enable watchdog. trigger pmw irq on low level, fixes hanging mouse.

firmware/include/config.h

 //#define PMW_FEATURE_WIRELESS
 //#define DISABLE_CDC_DTR_CHECK
 
+#define INVERT_MOUSE_X_AXIS false
+#define INVERT_MOUSE_Y_AXIS true
+#define DEFAULT_MOUSE_SENSITIVITY PMW_CPI_TO_SENSE(800)
+
 #endif // __CONFIG_H__

firmware/include/pmw3360.h

 };
 
 int pmw_init(void);
+bool pmw_is_alive(void);
 
 struct pmw_motion pmw_get(void);
 
 void pmw_set_sensitivity(uint8_t sens);
 uint8_t pmw_get_sensitivity(void);
 #define PMW_SENSE_TO_CPI(sense) (100 + (sense * 100))
+#define PMW_CPI_TO_SENSE(cpi) ((cpi / 100) - 1)
 
 void pmw_print_status(void);
 

firmware/src/console.c

 #include "console.h"
 
 #define CNSL_BUFF_SIZE 1024
+#define CNSL_REPEAT_MS 500
+
+//#define CNSL_REPEAT_PMW_STATUS_BY_DEFAULT
 
 static char cnsl_line_buff[CNSL_BUFF_SIZE + 1];
 static uint32_t cnsl_buff_pos = 0;
 
 static void cnsl_interpret(const char *line) {
     if (strlen(line) == 0) {
-        // repeat last command once
-        print("repeating command \"%s\"", cnsl_last_command);
-        cnsl_interpret(cnsl_last_command);
-        print();
+        if ((strlen(cnsl_last_command) > 0) && (strcmp(cnsl_last_command, "repeat") != 0)) {
+            // repeat last command once
+            print("repeating command \"%s\"", cnsl_last_command);
+            cnsl_interpret(cnsl_last_command);
+            print();
+        }
         return;
     } else if (strcmp(line, "repeat") == 0) {
         if (!repeat_command) {
         print("   pmwr - reset PMW3360");
         print("  reset - reset back into this firmware");
         print("   \\x18 - reset to bootloader");
-        print(" repeat - repeat last command once per second");
+        print(" repeat - repeat last command every %d milliseconds", CNSL_REPEAT_MS);
         print("   help - print this message");
         print("Press Enter with no input to repeat last command.");
         print("Use repeat to continuously execute last command.");
         if ((num < 100) || (num > 12000)) {
             print("invalid cpi %llu, needs to be %u <= cpi <= %u", num, 100, 12000);
         } else {
-            num /= 100;
-            num -= 1;
+            num = PMW_CPI_TO_SENSE(num);
             print("setting cpi to 0x%02llX", num);
             pmw_set_sensitivity(num);
         }
 
 void cnsl_init(void) {
     cnsl_buff_pos = 0;
-    for (int i = 0; i < sizeof(cnsl_line_buff); i++) {
+    for (int i = 0; i < CNSL_BUFF_SIZE + 1; i++) {
         cnsl_line_buff[i] = '\0';
+        cnsl_last_command[i] = '\0';
+        cnsl_repeated_command[i] = '\0';
     }
+
+#ifdef CNSL_REPEAT_PMW_STATUS_BY_DEFAULT
+    strcpy(cnsl_repeated_command, "pmws");
+    repeat_command = true;
+#endif // CNSL_REPEAT_PMW_STATUS_BY_DEFAULT
 }
 
 static int32_t cnsl_find_line_end(void) {
 }
 
 void cnsl_run(void) {
-    if (repeat_command) {
+    if (repeat_command && (strlen(cnsl_repeated_command) > 0)
+            && (strcmp(cnsl_repeated_command, "repeat") != 0)) {
         uint32_t now = to_ms_since_boot(get_absolute_time());
-        if (now >= (last_repeat_time + 1000)) {
+        if (now >= (last_repeat_time + CNSL_REPEAT_MS)) {
             print("repeating command \"%s\"", cnsl_repeated_command);
             cnsl_interpret(cnsl_repeated_command);
             print();
 
             last_repeat_time = now;
         }
+    } else {
+        if (repeat_command) {
+            print("nothing to repeat");
+        }
+        repeat_command = false;
     }
 }
 

firmware/src/main.c

  */
 
 #include "pico/stdlib.h"
+#include "hardware/watchdog.h"
 
 #include "config.h"
 #include "util.h"
 #include "usb.h"
 #include "pmw3360.h"
 
+#define HEALTH_CHECK_INTERVAL_MS 500
+static uint32_t last_health_check = 0;
+
 int main(void) {
     heartbeat_init();
+
     cnsl_init();
     usb_init();
-    pmw_init();
+
+    if (watchdog_caused_reboot()) {
+        debug("reset by watchdog");
+    }
+
+    if (pmw_init() != 0) {
+        debug("error initializing PMW3360");
+    }
+
+    // trigger after 500ms
+    // (PMW3360 initialization takes ~160ms)
+    watchdog_enable(500, 1);
+
     debug("init done");
 
     while (1) {
+        watchdog_update();
+
         heartbeat_run();
         usb_run();
         cnsl_run();
+
+        uint32_t now = to_ms_since_boot(get_absolute_time());
+        if (now >= (last_health_check + HEALTH_CHECK_INTERVAL_MS)) {
+            last_health_check = now;
+            if (!pmw_is_alive()) {
+                debug("PMW3360 is dead. resetting!");
+                while (1) { }
+            }
+        }
     }
 
     return 0;

firmware/src/pmw3360.c

     r.delta_y = 0;
 
     if (r.motion) {
-        gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_EDGE_FALL, false);
+        gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, false);
 
         r.delta_x = delta_x;
         r.delta_y = delta_y;
         delta_x = 0;
         delta_y = 0;
 
-        gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_EDGE_FALL, true);
+        gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, true);
     }
 
     return r;
 }
 
 static void pmw_motion_irq(void) {
-    if (gpio_get_irq_event_mask(PMW_MOTION_PIN) & GPIO_IRQ_EDGE_FALL) {
-        gpio_acknowledge_irq(PMW_MOTION_PIN, GPIO_IRQ_EDGE_FALL);
+    if (gpio_get_irq_event_mask(PMW_MOTION_PIN) & GPIO_IRQ_LEVEL_LOW) {
+        gpio_acknowledge_irq(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW);
         pmw_handle_interrupt();
     }
 }
     return sense_y;
 }
 
+static void pmw_irq_init(void) {
+    // setup MOTION pin interrupt to handle reading data
+    gpio_add_raw_irq_handler(PMW_MOTION_PIN, pmw_motion_irq);
+    gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, true);
+    irq_set_enabled(IO_IRQ_BANK0, true);
+
+    // make MOTION pin available to picotool
+    bi_decl(bi_1pin_with_name(PMW_MOTION_PIN, "PMW3360 MOTION"));
+}
+
+static void pmw_irq_stop(void) {
+    gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, false);
+    irq_set_enabled(IO_IRQ_BANK0, false);
+}
+
+bool pmw_is_alive(void) {
+    bool r = true;
+    gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, false);
+
+    uint8_t prod_id = pmw_read_register(REG_PRODUCT_ID);
+    uint8_t inv_prod_id = pmw_read_register(REG_INVERSE_PRODUCT_ID);
+    if (prod_id != ((~inv_prod_id) & 0xFF)) {
+        r = false;
+    }
+
+    gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_LEVEL_LOW, true);
+    return r;
+}
+
 int pmw_init(void) {
+    pmw_irq_stop();
     pmw_spi_init();
 
     uint8_t srom_id = pmw_power_up();
 
     // Set sensitivity for each axis
     pmw_write_register(REG_CONFIG2, pmw_read_register(REG_CONFIG2) | 0x04);
-    pmw_set_sensitivity(0x31); // default: 5000cpi
+    pmw_set_sensitivity(DEFAULT_MOUSE_SENSITIVITY);
 
     // Set lift-detection threshold to 3mm (max)
     pmw_write_register(REG_LIFT_CONFIG, 0x03);
 
-    // setup MOTION pin interrupt to handle reading data
-    gpio_add_raw_irq_handler(PMW_MOTION_PIN, pmw_motion_irq);
-    gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_EDGE_FALL, true);
-    irq_set_enabled(IO_IRQ_BANK0, true);
-
-    // make MOTION pin available to picotool
-    bi_decl(bi_1pin_with_name(PMW_MOTION_PIN, "PMW3360 MOTION"));
+    pmw_irq_init();
 
     return 0;
 }

firmware/src/usb_hid.c

             struct pmw_motion mouse = pmw_get();
             if (mouse.motion) {
                 tud_hid_mouse_report(REPORT_ID_MOUSE, 0x00,
-                        -mouse.delta_x, -mouse.delta_y, 0, 0);
+                        mouse.delta_x * (INVERT_MOUSE_X_AXIS ? -1 : 1),
+                        mouse.delta_y * (INVERT_MOUSE_Y_AXIS ? -1 : 1),
+                        0, 0);
             }
         }
         break;