qmk_firmware/drivers/sensors/pmw33xx_common.c
Jeff Epler 9632360caa
Use a macro to compute the size of arrays at compile time (#18044)
* Add ARRAY_SIZE and CEILING utility macros

* Apply a coccinelle patch to use ARRAY_SIZE

* fix up some straggling items

* Fix 'make test:secure'

* Enhance ARRAY_SIZE macro to reject acting on pointers

The previous definition would not produce a diagnostic for
```
int *p;
size_t num_elem = ARRAY_SIZE(p)
```
but the new one will.

* explicitly get definition of ARRAY_SIZE

* Convert to ARRAY_SIZE when const is involved

The following spatch finds additional instances where the array is
const and the division is by the size of the type, not the size of
the first element:
```
@ rule5a using "empty.iso" @
type T;
const T[] E;
@@

- (sizeof(E)/sizeof(T))
+ ARRAY_SIZE(E)

@ rule6a using "empty.iso" @
type T;
const T[] E;
@@

- sizeof(E)/sizeof(T)
+ ARRAY_SIZE(E)
```

* New instances of ARRAY_SIZE added since initial spatch run

* Use `ARRAY_SIZE` in docs (found by grep)

* Manually use ARRAY_SIZE

hs_set is expected to be the same size as uint16_t, though it's made
of two 8-bit integers

* Just like char, sizeof(uint8_t) is guaranteed to be 1

This is at least true on any plausible system where qmk is actually used.

Per my understanding it's universally true, assuming that uint8_t exists:
https://stackoverflow.com/questions/48655310/can-i-assume-that-sizeofuint8-t-1

* Run qmk-format on core C files touched in this branch

Co-authored-by: Stefan Kerkmann <karlk90@pm.me>
2022-08-30 10:20:04 +02:00

216 lines
5.7 KiB
C

// Copyright 2022 Daniel Kao (dkao)
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// Copyright 2021 Alabastard (@Alabastard-64)
// Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <drashna@live.com>
// Copyright 2019 Sunjun Kim
// Copyright 2020 Ploopy Corporation
// SPDX-License-Identifier: GPL-2.0-or-later
#include "pointing_device_internal.h"
#include "pmw33xx_common.h"
#include "string.h"
#include "wait.h"
#include "spi_master.h"
#include "progmem.h"
extern const uint8_t pmw33xx_firmware_data[PMW33XX_FIRMWARE_LENGTH] PROGMEM;
extern const uint8_t pmw33xx_firmware_signature[3] PROGMEM;
static const pin_t cs_pins[] = PMW33XX_CS_PINS;
static bool in_burst[ARRAY_SIZE(cs_pins)] = {0};
const size_t pmw33xx_number_of_sensors = ARRAY_SIZE(cs_pins);
bool __attribute__((cold)) pmw33xx_upload_firmware(uint8_t sensor);
bool __attribute__((cold)) pmw33xx_check_signature(uint8_t sensor);
void pmw33xx_set_cpi_all_sensors(uint16_t cpi) {
for (uint8_t sensor = 0; sensor < pmw33xx_number_of_sensors; sensor++) {
pmw33xx_set_cpi(sensor, cpi);
}
}
bool pmw33xx_spi_start(uint8_t sensor) {
if (!spi_start(cs_pins[sensor], false, 3, PMW33XX_SPI_DIVISOR)) {
spi_stop();
return false;
}
// tNCS-SCLK, 10ns
wait_us(1);
return true;
}
bool pmw33xx_write(uint8_t sensor, uint8_t reg_addr, uint8_t data) {
if (!pmw33xx_spi_start(sensor)) {
return false;
}
if (reg_addr != REG_Motion_Burst) {
in_burst[sensor] = false;
}
// send address of the register, with MSBit = 1 to indicate it's a write
uint8_t command[2] = {reg_addr | 0x80, data};
if (spi_transmit(command, sizeof(command)) != SPI_STATUS_SUCCESS) {
return false;
}
// tSCLK-NCS for write operation is 35us
wait_us(35);
spi_stop();
// tSWW/tSWR (=18us) minus tSCLK-NCS. Could be shortened, but it looks like
// a safe lower bound
wait_us(145);
return true;
}
uint8_t pmw33xx_read(uint8_t sensor, uint8_t reg_addr) {
if (!pmw33xx_spi_start(sensor)) {
return 0;
}
// send adress of the register, with MSBit = 0 to indicate it's a read
spi_write(reg_addr & 0x7f);
// tSRAD (=160us)
wait_us(160);
uint8_t data = spi_read();
// tSCLK-NCS, 120ns
wait_us(1);
spi_stop();
// tSRW/tSRR (=20us) mins tSCLK-NCS
wait_us(19);
return data;
}
bool pmw33xx_check_signature(uint8_t sensor) {
uint8_t signature_dump[3] = {
pmw33xx_read(sensor, REG_Product_ID),
pmw33xx_read(sensor, REG_Inverse_Product_ID),
pmw33xx_read(sensor, REG_SROM_ID),
};
return memcmp(pmw33xx_firmware_signature, signature_dump, sizeof(signature_dump)) == 0;
}
bool pmw33xx_upload_firmware(uint8_t sensor) {
// Datasheet claims we need to disable REST mode first, but during startup
// it's already disabled and we're not turning it on ...
// pmw33xx_write(REG_Config2, 0x00); // disable REST mode
if (!pmw33xx_write(sensor, REG_SROM_Enable, 0x1d)) {
return false;
}
wait_ms(10);
pmw33xx_write(sensor, REG_SROM_Enable, 0x18);
if (!pmw33xx_spi_start(sensor)) {
return false;
}
spi_write(REG_SROM_Load_Burst | 0x80);
wait_us(15);
for (size_t i = 0; i < PMW33XX_FIRMWARE_LENGTH; i++) {
spi_write(pgm_read_byte(pmw33xx_firmware_data + i));
wait_us(15);
}
wait_us(200);
pmw33xx_read(sensor, REG_SROM_ID);
pmw33xx_write(sensor, REG_Config2, 0x00);
return true;
}
bool pmw33xx_init(uint8_t sensor) {
if (sensor >= pmw33xx_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.
if (!pmw33xx_spi_start(sensor)) {
return false;
}
wait_us(40);
spi_stop();
wait_us(40);
if (!pmw33xx_write(sensor, REG_Power_Up_Reset, 0x5a)) {
return false;
}
wait_ms(50);
// read registers and discard
pmw33xx_read(sensor, REG_Motion);
pmw33xx_read(sensor, REG_Delta_X_L);
pmw33xx_read(sensor, REG_Delta_X_H);
pmw33xx_read(sensor, REG_Delta_Y_L);
pmw33xx_read(sensor, REG_Delta_Y_H);
if (!pmw33xx_upload_firmware(sensor)) {
pd_dprintf("PMW33XX (%d): firmware upload failed!\n", sensor);
return false;
}
spi_stop();
wait_ms(10);
pmw33xx_set_cpi(sensor, PMW33XX_CPI);
wait_ms(1);
pmw33xx_write(sensor, REG_Config2, 0x00);
pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE);
if (!pmw33xx_check_signature(sensor)) {
pd_dprintf("PMW33XX (%d): firmware signature verification failed!\n", sensor);
return false;
}
return true;
}
pmw33xx_report_t pmw33xx_read_burst(uint8_t sensor) {
pmw33xx_report_t report = {0};
if (sensor >= pmw33xx_number_of_sensors) {
return report;
}
if (!in_burst[sensor]) {
pd_dprintf("PMW33XX (%d): burst\n", sensor);
if (!pmw33xx_write(sensor, REG_Motion_Burst, 0x00)) {
return report;
}
in_burst[sensor] = true;
}
if (!pmw33xx_spi_start(sensor)) {
return report;
}
spi_write(REG_Motion_Burst);
wait_us(35); // waits for tSRAD_MOTBR
spi_receive((uint8_t*)&report, sizeof(report));
// panic recovery, sometimes burst mode works weird.
if (report.motion.w & 0b111) {
in_burst[sensor] = false;
}
spi_stop();
pd_dprintf("PMW33XX (%d): motion: 0x%x dx: %i dy: %i\n", sensor, report.motion.w, report.delta_x, report.delta_y);
report.delta_x *= -1;
report.delta_y *= -1;
return report;
}