warning cleanup, and ability to set cpi via the device tree
This commit is contained in:
Dylan (Luberry) Kozicki
parent
f398f02e57
commit
ab7673f268
3 changed files with 356 additions and 377 deletions
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@ -1,5 +1,3 @@
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#define DT_DRV_COMPAT pixart_pmw33xx
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#include <drivers/spi.h>
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@ -22,6 +20,10 @@
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LOG_MODULE_REGISTER(PMW33XX, CONFIG_SENSOR_LOG_LEVEL);
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#define PMW33XX_PID COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_PID), (PMW33XX_3360_PID))
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#define PMW33XX_CPI_MAX \
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COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_CPI_MAX), (PMW33XX_3360_CPI_MAX))
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#define PMW33XX_CPI_MIN \
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COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_CPI_MIN), (PMW33XX_3360_CPI_MIN))
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struct pmw33xx_motion_burst {
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uint8_t motion;
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@ -31,39 +33,39 @@ struct pmw33xx_motion_burst {
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} __attribute__((packed));
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static inline int pmw33xx_cs_select(const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg,
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const uint8_t value)
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{
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const uint8_t value) {
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return gpio_pin_set(cs_gpio_cfg->port, cs_gpio_cfg->pin, value);
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}
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static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *value)
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{
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static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *value) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf;
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec;
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uint8_t access[1] = { reg };
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uint8_t access[1] = {reg};
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struct spi_buf_set tx = {
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.buffers = { &(struct spi_buf){
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.buffers =
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&(struct spi_buf){
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.buf = access,
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.len = 1,
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} },
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},
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.count = 1,
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};
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uint8_t result[1] = { *value };
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uint8_t result[1] = {*value};
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struct spi_buf_set rx = {
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.buffers = { &(struct spi_buf){
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.buffers =
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&(struct spi_buf){
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.buf = result,
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.len = 1,
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} },
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},
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.count = 1,
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};
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pmw33xx_cs_select(cs_gpio_cfg, 0);
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int err = spi_write(data->bus, spi_cfg, &tx);
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k_sleep(K_USEC(120)); //Tsrad
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k_sleep(K_USEC(120)); // Tsrad
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if (err) {
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pmw33xx_cs_select(cs_gpio_cfg, 1);
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return err;
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@ -79,27 +81,25 @@ static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *
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*value = result[0];
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return err;
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}
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static int pmw33xx_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value)
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{
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static int pmw33xx_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) {
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return pmw33xx_access(dev, reg & PMW33XX_RD_MASK, value);
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}
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static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value)
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{
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static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) {
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uint8_t v = value;
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return pmw33xx_access(dev, reg | PMW33XX_WR_MASK, &v);
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}
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static int pmw33xx_write_srom(const struct device *dev)
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{
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static int pmw33xx_write_srom(const struct device *dev) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf;
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec;
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uint8_t access[1] = { PMW33XX_REG_SROM_BURST | PMW33XX_WR_MASK };
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uint8_t access[1] = {PMW33XX_REG_SROM_BURST | PMW33XX_WR_MASK};
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struct spi_buf_set tx = {
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.buffers = { &(struct spi_buf){
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.buffers =
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&(struct spi_buf){
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.buf = access,
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.len = 1,
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} },
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},
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.count = 1,
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};
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@ -128,30 +128,31 @@ static int pmw33xx_write_srom(const struct device *dev)
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}
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pmw33xx_cs_select(cs_gpio_cfg, 1);
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k_sleep(K_MSEC(2)); //Tbexit
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k_sleep(K_MSEC(2)); // Tbexit
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return err;
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}
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static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_motion_burst *burst)
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{
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static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_motion_burst *burst) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf;
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec;
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uint8_t access[1] = { PMW33XX_REG_BURST };
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uint8_t access[1] = {PMW33XX_REG_BURST};
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struct spi_buf_set tx = {
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.buffers = { &(struct spi_buf){
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.buffers =
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&(struct spi_buf){
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.buf = access,
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.len = 1,
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} },
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},
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.count = 1,
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};
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struct spi_buf_set rx = {
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.buffers = { &(struct spi_buf){
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.buffers =
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&(struct spi_buf){
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.buf = (uint8_t *)burst,
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.len = sizeof(struct pmw33xx_motion_burst),
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} },
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},
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.count = 1,
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};
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@ -168,41 +169,8 @@ static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_mo
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return err;
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}
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// converts twos complement data to an int16
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static int16_t pmw33xx_raw_to_int16(const uint8_t src[2])
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{
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int16_t res = sys_get_be16(src);
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if (res > BIT_MASK(15))
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res -= BIT(16);
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return res;
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}
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static int pmw33xx_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low,
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int16_t *value)
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{
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uint8_t raw[2] = { 0x0, 0x0 };
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int err;
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err = pmw33xx_read_reg(dev, reg_high, &raw[0]);
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if (err) {
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LOG_ERR("could not read high byte at %x", reg_high);
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return err;
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}
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k_sleep(K_USEC(100));
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err = pmw33xx_read_reg(dev, reg_low, &raw[1]);
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if (err) {
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LOG_ERR("could not read low byte at %x", reg_low);
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return err;
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}
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k_sleep(K_USEC(100));
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*value = pmw33xx_raw_to_int16(raw);
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return 0;
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}
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int pmw33xx_spi_init(const struct device *dev)
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{
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struct pmw33xx_data *data = dev->data;
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int pmw33xx_spi_init(const struct device *dev) {
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const struct pmw33xx_config *cfg = dev->config;
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const struct pmw33xx_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg;
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec;
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int err;
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@ -214,10 +182,8 @@ int pmw33xx_spi_init(const struct device *dev)
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return 0;
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}
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static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel chan)
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{
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static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel chan) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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struct pmw33xx_motion_burst burst;
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if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY)
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@ -228,17 +194,15 @@ static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel ch
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return err;
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}
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if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX)
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data->dx = burst.dx;
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data->dx += burst.dx;
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if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY)
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data->dy = burst.dy;
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data->dy += burst.dy;
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return 0;
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}
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static int pmw33xx_channel_get(const struct device *dev, enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct sensor_value *val) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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switch (chan) {
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case SENSOR_CHAN_POS_DX:
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@ -260,44 +224,33 @@ static const struct sensor_driver_api pmw33xx_driver_api = {
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#ifdef CONFIG_PMW33XX_TRIGGER
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.trigger_set = pmw33xx_trigger_set,
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#endif
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// eventually implement this to allow setting cpi from the driver api maybe
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// .attr_set = pmw33xx_attr_set,
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.sample_fetch = pmw33xx_sample_fetch,
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.channel_get = pmw33xx_channel_get,
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};
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static int pmw33xx_init_chip(const struct device *dev)
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{
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struct pmw33xx_data *data = dev->data;
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return 0;
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}
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static int pmw33xx_init(const struct device *dev)
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{
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const struct pmw33xx_config *const config = dev->config;
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struct pmw33xx_data *data = dev->data;
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data->bus = device_get_binding(config->bus_name);
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if (!data->bus) {
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LOG_DBG("master not found: %s", log_strdup(config->bus_name));
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return -EINVAL;
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static int pmw33xx_set_cpi(const struct device *dev, uint16_t cpi) {
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#ifdef CONFIG_PMW33XX_3360
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if (cpi > PMW33XX_CPI_MIN && cpi < PMW33XX_CPI_MAX)
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return pmw33xx_write_reg(dev, PMW33XX_3360_REG_CPI,
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((cpi / 100) - 1)); /* 100-12000, 100 cpi LSb */
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#elif CONFIG_PMW33XX_3389
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if (cpi > PMW33XX_CPI_MIN && cpi < PMW33XX_CPI_MAX) {
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cpi /= 50;
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int err =
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pmw33xx_write_reg(dev, PMW33XX_3389_REG_CPI_L, cpi & 0xFF); /* 50-16000, 50 cpi LSb */
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if (err) {
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return err;
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}
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config->bus_init(dev);
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if (pmw33xx_init_chip(dev) < 0) {
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LOG_DBG("failed to initialize chip");
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return -EIO;
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}
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &config->bus_cfg.spi_cfg->cs_spec;
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#ifdef CONFIG_PMW33XX_TRIGGER
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if (pmw33xx_init_interrupt(dev) < 0) {
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LOG_DBG("Failed to initialize interrupt!");
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return -EIO;
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return pmw33xx_write_reg(dev, PMW33XX_3389_REG_CPI_H, cpi >> 8); /* 50-16000, 50 cpi LSb */
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}
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#endif
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return -ENOTSUP;
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}
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static int pmw33xx_init_chip(const struct device *dev) {
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const struct pmw33xx_config *const config = dev->config;
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const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &config->bus_cfg.spi_cfg->cs_spec;
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pmw33xx_cs_select(cs_gpio_cfg, 1);
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k_sleep(K_MSEC(1));
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@ -350,13 +303,40 @@ static int pmw33xx_init(const struct device *dev)
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struct pmw33xx_motion_burst val;
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pmw33xx_read_motion_burst(dev, &val); // read and throwout initial motion data
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if (config->cpi > PMW33XX_CPI_MIN && config->cpi < PMW33XX_CPI_MAX)
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return pmw33xx_set_cpi(dev, config->cpi);
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return 0;
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}
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static int pmw33xx_init(const struct device *dev) {
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const struct pmw33xx_config *const config = dev->config;
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struct pmw33xx_data *data = dev->data;
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data->bus = device_get_binding(config->bus_name);
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if (!data->bus) {
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LOG_DBG("master not found: %s", log_strdup(config->bus_name));
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return -EINVAL;
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}
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config->bus_init(dev);
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if (pmw33xx_init_chip(dev) < 0) {
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LOG_DBG("failed to initialize chip");
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return -EIO;
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}
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#ifdef CONFIG_PMW33XX_TRIGGER
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if (pmw33xx_init_interrupt(dev) < 0) {
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LOG_DBG("Failed to initialize interrupt!");
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return -EIO;
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}
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#endif
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return 0;
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}
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#define PMW33XX_DATA_SPI(n) \
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{ \
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.cs_ctrl = {}, \
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}
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{ .cs_ctrl = {}, }
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#define PMW33XX_SPI_CFG(n) \
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(&(struct pmw33xx_spi_cfg){ \
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@ -380,10 +360,10 @@ static int pmw33xx_init(const struct device *dev)
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#define PMW33XX_CONFIG_SPI(n) \
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{ \
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.bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw33xx_spi_init, \
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.bus_cfg = { .spi_cfg = PMW33XX_SPI_CFG(n) }, \
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COND_CODE_1(CONFIG_MA730_TRIGGER, \
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(, PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), \
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()) \
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.bus_cfg = {.spi_cfg = PMW33XX_SPI_CFG(n)}, \
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COND_CODE_0(DT_INST_NODE_HAS_PROP(n, cpi), (0), (DT_INST_PROP(n, cpi))) \
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COND_CODE_1(CONFIG_PMW33XX_TRIGGER, \
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(PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \
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}
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#define PMW33XX_INST(n) \
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@ -65,6 +65,11 @@
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/* power up reset cmd */
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#define PMW33XX_RESET_CMD 0x5A
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#define PMW33XX_3389_CPI_MIN 50
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#define PMW33XX_3389_CPI_MAX 16000
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#define PMW33XX_3360_CPI_MIN 100
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#define PMW33XX_3360_CPI_MAX 12000
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struct pmw33xx_gpio_dt_spec {
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const struct device *port;
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gpio_pin_t pin;
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@ -84,7 +89,7 @@ struct pmw33xx_config {
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char *bus_name;
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int (*bus_init)(const struct device *dev);
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const union pmw33xx_bus_cfg bus_cfg;
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int resolution;
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int cpi;
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#if CONFIG_PMW33XX_TRIGGER
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struct pmw33xx_gpio_dt_spec motswk_spec;
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#endif // CONFIG_PMW33XX_TRIGGER
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@ -4,7 +4,7 @@
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* SPDX-License-Identifier: MIT
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*/
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#define DT_DRV_COMPAT pixart_pmw3389
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#define DT_DRV_COMPAT pixart_pmw33xx
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#include <device.h>
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#include <drivers/gpio.h>
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@ -12,17 +12,16 @@
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#include <kernel.h>
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#include <drivers/sensor.h>
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#include "pmw3389.h"
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#include "pmw33xx.h"
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// extern struct pmw3389_data pmw3389_driver;
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// extern struct pmw33xx_data pmw33xx_driver;
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#include <logging/log.h>
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LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL);
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LOG_MODULE_DECLARE(PMW33XX, CONFIG_SENSOR_LOG_LEVEL);
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static inline void setup_int(const struct device *dev, bool enable)
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{
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struct pmw3389_data *data = dev->data;
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const struct pmw3389_config *cfg = dev->config;
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static inline void setup_int(const struct device *dev, bool enable) {
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struct pmw33xx_data *data = dev->data;
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const struct pmw33xx_config *cfg = dev->config;
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if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin,
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enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) {
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@ -30,25 +29,23 @@ static inline void setup_int(const struct device *dev, bool enable)
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}
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}
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static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb,
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uint32_t pins)
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{
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struct pmw3389_data *drv_data = CONTAINER_OF(cb, struct pmw3389_data, motswk_gpio_cb);
|
||||
static void pmw33xx_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb,
|
||||
uint32_t pins) {
|
||||
struct pmw33xx_data *drv_data = CONTAINER_OF(cb, struct pmw33xx_data, motswk_gpio_cb);
|
||||
|
||||
LOG_DBG("");
|
||||
|
||||
setup_int(drv_data->dev, false);
|
||||
|
||||
#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD)
|
||||
#if defined(CONFIG_PMW33XX_TRIGGER_OWN_THREAD)
|
||||
k_sem_give(&drv_data->gpio_sem);
|
||||
#elif defined(CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD)
|
||||
#elif defined(CONFIG_PMW33XX_TRIGGER_GLOBAL_THREAD)
|
||||
k_work_submit(&drv_data->work);
|
||||
#endif
|
||||
}
|
||||
|
||||
static void pmw3389_thread_cb(const struct device *dev)
|
||||
{
|
||||
struct pmw3389_data *drv_data = dev->data;
|
||||
static void pmw33xx_thread_cb(const struct device *dev) {
|
||||
struct pmw33xx_data *drv_data = dev->data;
|
||||
|
||||
LOG_DBG("%p", drv_data->handler);
|
||||
drv_data->handler(dev, drv_data->trigger);
|
||||
|
|
@ -57,36 +54,33 @@ static void pmw3389_thread_cb(const struct device *dev)
|
|||
setup_int(dev, true);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD
|
||||
static void pmw3389_thread(int dev_ptr, int unused)
|
||||
{
|
||||
#ifdef CONFIG_PMW33XX_TRIGGER_OWN_THREAD
|
||||
static void pmw33xx_thread(int dev_ptr, int unused) {
|
||||
const struct device *dev = INT_TO_POINTER(dev_ptr);
|
||||
struct pmw3389_data *drv_data = dev->data;
|
||||
struct pmw33xx_data *drv_data = dev->data;
|
||||
|
||||
ARG_UNUSED(unused);
|
||||
|
||||
while (1) {
|
||||
k_sem_take(&drv_data->gpio_sem, K_FOREVER);
|
||||
pmw3389_thread_cb(dev);
|
||||
pmw33xx_thread_cb(dev);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD
|
||||
static void pmw3389_work_cb(struct k_work *work)
|
||||
{
|
||||
struct pmw3389_data *drv_data = CONTAINER_OF(work, struct pmw3389_data, work);
|
||||
#ifdef CONFIG_PMW33XX_TRIGGER_GLOBAL_THREAD
|
||||
static void pmw33xx_work_cb(struct k_work *work) {
|
||||
struct pmw33xx_data *drv_data = CONTAINER_OF(work, struct pmw33xx_data, work);
|
||||
|
||||
LOG_DBG("");
|
||||
|
||||
pmw3389_thread_cb(drv_data->dev);
|
||||
pmw33xx_thread_cb(drv_data->dev);
|
||||
}
|
||||
#endif
|
||||
|
||||
int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
|
||||
sensor_trigger_handler_t handler)
|
||||
{
|
||||
struct pmw3389_data *drv_data = dev->data;
|
||||
int pmw33xx_trigger_set(const struct device *dev, const struct sensor_trigger *trig,
|
||||
sensor_trigger_handler_t handler) {
|
||||
struct pmw33xx_data *drv_data = dev->data;
|
||||
|
||||
setup_int(dev, false);
|
||||
|
||||
|
|
@ -100,30 +94,30 @@ int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *t
|
|||
return 0;
|
||||
}
|
||||
|
||||
int pmw3389_init_interrupt(const struct device *dev)
|
||||
{
|
||||
struct pmw3389_data *drv_data = dev->data;
|
||||
const struct pmw3389_config *drv_cfg = dev->config;
|
||||
int pmw33xx_init_interrupt(const struct device *dev) {
|
||||
struct pmw33xx_data *drv_data = dev->data;
|
||||
const struct pmw33xx_config *drv_cfg = dev->config;
|
||||
|
||||
drv_data->dev = dev;
|
||||
/* setup gpio interrupt */
|
||||
|
||||
gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback,
|
||||
gpio_init_callback(&drv_data->motswk_gpio_cb, pmw33xx_motswk_gpio_callback,
|
||||
BIT(drv_cfg->motswk_spec.pin));
|
||||
|
||||
if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) {
|
||||
int err = gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb);
|
||||
if (err < 0) {
|
||||
LOG_DBG("Failed to set MOTSWK callback!");
|
||||
return -EIO;
|
||||
}
|
||||
|
||||
#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD)
|
||||
#if defined(CONFIG_PMW33XX_TRIGGER_OWN_THREAD)
|
||||
k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX);
|
||||
|
||||
k_thread_create(&drv_data->thread, drv_data->thread_stack, CONFIG_PMW3389_THREAD_STACK_SIZE,
|
||||
(k_thread_entry_t)pmw3389_thread, dev, 0, NULL,
|
||||
K_PRIO_COOP(CONFIG_PMW3389_THREAD_PRIORITY), 0, K_NO_WAIT);
|
||||
#elif defined(CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD)
|
||||
k_work_init(&drv_data->work, pmw3389_work_cb);
|
||||
k_thread_create(&drv_data->thread, drv_data->thread_stack, CONFIG_PMW33XX_THREAD_STACK_SIZE,
|
||||
(k_thread_entry_t)pmw33xx_thread, dev, 0, NULL,
|
||||
K_PRIO_COOP(CONFIG_PMW33XX_THREAD_PRIORITY), 0, K_NO_WAIT);
|
||||
#elif defined(CONFIG_PMW33XX_TRIGGER_GLOBAL_THREAD)
|
||||
k_work_init(&drv_data->work, pmw33xx_work_cb);
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue