diff --git a/.vscode/launch.json b/.vscode/launch.json
index 6e016a822b9f0bd79e30afb19eced0c648299d88..2a80d5ad3582867e01d635f69fce8f1782b163d0 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -63,6 +63,19 @@
"postLaunchCommands": [
"monitor arm semihosting enable"
],
+ "swoConfig": {
+ "enabled": true,
+ "cpuFrequency": 16000000,
+ "swoFrequency": 2000000,
+ "source": "probe",
+ "decoders": [
+ {
+ "type": "console",
+ "label": "ITM",
+ "port": 0
+ }
+ ]
+ },
"executable": "./target/thumbv7em-none-eabi/release/examples/${fileBasenameNoExtension}",
"cpu": "cortex-m4",
},
diff --git a/examples/pmw3389.rs b/examples/pmw3389.rs
index 56bbc27beddc9c37bf19d531adb55da0c3e2def2..80c66814e48576c62fdb6ce57a2c7d78b5690135 100644
--- a/examples/pmw3389.rs
+++ b/examples/pmw3389.rs
@@ -8,7 +8,7 @@ use embedded_hal::spi::MODE_3;
// use cortex_m_semihosting::hprintln;
use panic_halt as _;
use rtic::cyccnt::{Instant, U32Ext as _};
-use stm32f4xx_hal::{dwt::Dwt, prelude::*, rcc::Clocks, spi::Spi, stm32};
+use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
//use crate::hal::gpio::{gpioa::PA0, Edge, Input, PullDown};
//use hal::spi::{Mode, Phase, Polarity};
@@ -38,6 +38,7 @@ const APP: () = {
let stim = &mut core.ITM.stim[0];
+ iprintln!(stim, "------------");
iprintln!(stim, "pmw3389");
// Initialize (enable) the monotonic timer (CYCCNT)
@@ -60,7 +61,7 @@ const APP: () = {
let sck = gpiob.pb10.into_alternate_af5();
let miso = gpioc.pc2.into_alternate_af5();
let mosi = gpioc.pc3.into_alternate_af5();
- let cs = gpiob.pb4.into_push_pull_output();
+ let cs = gpiob.pb4.into_push_pull_output().set_speed(Speed::VeryHigh);
let spi = Spi::spi2(
device.SPI2,
@@ -71,7 +72,8 @@ const APP: () = {
);
let mut delay = DwtDelay::new(&mut core.DWT, clocks);
- iprintln!(stim, "clocks:\n hclk {}", clocks.hclk().0);
+ iprintln!(stim, "clocks:");
+ iprintln!(stim, "hclk {}", clocks.hclk().0);
// test the delay
let t1 = stm32::DWT::get_cycle_count();
@@ -81,13 +83,6 @@ const APP: () = {
iprintln!(stim, "t1 {}", t1);
iprintln!(stim, "t2 {}", t2);
- // let t1 = stm32::DWT::get_cycle_count();
- // delay.delay_ms(1000);
- // let t2 = stm32::DWT::get_cycle_count();
-
- // iprintln!(stim, "t1 {}", t1);
- // iprintln!(stim, "t2 {}", t2);
-
let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay, &mut core.ITM).unwrap();
let stim = &mut core.ITM.stim[0];
@@ -122,15 +117,6 @@ const APP: () = {
.unwrap();
iprintln!(stim, "ripple_control {:x}", id);
- // pmw3389
- // .write_register(pmw3389::Register::RippleControl, 10)
- // .unwrap();
-
- // let id = pmw3389
- // .read_register(pmw3389::Register::RippleControl)
- // .unwrap();
- // iprintln!(stim, "ripple_control {:x}", id);
-
// semantically, the monotonic timer is frozen at time "zero" during `init`
// NOTE do *not* call `Instant::now` in this context; it will return a nonsense value
// let now = cx.start; // the start time of the system
@@ -201,11 +187,11 @@ impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
mod pmw3389 {
use super::DwtDelay;
+ use cortex_m::iprintln;
use embedded_hal::blocking::spi::{Transfer, Write};
use embedded_hal::digital::v2::OutputPin;
- // use embedded_hal::spi::Mode;
- use cortex_m::iprintln;
- use stm32f4xx_hal::prelude::*;
+ use stm32f4xx_hal::{prelude::*, stm32};
+ // use stm32f4xx_hal::{dwt::Dwt, gpio::Speed, prelude::*, rcc::Clocks, spi::Spi, stm32};
#[allow(dead_code)]
#[derive(Clone, Copy)]
@@ -290,34 +276,36 @@ mod pmw3389 {
SPI: Transfer<u8, Error = E> + Write<u8, Error = E>,
CS: OutputPin,
{
- fn com_start(&mut self) {
- self.cs.set_low();
+ fn com_begin(&mut self) {
+ self.cs.set_low().ok();
}
fn com_end(&mut self) {
- self.cs.set_low();
+ self.cs.set_low().ok();
}
/// Creates a new driver from a SPI peripheral and a NCS pin
- pub fn new(
- spi: SPI,
- cs: CS,
- delay: DwtDelay,
- itm: &mut stm32f4::stm32f411::ITM,
- ) -> Result<Self, E> {
+ pub fn new(spi: SPI, cs: CS, delay: DwtDelay, itm: &mut stm32::ITM) -> Result<Self, E> {
let mut pmw3389 = Pmw3389 { spi, cs, delay };
// ensure SPI is reset
pmw3389.com_end();
- pmw3389.com_start();
+ pmw3389.com_begin();
pmw3389.com_end();
// force reset
- pmw3389.write_register(Register::PowerUpReset, 0x5a);
+ pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
// wait for reboot
pmw3389.delay.delay_ms(50);
+ // read product id
+ let id = pmw3389.product_id()?;
+ iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
+
+ let srom_id = pmw3389.read_register(Register::SROMId)?;
+ iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
+
// read registers 0x02 to 0x06 (and discard the data)
pmw3389.read_register(Register::Motion)?;
pmw3389.read_register(Register::DeltaXL)?;
@@ -351,15 +339,18 @@ mod pmw3389 {
}
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
- let _ = self.cs.set_low();
+ self.com_begin();
let mut buffer = [reg.addr() & 0x7f, 0];
self.spi.transfer(&mut buffer)?;
+ // delayMicroseconds(100); // tSRAD
+ self.delay.delay_us(100);
+
// tSCLK-NCS for read operation is 120ns
self.delay.delay_us(1);
- let _ = self.cs.set_high();
+ self.com_end();
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
@@ -368,7 +359,7 @@ mod pmw3389 {
}
pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
- let _ = self.cs.set_low();
+ self.com_begin();
let buffer = [reg.addr() | 0x80, byte];
self.spi.write(&buffer)?;
@@ -376,8 +367,7 @@ mod pmw3389 {
// tSCLK-NCS for write operation
self.delay.delay_us(20);
- let _ = self.cs.set_high();
-
+ self.com_end();
// tSWW/tSWR (=120us) minus tSCLK-NCS.
// Could be shortened, but is looks like a safe lower bound
self.delay.delay_us(100);
@@ -390,8 +380,8 @@ mod pmw3389 {
self.read_register(Register::ProductId)
}
- ///
- pub fn upload_firmware(&mut self, itm: &mut stm32f4::stm32f411::ITM) -> Result<(), E> {
+ // Upload the firmware
+ pub fn upload_firmware(&mut self, itm: &mut stm32::ITM) -> Result<(), E> {
let stim = &mut itm.stim[0];
// send the firmware to the chip, cf p.18 of the datasheet
// Serial.println("Uploading firmware...");
@@ -417,12 +407,14 @@ mod pmw3389 {
// write the SROM file (=firmware data)
// adns_com_begin();
- let _ = self.cs.set_low();
+ self.com_begin();
// write burst destination address
+ // SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination adress
+ // delayMicroseconds(15);
+
self.spi
.transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
- // delayMicroseconds(15);
self.delay.delay_us(15);
@@ -442,9 +434,9 @@ mod pmw3389 {
}
// Per: added this, seems adequate
- self.delay.delay_us(105);
+ // self.delay.delay_us(105);
- let _ = self.cs.set_high();
+ // let _ = self.cs.set_high();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
@@ -452,14 +444,14 @@ mod pmw3389 {
let srom_id = self.read_register(Register::SROMId)?;
iprintln!(stim, "srom_id {}, 0x{:x}", srom_id, srom_id);
- //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
- // adns_write_reg(Config2, 0x00);
- self.write_register(Register::Config2, 0x00)?;
+ // //Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design.
+ // // adns_write_reg(Config2, 0x00);
+ // self.write_register(Register::Config2, 0x00)?;
- // set initial CPI resolution
- // adns_write_reg(Config1, 0x15);
- // not sure this is the RippleControl
- self.write_register(Register::RippleControl, 0x15)?;
+ // // set initial CPI resolution
+ // // adns_write_reg(Config1, 0x15);
+ // // not sure this is the RippleControl
+ // self.write_register(Register::RippleControl, 0x15)?;
// adns_com_end();
Ok(())