updated firmware with latest changes
This commit is contained in:
ploopyco
PloopyCo
parent
dc0bd0c2f3
commit
f5688b925e
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@ -19,79 +19,50 @@
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#include <SPI.h>
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#include <avr/pgmspace.h>
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#include <avr/wdt.h>
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#include "AdvMouse.h"
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// Max recommended is 4,000,000, since clock speed is 8MHz.
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// If lower, it should be by factors of 1/2.
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static const int SPIMAXIMUMSPEED = 2000000;
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static const int CPI = 1200;
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static const int DEBOUNCE = 10; // ms
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static const int SCROLL_DEBOUNCE = 50; // ms
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static const int SCROLL_BUTT_DEBOUNCE = 100; // ms
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static const float ROTATIONAL_TRANSFORM_ANGLE = 20;
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static const int MOUSE_LEFT_PIN = 4;
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static const int MOUSE_RIGHT_PIN = 7;
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static const int MOUSE_MIDDLE_PIN = 0;
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static const int MOUSE_BACK_PIN = 9;
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static const int MOUSE_FORWARD_PIN = 6;
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// For info, see https://forum.arduino.cc/index.php?topic=241369.0
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static const int SENSOR_CS = 17;
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static const int OPT_ENC_PIN1 = A3;
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static const int OPT_ENC_PIN2 = A5;
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static const int OPT_LOW_THRESHOLD = 150;
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static const byte MOTION = 0x02;
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static const byte DELTA_X_L = 0x03;
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static const byte DELTA_X_H = 0x04;
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static const byte DELTA_Y_L = 0x05;
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static const byte DELTA_Y_H = 0x06;
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static const byte CONFIG1 = 0x0F;
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static const byte CONFIG2 = 0x10;
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static const byte SROM_ENABLE = 0x13;
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static const byte SROM_ID = 0x2A;
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static const byte POWER_UP_RESET = 0x3A;
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static const byte SHUTDOWN = 0x3B;
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static const byte MOTION_BURST = 0x50;
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static const byte SROM_LOAD_BURST = 0x62;
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boolean debugMode = false;
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const static int CPI = 1200;
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const static int DEBOUNCE = 10; // ms
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const static float ROTATIONAL_TRANSFORM_ANGLE = 27.5;
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const static int MOUSE_LEFT_PIN = 4;
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const static int MOUSE_RIGHT_PIN = 7;
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const static int MOUSE_MIDDLE_PIN = 0;
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const static int MOUSE_BACK_PIN = 9;
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const static int MOUSE_FORWARD_PIN = 6;
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const static int OPT_ENC_PIN1 = A3;
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const static int OPT_ENC_PIN2 = A5;
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const static int OPT_LOW_THRESHOLD = 100;
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const static byte Product_ID = 0x00;
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const static byte Revision_ID = 0x01;
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const static byte Motion = 0x02;
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const static byte Delta_X_L = 0x03;
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const static byte Delta_X_H = 0x04;
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const static byte Delta_Y_L = 0x05;
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const static byte Delta_Y_H = 0x06;
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const static byte SQUAL = 0x07;
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const static byte Raw_Data_Sum = 0x08;
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const static byte Maximum_Raw_data = 0x09;
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const static byte Minimum_Raw_data = 0x0A;
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const static byte Shutter_Lower = 0x0B;
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const static byte Shutter_Upper = 0x0C;
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const static byte Control = 0x0D;
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const static byte Config1 = 0x0F;
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const static byte Config2 = 0x10;
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const static byte Angle_Tune = 0x11;
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const static byte Frame_Capture = 0x12;
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const static byte SROM_Enable = 0x13;
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const static byte Run_Downshift = 0x14;
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const static byte Rest1_Rate_Lower = 0x15;
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const static byte Rest1_Rate_Upper = 0x16;
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const static byte Rest1_Downshift = 0x17;
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const static byte Rest2_Rate_Lower = 0x18;
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const static byte Rest2_Rate_Upper = 0x19;
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const static byte Rest2_Downshift = 0x1A;
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const static byte Rest3_Rate_Lower = 0x1B;
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const static byte Rest3_Rate_Upper = 0x1C;
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const static byte Observation = 0x24;
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const static byte Data_Out_Lower = 0x25;
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const static byte Data_Out_Upper = 0x26;
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const static byte Raw_Data_Dump = 0x29;
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const static byte SROM_ID = 0x2A;
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const static byte Min_SQ_Run = 0x2B;
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const static byte Raw_Data_Threshold = 0x2C;
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const static byte Config5 = 0x2F;
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const static byte Power_Up_Reset = 0x3A;
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const static byte Shutdown = 0x3B;
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const static byte Inverse_Product_ID = 0x3F;
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const static byte LiftCutoff_Tune3 = 0x41;
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const static byte Angle_Snap = 0x42;
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const static byte LiftCutoff_Tune1 = 0x4A;
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const static byte Motion_Burst = 0x50;
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const static byte LiftCutoff_Tune_Timeout = 0x58;
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const static byte LiftCutoff_Tune_Min_Length = 0x5A;
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const static byte SROM_Load_Burst = 0x62;
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const static byte Lift_Config = 0x63;
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const static byte Raw_Data_Burst = 0x64;
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const static byte LiftCutoff_Tune2 = 0x65;
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// Pin 17? WHAA? Curious? See here:
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// https://forum.arduino.cc/index.php?topic=241369.0
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const static int SENSOR_CS = 17;
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boolean wdtMode = false;
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float cosTransform;
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float sinTransform;
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@ -111,63 +82,40 @@ int16_t dy;
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unsigned long lastTS;
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unsigned long lastButtonCheck = 0;
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unsigned long lastScroll = 0;
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unsigned long middleClickRelease = 0;
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extern const unsigned short firmware_length;
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extern const unsigned char firmware_data[];
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void setup() {
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if (wdtMode) {
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setupWDT();
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}
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if (debugMode) {
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pinMode(A0, OUTPUT);
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digitalWrite(A0, HIGH);
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//delay(5000);
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Serial.begin(9600);
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}
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// Startup delay. This sometimes prevents a USB handshake lockup.
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delay(1000);
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Serial.begin(9600);
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setupPins();
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pinMode(SENSOR_CS, OUTPUT);
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pinMode(MOUSE_LEFT_PIN, INPUT_PULLUP);
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pinMode(MOUSE_RIGHT_PIN, INPUT_PULLUP);
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pinMode(MOUSE_MIDDLE_PIN, INPUT_PULLUP);
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pinMode(MOUSE_BACK_PIN, INPUT_PULLUP);
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pinMode(MOUSE_FORWARD_PIN, INPUT_PULLUP);
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pinMode(OPT_ENC_PIN1, INPUT);
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pinMode(OPT_ENC_PIN2, INPUT);
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// Ground all output pins connected to ground.
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// This provides additional pathways to ground.
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// If you're messing with this, know this:
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// Driving ANY of these pins high will cause a short.
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// On the MCU.
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// Ka-blooey.
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pinMode(1, OUTPUT);
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pinMode(2, OUTPUT);
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pinMode(8, OUTPUT);
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pinMode(10, OUTPUT);
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pinMode(11, OUTPUT);
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pinMode(12, OUTPUT);
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pinMode(13, OUTPUT);
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pinMode(A1, OUTPUT);
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pinMode(A2, OUTPUT);
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pinMode(A4, OUTPUT);
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digitalWrite(1, LOW);
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digitalWrite(2, LOW);
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digitalWrite(8, LOW);
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digitalWrite(10, LOW);
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digitalWrite(11, LOW);
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digitalWrite(12, LOW);
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digitalWrite(13, LOW);
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digitalWrite(A1, LOW);
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digitalWrite(A2, LOW);
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digitalWrite(A4, LOW);
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// This is the debug LED.
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pinMode(A0, OUTPUT);
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if (debugMode) {
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digitalWrite(A0, HIGH);
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} else {
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digitalWrite(A0, LOW);
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}
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SPI.begin();
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SPI.setDataMode(SPI_MODE3);
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SPI.setBitOrder(MSBFIRST);
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performStartup();
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initialisePMW3360();
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cosTransform = cos(ROTATIONAL_TRANSFORM_ANGLE * PI / 180);
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sinTransform = sin(ROTATIONAL_TRANSFORM_ANGLE * PI / 180);
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@ -188,16 +136,80 @@ void setup() {
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}
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}
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void adns_com_begin() {
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void setupWDT() {
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/* IMPORTANT NOTE!
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* THIS MUST BE THE FIRST THING THAT RUNS IN SETUP()! If it isn't, there's
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* a good chance the Arduino will enter an unstable state, and it's entirely
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* possible that you can permanently brick your MCU!
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*/
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cli();
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// Clear the watchdog reset flag
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MCUSR &= ~(1 << WDRF);
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// Enter watchdog configuration mode
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WDTCSR |= (1 << WDCE) |
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(1 << WDE);
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// WDIE needs to be included, or else this doesn't work.
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WDTCSR = (1 << WDIE) |
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(1 << WDE) |
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(1 << WDP3) |
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(0 << WDP2) |
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(0 << WDP1) |
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(0 << WDP0);
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sei();
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}
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void setupPins() {
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pinMode(SENSOR_CS, OUTPUT);
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pinMode(MOUSE_LEFT_PIN, INPUT_PULLUP);
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pinMode(MOUSE_RIGHT_PIN, INPUT_PULLUP);
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pinMode(MOUSE_MIDDLE_PIN, INPUT_PULLUP);
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pinMode(MOUSE_BACK_PIN, INPUT_PULLUP);
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pinMode(MOUSE_FORWARD_PIN, INPUT_PULLUP);
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pinMode(OPT_ENC_PIN1, INPUT);
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pinMode(OPT_ENC_PIN2, INPUT);
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/* Ground all output pins connected to ground. This provides additional
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* pathways to ground. If you're messing with this, know this: driving ANY
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* of these pins high will cause a short. On the MCU. Ka-blooey.
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*/
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pinMode(1, OUTPUT);
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pinMode(2, OUTPUT);
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pinMode(8, OUTPUT);
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pinMode(10, OUTPUT);
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pinMode(11, OUTPUT);
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pinMode(12, OUTPUT);
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pinMode(13, OUTPUT);
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pinMode(A1, OUTPUT);
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pinMode(A2, OUTPUT);
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pinMode(A4, OUTPUT);
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digitalWrite(1, LOW);
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digitalWrite(2, LOW);
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digitalWrite(8, LOW);
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digitalWrite(10, LOW);
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digitalWrite(11, LOW);
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digitalWrite(12, LOW);
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digitalWrite(13, LOW);
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digitalWrite(A1, LOW);
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digitalWrite(A2, LOW);
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digitalWrite(A4, LOW);
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}
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void adnsComBegin() {
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digitalWrite(SENSOR_CS, LOW);
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}
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void adns_com_end() {
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void adnsComEnd() {
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digitalWrite(SENSOR_CS, HIGH);
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}
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byte adns_read_reg(byte reg_addr) {
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adns_com_begin();
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byte adnsReadReg(byte reg_addr) {
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adnsComBegin();
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// send adress of the register, with MSBit = 0 to indicate it's a read
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SPI.transfer(reg_addr & 0x7f);
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@ -206,15 +218,15 @@ byte adns_read_reg(byte reg_addr) {
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// tSCLK-SENSOR_CS for read operation is 120ns
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delayMicroseconds(1);
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adns_com_end();
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adnsComEnd();
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// tSRW/tSRR (=20us) minus tSCLK-SENSOR_CS
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delayMicroseconds(19);
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return data;
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}
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void adns_write_reg(byte reg_addr, byte data) {
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adns_com_begin();
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void adnsWriteReg(byte reg_addr, byte data) {
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adnsComBegin();
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// send adress of the register, with MSBit = 1 to indicate it's a write
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SPI.transfer(reg_addr | 0x80);
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@ -222,33 +234,78 @@ void adns_write_reg(byte reg_addr, byte data) {
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// tSCLK-SENSOR_CS for write operation
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delayMicroseconds(20);
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adns_com_end();
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adnsComEnd();
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// tSWW/tSWR (=120us) minus tSCLK-SENSOR_CS.
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// Could be shortened, but this looks like a safe lower-bound.
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delayMicroseconds(100);
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}
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void adns_upload_firmware() {
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void setCPI(int cpi) {
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int cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
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adnsComBegin();
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adnsWriteReg(CONFIG1, cpival);
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adnsComEnd();
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if (debugMode) {
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Serial.print(F("Got "));
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Serial.println(cpi);
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Serial.print(F("Set cpi to "));
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Serial.println((cpival + 1) * 100);
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}
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}
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void initialisePMW3360(void) {
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if (debugMode) {
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Serial.println(F("Initialising PMW3360"));
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}
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// Hard reset. Start by ensuring that the serial port is reset.
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adnsComEnd();
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adnsComBegin();
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adnsComEnd();
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// SHUTDOWN the PMW3360, in case the microcontroller reset but the sensor didn't.
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adnsWriteReg(SHUTDOWN, 0xb6);
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delay(300);
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// Drop and raise SENSOR_CS to reset the spi port
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adnsComBegin();
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delayMicroseconds(40);
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adnsComEnd();
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delayMicroseconds(40);
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// Force a reset of the PMW3360.
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adnsWriteReg(POWER_UP_RESET, 0x5a);
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delay(50);
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// Read registers 0x02 through 0x06 (and discard the data)
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adnsReadReg(MOTION);
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adnsReadReg(DELTA_X_L);
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adnsReadReg(DELTA_X_H);
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adnsReadReg(DELTA_Y_L);
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adnsReadReg(DELTA_Y_H);
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if (debugMode) {
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Serial.println(F("Uploading firmware to PMW3360"));
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}
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// Write 0 to Rest_En bit of Config2 register to disable Rest mode.
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adns_write_reg(Config2, 0x00);
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// Write 0 to Rest_En bit of CONFIG2 register to disable Rest mode.
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adnsWriteReg(CONFIG2, 0x00);
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// write 0x1d in SROM_enable reg for initializing
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adns_write_reg(SROM_Enable, 0x1d);
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adnsWriteReg(SROM_ENABLE, 0x1d);
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// wait for more than one frame period
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// assume that the frame rate is as low as 100fps, even if it should never be that low
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delay(10);
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// write 0x18 to SROM_enable to start SROM download
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adns_write_reg(SROM_Enable, 0x18);
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adnsWriteReg(SROM_ENABLE, 0x18);
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// write burst destination adress
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adns_com_begin();
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SPI.transfer(SROM_Load_Burst | 0x80);
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adnsComBegin();
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SPI.transfer(SROM_LOAD_BURST | 0x80);
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delayMicroseconds(15);
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unsigned char c;
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@ -259,68 +316,24 @@ void adns_upload_firmware() {
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}
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// Read the SROM_ID register to verify the ID before any other register reads or writes.
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adns_read_reg(SROM_ID);
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adnsReadReg(SROM_ID);
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// Write 0x00 (rest disable) to Config2 register for wired mouse.
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// Write 0x00 (rest disable) to CONFIG2 register for wired mouse.
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// (If this were a wireless design, it'd be 0x20.)
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adns_write_reg(Config2, 0x00);
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adnsWriteReg(CONFIG2, 0x00);
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adns_com_end();
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adnsComEnd();
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if (debugMode) {
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Serial.println(F("Firmware successfully written to PMW3360"));
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}
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}
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void setCPI(int cpi) {
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int cpival = constrain((cpi / 100) - 1, 0, 0x77); // limits to 0--119
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adns_com_begin();
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adns_write_reg(Config1, cpival);
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adns_com_end();
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if (debugMode) {
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Serial.print(F("Got "));
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Serial.println(cpi);
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Serial.print(F("Set cpi to "));
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Serial.println((cpival + 1) * 100);
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}
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}
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void performStartup(void) {
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// Hard reset. Start by ensuring that the serial port is reset.
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adns_com_end();
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adns_com_begin();
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adns_com_end();
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// Shutdown the PMW3360, in case the microcontroller reset but the sensor didn't.
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adns_write_reg(Shutdown, 0xb6);
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delay(300);
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// Drop and raise SENSOR_CS to reset the spi port
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adns_com_begin();
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delayMicroseconds(40);
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adns_com_end();
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delayMicroseconds(40);
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// Force a reset of the PMW3360.
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adns_write_reg(Power_Up_Reset, 0x5a);
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delay(50);
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// Read registers 0x02 through 0x06 (and discard the data)
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adns_read_reg(Motion);
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adns_read_reg(Delta_X_L);
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adns_read_reg(Delta_X_H);
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adns_read_reg(Delta_Y_L);
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adns_read_reg(Delta_Y_H);
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adns_upload_firmware();
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delay(10);
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setCPI(CPI);
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// start burst mode
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adns_write_reg(Motion_Burst, 0x00);
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adnsWriteReg(MOTION_BURST, 0x00);
|
||||
|
||||
if (debugMode) {
|
||||
Serial.println(F("PMW3360 successfully initialized"));
|
||||
|
|
@ -328,7 +341,7 @@ void performStartup(void) {
|
|||
}
|
||||
|
||||
|
||||
void check_button_state() {
|
||||
void checkButtonState() {
|
||||
if (!initComplete)
|
||||
return;
|
||||
|
||||
|
|
@ -355,22 +368,82 @@ void check_button_state() {
|
|||
// Either the button is being released, or the debounce time elapsed.
|
||||
AdvMouse.release_(buttonKey[i]);
|
||||
buttonState[i] = false;
|
||||
|
||||
if (buttonPin[i] == MOUSE_MIDDLE_PIN) {
|
||||
middleClickRelease = micros();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
signed char moveWheel() {
|
||||
// If the mouse wheel was just released, do not scroll.
|
||||
unsigned long elapsed = micros() - middleClickRelease;
|
||||
if (elapsed < SCROLL_BUTT_DEBOUNCE) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Limit the number of scrolls per unit time.
|
||||
elapsed = micros() - lastScroll;
|
||||
if (elapsed < SCROLL_DEBOUNCE) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Don't scroll if the middle button is depressed.
|
||||
int middleButtonPin = digitalRead(MOUSE_MIDDLE_PIN);
|
||||
if (middleButtonPin == LOW) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
lastScroll = micros();
|
||||
|
||||
int d1 = analogRead(OPT_ENC_PIN1);
|
||||
int d2 = analogRead(OPT_ENC_PIN2);
|
||||
|
||||
if (debugMode) {
|
||||
Serial.print(F("d1: "));
|
||||
Serial.print(d1);
|
||||
Serial.print(F(", d2: "));
|
||||
Serial.println(d2);
|
||||
}
|
||||
|
||||
signed char ret = 0;
|
||||
|
||||
if (d1 < OPT_LOW_THRESHOLD && d2 < OPT_LOW_THRESHOLD) {
|
||||
if (firstOptLowPin == OPT_ENC_PIN1) {
|
||||
// scroll down
|
||||
ret = -1;
|
||||
} else if (firstOptLowPin == OPT_ENC_PIN2) {
|
||||
// scroll up
|
||||
ret = 1;
|
||||
}
|
||||
|
||||
firstOptLowPin = 0;
|
||||
} else if (d1 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN1;
|
||||
} else if (d2 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN2;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
void loop() {
|
||||
if (wdtMode) {
|
||||
wdt_reset();
|
||||
}
|
||||
|
||||
byte burstBuffer[12];
|
||||
unsigned long elapsed = micros() - lastTS;
|
||||
|
||||
check_button_state();
|
||||
checkButtonState();
|
||||
|
||||
// polling interval : more than > 0.5 ms.
|
||||
if (elapsed > 870) { // 870...whut?
|
||||
adns_com_begin();
|
||||
SPI.beginTransaction(SPISettings(4000000, MSBFIRST, SPI_MODE3));
|
||||
adnsComBegin();
|
||||
SPI.beginTransaction(SPISettings(SPIMAXIMUMSPEED, MSBFIRST, SPI_MODE3));
|
||||
|
||||
SPI.transfer(Motion_Burst);
|
||||
SPI.transfer(MOTION_BURST);
|
||||
// Wait for tSRAD
|
||||
delayMicroseconds(35);
|
||||
|
||||
|
|
@ -400,7 +473,7 @@ void loop() {
|
|||
dx -= xPrime;
|
||||
dy += yPrime;
|
||||
|
||||
adns_com_end();
|
||||
adnsComEnd();
|
||||
|
||||
signed char wheel = moveWheel();
|
||||
|
||||
|
|
@ -414,28 +487,3 @@ void loop() {
|
|||
lastTS = micros();
|
||||
}
|
||||
}
|
||||
|
||||
signed char moveWheel() {
|
||||
int d1 = analogRead(OPT_ENC_PIN1);
|
||||
int d2 = analogRead(OPT_ENC_PIN2);
|
||||
|
||||
signed char ret = 0;
|
||||
|
||||
if (d1 < OPT_LOW_THRESHOLD && d2 < OPT_LOW_THRESHOLD) {
|
||||
if (firstOptLowPin == OPT_ENC_PIN1) {
|
||||
// scroll up
|
||||
ret = 1;
|
||||
} else if (firstOptLowPin == OPT_ENC_PIN2) {
|
||||
// scroll down
|
||||
ret = -1;
|
||||
}
|
||||
|
||||
firstOptLowPin = 0;
|
||||
} else if (d1 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN1;
|
||||
} else if (d2 < OPT_LOW_THRESHOLD) {
|
||||
firstOptLowPin = OPT_ENC_PIN2;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue