Kaleidoscope/plugins/Kaleidoscope-Hardware-Ploopy-Trackball-Mini/examples/PloopyADNS/adns5050.c

/* Copyright 2021 Colin Lam (Ploopy Corporation)
 * Copyright 2020 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
 * Copyright 2019 Sunjun Kim
 * Copyright 2019 Hiroyuki Okada
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "adns5050.h"
#include "Arduino.h"
#include "pins_and_ports.h"

// Registers
// clang-format off
#define REG_PRODUCT_ID     0x00
#define REG_REVISION_ID    0x01
#define REG_MOTION         0x02
#define REG_DELTA_X        0x03
#define REG_DELTA_Y        0x04
#define REG_SQUAL          0x05
#define REG_SHUTTER_UPPER  0x06
#define REG_SHUTTER_LOWER  0x07
#define REG_MAXIMUM_PIXEL  0x08
#define REG_PIXEL_SUM      0x09
#define REG_MINIMUM_PIXEL  0x0a
#define REG_PIXEL_GRAB     0x0b
#define REG_MOUSE_CONTROL  0x0d
#define REG_MOUSE_CONTROL2 0x19
#define REG_LED_DC_MODE    0x22
#define REG_CHIP_RESET     0x3a
#define REG_PRODUCT_ID2    0x3e
#define REG_INV_REV_ID     0x3f
#define REG_MOTION_BURST   0x63
// clang-format on

void adns5050_init(void) {
    // Initialize the ADNS serial pins.
    DDR_OUTPUT(ADNS5050_SCLK_PIN);
    DDR_OUTPUT(ADNS5050_SDIO_PIN);
    DDR_OUTPUT(ADNS5050_CS_PIN);

    // reboot the adns.
    // if the adns hasn't initialized yet, this is harmless.
    adns5050_write_reg(REG_CHIP_RESET, 0x5a);

    // wait maximum time before adns is ready.
    // this ensures that the adns is actuall ready after reset.
    delay(55);

    // read a burst from the adns and then discard it.
    // gets the adns ready for write commands
    // (for example, setting the dpi).
    adns5050_read_burst();
}

// Perform a synchronization with the ADNS.
// Just as with the serial protocol, this is used by the slave to send a
// synchronization signal to the master.
void adns5050_sync(void) {
    OUTPUT_LOW(ADNS5050_CS_PIN);
    delayMicroseconds(1);
    OUTPUT_HIGH(ADNS5050_CS_PIN);
}

void adns5050_cs_select(void) {
    OUTPUT_LOW(ADNS5050_CS_PIN);
}

void adns5050_cs_deselect(void) {
    OUTPUT_HIGH(ADNS5050_CS_PIN);
}

uint8_t adns5050_serial_read(void) {
    DDR_INPUT(ADNS5050_SDIO_PIN);
    DISABLE_PULLUP(ADNS5050_SDIO_PIN);

    uint8_t byte = 0;

    for (uint8_t i = 0; i < 8; ++i) {
        OUTPUT_LOW(ADNS5050_SCLK_PIN);
        delayMicroseconds(1);

        byte = (byte << 1) | READ_PIN(ADNS5050_SDIO_PIN);

        OUTPUT_HIGH(ADNS5050_SCLK_PIN);
        delayMicroseconds(1);
    }

    return byte;
}

void adns5050_serial_write(uint8_t data) {
    DDR_OUTPUT(ADNS5050_SDIO_PIN);

    for (int8_t b = 7; b >= 0; b--) {
        OUTPUT_LOW(ADNS5050_SCLK_PIN);

        if (data & (1 << b))
            OUTPUT_HIGH(ADNS5050_SDIO_PIN);
        else
            OUTPUT_LOW(ADNS5050_SDIO_PIN);

        delayMicroseconds(2);

        OUTPUT_HIGH(ADNS5050_SCLK_PIN);
    }

    // tSWR. See page 15 of the ADNS spec sheet.
    // Technically, this is only necessary if the next operation is an SDIO
    // read. This is not guaranteed to be the case, but we're being lazy.
    delayMicroseconds(4);

    // Note that tSWW is never necessary. All write operations require at
    // least 32us, which exceeds tSWW, so there's never a need to wait for it.
}

// Read a byte of data from a register on the ADNS.
// Don't forget to use the register map (as defined in the header file).
uint8_t adns5050_read_reg(uint8_t reg_addr) {
    adns5050_cs_select();

    adns5050_serial_write(reg_addr);

    // We don't need a minimum tSRAD here. That's because a 4ms wait time is
    // already included in adns5050_serial_write(), so we're good.
    // See page 10 and 15 of the ADNS spec sheet.
    // delayMicroseconds(4);

    uint8_t byte = adns5050_serial_read();

    // tSRW & tSRR. See page 15 of the ADNS spec sheet.
    // Technically, this is only necessary if the next operation is an SDIO
    // read or write. This is not guaranteed to be the case.
    // Honestly, this wait could probably be removed.
    delayMicroseconds(1);

    adns5050_cs_deselect();

    return byte;
}

void adns5050_write_reg(uint8_t reg_addr, uint8_t data) {
    adns5050_cs_select();
    adns5050_serial_write(0b10000000 | reg_addr);
    adns5050_serial_write(data);
    adns5050_cs_deselect();
}

report_adns5050_t adns5050_read_burst(void) {
    adns5050_cs_select();

    report_adns5050_t data;
    data.dx = 0;
    data.dy = 0;

    adns5050_serial_write(REG_MOTION_BURST);

    // We don't need a minimum tSRAD here. That's because a 4ms wait time is
    // already included in adns5050_serial_write(), so we're good.
    // See page 10 and 15 of the ADNS spec sheet.
    // delayMicroseconds(4);

    uint8_t x = adns5050_serial_read();
    uint8_t y = adns5050_serial_read();

    // Burst mode returns a bunch of other shit that we don't really need.
    // Setting CS to high ends burst mode early.
    adns5050_cs_deselect();

    data.dx = convert_twoscomp(x);
    data.dy = convert_twoscomp(y);

    return data;
}

// Convert a two's complement byte from an unsigned data type into a signed
// data type.
int8_t convert_twoscomp(uint8_t data) {
    if ((data & 0x80) == 0x80)
        return -128 + (data & 0x7F);
    else
        return data;
}

// Don't forget to use the definitions for CPI in the header file.
void adns5050_set_cpi(uint16_t cpi) {
    uint8_t cpival = constrain((cpi / 125), 0x1, 0xD); // limits to 0--119

    adns5050_write_reg(REG_MOUSE_CONTROL2, 0b10000 | cpival);
}

uint16_t adns5050_get_cpi(void) {
    uint8_t cpival = adns5050_read_reg(REG_MOUSE_CONTROL2);
    return (uint16_t)((cpival & 0b10000) * 125);
}

bool adns5050_check_signature(void) {
    uint8_t pid  = adns5050_read_reg(REG_PRODUCT_ID);
    uint8_t rid  = adns5050_read_reg(REG_REVISION_ID);
    uint8_t pid2 = adns5050_read_reg(REG_PRODUCT_ID2);

    return (pid == 0x12 && rid == 0x01 && pid2 == 0x26);
}