS_PIN);

spi_init();
Expand Down Expand Up @@ -144,7 +139,7 @@ void adns_init() {

// send all bytes of the firmware
unsigned char c;
for(int i = 0; i < FIRMWARE_LENGTH; i++){
for (int i = 0; i < FIRMWARE_LENGTH; i++) {
c = (unsigned char)pgm_read_byte(firmware_data + i);
spi_write(c);
wait_us(15);
Expand All @@ -161,28 +156,25 @@ void adns_init() {

config_adns_t adns_get_config(void) {
uint8_t config_1 = adns_read(REG_Configuration_I);
return (config_adns_t){ (config_1 & 0xFF) * CPI_STEP };
return (config_adns_t){(config_1 & 0xFF) * CPI_STEP};
}

void adns_set_config(config_adns_t config) {
uint8_t config_1 = (CLAMP_CPI(config.cpi) / CPI_STEP) & 0xFF;
adns_write(REG_Configuration_I, config_1);
}

static int16_t convertDeltaToInt(uint8_t high, uint8_t low){

static int16_t convertDeltaToInt(uint8_t high, uint8_t low) {
// join bytes into twos compliment
uint16_t twos_comp = (high << 8) | low;

// convert twos comp to int
if (twos_comp & 0x8000)
return -1 * (~twos_comp + 1);
if (twos_comp & 0x8000) return -1 * (~twos_comp + 1);

return twos_comp;
}

report_adns_t adns_get_report(void) {

report_adns_t report = {0, 0};

adns_spi_start();
Expand All @@ -194,8 +186,7 @@ report_adns_t adns_get_report(void) {

uint8_t motion = spi_read();

if(motion & 0x80) {

if (motion & 0x80) {
// clear observation register
spi_read();

Expand Down
4 changes: 2 additions & 2 deletions drivers/sensors/adns9800.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,8 @@ typedef struct {
int16_t y;
} report_adns_t;

void adns_init(void);
void adns_init(void);
config_adns_t adns_get_config(void);
void adns_set_config(config_adns_t);
void adns_set_config(config_adns_t);
/* Reads and clears the current delta values on the ADNS sensor */
report_adns_t adns_get_report(void);
96 changes: 48 additions & 48 deletions drivers/sensors/pmw3360.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,55 +23,55 @@
#include "pmw3360_firmware.h"

// Registers
#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_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0A
#define REG_Shutter_Lower 0x0B
#define REG_Shutter_Upper 0x0C
#define REG_Control 0x0D
#define REG_Config1 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_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2A
#define REG_Min_SQ_Run 0x2B
#define REG_Raw_Data_Threshold 0x2C
#define REG_Config5 0x2F
#define REG_Power_Up_Reset 0x3A
#define REG_Shutdown 0x3B
#define REG_Inverse_Product_ID 0x3F
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4A
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#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_Raw_Data_Sum 0x08
#define REG_Maximum_Raw_data 0x09
#define REG_Minimum_Raw_data 0x0A
#define REG_Shutter_Lower 0x0B
#define REG_Shutter_Upper 0x0C
#define REG_Control 0x0D
#define REG_Config1 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_Raw_Data_Dump 0x29
#define REG_SROM_ID 0x2A
#define REG_Min_SQ_Run 0x2B
#define REG_Raw_Data_Threshold 0x2C
#define REG_Config5 0x2F
#define REG_Power_Up_Reset 0x3A
#define REG_Shutdown 0x3B
#define REG_Inverse_Product_ID 0x3F
#define REG_LiftCutoff_Tune3 0x41
#define REG_Angle_Snap 0x42
#define REG_LiftCutoff_Tune1 0x4A
#define REG_Motion_Burst 0x50
#define REG_LiftCutoff_Tune_Timeout 0x58
#define REG_LiftCutoff_Tune_Min_Length 0x5A
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65
#define REG_SROM_Load_Burst 0x62
#define REG_Lift_Config 0x63
#define REG_Raw_Data_Burst 0x64
#define REG_LiftCutoff_Tune2 0x65

bool _inBurst = false;

Expand Down
Loading