/*
PMW3366.cpp - Library for interfacing PMW3360 motion sensor module
Copyright (c) 2019, Sunjun Kim
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "PMW3360.h"
#define BEGIN_COM digitalWrite(_ss, LOW); delayMicroseconds(1)
#define END_COM delayMicroseconds(1); digitalWrite(_ss, HIGH)
#define SPI_BEGIN SPI1.beginTransaction(SPISettings(16000000, MSBFIRST, SPI_MODE3))
#define SPI_END SPI1.endTransaction()
const unsigned short firmware_length = 4094;
const unsigned char firmware_data[] PROGMEM = { // SROM 0x04
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//================================================================================
// PMW3360 Motion Sensor Module
// bascially do nothing here
PMW3360::PMW3360()
{
}
// public
/*
begin: initalize variables, prepare the sensor to be init.
# parameter
ss_pin: The arduino pin that is connected to slave select on the module.
CPI: initial CPI. optional.
*/
bool PMW3360::begin(unsigned int ss_pin, unsigned int CPI)
{
_ss = ss_pin;
_inBurst = false;
pinMode(_ss, OUTPUT);
digitalWrite(_ss, HIGH);
SPI1.begin();
// SPI.setDataMode(SPI_MODE3);
// SPI.setBitOrder(MSBFIRST);
// hard reset
SPI_BEGIN;
END_COM; BEGIN_COM; END_COM; // ensure that the serial port is reset
adns_write_reg(REG_Shutdown, 0xb6); // Shutdown first
SPI_END;
delay(300);
SPI_BEGIN;
BEGIN_COM;
delayMicroseconds(40);
END_COM;
delayMicroseconds(40);
adns_write_reg(REG_Power_Up_Reset, 0x5a); // force reset
SPI_END;
delay(50); // wait for it to reboot
SPI_BEGIN;
// read registers 0x02 to 0x06 (and discard the data)
adns_read_reg(REG_Motion);
adns_read_reg(REG_Delta_X_L);
adns_read_reg(REG_Delta_X_H);
adns_read_reg(REG_Delta_Y_L);
adns_read_reg(REG_Delta_Y_H);
// upload the firmware
adns_upload_firmware();
//SPI.endTransaction();
SPI_END;
delay(10);
setCPI(CPI);
return check_signature();
}
// public
/*
setCPI: set CPI level of the motion sensor.
# parameter
cpi: Count per Inch value
*/
void PMW3360::setCPI(unsigned int cpi)
{
int cpival = constrain((cpi/100)-1, 0, 0x77); // limits to 0--119
//_CPI = (cpival + 1)*100;
SPI_BEGIN;
adns_write_reg(REG_Config1, cpival);
SPI_END;
}
// public
/*
getCPI: get CPI level of the motion sensor.
# retrun
cpi: Count per Inch value
*/
unsigned int PMW3360::getCPI()
{
SPI_BEGIN;
int cpival = adns_read_reg(REG_Config1);
SPI_END;
return (cpival + 1)*100;
}
// public
/*
readBurst: get one frame of motion data.
# retrun
type: PMW3360_DATA
*/
PMW3360_DATA PMW3360::readBurst()
{
unsigned long fromLast = micros() - _lastBurst;
byte burstBuffer[12];
SPI_BEGIN;
if(!_inBurst || fromLast > 500*1000)
{
adns_write_reg(REG_Motion_Burst, 0x00);
_inBurst = true;
}
BEGIN_COM;
SPI1.transfer(REG_Motion_Burst);
delayMicroseconds(35); // waits for tSRAD
SPI1.transfer(burstBuffer, 12); // read burst buffer
delayMicroseconds(1); // tSCLK-NCS for read operation is 120ns
END_COM;
SPI_END;
if(burstBuffer[0] & 0b111) // panic recovery, sometimes burst mode works weird.
{
_inBurst = false;
}
_lastBurst = micros();
PMW3360_DATA data;
bool motion = (burstBuffer[0] & 0x80) != 0;
bool surface = (burstBuffer[0] & 0x08) == 0; // 0 if on surface / 1 if off surface
uint8_t xl = burstBuffer[2]; // dx LSB
uint8_t xh = burstBuffer[3]; // dx MSB
uint8_t yl = burstBuffer[4]; // dy LSB
uint8_t yh = burstBuffer[5]; // dy MSB
uint8_t sl = burstBuffer[10]; // shutter LSB
uint8_t sh = burstBuffer[11]; // shutter MSB
int x = xh<<8 | xl;
int y = yh<<8 | yl;
unsigned int shutter = sh<<8 | sl;
data.isMotion = motion;
data.isOnSurface = surface;
data.dx = x;
data.dy = y;
data.SQUAL = burstBuffer[6];
data.rawDataSum = burstBuffer[7];
data.maxRawData = burstBuffer[8];
data.minRawData = burstBuffer[9];
data.shutter = shutter;
return data;
}
// public
/*
readReg: get one byte value from the given reg_addr.
# parameter
reg_addr: the register address
# retrun
byte value on the register.
*/
byte PMW3360::readReg(byte reg_addr)
{
SPI_BEGIN;
byte data = adns_read_reg(reg_addr);
SPI_END;
return data;
}
// public
/*
writeReg: write one byte value to the given reg_addr.
# parameter
reg_addr: the register address
data: byte value to be pass to the register.
*/
void PMW3360::writeReg(byte reg_addr, byte data)
{
SPI_BEGIN;
adns_write_reg(reg_addr, data);
SPI_END;
}
/*
adns_read_reg: write one byte value to the given reg_addr.
*/
byte PMW3360::adns_read_reg(byte reg_addr) {
if(reg_addr != REG_Motion_Burst)
{
_inBurst = false;
}
BEGIN_COM;
// send adress of the register, with MSBit = 0 to indicate it's a read
SPI1.transfer(reg_addr & 0x7f );
delayMicroseconds(100); // tSRAD is 25, but 100us seems to be stable.
// read data
byte data = SPI1.transfer(0);
END_COM;
delayMicroseconds(19); // tSRW/tSRR (=20us) minus tSCLK-NCS
return data;
}
/*
adns_write_reg: write one byte value to the given reg_addr
*/
void PMW3360::adns_write_reg(byte reg_addr, byte data) {
if(reg_addr != REG_Motion_Burst)
{
_inBurst = false;
}
BEGIN_COM;
//send adress of the register, with MSBit = 1 to indicate it's a write
SPI1.transfer(reg_addr | 0x80 );
//sent data
SPI1.transfer(data);
delayMicroseconds(20); // tSCLK-NCS for write operation
END_COM;
delayMicroseconds(100); // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
}
/*
adns_upload_firmware: load SROM content to the motion sensor
*/
void PMW3360::adns_upload_firmware() {
//Write 0 to Rest_En bit of Config2 register to disable Rest mode.
adns_write_reg(REG_Config2, 0x00);
// write 0x1d in SROM_enable reg for initializing
adns_write_reg(REG_SROM_Enable, 0x1d);
// wait for more than one frame period
delay(10); // assume that the frame rate is as low as 100fps... even if it should never be that low
// write 0x18 to SROM_enable to start SROM download
adns_write_reg(REG_SROM_Enable, 0x18);
// write the SROM file (=firmware data)
BEGIN_COM;
SPI1.transfer(REG_SROM_Load_Burst | 0x80); // write burst destination adress
delayMicroseconds(15);
// send all bytes of the firmware
unsigned char c;
for (int i = 0; i < firmware_length; i++) {
c = (unsigned char)pgm_read_byte(firmware_data + i);
SPI1.transfer(c);
delayMicroseconds(15);
}
//Read the SROM_ID register to verify the ID before any other register reads or writes.
adns_read_reg(REG_SROM_ID);
//Write 0x00 (rest disable) to Config2 register for wired mouse or 0x20 for wireless mouse design.
adns_write_reg(REG_Config2, 0x00);
END_COM;
}
/*
check_signature: check whether SROM is successfully loaded
return: true if the rom is loaded correctly.
*/
bool PMW3360::check_signature() {
SPI_BEGIN;
byte pid = adns_read_reg(REG_Product_ID);
byte iv_pid = adns_read_reg(REG_Inverse_Product_ID);
byte SROM_ver = adns_read_reg(REG_SROM_ID);
SPI_END;
return (pid==0x42 && iv_pid == 0xBD && SROM_ver == 0x04); // signature for SROM 0x04
}
/*
prepareImage: prepare a raw image capture from the snesor
*/
void PMW3360::prepareImage()
{
SPI_BEGIN;
adns_write_reg(REG_Config2, 0x00);
adns_write_reg(REG_Frame_Capture, 0x83);
adns_write_reg(REG_Frame_Capture, 0xc5);
delay(20);
BEGIN_COM;
SPI1.transfer(REG_Raw_Data_Burst & 0x7f);
delayMicroseconds(20);
}
/*
readImagePixel: prepare a raw image capture from the snesor
*/
byte PMW3360::readImagePixel()
{
byte pixel = SPI1.transfer(0);
delayMicroseconds(20);
return pixel;
}
void PMW3360::endImage()
{
END_COM;
SPI_END;
}