Trackball/firmware/src/pmw3360.c

/*
 * pmw3360.c
 *
 * Based on:
 *  - PMW3360 Datasheet
 *  - https://github.com/raspberrypi/pico-examples/blob/master/spi/bme280_spi/bme280_spi.c
 *
 * Pinout:
 *   GPIO 16 (pin 21) MISO -> MISO on PMW3360 board
 *   GPIO 17 (pin 22) CS   -> NCS on PMW3360 board
 *   GPIO 18 (pin 24) SCK  -> SCK on PMW3360 board
 *   GPIO 19 (pin 25) MOSI -> MOSI on PMW3360 board
 *      3.3v (pin 36)      -> VCC on PMW3360 board
 *       GND (pin 38)      -> GND on PMW3360 board
 *
 * NOTE: Ensure the PMW3360 breakout board is capable of being driven at 3.3v NOT 5v.
 * The Pico GPIO (and therefore SPI) cannot be used at 5v.
 */

#include "pico/stdlib.h"
#include "pico/binary_info.h"
#include "hardware/spi.h"

#include "config.h"
#include "log.h"
#include "pmw3360_registers.h"
#include "pmw3360_srom.h"
#include "pmw3360.h"

#if !defined(spi_default) || !defined(PICO_DEFAULT_SPI_SCK_PIN) || !defined(PICO_DEFAULT_SPI_TX_PIN) || !defined(PICO_DEFAULT_SPI_RX_PIN) || !defined(PICO_DEFAULT_SPI_CSN_PIN)
#error PMW3360 API requires a board with SPI pins
#endif

#ifdef PMW_IRQ_COUNTERS
static uint64_t pmw_irq_count_all = 0;
static uint64_t pmw_irq_count_motion = 0;
static uint64_t pmw_irq_count_no_motion = 0;
static uint64_t pmw_irq_count_on_surface = 0;
static uint64_t pmw_irq_count_lifted = 0;
static uint64_t pmw_irq_count_run = 0;
static uint64_t pmw_irq_count_rest1 = 0;
static uint64_t pmw_irq_count_rest2 = 0;
static uint64_t pmw_irq_count_rest3 = 0;
#endif // PMW_IRQ_COUNTERS

void pmw_print_status(void) {
#ifdef PMW_IRQ_COUNTERS
    print("    pmw_irq_cnt_all = %llu", pmw_irq_count_all);
    print(" pmw_irq_cnt_motion = %llu", pmw_irq_count_motion);
    print("pmw_irq_cnt_no_move = %llu", pmw_irq_count_no_motion);
    print("pmw_irq_cnt_surface = %llu", pmw_irq_count_on_surface);
    print(" pmw_irq_cnt_lifted = %llu", pmw_irq_count_lifted);
    print("    pmw_irq_cnt_run = %llu", pmw_irq_count_run);
    print("  pmw_irq_cnt_rest1 = %llu", pmw_irq_count_rest1);
    print("  pmw_irq_cnt_rest2 = %llu", pmw_irq_count_rest2);
    print("  pmw_irq_cnt_rest3 = %llu", pmw_irq_count_rest3);
#endif // PMW_IRQ_COUNTERS
}

static inline void pmw_cs_select() {
    asm volatile("nop \n nop \n nop");
    gpio_put(PICO_DEFAULT_SPI_CSN_PIN, 0); // Active low
    asm volatile("nop \n nop \n nop");
}

static inline void pmw_cs_deselect() {
    asm volatile("nop \n nop \n nop");
    gpio_put(PICO_DEFAULT_SPI_CSN_PIN, 1);
    asm volatile("nop \n nop \n nop");
}

static void pmw_write_register(uint8_t reg, uint8_t data) {
    pmw_cs_select();

    reg |= WRITE_BIT;
    spi_write_blocking(spi_default, &reg, 1);

    busy_wait_us(15);

    spi_write_blocking(spi_default, &data, 1);

    busy_wait_us(20);
    pmw_cs_deselect();
    busy_wait_us(100);
}

static uint8_t pmw_read_register(uint8_t reg) {
    pmw_cs_select();

    reg &= ~WRITE_BIT;
    spi_write_blocking(spi_default, &reg, 1);

    busy_wait_us(160);

    uint8_t buf = 0;
    spi_read_blocking(spi_default, 0, &buf, 1);

    busy_wait_us(1);
    pmw_cs_deselect();
    busy_wait_us(20);

    return buf;
}

static void pmw_write_register_burst(uint8_t reg, const uint8_t *buf, uint16_t len) {
    pmw_cs_select();

    reg |= WRITE_BIT;
    spi_write_blocking(spi_default, &reg, 1);

    busy_wait_us(15);

    for (uint16_t i = 0; i < len; i++) {
        spi_write_blocking(spi_default, buf + i, 1);
        busy_wait_us(15);
    }

    pmw_cs_deselect();

    busy_wait_us(1);
}

static void pmw_read_register_burst(uint8_t reg, uint8_t *buf, uint16_t len) {
    pmw_cs_select();

    reg &= ~WRITE_BIT;
    spi_write_blocking(spi_default, &reg, 1);

    busy_wait_us(35);

    spi_read_blocking(spi_default, 0, buf, len);

    pmw_cs_deselect();
    busy_wait_us(1);
}

static uint8_t pmw_srom_download(void) {
    // Write 0 to Rest_En bit of Config2 register to disable Rest mode
    pmw_write_register(REG_CONFIG2, 0x00);

    // Write 0x1d to SROM_Enable register for initializing
    pmw_write_register(REG_SROM_ENABLE, 0x1D);

    // Wait for 10 ms
    busy_wait_ms(10);

    // Write 0x18 to SROM_Enable register again to start SROM Download
    pmw_write_register(REG_SROM_ENABLE, 0x18);

    busy_wait_us(120);

    // Write SROM file into SROM_Load_Burst register, 1st data must start with SROM_Load_Burst address.
    pmw_write_register_burst(REG_SROM_LOAD_BURST, pmw_fw_data, pmw_fw_length);

    busy_wait_us(200);

    // Read the SROM_ID register to verify the ID before any other register reads or writes
    uint8_t srom_id = pmw_read_register(REG_SROM_ID);
    return srom_id;
}

static uint8_t pmw_power_up(void) {
    pmw_cs_deselect();
    pmw_cs_select();
    pmw_cs_deselect();

    // Write 0x5A to Power_Up_Reset register
    pmw_write_register(REG_POWER_UP_RESET, 0x5A);

    // Wait for at least 50ms
    busy_wait_ms(50);

    // Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time
    for (uint8_t reg = REG_MOTION; reg <= REG_DELTA_Y_H; reg++) {
        pmw_read_register(reg);
    }

    // Perform SROM download
    uint8_t srom_id = pmw_srom_download();
    return srom_id;
}

static struct pmw_motion_report pmw_motion_read(void) {
    // Write any value to Motion_Burst register
    pmw_write_register(REG_MOTION_BURST, 0x42);

    // Start reading SPI Data continuously up to 12 bytes
    struct pmw_motion_report motion_report;
    pmw_read_register_burst(REG_MOTION_BURST, (uint8_t *)&motion_report, sizeof(motion_report));

    return motion_report;
}

static uint16_t pmw_srom_checksum(void) {
    pmw_write_register(REG_SROM_ENABLE, 0x15);

    // Wait for at least 10 ms
    busy_wait_ms(10);

    uint16_t data = pmw_read_register(REG_DATA_OUT_LOWER);
    data |= pmw_read_register(REG_DATA_OUT_UPPER) << 8;
    return data;
}

static void pmw_spi_init(void) {
    // Use SPI0 at 2MHz
    spi_init(spi_default, 2 * 1000 * 1000);
    gpio_set_function(PICO_DEFAULT_SPI_RX_PIN, GPIO_FUNC_SPI);
    gpio_set_function(PICO_DEFAULT_SPI_SCK_PIN, GPIO_FUNC_SPI);
    gpio_set_function(PICO_DEFAULT_SPI_TX_PIN, GPIO_FUNC_SPI);

    // Chip select is active-low, so we'll initialise it to a driven-high state
    gpio_init(PICO_DEFAULT_SPI_CSN_PIN);
    gpio_set_dir(PICO_DEFAULT_SPI_CSN_PIN, GPIO_OUT);
    gpio_put(PICO_DEFAULT_SPI_CSN_PIN, 1);

    spi_set_format(spi_default,
                   8, // Number of bits per transfer
                   1, // Polarity (CPOL)
                   1, // Phase (CPHA)
                   SPI_MSB_FIRST);

    // make the SPI pins available to picotool
    bi_decl(bi_3pins_with_func(PICO_DEFAULT_SPI_RX_PIN, PICO_DEFAULT_SPI_TX_PIN, PICO_DEFAULT_SPI_SCK_PIN, GPIO_FUNC_SPI));
    bi_decl(bi_1pin_with_name(PICO_DEFAULT_SPI_CSN_PIN, "SPI CS"));
}

// TODO
int16_t delta_x = 0, delta_y = 0;
int convTwosComp(int b){
    //Convert from 2's complement
    if(b & 0x8000){
        b = -1 * ((b ^ 0xffff) + 1);
    }
    return b;
}

static void pmw_handle_interrupt(void) {
    struct pmw_motion_report motion_report = pmw_motion_read();

#ifdef PMW_IRQ_COUNTERS
    pmw_irq_count_all++;

    if (motion_report.motion & (1 << REG_MOTION_MOT)) {
        pmw_irq_count_motion++;
    } else {
        pmw_irq_count_no_motion++;
    }

    if (motion_report.motion & (1 << REG_MOTION_LIFT)) {
        pmw_irq_count_lifted++;
    } else {
        pmw_irq_count_on_surface++;
    }

    if ((motion_report.motion & (1 << REG_MOTION_OP_1))
            && (motion_report.motion & (1 << REG_MOTION_OP_2))) {
        pmw_irq_count_rest3++;
    } else if (motion_report.motion & (1 << REG_MOTION_OP_1)) {
        pmw_irq_count_rest1++;
    } else if (motion_report.motion & (1 << REG_MOTION_OP_2)) {
        pmw_irq_count_rest2++;
    } else {
        pmw_irq_count_run++;
    }
#endif // PMW_IRQ_COUNTERS

    delta_x += convTwosComp(motion_report.delta_x_l | (motion_report.delta_x_h << 8));
    delta_y += convTwosComp(motion_report.delta_y_l | (motion_report.delta_y_h << 8));
}

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);
        pmw_handle_interrupt();
    }
}

void pmw_set_sensitivity(uint8_t sens) {
    if (sens > 0x77) {
        debug("invalid sense, clamping (0x%X > 0x77)", sens);
        sens = 0x77;
    }

    pmw_write_register(REG_CONFIG1, sens);
    pmw_write_register(REG_CONFIG5, sens);
}

uint8_t pmw_get_sensitivity(void) {
    uint8_t sense_y = pmw_read_register(REG_CONFIG1);
    uint8_t sense_x = pmw_read_register(REG_CONFIG5);
    if (sense_y != sense_x) {
        debug("sensitivity differs for x (0x%02X) and y (0x%02X). resetting.", sense_x, sense_y);
        pmw_write_register(REG_CONFIG5, sense_y);
    }
    return sense_y;
}

int pmw_init(void) {
    pmw_spi_init();

    uint8_t srom_id = pmw_power_up();

    uint8_t prod_id = pmw_read_register(REG_PRODUCT_ID);
    uint8_t inv_prod_id = pmw_read_register(REG_INVERSE_PRODUCT_ID);
    uint16_t srom_checksum = pmw_srom_checksum();

#ifdef PMW_PRINT_IDS
    uint8_t rev_id = pmw_read_register(REG_REVISION_ID);

    debug("SROM ID: 0x%02X", srom_id);
    debug("Product ID: 0x%02X", prod_id);
    debug("~ Prod. ID: 0x%02X", inv_prod_id);
    debug("Revision ID: 0x%02X", rev_id);
    debug("SROM CRC: 0x%04X", srom_checksum);
#endif // PMW_PRINT_IDS

    if (prod_id != ((~inv_prod_id) & 0xFF)) {
        debug("SPI communication error (0x%02X != ~0x%02X)", prod_id, inv_prod_id);
        return -1;
    }

    if (srom_id != pmw_fw_id) {
        debug("PMW3360 error: invalid SROM ID (0x%02X != 0x%02X)", srom_id, pmw_fw_id);
        return -1;
    }

    if (srom_checksum != pmw_fw_crc) {
        debug("PMW3360 error: invalid SROM CRC (0x%04X != 0x%04X)", srom_checksum, pmw_fw_crc);
        return -1;
    }

    // Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design
#ifdef PMW_FEATURE_WIRELESS
    pmw_write_register(REG_CONFIG2, 0x20);
#else // ! PMW_FEATURE_WIRELESS
    pmw_write_register(REG_CONFIG2, 0x00);
#endif // PMW_FEATURE_WIRELESS

    // Set sensitivity for each axis
    pmw_write_register(REG_CONFIG2, pmw_read_register(REG_CONFIG2) | 0x04);
    pmw_set_sensitivity(0x31); // default: 5000cpi

    // 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"));

    return 0;
}