wip: adns working

Signed-off-by: Gergely Nagy <algernon@keyboard.io>
hardware/ploopy
Gergely Nagy 2 years ago
parent 31e4a54e3c
commit 0926aba479
No known key found for this signature in database
GPG Key ID: AC1E90BAC433F68F

@ -0,0 +1,48 @@
# This makefile for a Kaleidoscope sketch pulls in all the targets
# required to build the example
ifneq ($(KALEIDOSCOPE_DIR),)
search_path += $(KALEIDOSCOPE_DIR)
endif
ifneq ($(ARDUINO_DIRECTORIES_USER),)
search_path += $(ARDUINO_DIRECTORIES_USER)/hardware/keyboardio/avr/libraries/Kaleidoscope
endif
ifeq ($(shell uname -s),Darwin)
search_path += $(HOME)/Documents/Arduino/hardware/keyboardio/avr/libraries/Kaleidoscope
else
search_path += $(HOME)/Arduino/hardware/keyboardio/avr/libraries/Kaleidoscope
endif
sketch_makefile := etc/makefiles/sketch.mk
$(foreach candidate, $(search_path), $(if $(wildcard $(candidate)/$(sketch_makefile)), $(eval ks_dir ?= $(candidate))))
ifneq ($(ks_dir),)
$(info Using Kaleidoscope from $(ks_dir))
export KALEIDOSCOPE_DIR := $(ks_dir)
include $(ks_dir)/$(sketch_makefile)
else
$(info I can't find your Kaleidoscope installation.)
$(info )
$(info I tried looking in:)
$(info )
$(foreach candidate, $(search_path), $(info $(candidate)))
$(info )
$(info The easiest way to fix this is to set the 'KALEIDOSCOPE_DIR' environment)
$(info variable to the location of your Kaleidoscope directory.)
endif
null-target:
$(info You should never see this message)
@:

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// -*- mode: c++ -*-
#include <stdint.h> // for uint16_t, uint8_t
#include "pins_and_ports.h" // IWYU pragma: keep
#include <avr/wdt.h>
extern "C" {
#include "adns5050.h"
}
#define BOOTLOADER_RESET_KEY 0xB007B007
static uint32_t reset_key __attribute__((section(".noinit")));
/*
* This function runs before main(), and jumps to the bootloader after a reset
* initiated by .resetDevice().
*/
static void _bootloader_jump_after_watchdog_reset()
__attribute__((used, naked, section(".init3")));
static void _bootloader_jump_after_watchdog_reset() {
if ((MCUSR & (1 << WDRF)) && reset_key == BOOTLOADER_RESET_KEY) {
reset_key = 0;
((void (*)(void))(((FLASHEND + 1L) - 4096) >> 1))();
}
}
void rebootBootloader() {
reset_key = BOOTLOADER_RESET_KEY;
wdt_enable(WDTO_250MS);
while (true) {} // This infinite loop ensures nothing else
// happens before the watchdog reboots us
}
static constexpr uint8_t direct_pins[5] = {PIN_D4, PIN_D2, PIN_E6, PIN_B6, PIN_D7};
static constexpr uint8_t unused_pins[12] = {PIN_B5, PIN_C7, PIN_D0, PIN_D1, PIN_D3, PIN_D5, PIN_D6, PIN_F1, PIN_F3, PIN_F5, PIN_F6, PIN_F7};
void mcuSetup() {
wdt_disable();
// disable jtag
MCUCR |= (1 << JTD);
MCUCR |= (1 << JTD);
// disable clock division
CLKPR = (1 << CLKPCE);
CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
}
void buttonSetup() {
// Initialize keyscanner
for (uint8_t i = 0; i < sizeof(unused_pins); i++) {
DDR_OUTPUT(unused_pins[i]);
DISABLE_PULLUP(unused_pins[i]);
}
for (uint8_t i = 0; i < sizeof(direct_pins); i++) {
DDR_INPUT(direct_pins[i]);
ENABLE_PULLUP(direct_pins[i]);
}
}
void setup() {
mcuSetup();
Serial.begin(9600);
buttonSetup();
adns5050_init();
adns5050_sync();
while (!Serial);
uint8_t pid = adns5050_read_reg(0x00);
uint8_t rid = adns5050_read_reg(0x01);
uint8_t pid2 = adns5050_read_reg(0x3e);
Serial.print("pid=");
Serial.print(pid, HEX);
Serial.print("; rid=");
Serial.print(rid, HEX);
Serial.print("; pid2=");
Serial.println(pid2);
}
void handleSerial() {
if (Serial.available() == 0) return;
uint8_t b = Serial.read();
if (b == 'r') rebootBootloader();
Serial.flush();
}
void loop() {
handleSerial();
//report_adns5050_t r = adns505
delay(250);
}

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/* 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);
}

@ -0,0 +1,79 @@
/* 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/>.
*/
#pragma once
#include <stdbool.h>
#include "pins_and_ports.h"
// CPI values
// clang-format off
#define CPI125 0x11
#define CPI250 0x12
#define CPI375 0x13
#define CPI500 0x14
#define CPI625 0x15
#define CPI750 0x16
#define CPI875 0x17
#define CPI1000 0x18
#define CPI1125 0x19
#define CPI1250 0x1a
#define CPI1375 0x1b
// clang-format on
#define constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
#if 0
// Definitions for the ADNS serial line.
#ifndef ADNS5050_SCLK_PIN
# error "No clock pin defined -- missing ADNS5050_SCLK_PIN"
#endif
#ifndef ADNS5050_SDIO_PIN
# error "No data pin defined -- missing ADNS5050_SDIO_PIN"
#endif
#ifndef ADNS5050_CS_PIN
# error "No chip select pin defined -- missing ADNS5050_CS_PIN"
#endif
#endif
#define ADNS5050_SCLK_PIN PIN_B7
#define ADNS5050_SDIO_PIN PIN_C6
#define ADNS5050_CS_PIN PIN_B4
typedef struct {
int8_t dx;
int8_t dy;
} report_adns5050_t;
// A bunch of functions to implement the ADNS5050-specific serial protocol.
// Note that the "serial.h" driver is insufficient, because it does not
// manually manipulate a serial clock signal.
void adns5050_init(void);
void adns5050_sync(void);
uint8_t adns5050_serial_read(void);
void adns5050_serial_write(uint8_t data);
uint8_t adns5050_read_reg(uint8_t reg_addr);
void adns5050_write_reg(uint8_t reg_addr, uint8_t data);
report_adns5050_t adns5050_read_burst(void);
void adns5050_set_cpi(uint16_t cpi);
uint16_t adns5050_get_cpi(void);
int8_t convert_twoscomp(uint8_t data);
bool adns5050_check_signature(void);

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#! /bin/sh
set -e
echo "* Building"
make OUTPUT_PATH=$(pwd)/_build >/dev/null 2>LOG
echo "* Jumping to bootloader..."
DEVICE=/dev/ttyACM1 focus r
sleep 2s
echo "* Flashing..."
dfu-programmer atmega32u4 erase && dfu-programmer atmega32u4 flash _build/*-latest.hex && dfu-programmer atmega32u4 start

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/* This file originated in QMK. https://github.com/qmk/qmk_firmware
* quantum/config_common.h 73e634482ea8f57d1f1a5f1e16bc3ffd74f84b8e
*
* Original copyright statement:
*
* Copyright 2015-2018 Jack Humbert
*
* 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/>.
*/
#pragma once
#if !defined(__ASSEMBLER__) && !defined(KALEIDOSCOPE_VIRTUAL_BUILD)
#include <avr/io.h>
#endif
#define PORT_SHIFTER 4 // this may be 4 for all AVR chips
// If you want to add more to this list, reference the PINx definitions in these header
// files: https://github.com/vancegroup-mirrors/avr-libc/tree/master/avr-libc/include/avr
#if defined(__AVR_ATmega32U4__) || defined(__AVR_ATmega16U4__)
#define ADDRESS_BASE 0x00
#define PINB_ADDRESS 0x3
#define PINC_ADDRESS 0x6
#define PIND_ADDRESS 0x9
#define PINE_ADDRESS 0xC
#define PINF_ADDRESS 0xF
#elif defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__)
#define ADDRESS_BASE 0x00
#define PINB_ADDRESS 0x3
#define PINC_ADDRESS 0x6
#define PIND_ADDRESS 0x9
#elif defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__)
#define ADDRESS_BASE 0x00
#define PINA_ADDRESS 0x0
#define PINB_ADDRESS 0x3
#define PINC_ADDRESS 0x6
#define PIND_ADDRESS 0x9
#define PINE_ADDRESS 0xC
#define PINF_ADDRESS 0xF
#elif defined(__AVR_ATmega32A__)
#define ADDRESS_BASE 0x10
#define PIND_ADDRESS 0x0
#define PINC_ADDRESS 0x3
#define PINB_ADDRESS 0x6
#define PINA_ADDRESS 0x9
#elif !defined(KALEIDOSCOPE_VIRTUAL_BUILD)
#error "Pins are not defined"
#endif
/* I/O pins */
#ifndef KALEIDOSCOPE_VIRTUAL_BUILD
#define PINDEF(port, pin) ((PIN##port##_ADDRESS << PORT_SHIFTER) | pin)
#else // ifndef KALEIDOSCOPE_VIRTUAL_BUILD
#define PINDEF(port, pin) 0
#define PORTA
#define PORTB
#define PORTC
#define PORTD
#define PORTE
#define PORTF
#endif // ifndef KALEIDOSCOPE_VIRTUAL_BUILD
#ifdef PORTA
#define PIN_A0 PINDEF(A, 0)
#define PIN_A1 PINDEF(A, 1)
#define PIN_A2 PINDEF(A, 2)
#define PIN_A3 PINDEF(A, 3)
#define PIN_A4 PINDEF(A, 4)
#define PIN_A5 PINDEF(A, 5)
#define PIN_A6 PINDEF(A, 6)
#define PIN_A7 PINDEF(A, 7)
#endif
#ifdef PORTB
#define PIN_B0 PINDEF(B, 0)
#define PIN_B1 PINDEF(B, 1)
#define PIN_B2 PINDEF(B, 2)
#define PIN_B3 PINDEF(B, 3)
#define PIN_B4 PINDEF(B, 4)
#define PIN_B5 PINDEF(B, 5)
#define PIN_B6 PINDEF(B, 6)
#define PIN_B7 PINDEF(B, 7)
#endif
#ifdef PORTC
#define PIN_C0 PINDEF(C, 0)
#define PIN_C1 PINDEF(C, 1)
#define PIN_C2 PINDEF(C, 2)
#define PIN_C3 PINDEF(C, 3)
#define PIN_C4 PINDEF(C, 4)
#define PIN_C5 PINDEF(C, 5)
#define PIN_C6 PINDEF(C, 6)
#define PIN_C7 PINDEF(C, 7)
#endif
#ifdef PORTD
#define PIN_D0 PINDEF(D, 0)
#define PIN_D1 PINDEF(D, 1)
#define PIN_D2 PINDEF(D, 2)
#define PIN_D3 PINDEF(D, 3)
#define PIN_D4 PINDEF(D, 4)
#define PIN_D5 PINDEF(D, 5)
#define PIN_D6 PINDEF(D, 6)
#define PIN_D7 PINDEF(D, 7)
#endif
#ifdef PORTE
#define PIN_E0 PINDEF(E, 0)
#define PIN_E1 PINDEF(E, 1)
#define PIN_E2 PINDEF(E, 2)
#define PIN_E3 PINDEF(E, 3)
#define PIN_E4 PINDEF(E, 4)
#define PIN_E5 PINDEF(E, 5)
#define PIN_E6 PINDEF(E, 6)
#define PIN_E7 PINDEF(E, 7)
#endif
#ifdef PORTF
#define PIN_F0 PINDEF(F, 0)
#define PIN_F1 PINDEF(F, 1)
#define PIN_F2 PINDEF(F, 2)
#define PIN_F3 PINDEF(F, 3)
#define PIN_F4 PINDEF(F, 4)
#define PIN_F5 PINDEF(F, 5)
#define PIN_F6 PINDEF(F, 6)
#define PIN_F7 PINDEF(F, 7)
#endif
/* converting pins to ports */
enum { PIN_OFFSET,
DDR_OFFSET,
PORT_OFFSET };
#define PIN_ADDRESS_MASK 0xF
#define PIN_ADDRESS(p, offset) _SFR_IO8(ADDRESS_BASE + (p >> PORT_SHIFTER) + offset)
#define PIN_REG_FOR_PIN(pin) PIN_ADDRESS(pin, PIN_OFFSET)
#define DDR_REG_FOR_PIN(pin) PIN_ADDRESS(pin, DDR_OFFSET)
#define PORT_REG_FOR_PIN(pin) PIN_ADDRESS(pin, PORT_OFFSET)
#define PIN_NUM_FOR_PIN(pin) (pin & PIN_ADDRESS_MASK)
#define PIN_MASK_FOR_PIN(pin) _BV(PIN_NUM_FOR_PIN(pin))
#define DDR_INPUT(pin) (DDR_REG_FOR_PIN(pin) &= ~(PIN_MASK_FOR_PIN(pin)))
#define DDR_OUTPUT(pin) (DDR_REG_FOR_PIN(pin) |= (PIN_MASK_FOR_PIN(pin)))
#define ENABLE_PULLUP(pin) (PORT_REG_FOR_PIN(pin) |= (PIN_MASK_FOR_PIN(pin)))
#define DISABLE_PULLUP(pin) (PORT_REG_FOR_PIN(pin) &= ~(PIN_MASK_FOR_PIN(pin)))
#define OUTPUT_HIGH(pin) (PORT_REG_FOR_PIN(pin) |= (PIN_MASK_FOR_PIN(pin)))
#define OUTPUT_LOW(pin) (PORT_REG_FOR_PIN(pin) &= ~(PIN_MASK_FOR_PIN(pin)))
#define OUTPUT_TOGGLE(pin) (PORT_REG_FOR_PIN(pin) ^= (PIN_MASK_FOR_PIN(pin)))
#define READ_PIN(pin) (!!(PIN_REG_FOR_PIN(pin) & PIN_MASK_FOR_PIN(pin)))
#define NO_PIN (uint8_t)(~0)

@ -0,0 +1,6 @@
{
"cpu": {
"fqbn": "keyboardio:avr:ploopy_mini",
"port": ""
}
}
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