From 04b6c96e1059c72aeb8938e6c9a7db40af33864b Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Mon, 7 Mar 2022 20:31:13 -0500 Subject: [PATCH 1/8] initial untested implementation of the pmw3389 driver --- app/drivers/sensor/CMakeLists.txt | 3 +- app/drivers/sensor/pmw3389/CMakeLists.txt | 9 + app/drivers/sensor/pmw3389/pmw3389.c | 290 +++++++++++++++++++ app/drivers/sensor/pmw3389/pmw3389.h | 92 ++++++ app/drivers/sensor/pmw3389/pmw3389_trigger.c | 132 +++++++++ 5 files changed, 525 insertions(+), 1 deletion(-) create mode 100644 app/drivers/sensor/pmw3389/CMakeLists.txt create mode 100644 app/drivers/sensor/pmw3389/pmw3389.c create mode 100644 app/drivers/sensor/pmw3389/pmw3389.h create mode 100644 app/drivers/sensor/pmw3389/pmw3389_trigger.c diff --git a/app/drivers/sensor/CMakeLists.txt b/app/drivers/sensor/CMakeLists.txt index b549320f..5d061280 100644 --- a/app/drivers/sensor/CMakeLists.txt +++ b/app/drivers/sensor/CMakeLists.txt @@ -2,4 +2,5 @@ # SPDX-License-Identifier: MIT add_subdirectory_ifdef(CONFIG_ZMK_BATTERY battery) -add_subdirectory_ifdef(CONFIG_EC11 ec11) \ No newline at end of file +add_subdirectory_ifdef(CONFIG_EC11 ec11) +add_subdirectory_ifdef(CONFIG_PMW3389 pmw3389) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/CMakeLists.txt b/app/drivers/sensor/pmw3389/CMakeLists.txt new file mode 100644 index 00000000..0db5bd48 --- /dev/null +++ b/app/drivers/sensor/pmw3389/CMakeLists.txt @@ -0,0 +1,9 @@ +# Copyright (c) 2020 The ZMK Contributors +# SPDX-License-Identifier: MIT + +zephyr_include_directories(.) + +zephyr_library() + +zephyr_library_sources(pmw3389.c) +zephyr_library_sources_ifdef(CONFIG_PMW3389_TRIGGER pmw3389_trigger.c) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.c b/app/drivers/sensor/pmw3389/pmw3389.c new file mode 100644 index 00000000..32bcce63 --- /dev/null +++ b/app/drivers/sensor/pmw3389/pmw3389.c @@ -0,0 +1,290 @@ + +#define DT_DRV_COMPAT pixart_pmw3389 + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pmw3389.h" + +LOG_MODULE_REGISTER(PMW3389, CONFIG_SENSOR_LOG_LEVEL); + +static int pmw3389_access(const struct device *dev, + uint8_t reg, uint8_t *value) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + uint8_t access[1] = {reg}; + struct spi_buf bufs[] = { + { + .buf = access, + .len = 1, + }, + { + .buf = value, + .len = 1, + }, + }; + struct spi_buf_set tx = { + .buffers = bufs, + .count = 2, + }; + struct spi_buf_set *rx; + if (reg & PMW3389_WR_MASK > 0) + { + rx = &(struct spi_buf_set){ + .buffers = bufs, + .count = 2, + }; + } + return spi_transceive(data->bus, spi_cfg, &tx, rx); +} +static int pmw3389_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) +{ + return pmw3389_access(dev, reg, value); +} +static int pmw3389_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) +{ + return pmw3389_access(dev, reg & PMW3389_WR_MASK, &value); +} + +// converts twos complement data to an int16 +static int16_t pmw3389_raw_to_int16(const uint8_t src[2]) +{ + int16_t res = sys_get_be16(src[2]); + if (res > BIT_MASK(15)) + res -= BIT(16); + return res; +} + +static int pmw3389_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, int16_t *value) +{ + uint8_t raw[2] = {0x0, 0x0}; + int err; + err = pmw3389_read_reg(dev, reg_high, &raw[0]); + if (err) + { + LOG_ERR("could not read high byte at %x", reg_high); + return err; + } + err = pmw3389_read_reg(dev, reg_low, &raw[1]); + if (err) + { + LOG_ERR("could not read low byte at %x", reg_low); + return err; + } + *value = pmw3389_raw_to_int16(raw); + return 0; +} + +static bool pmw3389_spi_check_id(const struct device *dev) +{ + int err; + uint8_t val; + err = pmw3389_read_reg(dev, &val, PMW3389_REG_PID); + if (err) + { + LOG_ERR("could not read PID"); + return false; + } + if (val != PMW3389_PID) + { + LOG_ERR("invalid PID"); + return false; + } + err = pmw3389_read_reg(dev, &val, PMW3389_REG_REV); + if (err) + { + LOG_ERR("could not read REV"); + return false; + } + if (val != PMW3389_REV) + { + LOG_ERR("invalid REV"); + return false; + } + return true; +} + +int pmw3389_spi_init(const struct device *dev) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + const struct pmw3389_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg; + + if (spi_cfg->cs_gpios_label != NULL) + { + + /* handle SPI CS thru GPIO if it is the case */ + data->cs_ctrl.gpio_dev = device_get_binding(spi_cfg->cs_gpios_label); + if (!data->cs_ctrl.gpio_dev) + { + LOG_ERR("Unable to get GPIO SPI CS device"); + return -ENODEV; + } + } + + return 0; +} + +static int pmw3389_sample_fetch(const struct device *dev, enum sensor_channel chan) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + uint16_t dx = 0, dy = 0; + + if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && + chan != SENSOR_CHAN_POS_DY) + return -ENOTSUP; + if (!pmw3389_spi_check_id(dev)) + return -EINVAL; + int err; + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) + { + err = pmw3389_read_raw(dev, PMW3389_REG_DX_H, PMW3389_REG_DX_L, &dx); + if (err) + { + LOG_DBG("could not read x motion"); + return -EIO; + } + } + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) + { + err = pmw3389_read_raw(dev, PMW3389_REG_DY_H, PMW3389_REG_DY_L, &dy); + if (err) + { + LOG_DBG("could not read y motion"); + return -EIO; + } + } + data->dx = dx; + data->dy = dy; + return 0; +} + +static int pmw3389_channel_get(const struct device *dev, enum sensor_channel chan, + struct sensor_value *val) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + + switch (chan) + { + case SENSOR_CHAN_POS_DX: + return data->dx; + case SENSOR_CHAN_POS_DY: + return data->dy; + default: + return -ENOTSUP; + } + return 0; +} + +static const struct sensor_driver_api pmw3389_driver_api = { +#ifdef CONFIG_PMW3389_TRIGGER + .trigger_set = pmw3389_trigger_set, +#endif + // .attr_set = pmw3389_attr_set, + .sample_fetch = pmw3389_sample_fetch, + .channel_get = pmw3389_channel_get, +}; + +static int pmw3389_init_chip(const struct device *dev) +{ + struct pmw3389_data *data = dev->data; + return 0; +} + +static int pmw3389_init(const struct device *dev) +{ + const struct pmw3389_config *const config = dev->config; + struct pmw3389_data *data = dev->data; + + data->bus = device_get_binding(config->bus_name); + if (!data->bus) + { + LOG_DBG("master not found: %s", log_strdup(config->bus_name)); + return -EINVAL; + } + + config->bus_init(dev); + + if (pmw3389_init_chip(dev) < 0) + { + LOG_DBG("failed to initialize chip"); + return -EIO; + } + +#ifdef CONFIG_PMW3389_TRIGGER + if (pmw3389_init_interrupt(dev) < 0) + { + LOG_DBG("Failed to initialize interrupt!"); + return -EIO; + } +#endif + + return 0; +} + +#define PMW3389_HAS_CS(n) DT_INST_SPI_DEV_HAS_CS_GPIOS(n) + +#define PMW3389_DATA_SPI_CS(n) \ + { \ + .cs_ctrl = { \ + .gpio_pin = DT_INST_SPI_DEV_CS_GPIOS_PIN(n), \ + .gpio_dt_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(n), \ + }, \ + } + +#define PMW3389_DATA_SPI(n) COND_CODE_1(PMW3389_HAS_CS(n), (PMW3389_DATA_SPI_CS(n)), ({})) + +#define PMW3389_SPI_CS_PTR(n) COND_CODE_1(PMW3389_HAS_CS(n), (&(pmw3389_data_##n.cs_ctrl)), (NULL)) + +#define PMW3389_SPI_CS_LABEL(n) \ + COND_CODE_1(PMW3389_HAS_CS(n), (DT_INST_SPI_DEV_CS_GPIOS_LABEL(n)), (NULL)) + +#define PMW3389_SPI_CFG(n) \ + (&(struct pmw3389_spi_cfg){ \ + .spi_conf = \ + { \ + .frequency = DT_INST_PROP(n, spi_max_frequency), \ + .operation = \ + (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ + .slave = DT_INST_REG_ADDR(n), \ + .cs = PMW3389_SPI_CS_PTR(n), \ + }, \ + .cs_gpios_label = PMW3389_SPI_CS_LABEL(n), \ + }) + +#define PMW3389_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ + { \ + .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ + .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ + .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ + } + +#define PMW3389_CONFIG_SPI(n) \ + { \ + .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw3389_spi_init, \ + .bus_cfg = {.spi_cfg = PMW3389_SPI_CFG(n)}, \ + COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))) \ + COND_CODE_1(CONFIG_PMW3389_TRIGGER, \ + (, PMW3389_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0), ), \ + ()) \ + } + +#define PMW3389_INST(n) \ + static struct pmw3389_data pmw3389_data_##n = PMW3389_DATA_SPI(n); \ + static const struct pmw3389_config pmw3389_cfg_##n = PMW3389_CONFIG_SPI(n); \ + DEVICE_DT_INST_DEFINE(n, pmw3389_init, device_pm_control_nop, &pmw3389_data_##n, &pmw3389_cfg_##n, \ + POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pmw3389_driver_api); + +DT_INST_FOREACH_STATUS_OKAY(PMW3389_INST) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.h b/app/drivers/sensor/pmw3389/pmw3389.h new file mode 100644 index 00000000..ee000f30 --- /dev/null +++ b/app/drivers/sensor/pmw3389/pmw3389.h @@ -0,0 +1,92 @@ +#ifndef ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ +#define ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ + +#include +#include +#include +#include +#include + +#define PMW3389_WR_MASK 0x80 + +#define PMW3389_PID 0x47 +#define PMW3389_REV 0x01 + +#define PMW3389_REG_PID 0x00 +#define PMW3389_REG_REV 0x01 + +#define PMW3389_REG_DX_L 0x2A +#define PMW3389_REG_DX_H 0x2B +#define PMW3389_REG_DY_L 0x2C +#define PMW3389_REG_DY_H 0x2D + +struct pmw3389_gpio_dt_spec { + const struct device *port; + gpio_pin_t pin; + gpio_dt_flags_t dt_flags; +}; + +struct pmw3389_spi_cfg { + struct spi_config spi_conf; + const char *cs_gpios_label; +}; + +union pmw3389_bus_cfg { + struct pmw3389_spi_cfg *spi_cfg; +}; + +struct pmw3389_config { + char *bus_name; + int (*bus_init)(const struct device *dev); + const union pmw3389_bus_cfg bus_cfg; + int resolution; + struct pmw3389_gpio_dt_spec reset; +#if CONFIG_PMW3389_TRIGGER + struct pmw3389_gpio_dt_spec motswk; +#endif // CONFIG_PMW3389_TRIGGER +}; + +struct pmw3389_data; + +struct pmw3389_transfer_function { + int (*read_data)(const struct device *dev, uint16_t *value); +}; + +struct pmw3389_data { + const struct device *bus; + struct spi_cs_control cs_ctrl; + + uint16_t dx; + uint16_t dy; + + const struct pmw3389_transfer_function *hw_tf; + +#ifdef CONFIG_PMW3389_TRIGGER + + struct gpio_callback motswk_gpio_cb; + const struct device *dev; + + sensor_trigger_handler_t handler; + const struct sensor_trigger *trigger; + +#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) + K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PMW3389_THREAD_STACK_SIZE); + struct k_sem gpio_sem; + struct k_thread thread; +#elif defined(CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD) + struct k_work work; +#endif + +#endif /* CONFIG_PMW3389_TRIGGER */ +}; + +int pmw3389_spi_init(const struct device *dev); +#ifdef CONFIG_PMW3389_TRIGGER + +int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *trig, + sensor_trigger_handler_t handler); + +int pmw3389_init_interrupt(const struct device *dev); +#endif + +#endif /* ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ */ \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389_trigger.c b/app/drivers/sensor/pmw3389/pmw3389_trigger.c new file mode 100644 index 00000000..1ccd74f4 --- /dev/null +++ b/app/drivers/sensor/pmw3389/pmw3389_trigger.c @@ -0,0 +1,132 @@ +/* + * Copyright (c) 2020 The ZMK Contributors + * + * SPDX-License-Identifier: MIT + */ + +#define DT_DRV_COMPAT pixart_pmw3389 + +#include +#include +#include +#include +#include + +#include "pmw3389.h" + +// extern struct pmw3389_data pmw3389_driver; + +#include +LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL); + +static inline void setup_int(const struct device *dev, bool enable) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + + if (gpio_pin_interrupt_configure(cfg->motswk.port, cfg->motswk.pin, + enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) + { + LOG_WRN("Unable to set MOTSWK GPIO interrupt"); + } +} + +static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb, + uint32_t pins) +{ + struct pmw3389_data *drv_data = CONTAINER_OF(cb, struct pmw3389_data, motswk_gpio_cb); + + LOG_DBG(""); + + setup_int(drv_data->dev, false); + +#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) + k_sem_give(&drv_data->gpio_sem); +#elif defined(CONFIG_PMW3389_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; + + LOG_DBG("%p", drv_data->handler); + drv_data->handler(dev, drv_data->trigger); + + // Enable once the wall/spam of interrupts is solved + setup_int(dev, true); +} + +#ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD +static void pmw3389_thread(int dev_ptr, int unused) +{ + const struct device *dev = INT_TO_POINTER(dev_ptr); + struct pmw3389_data *drv_data = dev->data; + + ARG_UNUSED(unused); + + while (1) + { + k_sem_take(&drv_data->gpio_sem, K_FOREVER); + pmw3389_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); + + LOG_DBG(""); + + pmw3389_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; + + setup_int(dev, false); + + k_msleep(5); + + drv_data->trigger = trig; + drv_data->handler = handler; + + setup_int(dev, true); + + 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; + + drv_data->dev = dev; + /* setup gpio interrupt */ + + gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, BIT(drv_cfg->motswk_spec.pin)); + + if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) + { + LOG_DBG("Failed to set MOTSWK callback!"); + return -EIO; + } + +#if defined(CONFIG_PMW3389_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); +#endif + + return 0; +} \ No newline at end of file From f6af5a531f4b9995a6fd1ecd3829a89840d923c0 Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Sun, 13 Mar 2022 12:53:23 -0400 Subject: [PATCH 2/8] add kconfig and initial dts binding files --- app/drivers/sensor/Kconfig | 3 +- app/drivers/sensor/pmw3389/Kconfig | 49 ++++++ app/drivers/sensor/pmw3389/pmw3389.c | 164 +++++++----------- app/drivers/sensor/pmw3389/pmw3389.h | 4 +- app/drivers/sensor/pmw3389/pmw3389_trigger.c | 35 ++-- .../dts/bindings/sensor/pixart,pmw3389.yaml | 22 +++ 6 files changed, 155 insertions(+), 122 deletions(-) create mode 100644 app/drivers/sensor/pmw3389/Kconfig create mode 100644 app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml diff --git a/app/drivers/sensor/Kconfig b/app/drivers/sensor/Kconfig index a828f6c6..d47c7fea 100644 --- a/app/drivers/sensor/Kconfig +++ b/app/drivers/sensor/Kconfig @@ -2,4 +2,5 @@ # SPDX-License-Identifier: MIT rsource "battery/Kconfig" -rsource "ec11/Kconfig" \ No newline at end of file +rsource "ec11/Kconfig" +rsource "pmw3389/Kconfig" \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/Kconfig b/app/drivers/sensor/pmw3389/Kconfig new file mode 100644 index 00000000..219d8057 --- /dev/null +++ b/app/drivers/sensor/pmw3389/Kconfig @@ -0,0 +1,49 @@ +config PMW3389 + bool "PMW3389 Mouse Sensor" + depends on SPI + help + Enable mouse sensor + + The PMW3389 is a 16-bit optical mouse sensor + +if PMW3389 + +choice + prompt "Trigger mode" + default PMW3389_TRIGGER_NONE + help + Specify the type of triggering to be used by the driver. + +config PMW3389_TRIGGER_NONE + bool "No trigger" + +config PMW3389_TRIGGER_GLOBAL_THREAD + bool "Use global thread" + depends on GPIO + select PMW3389_TRIGGER + +config PMW3389_TRIGGER_OWN_THREAD + bool "Use own thread" + depends on GPIO + select PMW3389_TRIGGER + +endchoice + +config PMW3389_TRIGGER + bool + +config PMW3389_THREAD_PRIORITY + int "Thread priority" + depends on PMW3389_TRIGGER_OWN_THREAD + default 10 + help + Priority of thread used by the driver to handle interrupts. + +config PMW3389_THREAD_STACK_SIZE + int "Thread stack size" + depends on PMW3389_TRIGGER_OWN_THREAD + default 1024 + help + Stack size of thread used by the driver to handle interrupts. + +endif # PMW3389 \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.c b/app/drivers/sensor/pmw3389/pmw3389.c index 32bcce63..914bc5b8 100644 --- a/app/drivers/sensor/pmw3389/pmw3389.c +++ b/app/drivers/sensor/pmw3389/pmw3389.c @@ -16,9 +16,7 @@ LOG_MODULE_REGISTER(PMW3389, CONFIG_SENSOR_LOG_LEVEL); -static int pmw3389_access(const struct device *dev, - uint8_t reg, uint8_t *value) -{ +static int pmw3389_access(const struct device *dev, uint8_t reg, uint8_t *value) { struct pmw3389_data *data = dev->data; const struct pmw3389_config *cfg = dev->config; const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; @@ -38,8 +36,7 @@ static int pmw3389_access(const struct device *dev, .count = 2, }; struct spi_buf_set *rx; - if (reg & PMW3389_WR_MASK > 0) - { + if (reg & PMW3389_WR_MASK > 0) { rx = &(struct spi_buf_set){ .buffers = bufs, .count = 2, @@ -47,37 +44,32 @@ static int pmw3389_access(const struct device *dev, } return spi_transceive(data->bus, spi_cfg, &tx, rx); } -static int pmw3389_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) -{ +static int pmw3389_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) { return pmw3389_access(dev, reg, value); } -static int pmw3389_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) -{ +static int pmw3389_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) { return pmw3389_access(dev, reg & PMW3389_WR_MASK, &value); } // converts twos complement data to an int16 -static int16_t pmw3389_raw_to_int16(const uint8_t src[2]) -{ +static int16_t pmw3389_raw_to_int16(const uint8_t src[2]) { int16_t res = sys_get_be16(src[2]); if (res > BIT_MASK(15)) res -= BIT(16); return res; } -static int pmw3389_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, int16_t *value) -{ +static int pmw3389_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, + int16_t *value) { uint8_t raw[2] = {0x0, 0x0}; int err; err = pmw3389_read_reg(dev, reg_high, &raw[0]); - if (err) - { + if (err) { LOG_ERR("could not read high byte at %x", reg_high); return err; } err = pmw3389_read_reg(dev, reg_low, &raw[1]); - if (err) - { + if (err) { LOG_ERR("could not read low byte at %x", reg_low); return err; } @@ -85,48 +77,40 @@ static int pmw3389_read_raw(const struct device *dev, const uint8_t reg_high, co return 0; } -static bool pmw3389_spi_check_id(const struct device *dev) -{ +static bool pmw3389_spi_check_id(const struct device *dev) { int err; uint8_t val; err = pmw3389_read_reg(dev, &val, PMW3389_REG_PID); - if (err) - { + if (err) { LOG_ERR("could not read PID"); return false; } - if (val != PMW3389_PID) - { + if (val != PMW3389_PID) { LOG_ERR("invalid PID"); return false; } err = pmw3389_read_reg(dev, &val, PMW3389_REG_REV); - if (err) - { + if (err) { LOG_ERR("could not read REV"); return false; } - if (val != PMW3389_REV) - { + if (val != PMW3389_REV) { LOG_ERR("invalid REV"); return false; } return true; } -int pmw3389_spi_init(const struct device *dev) -{ +int pmw3389_spi_init(const struct device *dev) { struct pmw3389_data *data = dev->data; const struct pmw3389_config *cfg = dev->config; const struct pmw3389_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg; - if (spi_cfg->cs_gpios_label != NULL) - { + if (spi_cfg->cs_gpios_label != NULL) { /* handle SPI CS thru GPIO if it is the case */ data->cs_ctrl.gpio_dev = device_get_binding(spi_cfg->cs_gpios_label); - if (!data->cs_ctrl.gpio_dev) - { + if (!data->cs_ctrl.gpio_dev) { LOG_ERR("Unable to get GPIO SPI CS device"); return -ENODEV; } @@ -135,32 +119,26 @@ int pmw3389_spi_init(const struct device *dev) return 0; } -static int pmw3389_sample_fetch(const struct device *dev, enum sensor_channel chan) -{ +static int pmw3389_sample_fetch(const struct device *dev, enum sensor_channel chan) { struct pmw3389_data *data = dev->data; const struct pmw3389_config *cfg = dev->config; uint16_t dx = 0, dy = 0; - if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && - chan != SENSOR_CHAN_POS_DY) + if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY) return -ENOTSUP; if (!pmw3389_spi_check_id(dev)) return -EINVAL; int err; - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) - { + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) { err = pmw3389_read_raw(dev, PMW3389_REG_DX_H, PMW3389_REG_DX_L, &dx); - if (err) - { + if (err) { LOG_DBG("could not read x motion"); return -EIO; } } - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) - { + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) { err = pmw3389_read_raw(dev, PMW3389_REG_DY_H, PMW3389_REG_DY_L, &dy); - if (err) - { + if (err) { LOG_DBG("could not read y motion"); return -EIO; } @@ -171,17 +149,15 @@ static int pmw3389_sample_fetch(const struct device *dev, enum sensor_channel ch } static int pmw3389_channel_get(const struct device *dev, enum sensor_channel chan, - struct sensor_value *val) -{ + struct sensor_value *val) { struct pmw3389_data *data = dev->data; const struct pmw3389_config *cfg = dev->config; - switch (chan) - { + switch (chan) { case SENSOR_CHAN_POS_DX: - return data->dx; + val->val1 = data->dx; case SENSOR_CHAN_POS_DY: - return data->dy; + val->val1 = data->dy; default: return -ENOTSUP; } @@ -197,35 +173,30 @@ static const struct sensor_driver_api pmw3389_driver_api = { .channel_get = pmw3389_channel_get, }; -static int pmw3389_init_chip(const struct device *dev) -{ +static int pmw3389_init_chip(const struct device *dev) { struct pmw3389_data *data = dev->data; return 0; } -static int pmw3389_init(const struct device *dev) -{ +static int pmw3389_init(const struct device *dev) { const struct pmw3389_config *const config = dev->config; struct pmw3389_data *data = dev->data; data->bus = device_get_binding(config->bus_name); - if (!data->bus) - { + if (!data->bus) { LOG_DBG("master not found: %s", log_strdup(config->bus_name)); return -EINVAL; } config->bus_init(dev); - if (pmw3389_init_chip(dev) < 0) - { + if (pmw3389_init_chip(dev) < 0) { LOG_DBG("failed to initialize chip"); return -EIO; } #ifdef CONFIG_PMW3389_TRIGGER - if (pmw3389_init_interrupt(dev) < 0) - { + if (pmw3389_init_interrupt(dev) < 0) { LOG_DBG("Failed to initialize interrupt!"); return -EIO; } @@ -236,55 +207,54 @@ static int pmw3389_init(const struct device *dev) #define PMW3389_HAS_CS(n) DT_INST_SPI_DEV_HAS_CS_GPIOS(n) -#define PMW3389_DATA_SPI_CS(n) \ - { \ - .cs_ctrl = { \ - .gpio_pin = DT_INST_SPI_DEV_CS_GPIOS_PIN(n), \ - .gpio_dt_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(n), \ - }, \ +#define PMW3389_DATA_SPI_CS(n) \ + { \ + .cs_ctrl = { \ + .gpio_pin = DT_INST_SPI_DEV_CS_GPIOS_PIN(n), \ + .gpio_dt_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(n), \ + }, \ } #define PMW3389_DATA_SPI(n) COND_CODE_1(PMW3389_HAS_CS(n), (PMW3389_DATA_SPI_CS(n)), ({})) #define PMW3389_SPI_CS_PTR(n) COND_CODE_1(PMW3389_HAS_CS(n), (&(pmw3389_data_##n.cs_ctrl)), (NULL)) -#define PMW3389_SPI_CS_LABEL(n) \ +#define PMW3389_SPI_CS_LABEL(n) \ COND_CODE_1(PMW3389_HAS_CS(n), (DT_INST_SPI_DEV_CS_GPIOS_LABEL(n)), (NULL)) -#define PMW3389_SPI_CFG(n) \ - (&(struct pmw3389_spi_cfg){ \ - .spi_conf = \ - { \ - .frequency = DT_INST_PROP(n, spi_max_frequency), \ - .operation = \ - (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ - .slave = DT_INST_REG_ADDR(n), \ - .cs = PMW3389_SPI_CS_PTR(n), \ - }, \ - .cs_gpios_label = PMW3389_SPI_CS_LABEL(n), \ +#define PMW3389_SPI_CFG(n) \ + (&(struct pmw3389_spi_cfg){ \ + .spi_conf = \ + { \ + .frequency = DT_INST_PROP(n, spi_max_frequency), \ + .operation = \ + (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ + .slave = DT_INST_REG_ADDR(n), \ + .cs = PMW3389_SPI_CS_PTR(n), \ + }, \ + .cs_gpios_label = PMW3389_SPI_CS_LABEL(n), \ }) -#define PMW3389_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ - { \ - .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ - .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ - .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ +#define PMW3389_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ + { \ + .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ + .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ + .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ } -#define PMW3389_CONFIG_SPI(n) \ - { \ - .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw3389_spi_init, \ - .bus_cfg = {.spi_cfg = PMW3389_SPI_CFG(n)}, \ - COND_CODE_0(DT_INST_NODE_HAS_PROP(n, resolution), (1), (DT_INST_PROP(n, resolution))) \ - COND_CODE_1(CONFIG_PMW3389_TRIGGER, \ - (, PMW3389_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0), ), \ - ()) \ +#define PMW3389_CONFIG_SPI(n) \ + { \ + .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw3389_spi_init, \ + .bus_cfg = {.spi_cfg = PMW3389_SPI_CFG(n)}, \ + COND_CODE_1(CONFIG_MA730_TRIGGER, \ + (, PMW3389_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \ } -#define PMW3389_INST(n) \ - static struct pmw3389_data pmw3389_data_##n = PMW3389_DATA_SPI(n); \ - static const struct pmw3389_config pmw3389_cfg_##n = PMW3389_CONFIG_SPI(n); \ - DEVICE_DT_INST_DEFINE(n, pmw3389_init, device_pm_control_nop, &pmw3389_data_##n, &pmw3389_cfg_##n, \ - POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, &pmw3389_driver_api); +#define PMW3389_INST(n) \ + static struct pmw3389_data pmw3389_data_##n = PMW3389_DATA_SPI(n); \ + static const struct pmw3389_config pmw3389_cfg_##n = PMW3389_CONFIG_SPI(n); \ + DEVICE_DT_INST_DEFINE(n, pmw3389_init, device_pm_control_nop, &pmw3389_data_##n, \ + &pmw3389_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ + &pmw3389_driver_api); DT_INST_FOREACH_STATUS_OKAY(PMW3389_INST) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.h b/app/drivers/sensor/pmw3389/pmw3389.h index ee000f30..0390b64a 100644 --- a/app/drivers/sensor/pmw3389/pmw3389.h +++ b/app/drivers/sensor/pmw3389/pmw3389.h @@ -40,9 +40,9 @@ struct pmw3389_config { int (*bus_init)(const struct device *dev); const union pmw3389_bus_cfg bus_cfg; int resolution; - struct pmw3389_gpio_dt_spec reset; + struct pmw3389_gpio_dt_spec reset_spec; #if CONFIG_PMW3389_TRIGGER - struct pmw3389_gpio_dt_spec motswk; + struct pmw3389_gpio_dt_spec motswk_spec; #endif // CONFIG_PMW3389_TRIGGER }; diff --git a/app/drivers/sensor/pmw3389/pmw3389_trigger.c b/app/drivers/sensor/pmw3389/pmw3389_trigger.c index 1ccd74f4..d60051b9 100644 --- a/app/drivers/sensor/pmw3389/pmw3389_trigger.c +++ b/app/drivers/sensor/pmw3389/pmw3389_trigger.c @@ -19,21 +19,18 @@ #include LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL); -static inline void setup_int(const struct device *dev, bool enable) -{ +static inline void setup_int(const struct device *dev, bool enable) { struct pmw3389_data *data = dev->data; const struct pmw3389_config *cfg = dev->config; - if (gpio_pin_interrupt_configure(cfg->motswk.port, cfg->motswk.pin, - enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) - { + if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, + enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { LOG_WRN("Unable to set MOTSWK GPIO interrupt"); } } static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb, - uint32_t pins) -{ + uint32_t pins) { struct pmw3389_data *drv_data = CONTAINER_OF(cb, struct pmw3389_data, motswk_gpio_cb); LOG_DBG(""); @@ -47,8 +44,7 @@ static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_c #endif } -static void pmw3389_thread_cb(const struct device *dev) -{ +static void pmw3389_thread_cb(const struct device *dev) { struct pmw3389_data *drv_data = dev->data; LOG_DBG("%p", drv_data->handler); @@ -59,15 +55,13 @@ static void pmw3389_thread_cb(const struct device *dev) } #ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD -static void pmw3389_thread(int dev_ptr, int unused) -{ +static void pmw3389_thread(int dev_ptr, int unused) { const struct device *dev = INT_TO_POINTER(dev_ptr); struct pmw3389_data *drv_data = dev->data; ARG_UNUSED(unused); - while (1) - { + while (1) { k_sem_take(&drv_data->gpio_sem, K_FOREVER); pmw3389_thread_cb(dev); } @@ -75,8 +69,7 @@ static void pmw3389_thread(int dev_ptr, int unused) #endif #ifdef CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD -static void pmw3389_work_cb(struct k_work *work) -{ +static void pmw3389_work_cb(struct k_work *work) { struct pmw3389_data *drv_data = CONTAINER_OF(work, struct pmw3389_data, work); LOG_DBG(""); @@ -86,8 +79,7 @@ static void pmw3389_work_cb(struct k_work *work) #endif int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *trig, - sensor_trigger_handler_t handler) -{ + sensor_trigger_handler_t handler) { struct pmw3389_data *drv_data = dev->data; setup_int(dev, false); @@ -102,18 +94,17 @@ int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *t return 0; } -int pmw3389_init_interrupt(const struct device *dev) -{ +int pmw3389_init_interrupt(const struct device *dev) { struct pmw3389_data *drv_data = dev->data; const struct pmw3389_config *drv_cfg = dev->config; drv_data->dev = dev; /* setup gpio interrupt */ - gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, BIT(drv_cfg->motswk_spec.pin)); + gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, + BIT(drv_cfg->motswk_spec.pin)); - if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) - { + if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) { LOG_DBG("Failed to set MOTSWK callback!"); return -EIO; } diff --git a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml new file mode 100644 index 00000000..1b9fc50e --- /dev/null +++ b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml @@ -0,0 +1,22 @@ +description: | + Sensor driver for the pixart PMW3389 optical mouse sensor +compatible: "pixart,pmw3389" + +include: spi-device.yaml + +properties: + label: + type: string + required: true + motswk-gpios: + type: phandle-array + required: false + description: interrupt pin for motion + reset-gpios: + type: phandle-array + required: false + description: A pin for the encoder + resolution: + type: int + description: mouse resolution + required: false \ No newline at end of file From f398f02e5799c5a45c2fc4dec40b89cf8dda4b15 Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Sat, 16 Apr 2022 16:22:27 -0400 Subject: [PATCH 3/8] switch to multi device pmw33xx driver --- app/drivers/sensor/CMakeLists.txt | 2 +- app/drivers/sensor/Kconfig | 2 +- app/drivers/sensor/pmw3389/CMakeLists.txt | 9 - app/drivers/sensor/pmw3389/Kconfig | 49 --- app/drivers/sensor/pmw3389/pmw3389.c | 260 ------------ app/drivers/sensor/pmw3389/pmw3389.h | 92 ---- app/drivers/sensor/pmw3389/pmw3389_trigger.c | 123 ------ app/drivers/sensor/pmw33xx/.gitignore | 1 + app/drivers/sensor/pmw33xx/CMakeLists.txt | 10 + app/drivers/sensor/pmw33xx/Kconfig | 67 +++ app/drivers/sensor/pmw33xx/pmw3360_srom.h | 291 +++++++++++++ app/drivers/sensor/pmw33xx/pmw33xx.c | 396 ++++++++++++++++++ app/drivers/sensor/pmw33xx/pmw33xx.h | 136 ++++++ app/drivers/sensor/pmw33xx/pmw33xx_trigger.c | 130 ++++++ ...ixart,pmw3389.yaml => pixart,pmw33xx.yaml} | 18 +- 15 files changed, 1042 insertions(+), 544 deletions(-) delete mode 100644 app/drivers/sensor/pmw3389/CMakeLists.txt delete mode 100644 app/drivers/sensor/pmw3389/Kconfig delete mode 100644 app/drivers/sensor/pmw3389/pmw3389.c delete mode 100644 app/drivers/sensor/pmw3389/pmw3389.h delete mode 100644 app/drivers/sensor/pmw3389/pmw3389_trigger.c create mode 100644 app/drivers/sensor/pmw33xx/.gitignore create mode 100644 app/drivers/sensor/pmw33xx/CMakeLists.txt create mode 100644 app/drivers/sensor/pmw33xx/Kconfig create mode 100644 app/drivers/sensor/pmw33xx/pmw3360_srom.h create mode 100644 app/drivers/sensor/pmw33xx/pmw33xx.c create mode 100644 app/drivers/sensor/pmw33xx/pmw33xx.h create mode 100644 app/drivers/sensor/pmw33xx/pmw33xx_trigger.c rename app/drivers/zephyr/dts/bindings/sensor/{pixart,pmw3389.yaml => pixart,pmw33xx.yaml} (50%) diff --git a/app/drivers/sensor/CMakeLists.txt b/app/drivers/sensor/CMakeLists.txt index 5d061280..02696974 100644 --- a/app/drivers/sensor/CMakeLists.txt +++ b/app/drivers/sensor/CMakeLists.txt @@ -3,4 +3,4 @@ add_subdirectory_ifdef(CONFIG_ZMK_BATTERY battery) add_subdirectory_ifdef(CONFIG_EC11 ec11) -add_subdirectory_ifdef(CONFIG_PMW3389 pmw3389) \ No newline at end of file +add_subdirectory_ifdef(CONFIG_PMW33xx pmw33xx) diff --git a/app/drivers/sensor/Kconfig b/app/drivers/sensor/Kconfig index d47c7fea..52eaca0a 100644 --- a/app/drivers/sensor/Kconfig +++ b/app/drivers/sensor/Kconfig @@ -3,4 +3,4 @@ rsource "battery/Kconfig" rsource "ec11/Kconfig" -rsource "pmw3389/Kconfig" \ No newline at end of file +rsource "pmw33xx/Kconfig" diff --git a/app/drivers/sensor/pmw3389/CMakeLists.txt b/app/drivers/sensor/pmw3389/CMakeLists.txt deleted file mode 100644 index 0db5bd48..00000000 --- a/app/drivers/sensor/pmw3389/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -# Copyright (c) 2020 The ZMK Contributors -# SPDX-License-Identifier: MIT - -zephyr_include_directories(.) - -zephyr_library() - -zephyr_library_sources(pmw3389.c) -zephyr_library_sources_ifdef(CONFIG_PMW3389_TRIGGER pmw3389_trigger.c) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/Kconfig b/app/drivers/sensor/pmw3389/Kconfig deleted file mode 100644 index 219d8057..00000000 --- a/app/drivers/sensor/pmw3389/Kconfig +++ /dev/null @@ -1,49 +0,0 @@ -config PMW3389 - bool "PMW3389 Mouse Sensor" - depends on SPI - help - Enable mouse sensor - - The PMW3389 is a 16-bit optical mouse sensor - -if PMW3389 - -choice - prompt "Trigger mode" - default PMW3389_TRIGGER_NONE - help - Specify the type of triggering to be used by the driver. - -config PMW3389_TRIGGER_NONE - bool "No trigger" - -config PMW3389_TRIGGER_GLOBAL_THREAD - bool "Use global thread" - depends on GPIO - select PMW3389_TRIGGER - -config PMW3389_TRIGGER_OWN_THREAD - bool "Use own thread" - depends on GPIO - select PMW3389_TRIGGER - -endchoice - -config PMW3389_TRIGGER - bool - -config PMW3389_THREAD_PRIORITY - int "Thread priority" - depends on PMW3389_TRIGGER_OWN_THREAD - default 10 - help - Priority of thread used by the driver to handle interrupts. - -config PMW3389_THREAD_STACK_SIZE - int "Thread stack size" - depends on PMW3389_TRIGGER_OWN_THREAD - default 1024 - help - Stack size of thread used by the driver to handle interrupts. - -endif # PMW3389 \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.c b/app/drivers/sensor/pmw3389/pmw3389.c deleted file mode 100644 index 914bc5b8..00000000 --- a/app/drivers/sensor/pmw3389/pmw3389.c +++ /dev/null @@ -1,260 +0,0 @@ - -#define DT_DRV_COMPAT pixart_pmw3389 - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "pmw3389.h" - -LOG_MODULE_REGISTER(PMW3389, CONFIG_SENSOR_LOG_LEVEL); - -static int pmw3389_access(const struct device *dev, uint8_t reg, uint8_t *value) { - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; - const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; - uint8_t access[1] = {reg}; - struct spi_buf bufs[] = { - { - .buf = access, - .len = 1, - }, - { - .buf = value, - .len = 1, - }, - }; - struct spi_buf_set tx = { - .buffers = bufs, - .count = 2, - }; - struct spi_buf_set *rx; - if (reg & PMW3389_WR_MASK > 0) { - rx = &(struct spi_buf_set){ - .buffers = bufs, - .count = 2, - }; - } - return spi_transceive(data->bus, spi_cfg, &tx, rx); -} -static int pmw3389_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) { - return pmw3389_access(dev, reg, value); -} -static int pmw3389_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) { - return pmw3389_access(dev, reg & PMW3389_WR_MASK, &value); -} - -// converts twos complement data to an int16 -static int16_t pmw3389_raw_to_int16(const uint8_t src[2]) { - int16_t res = sys_get_be16(src[2]); - if (res > BIT_MASK(15)) - res -= BIT(16); - return res; -} - -static int pmw3389_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, - int16_t *value) { - uint8_t raw[2] = {0x0, 0x0}; - int err; - err = pmw3389_read_reg(dev, reg_high, &raw[0]); - if (err) { - LOG_ERR("could not read high byte at %x", reg_high); - return err; - } - err = pmw3389_read_reg(dev, reg_low, &raw[1]); - if (err) { - LOG_ERR("could not read low byte at %x", reg_low); - return err; - } - *value = pmw3389_raw_to_int16(raw); - return 0; -} - -static bool pmw3389_spi_check_id(const struct device *dev) { - int err; - uint8_t val; - err = pmw3389_read_reg(dev, &val, PMW3389_REG_PID); - if (err) { - LOG_ERR("could not read PID"); - return false; - } - if (val != PMW3389_PID) { - LOG_ERR("invalid PID"); - return false; - } - err = pmw3389_read_reg(dev, &val, PMW3389_REG_REV); - if (err) { - LOG_ERR("could not read REV"); - return false; - } - if (val != PMW3389_REV) { - LOG_ERR("invalid REV"); - return false; - } - return true; -} - -int pmw3389_spi_init(const struct device *dev) { - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; - const struct pmw3389_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg; - - if (spi_cfg->cs_gpios_label != NULL) { - - /* handle SPI CS thru GPIO if it is the case */ - data->cs_ctrl.gpio_dev = device_get_binding(spi_cfg->cs_gpios_label); - if (!data->cs_ctrl.gpio_dev) { - LOG_ERR("Unable to get GPIO SPI CS device"); - return -ENODEV; - } - } - - return 0; -} - -static int pmw3389_sample_fetch(const struct device *dev, enum sensor_channel chan) { - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; - uint16_t dx = 0, dy = 0; - - if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY) - return -ENOTSUP; - if (!pmw3389_spi_check_id(dev)) - return -EINVAL; - int err; - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) { - err = pmw3389_read_raw(dev, PMW3389_REG_DX_H, PMW3389_REG_DX_L, &dx); - if (err) { - LOG_DBG("could not read x motion"); - return -EIO; - } - } - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) { - err = pmw3389_read_raw(dev, PMW3389_REG_DY_H, PMW3389_REG_DY_L, &dy); - if (err) { - LOG_DBG("could not read y motion"); - return -EIO; - } - } - data->dx = dx; - data->dy = dy; - return 0; -} - -static int pmw3389_channel_get(const struct device *dev, enum sensor_channel chan, - struct sensor_value *val) { - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; - - switch (chan) { - case SENSOR_CHAN_POS_DX: - val->val1 = data->dx; - case SENSOR_CHAN_POS_DY: - val->val1 = data->dy; - default: - return -ENOTSUP; - } - return 0; -} - -static const struct sensor_driver_api pmw3389_driver_api = { -#ifdef CONFIG_PMW3389_TRIGGER - .trigger_set = pmw3389_trigger_set, -#endif - // .attr_set = pmw3389_attr_set, - .sample_fetch = pmw3389_sample_fetch, - .channel_get = pmw3389_channel_get, -}; - -static int pmw3389_init_chip(const struct device *dev) { - struct pmw3389_data *data = dev->data; - return 0; -} - -static int pmw3389_init(const struct device *dev) { - const struct pmw3389_config *const config = dev->config; - struct pmw3389_data *data = dev->data; - - data->bus = device_get_binding(config->bus_name); - if (!data->bus) { - LOG_DBG("master not found: %s", log_strdup(config->bus_name)); - return -EINVAL; - } - - config->bus_init(dev); - - if (pmw3389_init_chip(dev) < 0) { - LOG_DBG("failed to initialize chip"); - return -EIO; - } - -#ifdef CONFIG_PMW3389_TRIGGER - if (pmw3389_init_interrupt(dev) < 0) { - LOG_DBG("Failed to initialize interrupt!"); - return -EIO; - } -#endif - - return 0; -} - -#define PMW3389_HAS_CS(n) DT_INST_SPI_DEV_HAS_CS_GPIOS(n) - -#define PMW3389_DATA_SPI_CS(n) \ - { \ - .cs_ctrl = { \ - .gpio_pin = DT_INST_SPI_DEV_CS_GPIOS_PIN(n), \ - .gpio_dt_flags = DT_INST_SPI_DEV_CS_GPIOS_FLAGS(n), \ - }, \ - } - -#define PMW3389_DATA_SPI(n) COND_CODE_1(PMW3389_HAS_CS(n), (PMW3389_DATA_SPI_CS(n)), ({})) - -#define PMW3389_SPI_CS_PTR(n) COND_CODE_1(PMW3389_HAS_CS(n), (&(pmw3389_data_##n.cs_ctrl)), (NULL)) - -#define PMW3389_SPI_CS_LABEL(n) \ - COND_CODE_1(PMW3389_HAS_CS(n), (DT_INST_SPI_DEV_CS_GPIOS_LABEL(n)), (NULL)) - -#define PMW3389_SPI_CFG(n) \ - (&(struct pmw3389_spi_cfg){ \ - .spi_conf = \ - { \ - .frequency = DT_INST_PROP(n, spi_max_frequency), \ - .operation = \ - (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ - .slave = DT_INST_REG_ADDR(n), \ - .cs = PMW3389_SPI_CS_PTR(n), \ - }, \ - .cs_gpios_label = PMW3389_SPI_CS_LABEL(n), \ - }) - -#define PMW3389_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ - { \ - .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ - .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ - .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ - } - -#define PMW3389_CONFIG_SPI(n) \ - { \ - .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw3389_spi_init, \ - .bus_cfg = {.spi_cfg = PMW3389_SPI_CFG(n)}, \ - COND_CODE_1(CONFIG_MA730_TRIGGER, \ - (, PMW3389_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \ - } - -#define PMW3389_INST(n) \ - static struct pmw3389_data pmw3389_data_##n = PMW3389_DATA_SPI(n); \ - static const struct pmw3389_config pmw3389_cfg_##n = PMW3389_CONFIG_SPI(n); \ - DEVICE_DT_INST_DEFINE(n, pmw3389_init, device_pm_control_nop, &pmw3389_data_##n, \ - &pmw3389_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ - &pmw3389_driver_api); - -DT_INST_FOREACH_STATUS_OKAY(PMW3389_INST) \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389.h b/app/drivers/sensor/pmw3389/pmw3389.h deleted file mode 100644 index 0390b64a..00000000 --- a/app/drivers/sensor/pmw3389/pmw3389.h +++ /dev/null @@ -1,92 +0,0 @@ -#ifndef ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ -#define ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ - -#include -#include -#include -#include -#include - -#define PMW3389_WR_MASK 0x80 - -#define PMW3389_PID 0x47 -#define PMW3389_REV 0x01 - -#define PMW3389_REG_PID 0x00 -#define PMW3389_REG_REV 0x01 - -#define PMW3389_REG_DX_L 0x2A -#define PMW3389_REG_DX_H 0x2B -#define PMW3389_REG_DY_L 0x2C -#define PMW3389_REG_DY_H 0x2D - -struct pmw3389_gpio_dt_spec { - const struct device *port; - gpio_pin_t pin; - gpio_dt_flags_t dt_flags; -}; - -struct pmw3389_spi_cfg { - struct spi_config spi_conf; - const char *cs_gpios_label; -}; - -union pmw3389_bus_cfg { - struct pmw3389_spi_cfg *spi_cfg; -}; - -struct pmw3389_config { - char *bus_name; - int (*bus_init)(const struct device *dev); - const union pmw3389_bus_cfg bus_cfg; - int resolution; - struct pmw3389_gpio_dt_spec reset_spec; -#if CONFIG_PMW3389_TRIGGER - struct pmw3389_gpio_dt_spec motswk_spec; -#endif // CONFIG_PMW3389_TRIGGER -}; - -struct pmw3389_data; - -struct pmw3389_transfer_function { - int (*read_data)(const struct device *dev, uint16_t *value); -}; - -struct pmw3389_data { - const struct device *bus; - struct spi_cs_control cs_ctrl; - - uint16_t dx; - uint16_t dy; - - const struct pmw3389_transfer_function *hw_tf; - -#ifdef CONFIG_PMW3389_TRIGGER - - struct gpio_callback motswk_gpio_cb; - const struct device *dev; - - sensor_trigger_handler_t handler; - const struct sensor_trigger *trigger; - -#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) - K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PMW3389_THREAD_STACK_SIZE); - struct k_sem gpio_sem; - struct k_thread thread; -#elif defined(CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD) - struct k_work work; -#endif - -#endif /* CONFIG_PMW3389_TRIGGER */ -}; - -int pmw3389_spi_init(const struct device *dev); -#ifdef CONFIG_PMW3389_TRIGGER - -int pmw3389_trigger_set(const struct device *dev, const struct sensor_trigger *trig, - sensor_trigger_handler_t handler); - -int pmw3389_init_interrupt(const struct device *dev); -#endif - -#endif /* ZEPHYR_DRIVERS_SENSOR_PIXART_PMW3389_H_ */ \ No newline at end of file diff --git a/app/drivers/sensor/pmw3389/pmw3389_trigger.c b/app/drivers/sensor/pmw3389/pmw3389_trigger.c deleted file mode 100644 index d60051b9..00000000 --- a/app/drivers/sensor/pmw3389/pmw3389_trigger.c +++ /dev/null @@ -1,123 +0,0 @@ -/* - * Copyright (c) 2020 The ZMK Contributors - * - * SPDX-License-Identifier: MIT - */ - -#define DT_DRV_COMPAT pixart_pmw3389 - -#include -#include -#include -#include -#include - -#include "pmw3389.h" - -// extern struct pmw3389_data pmw3389_driver; - -#include -LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL); - -static inline void setup_int(const struct device *dev, bool enable) { - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; - - if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, - enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { - LOG_WRN("Unable to set MOTSWK GPIO interrupt"); - } -} - -static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb, - uint32_t pins) { - struct pmw3389_data *drv_data = CONTAINER_OF(cb, struct pmw3389_data, motswk_gpio_cb); - - LOG_DBG(""); - - setup_int(drv_data->dev, false); - -#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) - k_sem_give(&drv_data->gpio_sem); -#elif defined(CONFIG_PMW3389_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; - - LOG_DBG("%p", drv_data->handler); - drv_data->handler(dev, drv_data->trigger); - - // Enable once the wall/spam of interrupts is solved - setup_int(dev, true); -} - -#ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD -static void pmw3389_thread(int dev_ptr, int unused) { - const struct device *dev = INT_TO_POINTER(dev_ptr); - struct pmw3389_data *drv_data = dev->data; - - ARG_UNUSED(unused); - - while (1) { - k_sem_take(&drv_data->gpio_sem, K_FOREVER); - pmw3389_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); - - LOG_DBG(""); - - pmw3389_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; - - setup_int(dev, false); - - k_msleep(5); - - drv_data->trigger = trig; - drv_data->handler = handler; - - setup_int(dev, true); - - 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; - - drv_data->dev = dev; - /* setup gpio interrupt */ - - gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, - BIT(drv_cfg->motswk_spec.pin)); - - if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) { - LOG_DBG("Failed to set MOTSWK callback!"); - return -EIO; - } - -#if defined(CONFIG_PMW3389_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); -#endif - - return 0; -} \ No newline at end of file diff --git a/app/drivers/sensor/pmw33xx/.gitignore b/app/drivers/sensor/pmw33xx/.gitignore new file mode 100644 index 00000000..ee2a286b --- /dev/null +++ b/app/drivers/sensor/pmw33xx/.gitignore @@ -0,0 +1 @@ +pmw3389_srom.h diff --git a/app/drivers/sensor/pmw33xx/CMakeLists.txt b/app/drivers/sensor/pmw33xx/CMakeLists.txt new file mode 100644 index 00000000..a4c89fb2 --- /dev/null +++ b/app/drivers/sensor/pmw33xx/CMakeLists.txt @@ -0,0 +1,10 @@ +# Copyright (c) 2020 The ZMK Contributors +# SPDX-License-Identifier: MIT + +zephyr_include_directories(.) +zephyr_include_directories_ifdef(CONFIG_PMW33XX_3389 CONFIG_PMW33XX_3389_SROM_INCLUDE_DIR) + +zephyr_library() + +zephyr_library_sources(pmw33xx.c) +zephyr_library_sources_ifdef(CONFIG_PMW33XX_TRIGGER pmw33xx_trigger.c) diff --git a/app/drivers/sensor/pmw33xx/Kconfig b/app/drivers/sensor/pmw33xx/Kconfig new file mode 100644 index 00000000..845a0879 --- /dev/null +++ b/app/drivers/sensor/pmw33xx/Kconfig @@ -0,0 +1,67 @@ +config PMW33XX + bool "PMW33XX Mouse Sensor" + depends on SPI + help + Enable mouse sensor + + The PMW33XX is a 16-bit optical mouse sensor + +if PMW33XX +choice + prompt "Sensor" + default PMW33XX_3360 + + config PMW33XX_3360 + bool "Enable PMW3360" + + config PMW33XX_3389 + bool "Enable PMW3389" + help + PMW3389 requires an external srom included in `pmw3389_srom.h` which we cannot currently include in zmk +endchoice + +config PMW33XX_3389_SROM_INCLUDE_DIR + string "PMW3389 SROM Include Dir" + default "." + help + directory where the header with the pmw3389 srom file is located + +choice + prompt "Trigger mode" + default PMW33XX_TRIGGER_NONE + help + Specify the type of triggering to be used by the driver. + +config PMW33XX_TRIGGER_NONE + bool "No trigger" + +config PMW33XX_TRIGGER_GLOBAL_THREAD + bool "Use global thread" + depends on GPIO + select PMW33XX_TRIGGER + +config PMW33XX_TRIGGER_OWN_THREAD + bool "Use own thread" + depends on GPIO + select PMW33XX_TRIGGER + +endchoice + +config PMW33XX_TRIGGER + bool + +config PMW33XX_THREAD_PRIORITY + int "Thread priority" + depends on PMW33XX_TRIGGER_OWN_THREAD + default 10 + help + Priority of thread used by the driver to handle interrupts. + +config PMW33XX_THREAD_STACK_SIZE + int "Thread stack size" + depends on PMW33XX_TRIGGER_OWN_THREAD + default 1024 + help + Stack size of thread used by the driver to handle interrupts. + +endif # PMW33XX diff --git a/app/drivers/sensor/pmw33xx/pmw3360_srom.h b/app/drivers/sensor/pmw33xx/pmw3360_srom.h new file mode 100644 index 00000000..44a5b316 --- /dev/null +++ b/app/drivers/sensor/pmw33xx/pmw3360_srom.h @@ -0,0 +1,291 @@ +/* +This SROM is provided "AS IS" by PixArt Imaging Inc., WITHOUT WARRANTY +OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO +THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR +PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL PIXART +IMAGING INC. BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR +OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THIS +SROM OR THE USE OR OTHER DEALINGS IN THIS SROM. +*/ + +#ifndef ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_PMW3360_SROM_H_ +#define ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_PMW3360_SROM_H_ + +#include +static const uint8_t SROM[] = { + 0x01, 0x05, 0x8d, 0x92, 0x66, 0x67, 0x1e, 0xbe, 0xfe, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x4e, + 0xff, 0x5d, 0x38, 0xf2, 0x46, 0x0c, 0x98, 0x97, 0x8d, 0x79, 0x51, 0x20, 0xc2, 0x06, 0x8e, + 0x9e, 0xbe, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xd3, 0x24, 0xca, 0x16, 0x8f, 0x7d, 0x78, 0x53, + 0x05, 0x88, 0x73, 0x45, 0xe9, 0x55, 0x22, 0xa7, 0xae, 0xd8, 0x32, 0xe6, 0x2f, 0xbd, 0xf8, + 0x72, 0x47, 0x0c, 0x7b, 0x74, 0x6a, 0x56, 0x2e, 0xbf, 0xdd, 0x38, 0xd5, 0x20, 0xca, 0x16, + 0xae, 0xde, 0x1f, 0x9d, 0xb8, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xdc, + 0x3a, 0xd7, 0x2c, 0xbb, 0xd5, 0x09, 0x90, 0xa2, 0xa7, 0xcc, 0xfb, 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0x99, 0xaa, 0x74, 0x31, 0xbe, 0xdc, 0x28, 0xd4, 0x64, 0xfa, 0xd2, 0x8d, 0xdb, 0xa1, + 0x32, 0xaf, 0xdc, 0xb1, 0x71, 0xb3, 0x4d, 0x0a, 0x3a, 0x3a, 0x53, 0x11, 0x8c, 0x11, 0x8c, + 0xe7, 0xd5, 0xdb, 0xdd, 0x67, 0xb8, 0x1a, 0x39, 0x0e, 0xf6, 0x69, 0xd8, 0x1b, 0xcb, 0xe5, + 0xc5, 0xa6, 0x3d, 0x3b, 0xfe, 0xe1, 0x05, 0x48, 0x83, 0x67, 0x7f, 0xf1, 0x9c, 0x70, 0x7e, + 0x70, 0x5c, 0xc4, 0xd3, 0x78, 0x8b, 0x80, 0x87, 0xf5, 0x94, 0x2d, 0x0a, 0xbf, 0x82, 0x13, + 0xad, 0x36, 0x10, 0x0a, 0x60, 0xaa, 0xc4, 0xa3, 0xcd, 0xf1, 0xa9, 0xa1, 0x49, 0xf5, 0x41, + 0x14, 0xd6, 0xd1, 0xa7, 0xe0, 0x50, 0xce, 0xe2, 0x76, 0xbe, 0x09, 0xc4, 0x3a, 0x68, 0xc5, + 0x8a, 0x1f, 0x8e, 0xd0, 0x4d, 0x90, 0x92, 0xc8, 0x3b, 0x63, 0xae, 0xc2, 0xfe, 0x77, 0x8c, + 0x4b, 0xa6, 0x6c, 0x04, 0xff, 0x62, 0xe1, 0x32, 0x04, 0xb8, 0xfd, 0xb3, 0x34, 0x47, 0x85, + 0x32, 0x6b, 0x50, 0xce, 0xcf, 0x4f, 0x0f, 0x72, 0x41, 0x09, 0x7f, 0xde, 0x5c, 0xe7, 0x08, + 0xdf, 0x63, 0x09, 0x89, 0xd1, 0x23, 0xb6, 0xe3, 0xbc, 0xff, 0xe4, 0x88, 0x61, 0x67, 0x8e, + 0x4a, 0xb6, 0x86, 0x08, 0x33, 0xad, 0xac, 0x9f, 0xf3, 0x37, 0xbd, 0xcc, 0xd6, 0x0e, 0x3e, + 0x4e, 0x4f, 0xc9, 0xff, 0xc8, 0xf6, 0xd8, 0x2a, 0x43, 0x3d, 0x79, 0xf2, 0x5d, 0x87, 0x33, + 0x1d, 0xf4, 0xfd, 0x80, 0x2c, 0x4f, 0xc4, 0xa5, 0x3a, 0x2f, 0x51, 0xb1, 0x19, 0xf8, 0xed, + 0xe0, 0xc9, 0x6c, 0x82, 0x2d, 0x43, 0xdd, 0x71, 0x27, 0x32, 0x8b, 0x51, 0x3d, 0xbc, 0x83, + 0x6b, 0xa8, 0xda, 0x2b, 0xbb, 0xb0, 0xba, 0x5b, 0x30, 0x4f, 0x44, 0xad, 0x99, 0xb7, 0x47, + 0x35, 0x6f, 0x1f, 0xbe, 0x5f, 0x24, 0x4e, 0xba, 0x92, 0x89, 0xc8, 0xb6, 0x45, 0x12, 0x19, + 0xee, 0xe7, 0xd8, 0x74, 0xb3, 0x33, 0x41, 0x39, 0x26, 0x4c, 0xc3, 0xb0, 0x22, 0x1e, 0xee, + 0xd0, 0xfb, 0xc6, 0xa3, 0x7d, 0xaa, 0x7d, 0xa1, 0x51, 0x98, 0xe8, 0xcc, 0x58, 0x39, 0x22, + 0x1e, 0xe7, 0xf0, 0xb4, 0xd3, 0x7c, 0xa4, 0xa6, 0x10, 0xba, 0x2f, 0x41, 0xd6, 0x17, 0x95, + 0x76, 0xe1, 0xbb, 0xec, 0x43, 0x99, 0x87, 0xd4, 0x13, 0x9b, 0x85, 0x4f, 0x44, 0x32, 0x5a, + 0xe0, 0x9a, 0xee, 0x29, 0x15, 0x45, 0x05, 0xf7, 0xe4, 0xc9, 0x4d, 0x6b, 0x45, 0xad, 0x1f, + 0x13, 0x06, 0x29, 0xb4, 0x2b, 0x74, 0x83, 0xe1, 0xdb, 0x3d, 0x99, 0x28, 0xbd, 0x4f, 0xfb, + 0x0d, 0x03, 0x4d, 0x79, 0x09, 0x7f, 0x12, 0x91, 0xe9, 0x69, 0x40, 0x84, 0xc7, 0x10, 0xd5, + 0xce, 0xae, 0xbb, 0xa5, 0xb2, 0x35, 0xdb, 0x24, 0xa4, 0x0e, 0xe4, 0x6f, 0x80, 0xb4, 0xb6, + 0x94, 0xf7, 0x51, 0x5b, 0x0c, 0x5b, 0xae, 0x3f, 0xa5, 0x17, 0xe0, 0x9c, 0xd1, 0x05, 0x31, + 0x05, 0xc4, 0x14, 0xdd, 0xde, 0x6f, 0x39, 0xa1, 0x9a, 0x46, 0x3d, 0x68, 0x3c, 0xfe, 0x04, + 0x8e, 0xc2, 0x11, 0x9d, 0xc2, 0x3a, 0xaa, 0xcf, 0x22, 0x26, 0x54, 0xcb, 0x8d, 0x47, 0x61, + 0x9e, 0xf4, 0x2e, 0xe7, 0x3c, 0xe6, 0xf0, 0xd6, 0x1a, 0xe5, 0x18, 0xbd, 0x9f, 0xa4, 0x3e, + 0x47, 0xdb, 0x85, 0xe0, 0x8c, 0xbf, 0xdd, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0x0a, 0x96, + 0xae, 0xde, 0x1f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60, 0x23, 0xc4, 0x0a, 0x96, 0xae, 0xbf, + 0xfc, 0x7a, 0x76, 0x4f, 0x1c, 0x9b, 0xb4, 0xcb, 0x14, 0x8b, 0x94, 0x8b, 0x94, 0xaa, 0xd6, + 0x0f, 0x7d, 0x78, 0x72, 0x47, 0x0c, 0x9a, 0x97, 0xac, 0xbb, 0xf4, 0x6a, 0x56, 0x0f, 0x7d, + 0x59, 0x30, 0xc3, 0x04, 0x6b, 0x54, 0x0b, 0x75, 0x49, 0x10, 0xa2, 0xa7, 0xad, 0xd8, 0x13, + 0x85, 0x88, 0x73, 0x45, 0xe9, 0x31, 0xc1, 0x00, 0x82, 0x67, 0x4c, 0xfb, 0x74, 0x6a, 0x56, + 0x2e, 0xbf, 0xdd, 0x19, 0x91, 0x81, 0x80, 0x82, 0x86, 0x6f, 0x5c, 0x3a, 0xf6, 0x4f, 0x1c, + 0xba, 0xf6, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xa1, 0xc0, 0x02, 0x86, 0x6f, 0x3d, + 0xf8, 0x53, 0x24, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xcf, 0xfd, 0x59, 0x11, 0xa0, 0xa3, 0xc4, + 0x0a, 0x96, 0x8f, 0x9c, 0xba, 0xd7, 0x0d, 0x98, 0xb2, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0xed, + 0x39, 0xf0, 0x43, 0x04, 0x6b, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xee, 0x3f, 0xfc, 0x7a, + 0x76, 0x6e, 0x5e, 0x1f, 0x9d, 0x99, 0x91, 0x81, 0x80, 0x82, 0x86, 0x6f, 0x5c, 0x1b, 0x95, + 0x89, 0x90, 0xa2, 0xa7, 0xcc, 0x1a, 0x97, 0xac, 0xbb, 0xf4, 0x6a, 0x37, 0xec, 0x3b, 0xf4, + 0x6a, 0x37, 0xec, 0x3b, 0xf4, 0x4b, 0xf5, 0x49, 0xf1, 0x60, 0x23, 0xa5, 0xa9, 0xb1, 0xc1, + 0xe1, 0x21, 0xa1, 0xa1, 0xc0, 0xe3, 0x25, 0xa9, 0xb1, 0xe0, 0x42, 0xe7, 0x4c, 0xfb, 0x74, + 0x6a, 0x37, 0xec, 0x5a, 0x17, 0xac, 0xbb, 0xd5, 0x28, 0xd2, 0x07, 0x6d, 0x58, 0x13, 0x85, + 0x69, 0x31, 0xe0, 0x42, 0xe7, 0x4c, 0xfb, 0x55, 0x28, 0xd2, 0x07, 0x8c, 0x7b, 0x74, 0x4b, + 0x14, 0xaa, 0xd6, 0x2e, 0xde, 0x3e, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xf2, 0x47, 0x0c, 0x7b, + 0x55, 0x09, 0x90, 0x83, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x39, 0xf0, 0x62, 0x46, 0x0e, 0x9e, + 0x9f, 0xbc, 0xfa, 0x57, 0x2c, 0xbb, 0xd5, 0x09, 0x71, 0x60, 0x5b, 0x08, 0xf7, 0x2b, +}; +#endif diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.c b/app/drivers/sensor/pmw33xx/pmw33xx.c new file mode 100644 index 00000000..1d07d2ef --- /dev/null +++ b/app/drivers/sensor/pmw33xx/pmw33xx.c @@ -0,0 +1,396 @@ + + +#define DT_DRV_COMPAT pixart_pmw33xx + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#ifdef CONFIG_PMW33XX_3389 +#include +#elif CONFIG_PMW33XX_3360 +#include +#endif + +#include "pmw33xx.h" + +LOG_MODULE_REGISTER(PMW33XX, CONFIG_SENSOR_LOG_LEVEL); +#define PMW33XX_PID COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_PID), (PMW33XX_3360_PID)) + +struct pmw33xx_motion_burst { + uint8_t motion; + uint8_t observation; + int16_t dx; + int16_t dy; +} __attribute__((packed)); + +static inline int pmw33xx_cs_select(const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg, + const uint8_t value) +{ + return gpio_pin_set(cs_gpio_cfg->port, cs_gpio_cfg->pin, value); +} + +static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *value) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + + uint8_t access[1] = { reg }; + struct spi_buf_set tx = { + .buffers = { &(struct spi_buf){ + .buf = access, + .len = 1, + } }, + .count = 1, + }; + uint8_t result[1] = { *value }; + struct spi_buf_set rx = { + .buffers = { &(struct spi_buf){ + .buf = result, + .len = 1, + } }, + .count = 1, + }; + + pmw33xx_cs_select(cs_gpio_cfg, 0); + + int err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(120)); //Tsrad + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + + if ((reg & PMW33XX_WR_MASK)) + err = spi_write(data->bus, spi_cfg, &rx); + else + err = spi_read(data->bus, spi_cfg, &rx); + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_USEC(160)); + if ((reg & PMW33XX_WR_MASK) == 0) + *value = result[0]; + return err; +} +static int pmw33xx_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) +{ + return pmw33xx_access(dev, reg & PMW33XX_RD_MASK, value); +} +static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) +{ + uint8_t v = value; + return pmw33xx_access(dev, reg | PMW33XX_WR_MASK, &v); +} +static int pmw33xx_write_srom(const struct device *dev) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + uint8_t access[1] = { PMW33XX_REG_SROM_BURST | PMW33XX_WR_MASK }; + struct spi_buf_set tx = { + .buffers = { &(struct spi_buf){ + .buf = access, + .len = 1, + } }, + .count = 1, + }; + + pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_CMD); + k_sleep(K_USEC(15)); + pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_START_CMD); + + pmw33xx_cs_select(cs_gpio_cfg, 0); + + int err = spi_write(data->bus, spi_cfg, &tx); + + k_sleep(K_USEC(15)); + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + + for (uint16_t i = 0; i < sizeof(SROM); i++) { + access[0] = SROM[i]; + err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(15)); + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + } + + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_MSEC(2)); //Tbexit + return err; +} + +static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_motion_burst *burst) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + + uint8_t access[1] = { PMW33XX_REG_BURST }; + struct spi_buf_set tx = { + .buffers = { &(struct spi_buf){ + .buf = access, + .len = 1, + } }, + .count = 1, + }; + struct spi_buf_set rx = { + .buffers = { &(struct spi_buf){ + .buf = (uint8_t *)burst, + .len = sizeof(struct pmw33xx_motion_burst), + } }, + .count = 1, + }; + + pmw33xx_cs_select(cs_gpio_cfg, 0); + + int err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(35)); // tsrad motbr + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + err = spi_read(data->bus, spi_cfg, &rx); + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; +} + +// converts twos complement data to an int16 +static int16_t pmw33xx_raw_to_int16(const uint8_t src[2]) +{ + int16_t res = sys_get_be16(src); + if (res > BIT_MASK(15)) + res -= BIT(16); + return res; +} + +static int pmw33xx_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, + int16_t *value) +{ + uint8_t raw[2] = { 0x0, 0x0 }; + int err; + err = pmw33xx_read_reg(dev, reg_high, &raw[0]); + if (err) { + LOG_ERR("could not read high byte at %x", reg_high); + return err; + } + k_sleep(K_USEC(100)); + err = pmw33xx_read_reg(dev, reg_low, &raw[1]); + if (err) { + LOG_ERR("could not read low byte at %x", reg_low); + return err; + } + k_sleep(K_USEC(100)); + *value = pmw33xx_raw_to_int16(raw); + return 0; +} + +int pmw33xx_spi_init(const struct device *dev) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct pmw33xx_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + + int err; + err = gpio_pin_configure(cs_gpio_cfg->port, cs_gpio_cfg->pin, GPIO_OUTPUT_ACTIVE); + if (err) { + LOG_ERR("could configure cs pin %d", err); + return -EIO; + } + return 0; +} + +static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel chan) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + struct pmw33xx_motion_burst burst; + + if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY) + return -ENOTSUP; + + int err = pmw33xx_read_motion_burst(dev, &burst); + if (err) { + return err; + } + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) + data->dx = burst.dx; + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) + data->dy = burst.dy; + return 0; +} + +static int pmw33xx_channel_get(const struct device *dev, enum sensor_channel chan, + struct sensor_value *val) +{ + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + + switch (chan) { + case SENSOR_CHAN_POS_DX: + val->val1 = data->dx; + data->dx = 0; + break; + case SENSOR_CHAN_POS_DY: + val->val1 = data->dy; + data->dy = 0; + break; + default: + return -ENOTSUP; + } + + return 0; +} + +static const struct sensor_driver_api pmw33xx_driver_api = { +#ifdef CONFIG_PMW33XX_TRIGGER + .trigger_set = pmw33xx_trigger_set, +#endif + // .attr_set = pmw33xx_attr_set, + .sample_fetch = pmw33xx_sample_fetch, + .channel_get = pmw33xx_channel_get, +}; + +static int pmw33xx_init_chip(const struct device *dev) +{ + struct pmw33xx_data *data = dev->data; + return 0; +} + +static int pmw33xx_init(const struct device *dev) +{ + const struct pmw33xx_config *const config = dev->config; + struct pmw33xx_data *data = dev->data; + + data->bus = device_get_binding(config->bus_name); + if (!data->bus) { + LOG_DBG("master not found: %s", log_strdup(config->bus_name)); + return -EINVAL; + } + + config->bus_init(dev); + + if (pmw33xx_init_chip(dev) < 0) { + LOG_DBG("failed to initialize chip"); + return -EIO; + } + + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &config->bus_cfg.spi_cfg->cs_spec; + +#ifdef CONFIG_PMW33XX_TRIGGER + if (pmw33xx_init_interrupt(dev) < 0) { + LOG_DBG("Failed to initialize interrupt!"); + return -EIO; + } +#endif + + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_MSEC(1)); + + int err = pmw33xx_write_reg(dev, PMW33XX_REG_PWR_UP_RST, PMW33XX_RESET_CMD); + if (err) { + LOG_ERR("could not reset %d", err); + return -EIO; + } + uint8_t pid = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_PID, &pid); + if (err) { + LOG_ERR("could not reset %d", err); + return -EIO; + } + if (pid != PMW33XX_PID) { + LOG_ERR("pid does not match expected: got (%x), expected(%x)", pid, PMW33XX_PID); + return -EIO; + } + pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable + + err = pmw33xx_write_srom(dev); + if (err) { + LOG_ERR("could not upload srom %d", err); + return -EIO; + } + uint8_t srom_run = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_OBSERVATION, &srom_run); + if (err) { + LOG_ERR("could not check srom status %d", err); + return -EIO; + } + if (!(srom_run & PMW33XX_SROM_RUN)) { + LOG_ERR("srom status invalid %d", srom_run); + return -EIO; + } + + uint8_t srom_id = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_SROM_ID, &srom_id); + if (err) { + LOG_ERR("could not check srom id %d", err); + return -EIO; + } + if (!srom_id) { + LOG_ERR("srom id invalid %d", srom_id); + return -EIO; + } + + pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable + pmw33xx_write_reg(dev, PMW33XX_REG_BURST, 0x01); // clear rest enable + struct pmw33xx_motion_burst val; + pmw33xx_read_motion_burst(dev, &val); // read and throwout initial motion data + + return 0; +} + +#define PMW33XX_DATA_SPI(n) \ + { \ + .cs_ctrl = {}, \ + } + +#define PMW33XX_SPI_CFG(n) \ + (&(struct pmw33xx_spi_cfg){ \ + .spi_conf = \ + { \ + .frequency = DT_INST_PROP(n, spi_max_frequency), \ + .operation = \ + (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ + .slave = DT_INST_REG_ADDR(n), \ + }, \ + .cs_spec = PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), cs_gpios, 0), \ + }) + +#define PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ + { \ + .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ + .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ + .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ + } + +#define PMW33XX_CONFIG_SPI(n) \ + { \ + .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw33xx_spi_init, \ + .bus_cfg = { .spi_cfg = PMW33XX_SPI_CFG(n) }, \ + COND_CODE_1(CONFIG_MA730_TRIGGER, \ + (, PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), \ + ()) \ + } + +#define PMW33XX_INST(n) \ + static struct pmw33xx_data pmw33xx_data_##n = PMW33XX_DATA_SPI(n); \ + static const struct pmw33xx_config pmw33xx_cfg_##n = PMW33XX_CONFIG_SPI(n); \ + DEVICE_DT_INST_DEFINE(n, pmw33xx_init, device_pm_control_nop, &pmw33xx_data_##n, \ + &pmw33xx_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ + &pmw33xx_driver_api); + +DT_INST_FOREACH_STATUS_OKAY(PMW33XX_INST) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.h b/app/drivers/sensor/pmw33xx/pmw33xx.h new file mode 100644 index 00000000..31b28944 --- /dev/null +++ b/app/drivers/sensor/pmw33xx/pmw33xx.h @@ -0,0 +1,136 @@ +#ifndef ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ +#define ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ + +#include +#include +#include +#include +#include + +#define PMW33XX_WR_MASK 0x80 +#define PMW33XX_RD_MASK 0x7F + +#define PMW33XX_3389_PID 0x47 +#define PMW33XX_3360_PID 0x45 +#define PMW33XX_REV 0x01 + +/* General Registers */ +#define PMW33XX_REG_PID 0x00 +#define PMW33XX_REG_REV_ID 0x01 +#define PMW33XX_REG_PWR_UP_RST 0x3A + +/* Motion Registers */ +#define PMW33XX_REG_MOTION 0x02 +#define PMW33XX_REG_DX_L 0x03 +#define PMW33XX_REG_DX_H 0x04 +#define PMW33XX_REG_DY_L 0x05 +#define PMW33XX_REG_DY_H 0x06 +#define PMW33XX_REG_BURST 0x50 + +/* Motion bits */ +#define PMW33XX_MOTION (1 << 8) +#define PMW33XX_OPMODE_RUN (0) +#define PMW33XX_OPMODE_REST1 (0b01 << 1) +#define PMW33XX_OPMODE_REST2 (0b10 << 1) +#define PMW33XX_OPMODE_REST3 (0b11 << 1) + +/* SROM Registers */ +#define PMW33XX_REG_SROM_EN 0x13 +#define PMW33XX_REG_SROM_ID 0x2A +#define PMW33XX_REG_SROM_BURST 0x62 + +/* SROM CMDs */ +#define PMW33XX_SROM_CRC_CMD 0x15 +#define PMW33XX_SROM_DWNLD_CMD 0x1D +#define PMW33XX_SROM_DWNLD_START_CMD 0x18 + +/* CPI Registers */ +#define PMW33XX_3360_REG_CPI 0x0F +#define PMW33XX_3389_REG_CPI_L 0x0E +#define PMW33XX_3389_REG_CPI_H 0x0F + +/* Config Registers */ +#define PMW33XX_REG_CONFIG2 0x10 +#define PMW33XX_REG_OBSERVATION 0x24 +#define PMW33XX_REG_DOUT_L 0x25 +#define PMW33XX_REG_DOUT_H 0x26 + +/* Config2 Bits */ +#define PMW33XX_RESTEN 0x20 +#define PMW33XX_RPT_MOD 0x04 + +/* Observation Bits */ +#define PMW33XX_SROM_RUN 0x40 + +/* power up reset cmd */ +#define PMW33XX_RESET_CMD 0x5A + +struct pmw33xx_gpio_dt_spec { + const struct device *port; + gpio_pin_t pin; + gpio_dt_flags_t dt_flags; +}; + +struct pmw33xx_spi_cfg { + struct spi_config spi_conf; + struct pmw33xx_gpio_dt_spec cs_spec; +}; + +union pmw33xx_bus_cfg { + struct pmw33xx_spi_cfg *spi_cfg; +}; + +struct pmw33xx_config { + char *bus_name; + int (*bus_init)(const struct device *dev); + const union pmw33xx_bus_cfg bus_cfg; + int resolution; +#if CONFIG_PMW33XX_TRIGGER + struct pmw33xx_gpio_dt_spec motswk_spec; +#endif // CONFIG_PMW33XX_TRIGGER +}; + +struct pmw33xx_data; + +struct pmw33xx_transfer_function { + int (*read_data)(const struct device *dev, uint16_t *value); +}; + +struct pmw33xx_data { + const struct device *bus; + struct spi_cs_control cs_ctrl; + + int16_t dx; + int16_t dy; + + const struct pmw33xx_transfer_function *hw_tf; + +#ifdef CONFIG_PMW33XX_TRIGGER + + struct gpio_callback motswk_gpio_cb; + const struct device *dev; + + sensor_trigger_handler_t handler; + const struct sensor_trigger *trigger; + +#if defined(CONFIG_PMW33XX_TRIGGER_OWN_THREAD) + K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PMW33XX_THREAD_STACK_SIZE); + struct k_sem gpio_sem; + struct k_thread thread; +#elif defined(CONFIG_PMW33XX_TRIGGER_GLOBAL_THREAD) + struct k_work work; +#endif + +#endif /* CONFIG_PMW33XX_TRIGGER */ +}; + +int pmw33xx_spi_init(const struct device *dev); +#ifdef CONFIG_PMW33XX_TRIGGER + +int pmw33xx_trigger_set(const struct device *dev, const struct sensor_trigger *trig, + sensor_trigger_handler_t handler); + +int pmw33xx_init_interrupt(const struct device *dev); +#endif + +#endif /* ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ */ diff --git a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c new file mode 100644 index 00000000..9451a330 --- /dev/null +++ b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c @@ -0,0 +1,130 @@ +/* + * Copyright (c) 2020 The ZMK Contributors + * + * SPDX-License-Identifier: MIT + */ + +#define DT_DRV_COMPAT pixart_pmw3389 + +#include +#include +#include +#include +#include + +#include "pmw3389.h" + +// extern struct pmw3389_data pmw3389_driver; + +#include +LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL); + +static inline void setup_int(const struct device *dev, bool enable) +{ + struct pmw3389_data *data = dev->data; + const struct pmw3389_config *cfg = dev->config; + + if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, + enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { + LOG_WRN("Unable to set MOTSWK GPIO interrupt"); + } +} + +static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb, + uint32_t pins) +{ + struct pmw3389_data *drv_data = CONTAINER_OF(cb, struct pmw3389_data, motswk_gpio_cb); + + LOG_DBG(""); + + setup_int(drv_data->dev, false); + +#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) + k_sem_give(&drv_data->gpio_sem); +#elif defined(CONFIG_PMW3389_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; + + LOG_DBG("%p", drv_data->handler); + drv_data->handler(dev, drv_data->trigger); + + // Enable once the wall/spam of interrupts is solved + setup_int(dev, true); +} + +#ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD +static void pmw3389_thread(int dev_ptr, int unused) +{ + const struct device *dev = INT_TO_POINTER(dev_ptr); + struct pmw3389_data *drv_data = dev->data; + + ARG_UNUSED(unused); + + while (1) { + k_sem_take(&drv_data->gpio_sem, K_FOREVER); + pmw3389_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); + + LOG_DBG(""); + + pmw3389_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; + + setup_int(dev, false); + + k_msleep(5); + + drv_data->trigger = trig; + drv_data->handler = handler; + + setup_int(dev, true); + + 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; + + drv_data->dev = dev; + /* setup gpio interrupt */ + + gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, + BIT(drv_cfg->motswk_spec.pin)); + + if (gpio_add_callback(drv_cfg->motswk_spec.port, &drv_data->motswk_gpio_cb) < 0) { + LOG_DBG("Failed to set MOTSWK callback!"); + return -EIO; + } + +#if defined(CONFIG_PMW3389_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); +#endif + + return 0; +} diff --git a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml similarity index 50% rename from app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml rename to app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml index 1b9fc50e..91f48a00 100644 --- a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw3389.yaml +++ b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml @@ -1,6 +1,6 @@ description: | - Sensor driver for the pixart PMW3389 optical mouse sensor -compatible: "pixart,pmw3389" + Sensor driver for the pixart PMW33XX optical mouse sensor supports 3360 built in, and 3389 with external srom +compatible: "pixart,pmw33xx" include: spi-device.yaml @@ -8,15 +8,15 @@ properties: label: type: string required: true + cs-gpios: + type: phandle-array + required: true + description: chip select pin for the sensor motswk-gpios: type: phandle-array required: false description: interrupt pin for motion - reset-gpios: - type: phandle-array - required: false - description: A pin for the encoder - resolution: + cpi: type: int - description: mouse resolution - required: false \ No newline at end of file + description: mouse cpi + required: false From ab7673f26817e7eec0978632f39cb19bc36beaba Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Sun, 17 Apr 2022 10:17:48 -0400 Subject: [PATCH 4/8] warning cleanup, and ability to set cpi via the device tree --- app/drivers/sensor/pmw33xx/pmw33xx.c | 582 +++++++++---------- app/drivers/sensor/pmw33xx/pmw33xx.h | 7 +- app/drivers/sensor/pmw33xx/pmw33xx_trigger.c | 144 +++-- 3 files changed, 356 insertions(+), 377 deletions(-) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.c b/app/drivers/sensor/pmw33xx/pmw33xx.c index 1d07d2ef..af016781 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx.c @@ -1,5 +1,3 @@ - - #define DT_DRV_COMPAT pixart_pmw33xx #include @@ -22,344 +20,326 @@ LOG_MODULE_REGISTER(PMW33XX, CONFIG_SENSOR_LOG_LEVEL); #define PMW33XX_PID COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_PID), (PMW33XX_3360_PID)) +#define PMW33XX_CPI_MAX \ + COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_CPI_MAX), (PMW33XX_3360_CPI_MAX)) +#define PMW33XX_CPI_MIN \ + COND_CODE_1(CONFIG_PMW33XX_3389, (PMW33XX_3389_CPI_MIN), (PMW33XX_3360_CPI_MIN)) struct pmw33xx_motion_burst { - uint8_t motion; - uint8_t observation; - int16_t dx; - int16_t dy; + uint8_t motion; + uint8_t observation; + int16_t dx; + int16_t dy; } __attribute__((packed)); static inline int pmw33xx_cs_select(const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg, - const uint8_t value) -{ - return gpio_pin_set(cs_gpio_cfg->port, cs_gpio_cfg->pin, value); + const uint8_t value) { + return gpio_pin_set(cs_gpio_cfg->port, cs_gpio_cfg->pin, value); } -static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *value) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; - const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; - const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; +static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t *value) { + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; - uint8_t access[1] = { reg }; - struct spi_buf_set tx = { - .buffers = { &(struct spi_buf){ - .buf = access, - .len = 1, - } }, - .count = 1, - }; - uint8_t result[1] = { *value }; - struct spi_buf_set rx = { - .buffers = { &(struct spi_buf){ - .buf = result, - .len = 1, - } }, - .count = 1, - }; + uint8_t access[1] = {reg}; + struct spi_buf_set tx = { + .buffers = + &(struct spi_buf){ + .buf = access, + .len = 1, + }, + .count = 1, + }; + uint8_t result[1] = {*value}; + struct spi_buf_set rx = { + .buffers = + &(struct spi_buf){ + .buf = result, + .len = 1, + }, + .count = 1, + }; - pmw33xx_cs_select(cs_gpio_cfg, 0); + pmw33xx_cs_select(cs_gpio_cfg, 0); - int err = spi_write(data->bus, spi_cfg, &tx); - k_sleep(K_USEC(120)); //Tsrad - if (err) { - pmw33xx_cs_select(cs_gpio_cfg, 1); - return err; - } + int err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(120)); // Tsrad + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } - if ((reg & PMW33XX_WR_MASK)) - err = spi_write(data->bus, spi_cfg, &rx); - else - err = spi_read(data->bus, spi_cfg, &rx); - pmw33xx_cs_select(cs_gpio_cfg, 1); - k_sleep(K_USEC(160)); - if ((reg & PMW33XX_WR_MASK) == 0) - *value = result[0]; - return err; + if ((reg & PMW33XX_WR_MASK)) + err = spi_write(data->bus, spi_cfg, &rx); + else + err = spi_read(data->bus, spi_cfg, &rx); + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_USEC(160)); + if ((reg & PMW33XX_WR_MASK) == 0) + *value = result[0]; + return err; } -static int pmw33xx_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) -{ - return pmw33xx_access(dev, reg & PMW33XX_RD_MASK, value); +static int pmw33xx_read_reg(const struct device *dev, const uint8_t reg, uint8_t *value) { + return pmw33xx_access(dev, reg & PMW33XX_RD_MASK, value); } -static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) -{ - uint8_t v = value; - return pmw33xx_access(dev, reg | PMW33XX_WR_MASK, &v); +static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t value) { + uint8_t v = value; + return pmw33xx_access(dev, reg | PMW33XX_WR_MASK, &v); } -static int pmw33xx_write_srom(const struct device *dev) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; - const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; - const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; - uint8_t access[1] = { PMW33XX_REG_SROM_BURST | PMW33XX_WR_MASK }; - struct spi_buf_set tx = { - .buffers = { &(struct spi_buf){ - .buf = access, - .len = 1, - } }, - .count = 1, - }; +static int pmw33xx_write_srom(const struct device *dev) { + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + uint8_t access[1] = {PMW33XX_REG_SROM_BURST | PMW33XX_WR_MASK}; + struct spi_buf_set tx = { + .buffers = + &(struct spi_buf){ + .buf = access, + .len = 1, + }, + .count = 1, + }; - pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_CMD); - k_sleep(K_USEC(15)); - pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_START_CMD); + pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_CMD); + k_sleep(K_USEC(15)); + pmw33xx_write_reg(dev, PMW33XX_REG_SROM_EN, PMW33XX_SROM_DWNLD_START_CMD); - pmw33xx_cs_select(cs_gpio_cfg, 0); + pmw33xx_cs_select(cs_gpio_cfg, 0); - int err = spi_write(data->bus, spi_cfg, &tx); + int err = spi_write(data->bus, spi_cfg, &tx); - k_sleep(K_USEC(15)); - if (err) { - pmw33xx_cs_select(cs_gpio_cfg, 1); - return err; - } + k_sleep(K_USEC(15)); + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } - for (uint16_t i = 0; i < sizeof(SROM); i++) { - access[0] = SROM[i]; - err = spi_write(data->bus, spi_cfg, &tx); - k_sleep(K_USEC(15)); - if (err) { - pmw33xx_cs_select(cs_gpio_cfg, 1); - return err; - } - } + for (uint16_t i = 0; i < sizeof(SROM); i++) { + access[0] = SROM[i]; + err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(15)); + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + } - pmw33xx_cs_select(cs_gpio_cfg, 1); - k_sleep(K_MSEC(2)); //Tbexit - return err; + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_MSEC(2)); // Tbexit + return err; } -static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_motion_burst *burst) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; - const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; - const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; +static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_motion_burst *burst) { + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; + const struct spi_config *spi_cfg = &cfg->bus_cfg.spi_cfg->spi_conf; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; - uint8_t access[1] = { PMW33XX_REG_BURST }; - struct spi_buf_set tx = { - .buffers = { &(struct spi_buf){ - .buf = access, - .len = 1, - } }, - .count = 1, - }; - struct spi_buf_set rx = { - .buffers = { &(struct spi_buf){ - .buf = (uint8_t *)burst, - .len = sizeof(struct pmw33xx_motion_burst), - } }, - .count = 1, - }; + uint8_t access[1] = {PMW33XX_REG_BURST}; + struct spi_buf_set tx = { + .buffers = + &(struct spi_buf){ + .buf = access, + .len = 1, + }, + .count = 1, + }; + struct spi_buf_set rx = { + .buffers = + &(struct spi_buf){ + .buf = (uint8_t *)burst, + .len = sizeof(struct pmw33xx_motion_burst), + }, + .count = 1, + }; - pmw33xx_cs_select(cs_gpio_cfg, 0); + pmw33xx_cs_select(cs_gpio_cfg, 0); - int err = spi_write(data->bus, spi_cfg, &tx); - k_sleep(K_USEC(35)); // tsrad motbr - if (err) { - pmw33xx_cs_select(cs_gpio_cfg, 1); - return err; - } - err = spi_read(data->bus, spi_cfg, &rx); - pmw33xx_cs_select(cs_gpio_cfg, 1); - return err; + int err = spi_write(data->bus, spi_cfg, &tx); + k_sleep(K_USEC(35)); // tsrad motbr + if (err) { + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; + } + err = spi_read(data->bus, spi_cfg, &rx); + pmw33xx_cs_select(cs_gpio_cfg, 1); + return err; } -// converts twos complement data to an int16 -static int16_t pmw33xx_raw_to_int16(const uint8_t src[2]) -{ - int16_t res = sys_get_be16(src); - if (res > BIT_MASK(15)) - res -= BIT(16); - return res; +int pmw33xx_spi_init(const struct device *dev) { + const struct pmw33xx_config *cfg = dev->config; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + + int err; + err = gpio_pin_configure(cs_gpio_cfg->port, cs_gpio_cfg->pin, GPIO_OUTPUT_ACTIVE); + if (err) { + LOG_ERR("could configure cs pin %d", err); + return -EIO; + } + return 0; } -static int pmw33xx_read_raw(const struct device *dev, const uint8_t reg_high, const uint8_t reg_low, - int16_t *value) -{ - uint8_t raw[2] = { 0x0, 0x0 }; - int err; - err = pmw33xx_read_reg(dev, reg_high, &raw[0]); - if (err) { - LOG_ERR("could not read high byte at %x", reg_high); - return err; - } - k_sleep(K_USEC(100)); - err = pmw33xx_read_reg(dev, reg_low, &raw[1]); - if (err) { - LOG_ERR("could not read low byte at %x", reg_low); - return err; - } - k_sleep(K_USEC(100)); - *value = pmw33xx_raw_to_int16(raw); - return 0; -} +static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel chan) { + struct pmw33xx_data *data = dev->data; + struct pmw33xx_motion_burst burst; -int pmw33xx_spi_init(const struct device *dev) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; - const struct pmw33xx_spi_cfg *spi_cfg = cfg->bus_cfg.spi_cfg; - const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; + if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY) + return -ENOTSUP; - int err; - err = gpio_pin_configure(cs_gpio_cfg->port, cs_gpio_cfg->pin, GPIO_OUTPUT_ACTIVE); - if (err) { - LOG_ERR("could configure cs pin %d", err); - return -EIO; - } - return 0; -} - -static int pmw33xx_sample_fetch(const struct device *dev, enum sensor_channel chan) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; - struct pmw33xx_motion_burst burst; - - if (chan != SENSOR_CHAN_ALL && chan != SENSOR_CHAN_POS_DX && chan != SENSOR_CHAN_POS_DY) - return -ENOTSUP; - - int err = pmw33xx_read_motion_burst(dev, &burst); - if (err) { - return err; - } - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) - data->dx = burst.dx; - if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) - data->dy = burst.dy; - return 0; + int err = pmw33xx_read_motion_burst(dev, &burst); + if (err) { + return err; + } + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DX) + data->dx += burst.dx; + if (chan == SENSOR_CHAN_ALL || chan == SENSOR_CHAN_POS_DY) + data->dy += burst.dy; + return 0; } static int pmw33xx_channel_get(const struct device *dev, enum sensor_channel chan, - struct sensor_value *val) -{ - struct pmw33xx_data *data = dev->data; - const struct pmw33xx_config *cfg = dev->config; + struct sensor_value *val) { + struct pmw33xx_data *data = dev->data; - switch (chan) { - case SENSOR_CHAN_POS_DX: - val->val1 = data->dx; - data->dx = 0; - break; - case SENSOR_CHAN_POS_DY: - val->val1 = data->dy; - data->dy = 0; - break; - default: - return -ENOTSUP; - } + switch (chan) { + case SENSOR_CHAN_POS_DX: + val->val1 = data->dx; + data->dx = 0; + break; + case SENSOR_CHAN_POS_DY: + val->val1 = data->dy; + data->dy = 0; + break; + default: + return -ENOTSUP; + } - return 0; + return 0; } static const struct sensor_driver_api pmw33xx_driver_api = { #ifdef CONFIG_PMW33XX_TRIGGER - .trigger_set = pmw33xx_trigger_set, + .trigger_set = pmw33xx_trigger_set, #endif - // .attr_set = pmw33xx_attr_set, - .sample_fetch = pmw33xx_sample_fetch, - .channel_get = pmw33xx_channel_get, + // eventually implement this to allow setting cpi from the driver api maybe + // .attr_set = pmw33xx_attr_set, + .sample_fetch = pmw33xx_sample_fetch, + .channel_get = pmw33xx_channel_get, }; -static int pmw33xx_init_chip(const struct device *dev) -{ - struct pmw33xx_data *data = dev->data; - return 0; +static int pmw33xx_set_cpi(const struct device *dev, uint16_t cpi) { +#ifdef CONFIG_PMW33XX_3360 + if (cpi > PMW33XX_CPI_MIN && cpi < PMW33XX_CPI_MAX) + return pmw33xx_write_reg(dev, PMW33XX_3360_REG_CPI, + ((cpi / 100) - 1)); /* 100-12000, 100 cpi LSb */ +#elif CONFIG_PMW33XX_3389 + if (cpi > PMW33XX_CPI_MIN && cpi < PMW33XX_CPI_MAX) { + cpi /= 50; + int err = + pmw33xx_write_reg(dev, PMW33XX_3389_REG_CPI_L, cpi & 0xFF); /* 50-16000, 50 cpi LSb */ + if (err) { + return err; + } + return pmw33xx_write_reg(dev, PMW33XX_3389_REG_CPI_H, cpi >> 8); /* 50-16000, 50 cpi LSb */ + } +#endif + return -ENOTSUP; +} +static int pmw33xx_init_chip(const struct device *dev) { + const struct pmw33xx_config *const config = dev->config; + const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &config->bus_cfg.spi_cfg->cs_spec; + pmw33xx_cs_select(cs_gpio_cfg, 1); + k_sleep(K_MSEC(1)); + + int err = pmw33xx_write_reg(dev, PMW33XX_REG_PWR_UP_RST, PMW33XX_RESET_CMD); + if (err) { + LOG_ERR("could not reset %d", err); + return -EIO; + } + uint8_t pid = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_PID, &pid); + if (err) { + LOG_ERR("could not reset %d", err); + return -EIO; + } + if (pid != PMW33XX_PID) { + LOG_ERR("pid does not match expected: got (%x), expected(%x)", pid, PMW33XX_PID); + return -EIO; + } + pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable + + err = pmw33xx_write_srom(dev); + if (err) { + LOG_ERR("could not upload srom %d", err); + return -EIO; + } + uint8_t srom_run = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_OBSERVATION, &srom_run); + if (err) { + LOG_ERR("could not check srom status %d", err); + return -EIO; + } + if (!(srom_run & PMW33XX_SROM_RUN)) { + LOG_ERR("srom status invalid %d", srom_run); + return -EIO; + } + + uint8_t srom_id = 0x0; + err = pmw33xx_read_reg(dev, PMW33XX_REG_SROM_ID, &srom_id); + if (err) { + LOG_ERR("could not check srom id %d", err); + return -EIO; + } + if (!srom_id) { + LOG_ERR("srom id invalid %d", srom_id); + return -EIO; + } + + pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable + pmw33xx_write_reg(dev, PMW33XX_REG_BURST, 0x01); // clear rest enable + struct pmw33xx_motion_burst val; + pmw33xx_read_motion_burst(dev, &val); // read and throwout initial motion data + + if (config->cpi > PMW33XX_CPI_MIN && config->cpi < PMW33XX_CPI_MAX) + return pmw33xx_set_cpi(dev, config->cpi); + return 0; } -static int pmw33xx_init(const struct device *dev) -{ - const struct pmw33xx_config *const config = dev->config; - struct pmw33xx_data *data = dev->data; +static int pmw33xx_init(const struct device *dev) { + const struct pmw33xx_config *const config = dev->config; + struct pmw33xx_data *data = dev->data; - data->bus = device_get_binding(config->bus_name); - if (!data->bus) { - LOG_DBG("master not found: %s", log_strdup(config->bus_name)); - return -EINVAL; - } + data->bus = device_get_binding(config->bus_name); + if (!data->bus) { + LOG_DBG("master not found: %s", log_strdup(config->bus_name)); + return -EINVAL; + } - config->bus_init(dev); + config->bus_init(dev); - if (pmw33xx_init_chip(dev) < 0) { - LOG_DBG("failed to initialize chip"); - return -EIO; - } - - const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &config->bus_cfg.spi_cfg->cs_spec; + if (pmw33xx_init_chip(dev) < 0) { + LOG_DBG("failed to initialize chip"); + return -EIO; + } #ifdef CONFIG_PMW33XX_TRIGGER - if (pmw33xx_init_interrupt(dev) < 0) { - LOG_DBG("Failed to initialize interrupt!"); - return -EIO; - } + if (pmw33xx_init_interrupt(dev) < 0) { + LOG_DBG("Failed to initialize interrupt!"); + return -EIO; + } #endif - pmw33xx_cs_select(cs_gpio_cfg, 1); - k_sleep(K_MSEC(1)); - - int err = pmw33xx_write_reg(dev, PMW33XX_REG_PWR_UP_RST, PMW33XX_RESET_CMD); - if (err) { - LOG_ERR("could not reset %d", err); - return -EIO; - } - uint8_t pid = 0x0; - err = pmw33xx_read_reg(dev, PMW33XX_REG_PID, &pid); - if (err) { - LOG_ERR("could not reset %d", err); - return -EIO; - } - if (pid != PMW33XX_PID) { - LOG_ERR("pid does not match expected: got (%x), expected(%x)", pid, PMW33XX_PID); - return -EIO; - } - pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable - - err = pmw33xx_write_srom(dev); - if (err) { - LOG_ERR("could not upload srom %d", err); - return -EIO; - } - uint8_t srom_run = 0x0; - err = pmw33xx_read_reg(dev, PMW33XX_REG_OBSERVATION, &srom_run); - if (err) { - LOG_ERR("could not check srom status %d", err); - return -EIO; - } - if (!(srom_run & PMW33XX_SROM_RUN)) { - LOG_ERR("srom status invalid %d", srom_run); - return -EIO; - } - - uint8_t srom_id = 0x0; - err = pmw33xx_read_reg(dev, PMW33XX_REG_SROM_ID, &srom_id); - if (err) { - LOG_ERR("could not check srom id %d", err); - return -EIO; - } - if (!srom_id) { - LOG_ERR("srom id invalid %d", srom_id); - return -EIO; - } - - pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable - pmw33xx_write_reg(dev, PMW33XX_REG_BURST, 0x01); // clear rest enable - struct pmw33xx_motion_burst val; - pmw33xx_read_motion_burst(dev, &val); // read and throwout initial motion data - - return 0; + return 0; } #define PMW33XX_DATA_SPI(n) \ - { \ - .cs_ctrl = {}, \ - } + { .cs_ctrl = {}, } #define PMW33XX_SPI_CFG(n) \ - (&(struct pmw33xx_spi_cfg){ \ + (&(struct pmw33xx_spi_cfg){ \ .spi_conf = \ { \ .frequency = DT_INST_PROP(n, spi_max_frequency), \ @@ -367,30 +347,30 @@ static int pmw33xx_init(const struct device *dev) (SPI_WORD_SET(8) | SPI_OP_MODE_MASTER | SPI_MODE_CPOL | SPI_MODE_CPHA), \ .slave = DT_INST_REG_ADDR(n), \ }, \ - .cs_spec = PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), cs_gpios, 0), \ + .cs_spec = PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), cs_gpios, 0), \ }) #define PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \ - { \ - .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ - .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ - .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ - } + { \ + .port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \ + .pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \ + .dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \ + } #define PMW33XX_CONFIG_SPI(n) \ - { \ - .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw33xx_spi_init, \ - .bus_cfg = { .spi_cfg = PMW33XX_SPI_CFG(n) }, \ - COND_CODE_1(CONFIG_MA730_TRIGGER, \ - (, PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), \ - ()) \ - } + { \ + .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw33xx_spi_init, \ + .bus_cfg = {.spi_cfg = PMW33XX_SPI_CFG(n)}, \ + COND_CODE_0(DT_INST_NODE_HAS_PROP(n, cpi), (0), (DT_INST_PROP(n, cpi))) \ + COND_CODE_1(CONFIG_PMW33XX_TRIGGER, \ + (PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \ + } #define PMW33XX_INST(n) \ - static struct pmw33xx_data pmw33xx_data_##n = PMW33XX_DATA_SPI(n); \ - static const struct pmw33xx_config pmw33xx_cfg_##n = PMW33XX_CONFIG_SPI(n); \ - DEVICE_DT_INST_DEFINE(n, pmw33xx_init, device_pm_control_nop, &pmw33xx_data_##n, \ - &pmw33xx_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ - &pmw33xx_driver_api); + static struct pmw33xx_data pmw33xx_data_##n = PMW33XX_DATA_SPI(n); \ + static const struct pmw33xx_config pmw33xx_cfg_##n = PMW33XX_CONFIG_SPI(n); \ + DEVICE_DT_INST_DEFINE(n, pmw33xx_init, device_pm_control_nop, &pmw33xx_data_##n, \ + &pmw33xx_cfg_##n, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, \ + &pmw33xx_driver_api); DT_INST_FOREACH_STATUS_OKAY(PMW33XX_INST) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.h b/app/drivers/sensor/pmw33xx/pmw33xx.h index 31b28944..6bab327d 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.h +++ b/app/drivers/sensor/pmw33xx/pmw33xx.h @@ -65,6 +65,11 @@ /* power up reset cmd */ #define PMW33XX_RESET_CMD 0x5A +#define PMW33XX_3389_CPI_MIN 50 +#define PMW33XX_3389_CPI_MAX 16000 +#define PMW33XX_3360_CPI_MIN 100 +#define PMW33XX_3360_CPI_MAX 12000 + struct pmw33xx_gpio_dt_spec { const struct device *port; gpio_pin_t pin; @@ -84,7 +89,7 @@ struct pmw33xx_config { char *bus_name; int (*bus_init)(const struct device *dev); const union pmw33xx_bus_cfg bus_cfg; - int resolution; + int cpi; #if CONFIG_PMW33XX_TRIGGER struct pmw33xx_gpio_dt_spec motswk_spec; #endif // CONFIG_PMW33XX_TRIGGER diff --git a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c index 9451a330..92c8a05e 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c @@ -4,7 +4,7 @@ * SPDX-License-Identifier: MIT */ -#define DT_DRV_COMPAT pixart_pmw3389 +#define DT_DRV_COMPAT pixart_pmw33xx #include #include @@ -12,119 +12,113 @@ #include #include -#include "pmw3389.h" +#include "pmw33xx.h" -// extern struct pmw3389_data pmw3389_driver; +// extern struct pmw33xx_data pmw33xx_driver; #include -LOG_MODULE_DECLARE(PMW3389, CONFIG_SENSOR_LOG_LEVEL); +LOG_MODULE_DECLARE(PMW33XX, CONFIG_SENSOR_LOG_LEVEL); -static inline void setup_int(const struct device *dev, bool enable) -{ - struct pmw3389_data *data = dev->data; - const struct pmw3389_config *cfg = dev->config; +static inline void setup_int(const struct device *dev, bool enable) { + struct pmw33xx_data *data = dev->data; + const struct pmw33xx_config *cfg = dev->config; - if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, - enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { - LOG_WRN("Unable to set MOTSWK GPIO interrupt"); - } + if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, + enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { + LOG_WRN("Unable to set MOTSWK GPIO interrupt"); + } } -static void pmw3389_motswk_gpio_callback(const struct device *dev, struct gpio_callback *cb, - uint32_t pins) -{ - 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(""); + LOG_DBG(""); - setup_int(drv_data->dev, false); + setup_int(drv_data->dev, false); -#if defined(CONFIG_PMW3389_TRIGGER_OWN_THREAD) - k_sem_give(&drv_data->gpio_sem); -#elif defined(CONFIG_PMW3389_TRIGGER_GLOBAL_THREAD) - k_work_submit(&drv_data->work); +#if defined(CONFIG_PMW33XX_TRIGGER_OWN_THREAD) + k_sem_give(&drv_data->gpio_sem); +#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); + LOG_DBG("%p", drv_data->handler); + drv_data->handler(dev, drv_data->trigger); - // Enable once the wall/spam of interrupts is solved - setup_int(dev, true); + // Enable once the wall/spam of interrupts is solved + setup_int(dev, true); } -#ifdef CONFIG_PMW3389_TRIGGER_OWN_THREAD -static void pmw3389_thread(int dev_ptr, int unused) -{ - const struct device *dev = INT_TO_POINTER(dev_ptr); - struct pmw3389_data *drv_data = dev->data; +#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 pmw33xx_data *drv_data = dev->data; - ARG_UNUSED(unused); + ARG_UNUSED(unused); - while (1) { - k_sem_take(&drv_data->gpio_sem, K_FOREVER); - pmw3389_thread_cb(dev); - } + while (1) { + k_sem_take(&drv_data->gpio_sem, K_FOREVER); + 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(""); + 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); + setup_int(dev, false); - k_msleep(5); + k_msleep(5); - drv_data->trigger = trig; - drv_data->handler = handler; + drv_data->trigger = trig; + drv_data->handler = handler; - setup_int(dev, true); + setup_int(dev, true); - return 0; + 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 */ + drv_data->dev = dev; + /* setup gpio interrupt */ - gpio_init_callback(&drv_data->motswk_gpio_cb, pmw3389_motswk_gpio_callback, - BIT(drv_cfg->motswk_spec.pin)); + 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) { - LOG_DBG("Failed to set MOTSWK callback!"); - return -EIO; - } + 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) - k_sem_init(&drv_data->gpio_sem, 0, UINT_MAX); +#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; + return 0; } From 218c5b0572aee935eb79c91477351afc66e853bb Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Sun, 17 Apr 2022 12:47:44 -0400 Subject: [PATCH 5/8] fix interrupt handling --- app/drivers/sensor/pmw33xx/pmw33xx.c | 25 +++++++-- app/drivers/sensor/pmw33xx/pmw33xx.h | 56 ++++++++++--------- app/drivers/sensor/pmw33xx/pmw33xx_trigger.c | 7 ++- .../dts/bindings/sensor/pixart,pmw33xx.yaml | 4 ++ 4 files changed, 60 insertions(+), 32 deletions(-) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.c b/app/drivers/sensor/pmw33xx/pmw33xx.c index af016781..19721744 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx.c @@ -52,7 +52,11 @@ static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t * }, .count = 1, }; - uint8_t result[1] = {*value}; + + uint8_t result[1]; + if (value != NULL) { + result[0] = *value; + } struct spi_buf_set rx = { .buffers = &(struct spi_buf){ @@ -77,7 +81,7 @@ static int pmw33xx_access(const struct device *dev, const uint8_t reg, uint8_t * err = spi_read(data->bus, spi_cfg, &rx); pmw33xx_cs_select(cs_gpio_cfg, 1); k_sleep(K_USEC(160)); - if ((reg & PMW33XX_WR_MASK) == 0) + if ((reg & PMW33XX_WR_MASK) == 0 && value != NULL) *value = result[0]; return err; } @@ -88,6 +92,7 @@ static int pmw33xx_write_reg(const struct device *dev, const uint8_t reg, const uint8_t v = value; return pmw33xx_access(dev, reg | PMW33XX_WR_MASK, &v); } + static int pmw33xx_write_srom(const struct device *dev) { struct pmw33xx_data *data = dev->data; const struct pmw33xx_config *cfg = dev->config; @@ -166,9 +171,19 @@ static int pmw33xx_read_motion_burst(const struct device *dev, struct pmw33xx_mo } err = spi_read(data->bus, spi_cfg, &rx); pmw33xx_cs_select(cs_gpio_cfg, 1); +#ifdef CONFIG_PMW33XX_TRIGGER + pmw33xx_reset_motion(dev); +#endif return err; } +#ifdef CONFIG_PMW33XX_TRIGGER +void pmw33xx_reset_motion(const struct device *dev) { + // reset motswk interrupt + pmw33xx_read_reg(dev, PMW33XX_REG_MOTION, NULL); +} +#endif + int pmw33xx_spi_init(const struct device *dev) { const struct pmw33xx_config *cfg = dev->config; const struct pmw33xx_gpio_dt_spec *cs_gpio_cfg = &cfg->bus_cfg.spi_cfg->cs_spec; @@ -269,7 +284,8 @@ static int pmw33xx_init_chip(const struct device *dev) { LOG_ERR("pid does not match expected: got (%x), expected(%x)", pid, PMW33XX_PID); return -EIO; } - pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable + pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, + config->disable_rest ? 0x00 : PMW33XX_RESTEN); // set rest enable err = pmw33xx_write_srom(dev); if (err) { @@ -361,9 +377,10 @@ static int pmw33xx_init(const struct device *dev) { { \ .bus_name = DT_INST_BUS_LABEL(n), .bus_init = pmw33xx_spi_init, \ .bus_cfg = {.spi_cfg = PMW33XX_SPI_CFG(n)}, \ + .disable_rest = DT_INST_NODE_HAS_PROP(n, disable_rest), \ COND_CODE_0(DT_INST_NODE_HAS_PROP(n, cpi), (0), (DT_INST_PROP(n, cpi))) \ COND_CODE_1(CONFIG_PMW33XX_TRIGGER, \ - (PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \ + (, PMW33XX_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(n), motswk_gpios, 0)), ()) \ } #define PMW33XX_INST(n) \ diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.h b/app/drivers/sensor/pmw33xx/pmw33xx.h index 6bab327d..32693957 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.h +++ b/app/drivers/sensor/pmw33xx/pmw33xx.h @@ -65,65 +65,67 @@ /* power up reset cmd */ #define PMW33XX_RESET_CMD 0x5A +/* cpi max and min values */ #define PMW33XX_3389_CPI_MIN 50 #define PMW33XX_3389_CPI_MAX 16000 #define PMW33XX_3360_CPI_MIN 100 #define PMW33XX_3360_CPI_MAX 12000 struct pmw33xx_gpio_dt_spec { - const struct device *port; - gpio_pin_t pin; - gpio_dt_flags_t dt_flags; + const struct device *port; + gpio_pin_t pin; + gpio_dt_flags_t dt_flags; }; struct pmw33xx_spi_cfg { - struct spi_config spi_conf; - struct pmw33xx_gpio_dt_spec cs_spec; + struct spi_config spi_conf; + struct pmw33xx_gpio_dt_spec cs_spec; }; union pmw33xx_bus_cfg { - struct pmw33xx_spi_cfg *spi_cfg; + struct pmw33xx_spi_cfg *spi_cfg; }; struct pmw33xx_config { - char *bus_name; - int (*bus_init)(const struct device *dev); - const union pmw33xx_bus_cfg bus_cfg; - int cpi; + char *bus_name; + int (*bus_init)(const struct device *dev); + const union pmw33xx_bus_cfg bus_cfg; + bool disable_rest; + int cpi; #if CONFIG_PMW33XX_TRIGGER - struct pmw33xx_gpio_dt_spec motswk_spec; + struct pmw33xx_gpio_dt_spec motswk_spec; #endif // CONFIG_PMW33XX_TRIGGER }; struct pmw33xx_data; struct pmw33xx_transfer_function { - int (*read_data)(const struct device *dev, uint16_t *value); + int (*read_data)(const struct device *dev, int16_t *value); }; struct pmw33xx_data { - const struct device *bus; - struct spi_cs_control cs_ctrl; + const struct device *bus; + struct spi_cs_control cs_ctrl; - int16_t dx; - int16_t dy; + int16_t dx; + int16_t dy; - const struct pmw33xx_transfer_function *hw_tf; + const struct pmw33xx_transfer_function *hw_tf; #ifdef CONFIG_PMW33XX_TRIGGER - struct gpio_callback motswk_gpio_cb; - const struct device *dev; + struct gpio_callback motswk_gpio_cb; + const struct device *dev; - sensor_trigger_handler_t handler; - const struct sensor_trigger *trigger; + sensor_trigger_handler_t handler; + const struct sensor_trigger *trigger; #if defined(CONFIG_PMW33XX_TRIGGER_OWN_THREAD) - K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PMW33XX_THREAD_STACK_SIZE); - struct k_sem gpio_sem; - struct k_thread thread; + K_THREAD_STACK_MEMBER(thread_stack, CONFIG_PMW33XX_THREAD_STACK_SIZE); + struct k_sem gpio_sem; + struct k_thread thread; #elif defined(CONFIG_PMW33XX_TRIGGER_GLOBAL_THREAD) - struct k_work work; + struct k_work work; #endif #endif /* CONFIG_PMW33XX_TRIGGER */ @@ -133,9 +135,11 @@ int pmw33xx_spi_init(const struct device *dev); #ifdef CONFIG_PMW33XX_TRIGGER int pmw33xx_trigger_set(const struct device *dev, const struct sensor_trigger *trig, - sensor_trigger_handler_t handler); + sensor_trigger_handler_t handler); int pmw33xx_init_interrupt(const struct device *dev); + +void pmw33xx_reset_motion(const struct device *dev); #endif #endif /* ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ */ diff --git a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c index 92c8a05e..89c92d21 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c @@ -23,6 +23,7 @@ static inline void setup_int(const struct device *dev, bool enable) { struct pmw33xx_data *data = dev->data; const struct pmw33xx_config *cfg = dev->config; + gpio_pin_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, cfg->motswk_spec.dt_flags); if (gpio_pin_interrupt_configure(cfg->motswk_spec.port, cfg->motswk_spec.pin, enable ? GPIO_INT_EDGE_TO_ACTIVE : GPIO_INT_DISABLE)) { LOG_WRN("Unable to set MOTSWK GPIO interrupt"); @@ -72,7 +73,7 @@ static void pmw33xx_thread(int dev_ptr, int unused) { static void pmw33xx_work_cb(struct k_work *work) { struct pmw33xx_data *drv_data = CONTAINER_OF(work, struct pmw33xx_data, work); - LOG_DBG(""); + LOG_DBG(" "); pmw33xx_thread_cb(drv_data->dev); } @@ -91,6 +92,8 @@ int pmw33xx_trigger_set(const struct device *dev, const struct sensor_trigger *t setup_int(dev, true); + // reset motion on int setup + pmw33xx_reset_motion(dev); return 0; } @@ -121,4 +124,4 @@ int pmw33xx_init_interrupt(const struct device *dev) { #endif return 0; -} +} \ No newline at end of file diff --git a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml index 91f48a00..504f9b93 100644 --- a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml +++ b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml @@ -20,3 +20,7 @@ properties: type: int description: mouse cpi required: false + disable-rest: + type: boolean + description: disables mouse rest mode, will decrease battery life + required: false From fd73042e8169ccecb23234ba3e04ec4aa4680dd9 Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Sun, 17 Apr 2022 12:59:59 -0400 Subject: [PATCH 6/8] update license headers --- app/drivers/sensor/pmw33xx/CMakeLists.txt | 2 +- app/drivers/sensor/pmw33xx/Kconfig | 2 ++ app/drivers/sensor/pmw33xx/pmw33xx.c | 5 +++++ app/drivers/sensor/pmw33xx/pmw33xx.h | 5 +++++ app/drivers/sensor/pmw33xx/pmw33xx_trigger.c | 2 +- app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml | 2 ++ 6 files changed, 16 insertions(+), 2 deletions(-) diff --git a/app/drivers/sensor/pmw33xx/CMakeLists.txt b/app/drivers/sensor/pmw33xx/CMakeLists.txt index a4c89fb2..011b4cac 100644 --- a/app/drivers/sensor/pmw33xx/CMakeLists.txt +++ b/app/drivers/sensor/pmw33xx/CMakeLists.txt @@ -1,4 +1,4 @@ -# Copyright (c) 2020 The ZMK Contributors +# Copyright (c) 2022 The ZMK Contributors # SPDX-License-Identifier: MIT zephyr_include_directories(.) diff --git a/app/drivers/sensor/pmw33xx/Kconfig b/app/drivers/sensor/pmw33xx/Kconfig index 845a0879..b6a926f0 100644 --- a/app/drivers/sensor/pmw33xx/Kconfig +++ b/app/drivers/sensor/pmw33xx/Kconfig @@ -1,3 +1,5 @@ +# Copyright (c) 2022 The ZMK Contributors +# SPDX-License-Identifier: MIT config PMW33XX bool "PMW33XX Mouse Sensor" depends on SPI diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.c b/app/drivers/sensor/pmw33xx/pmw33xx.c index 19721744..5fcb1ae6 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx.c @@ -1,3 +1,8 @@ +/* + * Copyright (c) 2022 The ZMK Contributors + * + * SPDX-License-Identifier: MIT + */ #define DT_DRV_COMPAT pixart_pmw33xx #include diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.h b/app/drivers/sensor/pmw33xx/pmw33xx.h index 32693957..fe071a32 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.h +++ b/app/drivers/sensor/pmw33xx/pmw33xx.h @@ -1,3 +1,8 @@ +/* + * Copyright (c) 2022 The ZMK Contributors + * + * SPDX-License-Identifier: MIT + */ #ifndef ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ #define ZEPHYR_DRIVERS_SENSOR_PIXART_PMW33XX_H_ diff --git a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c index 89c92d21..e254faf1 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx_trigger.c @@ -1,5 +1,5 @@ /* - * Copyright (c) 2020 The ZMK Contributors + * Copyright (c) 2022 The ZMK Contributors * * SPDX-License-Identifier: MIT */ diff --git a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml index 504f9b93..6a45218a 100644 --- a/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml +++ b/app/drivers/zephyr/dts/bindings/sensor/pixart,pmw33xx.yaml @@ -1,3 +1,5 @@ +# Copyright (c) 2022 The ZMK Contributors +# SPDX-License-Identifier: MIT description: | Sensor driver for the pixart PMW33XX optical mouse sensor supports 3360 built in, and 3389 with external srom compatible: "pixart,pmw33xx" From 14eb5fffbc6e4293a6e84c7b253abdc103ce749e Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Thu, 21 Apr 2022 08:50:03 -0400 Subject: [PATCH 7/8] fix pid for pmw3360 --- app/drivers/sensor/pmw33xx/pmw33xx.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.h b/app/drivers/sensor/pmw33xx/pmw33xx.h index fe071a32..31119e65 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.h +++ b/app/drivers/sensor/pmw33xx/pmw33xx.h @@ -16,7 +16,7 @@ #define PMW33XX_RD_MASK 0x7F #define PMW33XX_3389_PID 0x47 -#define PMW33XX_3360_PID 0x45 +#define PMW33XX_3360_PID 0x42 #define PMW33XX_REV 0x01 /* General Registers */ From 3e0780b7db81388f88db46bc5bfae9ae0c62f7aa Mon Sep 17 00:00:00 2001 From: "Dylan (Luberry) Kozicki" Date: Thu, 21 Apr 2022 09:20:37 -0400 Subject: [PATCH 8/8] remove accidental clear of rest enable --- app/drivers/sensor/pmw33xx/pmw33xx.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/app/drivers/sensor/pmw33xx/pmw33xx.c b/app/drivers/sensor/pmw33xx/pmw33xx.c index 5fcb1ae6..486a885c 100644 --- a/app/drivers/sensor/pmw33xx/pmw33xx.c +++ b/app/drivers/sensor/pmw33xx/pmw33xx.c @@ -319,8 +319,7 @@ static int pmw33xx_init_chip(const struct device *dev) { return -EIO; } - pmw33xx_write_reg(dev, PMW33XX_REG_CONFIG2, 0x00); // clear rest enable - pmw33xx_write_reg(dev, PMW33XX_REG_BURST, 0x01); // clear rest enable + pmw33xx_write_reg(dev, PMW33XX_REG_BURST, 0x01); struct pmw33xx_motion_burst val; pmw33xx_read_motion_burst(dev, &val); // read and throwout initial motion data