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// cargo run --example rtt_rtic_usb_mouse --release
//
// Notice, release build required
#![no_std]
#![no_main]
use panic_halt as _;
use cortex_m::{asm::delay, peripheral::DWT};
use embedded_hal::digital::v2::OutputPin;
use rtic::cyccnt::{Instant, U32Ext as _};
use stm32f4xx_hal::{
gpio,
otg_fs::{UsbBus, UsbBusType, USB},
prelude::*,
};
use usb_device::bus;
use usb_device::prelude::*;
#[allow(unused)]
pub mod hid {
use usb_device::class_prelude::*;
use usb_device::Result;
pub const USB_CLASS_HID: u8 = 0x03;
const USB_SUBCLASS_NONE: u8 = 0x00;
const USB_SUBCLASS_BOOT: u8 = 0x01;
const USB_INTERFACE_NONE: u8 = 0x00;
const USB_INTERFACE_KEYBOARD: u8 = 0x01;
const USB_INTERFACE_MOUSE: u8 = 0x02;
const REQ_GET_REPORT: u8 = 0x01;
const REQ_GET_IDLE: u8 = 0x02;
const REQ_GET_PROTOCOL: u8 = 0x03;
const REQ_SET_REPORT: u8 = 0x09;
const REQ_SET_IDLE: u8 = 0x0a;
const REQ_SET_PROTOCOL: u8 = 0x0b;
// https://docs.microsoft.com/en-us/windows-hardware/design/component-guidelines/mouse-collection-report-descriptor
const REPORT_DESCR: &[u8] = &[
0x05, 0x01, // USAGE_PAGE (Generic Desktop)
0x09, 0x02, // USAGE (Mouse)
0xa1, 0x01, // COLLECTION (Application)
0x09, 0x01, // USAGE (Pointer)
0xa1, 0x00, // COLLECTION (Physical)
0x05, 0x09, // USAGE_PAGE (Button)
0x19, 0x01, // USAGE_MINIMUM (Button 1)
0x29, 0x03, // USAGE_MAXIMUM (Button 3)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0x01, // LOGICAL_MAXIMUM (1)
0x95, 0x03, // REPORT_COUNT (3)
0x75, 0x01, // REPORT_SIZE (1)
0x81, 0x02, // INPUT (Data,Var,Abs)
0x95, 0x01, // REPORT_COUNT (1)
0x75, 0x05, // REPORT_SIZE (5)
0x81, 0x03, // INPUT (Cnst,Var,Abs)
0x05, 0x01, // USAGE_PAGE (Generic Desktop)
0x09, 0x30, // USAGE (X)
0x09, 0x31, // USAGE (Y)
0x15, 0x81, // LOGICAL_MINIMUM (-127)
0x25, 0x7f, // LOGICAL_MAXIMUM (127)
0x75, 0x08, // REPORT_SIZE (8)
0x95, 0x02, // REPORT_COUNT (2)
0x81, 0x06, // INPUT (Data,Var,Rel)
0xc0, // END_COLLECTION
0xc0, // END_COLLECTION
];
pub fn report(x: i8, y: i8) -> [u8; 3] {
[
0x00, // button: none
x as u8, // x-axis
y as u8, // y-axis
]
}
pub struct HIDClass<'a, B: UsbBus> {
report_if: InterfaceNumber,
report_ep: EndpointIn<'a, B>,
}
impl<B: UsbBus> HIDClass<'_, B> {
/// Creates a new HIDClass with the provided UsbBus and max_packet_size in bytes. For
/// full-speed devices, max_packet_size has to be one of 8, 16, 32 or 64.
pub fn new(alloc: &UsbBusAllocator<B>) -> HIDClass<'_, B> {
HIDClass {
report_if: alloc.interface(),
report_ep: alloc.interrupt(8, 10),
}
}
pub fn write(&mut self, data: &[u8]) {
self.report_ep.write(data).ok();
}
}
impl<B: UsbBus> UsbClass<B> for HIDClass<'_, B> {
fn get_configuration_descriptors(&self, writer: &mut DescriptorWriter) -> Result<()> {
writer.interface(
self.report_if,
USB_CLASS_HID,
USB_SUBCLASS_NONE,
USB_INTERFACE_MOUSE,
)?;
let descr_len: u16 = REPORT_DESCR.len() as u16;
writer.write(
0x21,
&[
0x01, // bcdHID
0x01, // bcdHID
0x00, // bCountryCode
0x01, // bNumDescriptors
0x22, // bDescriptorType
descr_len as u8, // wDescriptorLength
(descr_len >> 8) as u8, // wDescriptorLength
],
)?;
writer.endpoint(&self.report_ep)?;
Ok(())
}
fn control_in(&mut self, xfer: ControlIn<B>) {
let req = xfer.request();
if req.request_type == control::RequestType::Standard {
match (req.recipient, req.request) {
(control::Recipient::Interface, control::Request::GET_DESCRIPTOR) => {
let (dtype, _index) = req.descriptor_type_index();
if dtype == 0x21 {
// HID descriptor
cortex_m::asm::bkpt();
let descr_len: u16 = REPORT_DESCR.len() as u16;
// HID descriptor
let descr = &[
0x09, // length
0x21, // descriptor type
0x01, // bcdHID
0x01, // bcdHID
0x00, // bCountryCode
0x01, // bNumDescriptors
0x22, // bDescriptorType
descr_len as u8, // wDescriptorLength
(descr_len >> 8) as u8, // wDescriptorLength
];
xfer.accept_with(descr).ok();
return;
} else if dtype == 0x22 {
// Report descriptor
xfer.accept_with(REPORT_DESCR).ok();
return;
}
}
_ => {
return;
}
};
}
if !(req.request_type == control::RequestType::Class
&& req.recipient == control::Recipient::Interface
&& req.index == u8::from(self.report_if) as u16)
{
return;
}
match req.request {
REQ_GET_REPORT => {
// USB host requests for report
// I'm not sure what should we do here, so just send empty report
xfer.accept_with(&report(0, 0)).ok();
}
_ => {
xfer.reject().ok();
}
}
}
fn control_out(&mut self, xfer: ControlOut<B>) {
let req = xfer.request();
if !(req.request_type == control::RequestType::Class
&& req.recipient == control::Recipient::Interface
&& req.index == u8::from(self.report_if) as u16)
{
return;
}
xfer.reject().ok();
}
}
}
use hid::HIDClass;
type LED = gpio::gpioa::PA5<gpio::Output<gpio::PushPull>>;
const PERIOD: u32 = 8_000_000;
#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
counter: u8,
led: LED,
usb_dev: UsbDevice<'static, UsbBusType>,
hid: HIDClass<'static, UsbBusType>,
}
#[init(schedule = [on_tick])]
fn init(mut cx: init::Context) -> init::LateResources {
static mut USB_BUS: Option<bus::UsbBusAllocator<UsbBusType>> = None;
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
cx.core.DCB.enable_trace();
DWT::unlock();
cx.core.DWT.enable_cycle_counter();
let rcc = cx.device.RCC.constrain();
let clocks = rcc
.cfgr
// .use_hse(8.mhz())
.sysclk(48.mhz())
.pclk1(24.mhz())
.freeze();
// assert!(clocks.usbclk_valid());
let gpioa = cx.device.GPIOA.split();
let led = gpioa.pa5.into_push_pull_output();
// Pull the D+ pin down to send a RESET condition to the USB bus.
let mut usb_dp = gpioa.pa12.into_push_pull_output();
usb_dp.set_low().ok();
delay(clocks.sysclk().0 / 100);
let usb_dp = usb_dp.into_floating_input();
let usb_dm = gpioa.pa11;
let usb = USB {
usb_global: cx.device.OTG_FS_GLOBAL,
usb_device: cx.device.OTG_FS_DEVICE,
usb_pwrclk: cx.device.OTG_FS_PWRCLK,
pin_dm: usb_dm.into_alternate_af10(),
pin_dp: usb_dp.into_alternate_af10(),
};
*USB_BUS = Some(UsbBus::new(usb, EP_MEMORY));
let hid = HIDClass::new(USB_BUS.as_ref().unwrap());
let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
.manufacturer("Fake company")
.product("mouse")
.serial_number("TEST")
.device_class(0)
.build();
cx.schedule.on_tick(cx.start + PERIOD.cycles()).ok();
init::LateResources {
counter: 0,
led,
usb_dev,
hid,
}
}
#[idle]
fn idle(_cx: idle::Context) -> ! {
// rprintln!("idle");
loop {
continue;
}
}
#[task(schedule = [on_tick], resources = [counter, led, hid])]
fn on_tick(mut cx: on_tick::Context) {
cx.schedule.on_tick(Instant::now() + PERIOD.cycles()).ok();
let counter: &mut u8 = &mut cx.resources.counter;
let led = &mut cx.resources.led;
let hid = &mut cx.resources.hid;
const P: u8 = 2;
*counter = (*counter + 1) % P;
// move mouse cursor horizontally (x-axis) while blinking LED
if *counter < P / 2 {
led.set_high().ok();
hid.write(&hid::report(10, 0));
} else {
led.set_low().ok();
hid.write(&hid::report(-10, 0));
}
}
#[task(binds=OTG_FS, resources = [counter, led, usb_dev, hid])]
fn usb_fs(mut cx: usb_fs::Context) {
usb_poll(
&mut cx.resources.counter,
&mut cx.resources.led,
&mut cx.resources.usb_dev,
&mut cx.resources.hid,
);
}
extern "C" {
fn EXTI0();
}
};
fn usb_poll<B: bus::UsbBus>(
_counter: &mut u8,
_led: &mut LED,
usb_dev: &mut UsbDevice<'static, B>,
hid: &mut HIDClass<'static, B>,
) {
//
if !usb_dev.poll(&mut [hid]) {
return;
}
}
#![no_std]
#![no_main]
// > cargo run usb-mouse
// or
// > cargo run usb-mouse --release
// extern crate panic_semihosting;
// use panic_rtt_target as _;
use panic_halt as _;
#![no_main]
#![no_std]
use cortex_m::{asm::delay, peripheral::DWT};
use embedded_hal::digital::v2::OutputPin;
use rtic::cyccnt::{Instant, U32Ext as _};
// use stm32f4xx_hal::usb::{Peripheral, UsbBus, UsbBusType};
use stm32f4xx_hal::{
gpio,
gpio::{gpioc::PC13, Input, PullUp},
otg_fs::{UsbBus, UsbBusType, USB},
prelude::*,
rcc::Clocks,
};
use usb_device::bus;
use usb_device::prelude::*;
#[allow(unused)]
pub mod hid {
use usb_device::class_prelude::*;
use usb_device::Result;
pub const USB_CLASS_HID: u8 = 0x03;
const USB_SUBCLASS_NONE: u8 = 0x00;
const USB_SUBCLASS_BOOT: u8 = 0x01;
const USB_INTERFACE_NONE: u8 = 0x00;
const USB_INTERFACE_KEYBOARD: u8 = 0x01;
const USB_INTERFACE_MOUSE: u8 = 0x02;
const REQ_GET_REPORT: u8 = 0x01;
const REQ_GET_IDLE: u8 = 0x02;
const REQ_GET_PROTOCOL: u8 = 0x03;
const REQ_SET_REPORT: u8 = 0x09;
const REQ_SET_IDLE: u8 = 0x0a;
const REQ_SET_PROTOCOL: u8 = 0x0b;
// https://docs.microsoft.com/en-us/windows-hardware/design/component-guidelines/mouse-collection-report-descriptor
const REPORT_DESCR: &[u8] = &[
0x05, 0x01, // USAGE_PAGE (Generic Desktop)
0x09, 0x02, // USAGE (Mouse)
0xa1, 0x01, // COLLECTION (Application)
0x09, 0x01, // USAGE (Pointer)
0xa1, 0x00, // COLLECTION (Physical)
0x05, 0x09, // USAGE_PAGE (Button)
0x19, 0x01, // USAGE_MINIMUM (Button 1)
0x29, 0x03, // USAGE_MAXIMUM (Button 3)
0x15, 0x00, // LOGICAL_MINIMUM (0)
0x25, 0x01, // LOGICAL_MAXIMUM (1)
0x95, 0x03, // REPORT_COUNT (3)
0x75, 0x01, // REPORT_SIZE (1)
0x81, 0x02, // INPUT (Data,Var,Abs)
0x95, 0x01, // REPORT_COUNT (1)
0x75, 0x05, // REPORT_SIZE (5)
0x81, 0x03, // INPUT (Cnst,Var,Abs)
0x05, 0x01, // USAGE_PAGE (Generic Desktop)
0x09, 0x30, // USAGE (X)
0x09, 0x31, // USAGE (Y)
0x15, 0x81, // LOGICAL_MINIMUM (-127)
0x25, 0x7f, // LOGICAL_MAXIMUM (127)
0x75, 0x08, // REPORT_SIZE (8)
0x95, 0x02, // REPORT_COUNT (2)
0x81, 0x06, // INPUT (Data,Var,Rel)
0xc0, // END_COLLECTION
0xc0, // END_COLLECTION
];
pub fn report(x: i8, y: i8) -> [u8; 3] {
[
0x00, // button: none
x as u8, // x-axis
y as u8, // y-axis
]
}
pub struct HIDClass<'a, B: UsbBus> {
report_if: InterfaceNumber,
report_ep: EndpointIn<'a, B>,
}
impl<B: UsbBus> HIDClass<'_, B> {
/// Creates a new HIDClass with the provided UsbBus and max_packet_size in bytes. For
/// full-speed devices, max_packet_size has to be one of 8, 16, 32 or 64.
pub fn new(alloc: &UsbBusAllocator<B>) -> HIDClass<'_, B> {
HIDClass {
report_if: alloc.interface(),
report_ep: alloc.interrupt(8, 10),
}
}
pub fn write(&mut self, data: &[u8]) {
self.report_ep.write(data).ok();
}
}
impl<B: UsbBus> UsbClass<B> for HIDClass<'_, B> {
fn get_configuration_descriptors(&self, writer: &mut DescriptorWriter) -> Result<()> {
writer.interface(
self.report_if,
USB_CLASS_HID,
USB_SUBCLASS_NONE,
USB_INTERFACE_MOUSE,
)?;
let descr_len: u16 = REPORT_DESCR.len() as u16;
writer.write(
0x21,
&[
0x01, // bcdHID
0x01, // bcdHID
0x00, // bCountryCode
0x01, // bNumDescriptors
0x22, // bDescriptorType
descr_len as u8, // wDescriptorLength
(descr_len >> 8) as u8, // wDescriptorLength
],
)?;
writer.endpoint(&self.report_ep)?;
Ok(())
}
fn control_in(&mut self, xfer: ControlIn<B>) {
let req = xfer.request();
if req.request_type == control::RequestType::Standard {
match (req.recipient, req.request) {
(control::Recipient::Interface, control::Request::GET_DESCRIPTOR) => {
let (dtype, _index) = req.descriptor_type_index();
if dtype == 0x21 {
// HID descriptor
cortex_m::asm::bkpt();
let descr_len: u16 = REPORT_DESCR.len() as u16;
// HID descriptor
let descr = &[
0x09, // length
0x21, // descriptor type
0x01, // bcdHID
0x01, // bcdHID
0x00, // bCountryCode
0x01, // bNumDescriptors
0x22, // bDescriptorType
descr_len as u8, // wDescriptorLength
(descr_len >> 8) as u8, // wDescriptorLength
];
xfer.accept_with(descr).ok();
return;
} else if dtype == 0x22 {
// Report descriptor
xfer.accept_with(REPORT_DESCR).ok();
return;
}
}
_ => {
return;
}
use usb_device::{bus::UsbBusAllocator, prelude::*};
use usbd_hid::{
descriptor::{generator_prelude::*, MouseReport},
hid_class::HIDClass,
};
}
if !(req.request_type == control::RequestType::Class
&& req.recipient == control::Recipient::Interface
&& req.index == u8::from(self.report_if) as u16)
{
return;
}
match req.request {
REQ_GET_REPORT => {
// USB host requests for report
// I'm not sure what should we do here, so just send empty report
xfer.accept_with(&report(0, 0)).ok();
}
_ => {
xfer.reject().ok();
}
}
}
fn control_out(&mut self, xfer: ControlOut<B>) {
let req = xfer.request();
if !(req.request_type == control::RequestType::Class
&& req.recipient == control::Recipient::Interface
&& req.index == u8::from(self.report_if) as u16)
{
return;
}
xfer.reject().ok();
}
}
}
use hid::HIDClass;
type LED = gpio::gpioa::PA5<gpio::Output<gpio::PushPull>>;
const PERIOD: u32 = 8_000_000;
use panic_rtt_target as _;
use rtt_target::{rprintln, rtt_init_print};
#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true)]
const APP: () = {
struct Resources {
counter: u8,
led: LED,
usb_dev: UsbDevice<'static, UsbBusType>,
btn: PC13<Input<PullUp>>,
hid: HIDClass<'static, UsbBusType>,
usb_dev: UsbDevice<'static, UsbBus<USB>>,
}
#[init(schedule = [on_tick])]
fn init(mut cx: init::Context) -> init::LateResources {
static mut USB_BUS: Option<bus::UsbBusAllocator<UsbBusType>> = None;
#[init]
fn init(ctx: init::Context) -> init::LateResources {
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
cx.core.DCB.enable_trace();
DWT::unlock();
cx.core.DWT.enable_cycle_counter();
let rcc = cx.device.RCC.constrain();
let clocks = rcc
.cfgr
// .use_hse(8.mhz())
.sysclk(48.mhz())
.pclk1(24.mhz())
.freeze();
static mut USB_BUS: Option<UsbBusAllocator<UsbBusType>> = None;
// assert!(clocks.usbclk_valid());
rtt_init_print!();
rprintln!("init");
let gpioa = cx.device.GPIOA.split();
let led = gpioa.pa5.into_push_pull_output();
// Set up the system clock.
let rcc = ctx.device.RCC.constrain();
let clocks: Clocks = rcc.cfgr.sysclk(48.mhz()).require_pll48clk().freeze();
let hclk = clocks.hclk();
// Pull the D+ pin down to send a RESET condition to the USB bus.
let mut usb_dp = gpioa.pa12.into_push_pull_output();
usb_dp.set_low().ok();
delay(clocks.sysclk().0 / 100);
let usb_dp = usb_dp.into_floating_input();
let usb_dm = gpioa.pa11;
let gpioc = ctx.device.GPIOC.split();
let btn = gpioc.pc13.into_pull_up_input();
let gpioa = ctx.device.GPIOA.split();
let usb = USB {
usb_global: cx.device.OTG_FS_GLOBAL,
usb_device: cx.device.OTG_FS_DEVICE,
usb_pwrclk: cx.device.OTG_FS_PWRCLK,
pin_dm: usb_dm.into_alternate_af10(),
pin_dp: usb_dp.into_alternate_af10(),
usb_global: ctx.device.OTG_FS_GLOBAL,
usb_device: ctx.device.OTG_FS_DEVICE,
usb_pwrclk: ctx.device.OTG_FS_PWRCLK,
pin_dm: gpioa.pa11.into_alternate_af10(),
pin_dp: gpioa.pa12.into_alternate_af10(),
hclk,
};
USB_BUS.replace(UsbBus::new(usb, EP_MEMORY));
*USB_BUS = Some(UsbBus::new(usb, EP_MEMORY));
let hid = HIDClass::new(USB_BUS.as_ref().unwrap());
let hid = HIDClass::new(USB_BUS.as_ref().unwrap(), MouseReport::desc(), 1);
let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
.manufacturer("Fake company")
.product("mouse")
.serial_number("TEST")
.manufacturer("E70011E")
.product("Mouse")
.serial_number("1.0")
.device_class(0)
.build();
cx.schedule.on_tick(cx.start + PERIOD.cycles()).ok();
init::LateResources {
counter: 0,
led,
usb_dev,
hid,
}
init::LateResources { btn, hid, usb_dev }
}
#[task(schedule = [on_tick], resources = [counter, led, hid])]
fn on_tick(mut cx: on_tick::Context) {
cx.schedule.on_tick(Instant::now() + PERIOD.cycles()).ok();
#[task(binds=OTG_FS, resources = [btn, hid, usb_dev])]
fn on_usb(ctx: on_usb::Context) {
static mut COUNTER: u16 = 0;
static mut FIRST: bool = true;
let counter: &mut u8 = &mut cx.resources.counter;
let led = &mut cx.resources.led;
let hid = &mut cx.resources.hid;
if *FIRST {
rprintln!("on_usb");
*FIRST = false;
}
const P: u8 = 2;
*counter = (*counter + 1) % P;
// destruct the context
let (btn, usb_dev, hid) = (ctx.resources.btn, ctx.resources.usb_dev, ctx.resources.hid);
// move mouse cursor horizontally (x-axis) while blinking LED
if *counter < P / 2 {
led.set_high().ok();
hid.write(&hid::report(10, 0));
} else {
led.set_low().ok();
hid.write(&hid::report(-10, 0));
let report = MouseReport {
x: match *COUNTER {
// reached after 100ms
100 => {
rprintln!("10");
10
}
// reached after 199ms
199 => {
rprintln!("-10");
-10
}
_ => 0,
},
y: 0,
buttons: btn.is_low().unwrap().into(), // (into takes a bool into an integer)
wheel: 0,
};
// wraps around after 200ms
*COUNTER = (*COUNTER + 1) % 200;
#[task(binds=OTG_FS, resources = [counter, led, usb_dev, hid])]
fn usb_fs(mut cx: usb_fs::Context) {
usb_poll(
&mut cx.resources.counter,
&mut cx.resources.led,
&mut cx.resources.usb_dev,
&mut cx.resources.hid,
);
}
// push the report
hid.push_input(&report).ok();
extern "C" {
fn EXTI0();
// update the usb device state
if usb_dev.poll(&mut [hid]) {
return;
}
}
};
fn usb_poll<B: bus::UsbBus>(
_counter: &mut u8,
_led: &mut LED,
usb_dev: &mut UsbDevice<'static, B>,
hid: &mut HIDClass<'static, B>,
) {
if !usb_dev.poll(&mut [hid]) {
return;
#[idle]
fn idle(_cx: idle::Context) -> ! {
rprintln!("idle");
loop {
cortex_m::asm::nop();
}
}
};
......@@ -3,7 +3,7 @@ MEMORY
/* NOTE 1 K = 1 KiBi = 1024 bytes */
/* TODO Adjust these memory regions to match your device memory layout */
/* These values correspond to the STM32F411 */
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
FLASH : ORIGIN = 0x08000000, LENGTH = 128K
RAM : ORIGIN = 0x20000000, LENGTH = 64K
}
......
......@@ -24,7 +24,7 @@ monitor arm semihosting enable
# # send captured ITM to the file itm.fifo
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
# # 8000000 must match the core clock frequency
monitor tpiu config internal itm.txt uart off 16000000
monitor tpiu config internal itm.txt uart off 48000000
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
# # 8000000 must match the core clock frequency
......
#![no_std]
pub mod pmw3389;
pub mod pmw3389e;
use stm32f4xx_hal::{prelude::*, rcc::Clocks, stm32};
pub struct DwtDelay {
clocks: Clocks,
}
impl DwtDelay {
pub fn new(dwt: &mut stm32::DWT, clocks: Clocks) -> DwtDelay {
// required on Cortex-M7 devices that software lock the DWT (e.g. STM32F7)
stm32::DWT::unlock();
dwt.enable_cycle_counter();
Self { clocks }
}
}
impl _embedded_hal_blocking_delay_DelayUs<u32> for DwtDelay {
fn delay_us(&mut self, us: u32) {
let freq_m_hertz = self.clocks.hclk().0 / 1_000_000;
let start = stm32::DWT::get_cycle_count() as i32;
let end = start.wrapping_add((us * freq_m_hertz) as i32);
while (stm32::DWT::get_cycle_count() as i32).wrapping_sub(end) < 0 {
// this nop should be ok as the `DWT::get_cycle_count() provides side effects
}
}
}
impl _embedded_hal_blocking_delay_DelayMs<u32> for DwtDelay {
fn delay_ms(&mut self, ms: u32) {
self.delay_us(ms * 1000)
}
}
#![no_std]
#![no_main]
// pick a panicking behavior
use panic_halt as _; // you can put a breakpoint on `rust_begin_unwind` to catch panics
// use panic_abort as _; // requires nightly
// use panic_itm as _; // logs messages over ITM; requires ITM support
// use panic_semihosting as _; // logs messages to the host stderr; requires a debugger
use cortex_m::asm;
use cortex_m_rt::entry;
#[entry]
fn main() -> ! {
asm::nop(); // To not have main optimize to abort in release mode, remove when you add code
loop {
// your code goes here
}
}
/// PWM3389 gaming mouse sensor driver
use stm32f4xx_hal::prelude::*;
use crate::DwtDelay;
use embedded_hal::blocking::spi::{Transfer, Write};
use embedded_hal::digital::v2::OutputPin;
use rtt_target::rprintln;
#[allow(dead_code)]
#[derive(Clone, Copy)]
pub enum Register {
ProductId = 0x00,
RevisionId = 0x01,
Motion = 0x02,
DeltaXL = 0x03,
DeltaXH = 0x04,
DeltaYL = 0x05,
DeltaYH = 0x06,
SQUAL = 0x07,
RawDataSum = 0x08,
MaximumRawdata = 0x09,
MinimumRawdata = 0x0A,
ShutterLower = 0x0B,
ShutterUpper = 0x0C,
RippleControl = 0x0D,
ResolutionL = 0x0E,
ResolutionH = 0x0F,
Config2 = 0x10,
AngleTune = 0x11,
FrameCapture = 0x12,
SROMEnable = 0x13,
RunDownshift = 0x14,
Rest1RateLower = 0x15,
Rest1RateUpper = 0x16,
Rest1Downshift = 0x17,
Rest2RateLower = 0x18,
Rest2RateUpper = 0x19,
Rest2Downshift = 0x1A,
Rest3RateLower = 0x1B,
Rest3RateUpper = 0x1C,
Observation = 0x24,
DataOutLower = 0x25,
DataOutUpper = 0x26,
RawDataDump = 0x29,
SROMId = 0x2A,
MinSQRun = 0x2B,
RawDataThreshold = 0x2C,
Control2 = 0x2D,
Config5L = 0x2E,
Config5H = 0x2F,
PowerUpReset = 0x3A,
Shutdown = 0x3B,
InverseProductID = 0x3F,
LiftCutoffTune3 = 0x41,
AngleSnap = 0x42,
LiftCutoffTune1 = 0x4A,
MotionBurst = 0x50,
LiftCutoffTune1Timeout = 0x58,
LiftCutoffTune1MinLength = 0x5A,
SROMLoadBurst = 0x62,
LiftConfig = 0x63,
RawDataBurst = 0x64,
LiftCutoffTune2 = 0x65,
LiftCutoffTune2Timeout = 0x71,
LiftCutoffTune2MinLength = 0x72,
PWMPeriodCnt = 0x73,
PWMWidthCnt = 0x74,
}
impl Register {
fn addr(self) -> u8 {
self as u8
}
}
pub struct Pmw3389<SPI, CS> {
spi: SPI,
cs: CS,
delay: DwtDelay,
}
impl<SPI, CS, E> Pmw3389<SPI, CS>
where
SPI: Transfer<u8, Error = E> + Write<u8, Error = E>,
CS: OutputPin,
{
fn com_begin(&mut self) {
self.cs.set_low().ok();
}
fn com_end(&mut self) {
self.cs.set_high().ok();
}
/// Creates a new driver from a SPI peripheral and a NCS pin
pub fn new(spi: SPI, cs: CS, delay: DwtDelay) -> Result<Self, E> {
let mut pmw3389 = Pmw3389 { spi, cs, delay };
rprintln!("pmw3389 - new");
// ensure SPI is reset
pmw3389.com_end();
pmw3389.delay.delay_us(40);
pmw3389.com_begin();
pmw3389.delay.delay_us(40);
pmw3389.com_end();
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
rprintln!("reset");
// force reset
pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
// wait for reboot
pmw3389.delay.delay_ms(50);
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("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)?;
pmw3389.read_register(Register::DeltaXH)?;
pmw3389.read_register(Register::DeltaYL)?;
pmw3389.read_register(Register::DeltaYH)?;
pmw3389.upload_firmware()?;
pmw3389.delay.delay_ms(1000);
rprintln!("Optical Chip Initialized");
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
Ok(pmw3389)
}
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
self.com_begin();
let mut buffer = [reg.addr() & 0x7f];
self.spi.transfer(&mut buffer)?;
// tSRAD
self.delay.delay_us(35);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for read operation is 120ns
self.delay.delay_us(1);
self.com_end();
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
Ok(buffer[0])
}
pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
self.com_begin();
let mut buffer = [reg.addr() | 0x80];
self.spi.transfer(&mut buffer)?;
// send
let mut buffer = [byte];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for write operation
self.delay.delay_us(20);
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);
Ok(())
}
/// Reads the ProductId register; should return `0x47`
pub fn product_id(&mut self) -> Result<u8, E> {
self.read_register(Register::ProductId)
}
/// Read status
pub fn read_status(&mut self) -> Result<(i16, i16), E> {
self.com_begin();
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
self.delay.delay_us(35); // waits for tSRAD
// read burst buffer
let mut buf = [0u8; 12];
self.spi.transfer(&mut buf)?;
// tSCLK-NCS for read operation is 120ns
// self.delay.delay_us(120);
self.com_end();
// SPI.endTransaction(); // Per:Not sure what it does
// /*
// BYTE[00] = Motion = if the 7th bit is 1, a motion is detected.
// ==> 7 bit: MOT (1 when motion is detected)
// ==> 3 bit: 0 when chip is on surface / 1 when off surface
// ] = Observation
// BYTE[02] = Delta_X_L = dx (LSB)
// BYTE[03] = Delta_X_H = dx (MSB)
// BYTE[04] = Delta_Y_L = dy (LSB)
// BYTE[05] = Delta_Y_H = dy (MSB)
// BYTE[06] = SQUAL = Surface Quality register, max 0x80
// - Number of features on the surface = SQUAL * 8
// BYTE[07] = Raw_Data_Sum = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
// * Avg value = Raw_Data_Sum * 1024 / 1296
// BYTE[08] = Maximum_Raw_Data = Max raw data value in current frame, max=127
// BYTE[09] = Minimum_Raw_Data = Min raw data value in current frame, max=127
// BYTE[10] = Shutter_Upper = Shutter LSB
// BYTE[11] = Shutter_Lower = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
// */
// int motion = (burstBuffer[0] & 0x80) > 0;
let _motion = buf[0] & 0x80;
let _surface = buf[0] & 0x08;
// 0 if on surface / 1 if off surface
let x: i16 = (((buf[3] as u16) << 8) | buf[2] as u16) as i16;
let y: i16 = (((buf[5] as u16) << 8) | buf[4] as u16) as i16;
let _squal = buf[6];
Ok((x, y))
}
// Upload the firmware
pub fn upload_firmware(&mut self) -> Result<(), E> {
// send the firmware to the chip, cf p.18 of the datasheet
// Serial.println("Uploading firmware...");
rprintln!("Uploading firmware...");
//Write 0 to Rest_En bit of Config2 register to disable Rest mode.
// adns_write_reg(Config2, 0x20);
// is this correct?
self.write_register(Register::Config2, 0x00)?;
// write 0x1d in SROM_enable reg for initializing
// adns_write_reg(SROM_Enable, 0x1d);
self.write_register(Register::SROMEnable, 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
self.delay.delay_ms(10);
// write 0x18 to SROM_enable to start SROM download
// adns_write_reg(SROM_Enable, 0x18);
self.write_register(Register::SROMEnable, 0x18)?;
rprintln!("Begin transfer...");
// write the SROM file (=firmware data)
// adns_com_begin();
self.com_begin();
// write burst destination address
// SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
// delayMicroseconds(15);
self.spi
.transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
self.delay.delay_us(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);
// SPI.transfer(c);
// delayMicroseconds(15);
// }
for i in Self::FIRMWARE.iter() {
let mut buff = [*i];
self.spi.transfer(&mut buff)?;
self.delay.delay_us(15); // 15us delay between transfers
}
// // Per: added this, seems adequate
self.delay.delay_us(105);
self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
let srom_id = self.read_register(Register::SROMId)?;
rprintln!("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)?;
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
let cpi: u16 = 1600;
self.write_register(Register::ResolutionL, cpi as u8)?;
self.write_register(Register::ResolutionH, (cpi >> 8) as u8)?;
// adns_com_end(); // why the CS is already high
// self.com_end();
Ok(())
}
// const unsigned char firmware_data[] PROGMEM
pub const FIRMWARE: [u8; 4094] = [
0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e,
0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58,
0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02,
0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16,
0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8,
0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c,
0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1,
0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9,
0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30,
0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18,
0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45,
0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f,
0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e,
0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c,
0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28,
0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62,
0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda,
0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2,
0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a,
0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d,
0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04,
0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65,
0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff,
0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5,
0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a,
0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e,
0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b,
0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9,
0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c,
0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e,
0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee,
0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d,
0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac,
0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd,
0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf,
0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec,
0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7,
0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8,
0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2,
0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 0x68, 0x66, 0x6d,
0x2c, 0x92, 0x1f, 0xcc, 0x5b, 0xa7, 0x8f, 0x5d, 0xbb, 0xc9, 0xdb, 0xe8, 0x3b, 0x9d, 0x61,
0x74, 0x8b, 0x05, 0xa1, 0x58, 0x52, 0x68, 0xee, 0x3d, 0x39, 0x79, 0xa0, 0x9b, 0xdd, 0xe1,
0x55, 0xc9, 0x60, 0xeb, 0xad, 0xb8, 0x5b, 0xc2, 0x5a, 0xb5, 0x2c, 0x18, 0x55, 0xa9, 0x50,
0xc3, 0xf6, 0x72, 0x5f, 0xcc, 0xe2, 0xf4, 0x55, 0xb5, 0xd6, 0xb5, 0x4a, 0x99, 0xa5, 0x28,
0x74, 0x97, 0x18, 0xe8, 0xc0, 0x84, 0x89, 0x50, 0x03, 0x86, 0x4d, 0x1a, 0xb7, 0x09, 0x90,
0xa2, 0x01, 0x04, 0xbb, 0x73, 0x62, 0xcb, 0x97, 0x22, 0x70, 0x5d, 0x52, 0x41, 0x8e, 0xd9,
0x90, 0x15, 0xaa, 0xab, 0x0a, 0x31, 0x65, 0xb4, 0xda, 0xd0, 0xee, 0x24, 0xc9, 0x41, 0x91,
0x1e, 0xbc, 0x46, 0x70, 0x40, 0x9d, 0xda, 0x0e, 0x2a, 0xe4, 0xb2, 0x4c, 0x9f, 0xf2, 0xfc,
0xf3, 0x84, 0x17, 0x44, 0x1e, 0xd7, 0xca, 0x23, 0x1f, 0x3f, 0x5a, 0x22, 0x3d, 0xaf, 0x9b,
0x2d, 0xfc, 0x41, 0xad, 0x26, 0xb4, 0x45, 0x67, 0x0b, 0x80, 0x0e, 0xf9, 0x61, 0x37, 0xec,
0x3b, 0xf4, 0x4b, 0x14, 0xdf, 0x5a, 0x0c, 0x3a, 0x50, 0x0b, 0x14, 0x0c, 0x72, 0xae, 0xc6,
0xc5, 0xec, 0x35, 0x53, 0x2d, 0x59, 0xed, 0x91, 0x74, 0xe2, 0xc4, 0xc8, 0xf2, 0x25, 0x6b,
0x97, 0x6f, 0xc9, 0x76, 0xce, 0xa9, 0xb1, 0x99, 0x8f, 0x5a, 0x92, 0x3b, 0xc4, 0x8d, 0x54,
0x50, 0x40, 0x72, 0xd6, 0x90, 0x83, 0xfc, 0xe5, 0x49, 0x8b, 0x17, 0xf5, 0xfd, 0x6b, 0x8d,
0x32, 0x02, 0xe9, 0x0a, 0xfe, 0xbf, 0x00, 0x6b, 0xa3, 0xad, 0x5f, 0x09, 0x4b, 0x97, 0x2b,
0x00, 0x58, 0x65, 0x2e, 0x07, 0x49, 0x0a, 0x3b, 0x6b, 0x2e, 0x50, 0x6c, 0x1d, 0xac, 0xb7,
0x6a, 0x26, 0xd8, 0x13, 0xa4, 0xca, 0x16, 0xae, 0xab, 0x93, 0xb9, 0x1c, 0x1c, 0xb4, 0x47,
0x6a, 0x38, 0x36, 0x17, 0x27, 0xc9, 0x7f, 0xc7, 0x64, 0xcb, 0x89, 0x58, 0xc5, 0x61, 0xc2,
0xc6, 0xea, 0x15, 0x0b, 0x34, 0x0c, 0x5d, 0x61, 0x76, 0x6e, 0x2b, 0x62, 0x40, 0x92, 0xa3,
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0x51, 0xec, 0xee, 0x6f, 0x82, 0x74, 0x76, 0x7f, 0xfb, 0xd6, 0xc4, 0xc3, 0xdd, 0xe8, 0xb1,
0x60, 0xfc, 0xc6, 0xb9, 0x0d, 0x6a, 0x33, 0x78, 0xc6, 0xc1, 0xbf, 0x86, 0x2c, 0x50, 0xcc,
0x9a, 0x70, 0x8e, 0x7b, 0xec, 0xab, 0x95, 0xac, 0x53, 0xa0, 0x4b, 0x07, 0x88, 0xaf, 0x42,
0xed, 0x19, 0x8d, 0xf6, 0x32, 0x17, 0x48, 0x47, 0x1d, 0x41, 0x6f, 0xfe, 0x2e, 0xa7, 0x8f,
0x4b, 0xa0, 0x51, 0xf3, 0xbf, 0x02, 0x0a, 0x48, 0x58, 0xf7, 0xa1, 0x6d, 0xea, 0xa5, 0x13,
0x5a, 0x5b, 0xea, 0x0c, 0x9e, 0x52, 0x4f, 0x9e, 0xb9, 0x71, 0x7f, 0x23, 0x83, 0xda, 0x1b,
0x86, 0x9a, 0x41, 0x29, 0xda, 0x70, 0xe7, 0x64, 0xa1, 0x7b, 0xd5, 0x0a, 0x22, 0x0d, 0x5c,
0x40, 0xc4, 0x81, 0x07, 0x25, 0x35, 0x4a, 0x1c, 0x10, 0xdb, 0x45, 0x0a, 0xff, 0x36, 0xd4,
0xe0, 0xeb, 0x5f, 0x68, 0xd6, 0x67, 0xc6, 0xd0, 0x8b, 0x76, 0x1a, 0x7d, 0x59, 0x42, 0xa1,
0xcb, 0x96, 0x4d, 0x84, 0x09, 0x9a, 0x3d, 0xe0, 0x52, 0x85, 0x6e, 0x48, 0x90, 0x85, 0x2a,
0x63, 0xb2, 0x69, 0xd2, 0x00, 0x43, 0x31, 0x37, 0xb3, 0x52, 0xaf, 0x62, 0xfa, 0xc1, 0xe0,
0x03, 0xfb, 0x62, 0xaa, 0x88, 0xc9, 0xb2, 0x2c, 0xd5, 0xa8, 0xf5, 0xa5, 0x4c, 0x12, 0x59,
0x4e, 0x06, 0x5e, 0x9b, 0x15, 0x66, 0x11, 0xb2, 0x27, 0x92, 0xdc, 0x98, 0x59, 0xde, 0xdf,
0xfa, 0x9a, 0x32, 0x2e, 0xc0, 0x5d, 0x3c, 0x33, 0x41, 0x6d, 0xaf, 0xb2, 0x25, 0x23, 0x14,
0xa5, 0x7b, 0xc7, 0x9b, 0x68, 0xf3, 0xda, 0xeb, 0xe3, 0xa9, 0xe2, 0x6f, 0x0e, 0x1d, 0x1c,
0xba, 0x55, 0xb6, 0x34, 0x6a, 0x93, 0x1f, 0x1f, 0xb8, 0x34, 0xc8, 0x84, 0x08, 0xb1, 0x6b,
0x6a, 0x28, 0x74, 0x74, 0xe5, 0xeb, 0x75, 0xe9, 0x7c, 0xd8, 0xba, 0xd8, 0x42, 0xa5, 0xee,
0x1f, 0x80, 0xd9, 0x96, 0xb2, 0x2e, 0xe7, 0xbf, 0xba, 0xeb, 0xd1, 0x69, 0xbb, 0x8f, 0xfd,
0x5a, 0x63, 0x8f, 0x39, 0x7f, 0xdf, 0x1d, 0x37, 0xd2, 0x18, 0x35, 0x9d, 0xb6, 0xcc, 0xe4,
0x27, 0x81, 0x89, 0x38, 0x38, 0x68, 0x33, 0xe7, 0x78, 0xd8, 0x76, 0xf5, 0xee, 0xd0, 0x4a,
0x07, 0x69, 0x19, 0x7a, 0xad, 0x18, 0xb1, 0x94, 0x61, 0x45, 0x53, 0xa2, 0x48, 0xda, 0x96,
0x4a, 0xf9, 0xee, 0x94, 0x2a, 0x1f, 0x6e, 0x18, 0x3c, 0x92, 0x46, 0xd1, 0x1a, 0x28, 0x18,
0x32, 0x1f, 0x3a, 0x45, 0xbe, 0x04, 0x35, 0x92, 0xe5, 0xa3, 0xcb, 0xb5, 0x2e, 0x32, 0x43,
0xac, 0x65, 0x17, 0x89, 0x99, 0x15, 0x03, 0x9e, 0xb1, 0x23, 0x2f, 0xed, 0x76, 0x4d, 0xd8,
0xac, 0x21, 0x40, 0xc4, 0x99, 0x4e, 0x65, 0x71, 0x2c, 0xb3, 0x45, 0xab, 0xfb, 0xe7, 0x72,
0x39, 0x56, 0x30, 0x6d, 0xfb, 0x74, 0xeb, 0x99, 0xf3, 0xcd, 0x57, 0x5c, 0x78, 0x75, 0xe9,
0x8d, 0xc3, 0xa2, 0xfb, 0x5d, 0xe0, 0x90, 0xc5, 0x55, 0xad, 0x91, 0x53, 0x4e, 0x9e, 0xbd,
0x8c, 0x49, 0xa4, 0xa4, 0x69, 0x10, 0x0c, 0xc5, 0x76, 0xe9, 0x25, 0x86, 0x8d, 0x66, 0x23,
0xa8, 0xdb, 0x5c, 0xe8, 0xd9, 0x30, 0xe1, 0x15, 0x7b, 0xc0, 0x99, 0x0f, 0x03, 0xec, 0xaa,
0x12, 0xef, 0xce, 0xd4, 0xea, 0x55, 0x5c, 0x08, 0x86, 0xf4, 0xf4, 0xb0, 0x83, 0x42, 0x95,
0x37, 0xb6, 0x38, 0xe0, 0x2b, 0x54, 0x89, 0xbd, 0x4e, 0x20, 0x9d, 0x3f, 0xc3, 0x4b, 0xb7,
0xec, 0xfa, 0x5a, 0x14, 0x03, 0xcb, 0x64, 0xc8, 0x34, 0x4a, 0x4b, 0x6e, 0xf8, 0x6e, 0x56,
0xf6, 0xdd, 0x5f, 0xa1, 0x24, 0xe2, 0xd4, 0xd0, 0x82, 0x64, 0x1f, 0x8e, 0x9b, 0xfa, 0xb4,
0xcb, 0xdb, 0x0a, 0xe8, 0x15, 0xfc, 0x15, 0xab, 0x4b, 0x18, 0xbf, 0xd4, 0x42, 0x14, 0x48,
0x82, 0x85, 0xdd, 0xeb, 0x49, 0x1b, 0x0b, 0x0b, 0x05, 0xe9, 0xb4, 0xa1, 0x33, 0x0a, 0x5d,
0x0e, 0x6c, 0x4b, 0xc0, 0xd6, 0x6c, 0x7c, 0xfb, 0x69, 0x0b, 0x53, 0x19, 0xe4, 0xf3, 0x35,
0xfc, 0xbe, 0xa1, 0x34, 0x02, 0x09, 0x4f, 0x74, 0x86, 0x92, 0xcd, 0x5d, 0x1a, 0xc1, 0x27,
0x0c, 0xf2, 0xc5, 0xcf, 0xdd, 0x23, 0x93, 0x02, 0xbd, 0x41, 0x5e, 0x42, 0xf0, 0xa0, 0x9d,
0x0c, 0x72, 0xc8, 0xec, 0x32, 0x0a, 0x8a, 0xfd, 0x3d, 0x5a, 0x41, 0x27, 0x0c, 0x88, 0x59,
0xad, 0x94, 0x2e, 0xef, 0x5d, 0x8f, 0xc7, 0xdf, 0x66, 0xe4, 0xdd, 0x56, 0x6c, 0x7b, 0xca,
0x55, 0x81, 0xae, 0xae, 0x5c, 0x1b, 0x1a, 0xab, 0xae, 0x99, 0x8d, 0xcc, 0x42, 0x97, 0x59,
0xf4, 0x14, 0x3f, 0x75, 0xc6, 0xd1, 0x88, 0xba, 0xaa, 0x84, 0x4a, 0xd0, 0x34, 0x08, 0x3b,
0x7d, 0xdb, 0x15, 0x06, 0xb0, 0x5c, 0xbd, 0x40, 0xf5, 0xa8, 0xec, 0xae, 0x36, 0x40, 0xdd,
0x90, 0x1c, 0x3e, 0x0d, 0x7e, 0x73, 0xc7, 0xc2, 0xc5, 0x6a, 0xff, 0x52, 0x05, 0x7f, 0xbe,
0xd0, 0x92, 0xfd, 0xb3, 0x6f, 0xff, 0x5d, 0xb7, 0x97, 0x64, 0x73, 0x7b, 0xca, 0xd1, 0x98,
0x24, 0x6b, 0x0b, 0x01, 0x68, 0xdd, 0x27, 0x85, 0x85, 0xb5, 0x83, 0xc1, 0xe0, 0x50, 0x64,
0xc7, 0xaf, 0xf1, 0xc6, 0x4d, 0xb1, 0xef, 0xc9, 0xb4, 0x0a, 0x6d, 0x65, 0xf3, 0x47, 0xcc,
0xa3, 0x02, 0x21, 0x0c, 0xbe, 0x22, 0x29, 0x05, 0xcf, 0x5f, 0xe8, 0x94, 0x6c, 0xe5, 0xdc,
0xc4, 0xdf, 0xbe, 0x3e, 0xa8, 0xb4, 0x18, 0xb0, 0x99, 0xb8, 0x6f, 0xff, 0x5d, 0xb9, 0xfd,
0x3b, 0x5d, 0x16, 0xbf, 0x3e, 0xd8, 0xb3, 0xd8, 0x08, 0x34, 0xf6, 0x47, 0x35, 0x5b, 0x72,
0x1a, 0x33, 0xad, 0x52, 0x5d, 0xb8, 0xd0, 0x77, 0xc6, 0xab, 0xba, 0x55, 0x09, 0x5f, 0x02,
0xf8, 0xd4, 0x5f, 0x53, 0x06, 0x91, 0xcd, 0x74, 0x42, 0xae, 0x54, 0x91, 0x81, 0x62, 0x13,
0x6f, 0xd8, 0xa9, 0x77, 0xc3, 0x6c, 0xcb, 0xf1, 0x29, 0x5a, 0xcc, 0xda, 0x35, 0xbd, 0x52,
0x23, 0xbe, 0x59, 0xeb, 0x12, 0x6d, 0xb7, 0x53, 0xee, 0xfc, 0xb4, 0x1b, 0x13, 0x5e, 0xba,
0x16, 0x7c, 0xc5, 0xf3, 0xe3, 0x6d, 0x07, 0x78, 0xf5, 0x2b, 0x21, 0x05, 0x88, 0x4c, 0xc0,
0xa1, 0xe3, 0x36, 0x10, 0xf8, 0x1b, 0xd8, 0x17, 0xfb, 0x6a, 0x4e, 0xd8, 0xb3, 0x47, 0x2d,
0x99, 0xbd, 0xbb, 0x5d, 0x37, 0x7d, 0xba, 0xf1, 0xe1, 0x7c, 0xc0, 0xc5, 0x54, 0x62, 0x7f,
0xcf, 0x5a, 0x4a, 0x93, 0xcc, 0xf1, 0x1b, 0x34, 0xc8, 0xa6, 0x05, 0x4c, 0x55, 0x8b, 0x54,
0x84, 0xd5, 0x77, 0xeb, 0xc0, 0x6d, 0x3a, 0x29, 0xbd, 0x75, 0x61, 0x09, 0x9a, 0x2c, 0xbb,
0xf7, 0x18, 0x79, 0x34, 0x90, 0x24, 0xa5, 0x81, 0x70, 0x87, 0xc5, 0x02, 0x7c, 0xba, 0xd4,
0x5e, 0x14, 0x8e, 0xe4, 0xed, 0xa2, 0x61, 0x6a, 0xb9, 0x6e, 0xb5, 0x4a, 0xb9, 0x01, 0x46,
0xf4, 0xcf, 0xbc, 0x09, 0x2f, 0x27, 0x4b, 0xbd, 0x86, 0x7a, 0x10, 0xe1, 0xd4, 0xc8, 0xd9,
0x20, 0x8d, 0x8a, 0x63, 0x00, 0x63, 0x44, 0xeb, 0x54, 0x0b, 0x75, 0x49, 0x10, 0xa2, 0xa7,
0xad, 0xb9, 0xd1, 0x01, 0x80, 0x63, 0x25, 0xc8, 0x12, 0xa6, 0xce, 0x1e, 0xbe, 0xfe, 0x7e,
0x5f, 0x3c, 0xdb, 0x34, 0xea, 0x37, 0xec, 0x3b, 0xd5, 0x28, 0xd2, 0x07, 0x8c, 0x9a, 0xb6,
0xee, 0x5e, 0x3e, 0xdf, 0x1d, 0x99, 0xb0, 0xe2, 0x46, 0xef, 0x5c, 0x1b, 0xb4, 0xea, 0x56,
0x2e, 0xde, 0x1f, 0x9d, 0xb8, 0xd3, 0x24, 0xab, 0xd4, 0x2a, 0xd6, 0x2e, 0xde, 0x1f, 0x9d,
0xb8, 0xf2, 0x66, 0x2f, 0xbd, 0xf8, 0x72, 0x66, 0x4e, 0x1e, 0x9f, 0x9d, 0xb8, 0xf2, 0x47,
0x0c, 0x9a, 0xb6, 0xee, 0x3f, 0xfc, 0x7a, 0x57, 0x0d, 0x79, 0x70, 0x62, 0x27, 0xad, 0xb9,
0xd1, 0x01, 0x61, 0x40, 0x02, 0x67, 0x2d, 0xd8, 0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xd7, 0x2c,
0xbb, 0xf4, 0x4b, 0xf5, 0x49, 0xf1, 0x60, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0xf9, 0x51, 0x01,
0x80, 0x63, 0x25, 0xa9, 0xb1, 0xe0, 0x42, 0xe7, 0x4c, 0x1a, 0x97, 0xac, 0xbb, 0xf4, 0x6a,
0x37, 0xcd, 0x18, 0xb2, 0xe6, 0x2f, 0xdc, 0x1b, 0x95, 0xa8, 0xd2, 0x07, 0x6d, 0x58, 0x32,
0xe6, 0x4e, 0x1e, 0x9f, 0xbc, 0xfa, 0x57, 0x0d, 0x79, 0x51, 0x20, 0xc2, 0x06, 0x6f, 0x5c,
0x1b, 0x95, 0xa8, 0xb3, 0xc5, 0xe9, 0x31, 0xe0, 0x23, 0xc4, 0x0a, 0x77, 0x4d, 0x18, 0x93,
0x85, 0x69, 0x31, 0xc1, 0xe1, 0x21, 0xc0, 0xe3, 0x44, 0x0a, 0x77, 0x6c, 0x5a, 0x17, 0x8d,
0x98, 0x93, 0xa4, 0xab, 0xd4, 0x2a, 0xb7, 0xec, 0x5a, 0x17, 0xac, 0xbb, 0xf4, 0x4b, 0x14,
0xaa, 0xb7, 0xec, 0x3b, 0xd5, 0x28, 0xb3, 0xc5, 0xe9, 0x31, 0xc1, 0x00, 0x82, 0x67, 0x4c,
0xfb, 0x55, 0x28, 0xd2, 0x26, 0xaf, 0xbd, 0xd9, 0x11, 0x81, 0x61, 0x21, 0xa1, 0xa1, 0xc0,
0x02, 0x86, 0x6f, 0x5c, 0x1b, 0xb4, 0xcb, 0x14, 0x8b, 0x94, 0xaa, 0xd6, 0x2e, 0xbf, 0xdd,
0x19, 0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x7c, 0x5b, 0x15, 0x89, 0x90, 0x83, 0x84, 0x6b, 0x54,
0x0b, 0x75, 0x68, 0x52, 0x07, 0x6d, 0x58, 0x32, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0xed, 0x58,
0x32, 0xe6, 0x4e, 0xff, 0x7c, 0x7a, 0x76, 0x6e, 0x3f, 0xdd, 0x38, 0xd3, 0x05, 0x88, 0x92,
0xa6, 0xaf, 0xdc, 0x1b, 0xb4, 0xcb, 0xf5, 0x68, 0x52, 0x07, 0x8c, 0x7b, 0x55, 0x09, 0x90,
0x83, 0x84, 0x6b, 0x54, 0x2a, 0xb7, 0xec, 0x3b, 0xd5, 0x09, 0x90, 0xa2, 0xc6, 0x0e, 0x7f,
0x7c, 0x7a, 0x57, 0x0d, 0x98, 0xb2, 0xc7, 0xed, 0x58, 0x32, 0xc7, 0x0c, 0x7b, 0x74, 0x4b,
0x14, 0x8b, 0x94, 0xaa, 0xb7, 0xcd, 0x18, 0x93, 0xa4, 0xca, 0x16, 0xae, 0xbf, 0xdd, 0x19,
0xb0, 0xe2, 0x46, 0x0e, 0x7f, 0x5d, 0x19, 0x91, 0x81, 0x80, 0x63, 0x44, 0xeb, 0x35, 0xc9,
0x10, 0x83, 0x65, 0x48, 0x12, 0xa6, 0xce, 0x1e, 0x9f, 0xbc, 0xdb, 0x15, 0x89, 0x71, 0x60,
0x23, 0xc4, 0xeb, 0x54, 0x2a, 0xb7, 0xec, 0x5a, 0x36, 0xcf, 0x81, 0x10, 0xac, 0x74,
];
}
/// PWM3389 gaming mouse sensor driver
use crate::DwtDelay;
use stm32f4xx_hal::prelude::*;
use embedded_hal::blocking::spi::Transfer;
use embedded_hal::digital::v2::OutputPin;
// use stm32f4xx_hal::prelude::*;
use rtt_target::rprintln;
// struct SPI_EMU<SPI, E>
// where
// SPI: Transfer<u8, Error = E> + OutputPin,
// {
// spi_emu: SPI,
// }
#[allow(dead_code)]
#[derive(Clone, Copy)]
pub enum Register {
ProductId = 0x00,
RevisionId = 0x01,
Motion = 0x02,
DeltaXL = 0x03,
DeltaXH = 0x04,
DeltaYL = 0x05,
DeltaYH = 0x06,
SQUAL = 0x07,
RawDataSum = 0x08,
MaximumRawdata = 0x09,
MinimumRawdata = 0x0A,
ShutterLower = 0x0B,
ShutterUpper = 0x0C,
RippleControl = 0x0D,
ResolutionL = 0x0E,
ResolutionH = 0x0F,
Config2 = 0x10,
AngleTune = 0x11,
FrameCapture = 0x12,
SROMEnable = 0x13,
RunDownshift = 0x14,
Rest1RateLower = 0x15,
Rest1RateUpper = 0x16,
Rest1Downshift = 0x17,
Rest2RateLower = 0x18,
Rest2RateUpper = 0x19,
Rest2Downshift = 0x1A,
Rest3RateLower = 0x1B,
Rest3RateUpper = 0x1C,
Observation = 0x24,
DataOutLower = 0x25,
DataOutUpper = 0x26,
RawDataDump = 0x29,
SROMId = 0x2A,
MinSQRun = 0x2B,
RawDataThreshold = 0x2C,
Control2 = 0x2D,
Config5L = 0x2E,
Config5H = 0x2F,
PowerUpReset = 0x3A,
Shutdown = 0x3B,
InverseProductID = 0x3F,
LiftCutoffTune3 = 0x41,
AngleSnap = 0x42,
LiftCutoffTune1 = 0x4A,
MotionBurst = 0x50,
LiftCutoffTune1Timeout = 0x58,
LiftCutoffTune1MinLength = 0x5A,
SROMLoadBurst = 0x62,
LiftConfig = 0x63,
RawDataBurst = 0x64,
LiftCutoffTune2 = 0x65,
LiftCutoffTune2Timeout = 0x71,
LiftCutoffTune2MinLength = 0x72,
PWMPeriodCnt = 0x73,
PWMWidthCnt = 0x74,
}
impl Register {
fn addr(self) -> u8 {
self as u8
}
}
pub struct Pmw3389e<SPI, E>
where
SPI: Transfer<u8, Error = E> + OutputPin,
{
spi: SPI,
delay: DwtDelay,
}
impl<SPI, E> Pmw3389e<SPI, E>
where
SPI: Transfer<u8, Error = E> + OutputPin,
{
fn com_begin(&mut self) {
self.spi.set_low().ok();
}
fn com_end(&mut self) {
self.spi.set_high().ok();
}
/// Creates a new driver from a SPI peripheral and a NCS pin
pub fn new(spi: SPI, delay: DwtDelay) -> Result<Self, E> {
let mut pmw3389 = Pmw3389e { spi, delay };
rprintln!("pmw3389 - new");
// ensure SPI is reset
pmw3389.com_end();
pmw3389.delay.delay_us(40);
pmw3389.com_begin();
pmw3389.delay.delay_us(40);
pmw3389.com_end();
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
rprintln!("reset");
// force reset
pmw3389.write_register(Register::PowerUpReset, 0x5a)?;
// wait for reboot
pmw3389.delay.delay_ms(50);
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("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)?;
pmw3389.read_register(Register::DeltaXH)?;
pmw3389.read_register(Register::DeltaYL)?;
pmw3389.read_register(Register::DeltaYH)?;
pmw3389.upload_firmware()?;
pmw3389.delay.delay_ms(1000);
rprintln!("Optical Chip Initialized");
// read product id
let id = pmw3389.product_id()?;
rprintln!("product_id 0x{:x}", id);
let srom_id = pmw3389.read_register(Register::SROMId)?;
rprintln!("srom_id {}, 0x{:x}", srom_id, srom_id);
// // loop {
// // pmw3389.write_register(Register::Motion, 0x01)?;
// // let motion = pmw3389.read_register(Register::Motion)?;
// // let xl = pmw3389.read_register(Register::DeltaXL)?;
// // let xh = pmw3389.read_register(Register::DeltaXH)?;
// // let yl = pmw3389.read_register(Register::DeltaYL)?;
// // let yh = pmw3389.read_register(Register::DeltaYH)?;
// // let x = (xl as u16 + (xh as u16) << 8) as i16;
// // let y = (yl as u16 + (yh as u16) << 8) as i16;
// // let surface = motion & 0x08;
// // let motion_detect = motion & 0x80;
// // rprintln!(
// // "motion {}, surface {}, (x, y) {:?}",
// // motion_detect,
// // surface,
// // (x, y),
// // );
// // pmw3389.delay.delay_ms(200);
// // }
// // self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
// // self.delay.delay_ms(35); // waits for tSRAD
// // loop {
// // pmw3389.read_status(itm)?;
// // pmw3389.delay.delay_ms(10);
// // }
Ok(pmw3389)
}
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
self.com_begin();
let mut buffer = [reg.addr() & 0x7f];
self.spi.transfer(&mut buffer)?;
// tSRAD
self.delay.delay_us(100);
self.delay.delay_us(120);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for read operation is 120ns
self.delay.delay_us(1);
self.com_end();
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
self.delay.delay_us(120);
Ok(buffer[0])
}
pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
self.com_begin();
let mut buffer = [reg.addr() | 0x80];
self.spi.transfer(&mut buffer)?;
// send
let mut buffer = [byte];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for write operation
self.delay.delay_us(20);
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);
Ok(())
}
/// Reads the ProductId register; should return `0x47`
pub fn product_id(&mut self) -> Result<u8, E> {
self.read_register(Register::ProductId)
}
// /// Read status
// pub fn read_status(&mut self) -> Result<(), E> {
// self.com_begin();
// // self.write_register(Register::Motion, 0x01)?;
// self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
// // self.write_register(Register::MotionBurst, 0x00);
// self.delay.delay_us(35); // waits for tSRAD
// // read burst buffer
// let mut buf = [0u8; 12];
// self.spi.transfer(&mut buf)?;
// // tSCLK-NCS for read operation is 120ns
// self.delay.delay_us(120);
// self.com_end();
// rprint!("burst [");
// for j in buf.iter() {
// rprint!("0x{:02x}, ", j);
// }
// rprintln!("]");
// // SPI.endTransaction(); // Per:Not sure what it does
// // /*
// // BYTE[00] = Motion = if the 7th bit is 1, a motion is detected.
// // ==> 7 bit: MOT (1 when motion is detected)
// // ==> 3 bit: 0 when chip is on surface / 1 when off surface
// // ] = Observation
// // BYTE[02] = Delta_X_L = dx (LSB)
// // BYTE[03] = Delta_X_H = dx (MSB)
// // BYTE[04] = Delta_Y_L = dy (LSB)
// // BYTE[05] = Delta_Y_H = dy (MSB)
// // BYTE[06] = SQUAL = Surface Quality register, max 0x80
// // - Number of features on the surface = SQUAL * 8
// // BYTE[07] = Raw_Data_Sum = It reports the upper byte of an 18‐bit counter which sums all 1296 raw data in the current frame;
// // * Avg value = Raw_Data_Sum * 1024 / 1296
// // BYTE[08] = Maximum_Raw_Data = Max raw data value in current frame, max=127
// // BYTE[09] = Minimum_Raw_Data = Min raw data value in current frame, max=127
// // BYTE[10] = Shutter_Upper = Shutter LSB
// // BYTE[11] = Shutter_Lower = Shutter MSB, Shutter = shutter is adjusted to keep the average raw data values within normal operating ranges
// // */
// // int motion = (burstBuffer[0] & 0x80) > 0;
// let motion = buf[0] & 0x80;
// let surface = buf[0] & 0x08;
// // 0 if on surface / 1 if off surface
// let x = buf[2] as u16 + (buf[3] as u16) << 8;
// let y = buf[4] as u16 + (buf[5] as u16) << 8;
// let squal = buf[6];
// rprintln!(
// "motion {}, surface {}, (x, y) {:?}, squal {}",
// motion,
// surface,
// (x, y),
// squal
// );
// Ok(())
//}
// Upload the firmware
pub fn upload_firmware(&mut self) -> Result<(), E> {
// send the firmware to the chip, cf p.18 of the datasheet
// Serial.println("Uploading firmware...");
rprintln!("Uploading firmware...");
//Write 0 to Rest_En bit of Config2 register to disable Rest mode.
// adns_write_reg(Config2, 0x20);
// is this correct?
self.write_register(Register::Config2, 0x00)?;
// write 0x1d in SROM_enable reg for initializing
// adns_write_reg(SROM_Enable, 0x1d);
self.write_register(Register::SROMEnable, 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
self.delay.delay_ms(10);
// write 0x18 to SROM_enable to start SROM download
// adns_write_reg(SROM_Enable, 0x18);
self.write_register(Register::SROMEnable, 0x18)?;
rprintln!("Begin transfer...");
// write the SROM file (=firmware data)
// adns_com_begin();
self.com_begin();
// write burst destination address
// SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
// delayMicroseconds(15);
self.spi
.transfer(&mut [Register::SROMLoadBurst.addr() | 0x80])?;
self.delay.delay_us(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);
// SPI.transfer(c);
// delayMicroseconds(15);
// }
for i in Self::FIRMWARE.iter() {
let mut buff = [*i];
// iprintln!(stim, "0x{:x}", buff[0]);
self.spi.transfer(&mut buff)?;
self.delay.delay_us(15); // 15
}
// // Per: added this, seems adequate
self.delay.delay_us(105);
self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
let srom_id = self.read_register(Register::SROMId)?;
rprintln!("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, 0x20)?;
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
// self.write_register(Register::ResolutionL, 0x15)?;
self.write_register(Register::ResolutionL, 0x15)?;
// self.write_register(Register::ResolutionH, 0x15)?;
self.write_register(Register::ResolutionH, 0x00)?;
// adns_com_end(); // why the CS is already high
self.com_end();
Ok(())
}
// const unsigned char firmware_data[] PROGMEM
pub const FIRMWARE: [u8; 4094] = [
0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3,
0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9,
0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7,
0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e,
0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58,
0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02,
0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16,
0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8,
0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c,
0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1,
0x58, 0xf2, 0x1f, 0xc0, 0xcb, 0xf8, 0x41, 0x4f, 0xcd, 0x1e, 0x6b, 0x39, 0xa7, 0x2b, 0xe9,
0x30, 0x16, 0x83, 0xd2, 0x0e, 0x47, 0x8f, 0xe3, 0xb1, 0xdf, 0xa2, 0x15, 0xdb, 0x5d, 0x30,
0xc5, 0x1a, 0xab, 0x31, 0x99, 0xf3, 0xfa, 0xb2, 0x86, 0x69, 0xad, 0x7a, 0xe8, 0xa7, 0x18,
0x6a, 0xcc, 0xc8, 0x65, 0x23, 0x87, 0xa8, 0x5f, 0xf5, 0x21, 0x59, 0x75, 0x09, 0x71, 0x45,
0x55, 0x25, 0x4b, 0xda, 0xa1, 0xc3, 0xf7, 0x41, 0xab, 0x59, 0xd9, 0x74, 0x12, 0x55, 0x5f,
0xbc, 0xaf, 0xd9, 0xfd, 0xb0, 0x1e, 0xa3, 0x0f, 0xff, 0xde, 0x11, 0x16, 0x6a, 0xae, 0x0e,
0xe1, 0x5d, 0x3c, 0x10, 0x43, 0x9a, 0xa1, 0x0b, 0x24, 0x8f, 0x0d, 0x7f, 0x0b, 0x5e, 0x4c,
0x42, 0xa4, 0x84, 0x2c, 0x40, 0xd0, 0x55, 0x39, 0xe6, 0x4b, 0xf8, 0x9b, 0x2f, 0xdc, 0x28,
0xff, 0xfa, 0xb5, 0x85, 0x19, 0xe5, 0x28, 0xa1, 0x77, 0xaa, 0x73, 0xf3, 0x03, 0xc7, 0x62,
0xa6, 0x91, 0x18, 0xc9, 0xb0, 0xcd, 0x05, 0xdc, 0xca, 0x81, 0x26, 0x1a, 0x47, 0x40, 0xda,
0x36, 0x7d, 0x6a, 0x53, 0xc8, 0x5a, 0x77, 0x5d, 0x19, 0xa4, 0x1b, 0x23, 0x83, 0xd0, 0xb2,
0xaa, 0x0e, 0xbf, 0x77, 0x4e, 0x3a, 0x3b, 0x59, 0x00, 0x31, 0x0d, 0x02, 0x1b, 0x88, 0x7a,
0xd4, 0xbd, 0x9d, 0xcc, 0x58, 0x04, 0x69, 0xf6, 0x3b, 0xca, 0x42, 0xe2, 0xfd, 0xc3, 0x3d,
0x39, 0xc5, 0xd0, 0x71, 0xe4, 0xc8, 0xb7, 0x3e, 0x3f, 0xc8, 0xe9, 0xca, 0xc9, 0x3f, 0x04,
0x4e, 0x1b, 0x79, 0xca, 0xa5, 0x61, 0xc2, 0xed, 0x1d, 0xa6, 0xda, 0x5a, 0xe9, 0x7f, 0x65,
0x8c, 0xbe, 0x12, 0x6e, 0xa4, 0x5b, 0x33, 0x2f, 0x84, 0x28, 0x9c, 0x1c, 0x88, 0x2d, 0xff,
0x07, 0xbf, 0xa6, 0xd7, 0x5a, 0x88, 0x86, 0xb0, 0x3f, 0xf6, 0x31, 0x5b, 0x11, 0x6d, 0xf5,
0x58, 0xeb, 0x58, 0x02, 0x9e, 0xb5, 0x9a, 0xb1, 0xff, 0x25, 0x9d, 0x8b, 0x4f, 0xb6, 0x0a,
0xf9, 0xea, 0x3e, 0x3f, 0x21, 0x09, 0x65, 0x21, 0x22, 0xfe, 0x3d, 0x4e, 0x11, 0x5b, 0x9e,
0x5a, 0x59, 0x8b, 0xdd, 0xd8, 0xce, 0xd6, 0xd9, 0x59, 0xd2, 0x1e, 0xfd, 0xef, 0x0d, 0x1b,
0xd9, 0x61, 0x7f, 0xd7, 0x2d, 0xad, 0x62, 0x09, 0xe5, 0x22, 0x63, 0xea, 0xc7, 0x31, 0xd9,
0xa1, 0x38, 0x80, 0x5c, 0xa7, 0x32, 0x82, 0xec, 0x1b, 0xa2, 0x49, 0x5a, 0x06, 0xd2, 0x7c,
0xc9, 0x96, 0x57, 0xbb, 0x17, 0x75, 0xfc, 0x7a, 0x8f, 0x0d, 0x77, 0xb5, 0x7a, 0x8e, 0x3e,
0xf4, 0xba, 0x2f, 0x69, 0x13, 0x26, 0xd6, 0xd9, 0x21, 0x60, 0x2f, 0x21, 0x3e, 0x87, 0xee,
0xfd, 0x87, 0x16, 0x0d, 0xc8, 0x08, 0x00, 0x25, 0x71, 0xac, 0x2c, 0x03, 0x2a, 0x37, 0x2d,
0xb3, 0x34, 0x09, 0x91, 0xe3, 0x06, 0x2c, 0x38, 0x37, 0x95, 0x3b, 0x17, 0x7a, 0xaf, 0xac,
0x99, 0x55, 0xab, 0x41, 0x39, 0x5f, 0x8e, 0xa6, 0x43, 0x80, 0x03, 0x88, 0x6f, 0x7d, 0xbd,
0x5a, 0xb4, 0x2b, 0x32, 0x23, 0x5a, 0xa9, 0x31, 0x32, 0x39, 0x4c, 0x5b, 0xf4, 0x6b, 0xaf,
0x66, 0x6f, 0x3c, 0x8e, 0x2d, 0x82, 0x97, 0x9f, 0x4a, 0x01, 0xdc, 0x99, 0x98, 0x00, 0xec,
0x38, 0x7a, 0x79, 0x70, 0xa6, 0x85, 0xd6, 0x21, 0x63, 0x0d, 0x45, 0x9a, 0x2e, 0x5e, 0xa7,
0xb1, 0xea, 0x66, 0x6a, 0xbc, 0x62, 0x2d, 0x7b, 0x7d, 0x85, 0xea, 0x95, 0x2f, 0xc0, 0xe8,
0x6f, 0x35, 0xa0, 0x3a, 0x02, 0x25, 0xbc, 0xb2, 0x5f, 0x5c, 0x43, 0x96, 0xcc, 0x26, 0xd2,
0x16, 0xb4, 0x96, 0x73, 0xd7, 0x13, 0xc7, 0xae, 0x53, 0x15, 0x31, 0x89, 0x68, 0x66, 0x6d,
0x2c, 0x92, 0x1f, 0xcc, 0x5b, 0xa7, 0x8f, 0x5d, 0xbb, 0xc9, 0xdb, 0xe8, 0x3b, 0x9d, 0x61,
0x74, 0x8b, 0x05, 0xa1, 0x58, 0x52, 0x68, 0xee, 0x3d, 0x39, 0x79, 0xa0, 0x9b, 0xdd, 0xe1,
0x55, 0xc9, 0x60, 0xeb, 0xad, 0xb8, 0x5b, 0xc2, 0x5a, 0xb5, 0x2c, 0x18, 0x55, 0xa9, 0x50,
0xc3, 0xf6, 0x72, 0x5f, 0xcc, 0xe2, 0xf4, 0x55, 0xb5, 0xd6, 0xb5, 0x4a, 0x99, 0xa5, 0x28,
0x74, 0x97, 0x18, 0xe8, 0xc0, 0x84, 0x89, 0x50, 0x03, 0x86, 0x4d, 0x1a, 0xb7, 0x09, 0x90,
0xa2, 0x01, 0x04, 0xbb, 0x73, 0x62, 0xcb, 0x97, 0x22, 0x70, 0x5d, 0x52, 0x41, 0x8e, 0xd9,
0x90, 0x15, 0xaa, 0xab, 0x0a, 0x31, 0x65, 0xb4, 0xda, 0xd0, 0xee, 0x24, 0xc9, 0x41, 0x91,
0x1e, 0xbc, 0x46, 0x70, 0x40, 0x9d, 0xda, 0x0e, 0x2a, 0xe4, 0xb2, 0x4c, 0x9f, 0xf2, 0xfc,
0xf3, 0x84, 0x17, 0x44, 0x1e, 0xd7, 0xca, 0x23, 0x1f, 0x3f, 0x5a, 0x22, 0x3d, 0xaf, 0x9b,
0x2d, 0xfc, 0x41, 0xad, 0x26, 0xb4, 0x45, 0x67, 0x0b, 0x80, 0x0e, 0xf9, 0x61, 0x37, 0xec,
0x3b, 0xf4, 0x4b, 0x14, 0xdf, 0x5a, 0x0c, 0x3a, 0x50, 0x0b, 0x14, 0x0c, 0x72, 0xae, 0xc6,
0xc5, 0xec, 0x35, 0x53, 0x2d, 0x59, 0xed, 0x91, 0x74, 0xe2, 0xc4, 0xc8, 0xf2, 0x25, 0x6b,
0x97, 0x6f, 0xc9, 0x76, 0xce, 0xa9, 0xb1, 0x99, 0x8f, 0x5a, 0x92, 0x3b, 0xc4, 0x8d, 0x54,
0x50, 0x40, 0x72, 0xd6, 0x90, 0x83, 0xfc, 0xe5, 0x49, 0x8b, 0x17, 0xf5, 0xfd, 0x6b, 0x8d,
0x32, 0x02, 0xe9, 0x0a, 0xfe, 0xbf, 0x00, 0x6b, 0xa3, 0xad, 0x5f, 0x09, 0x4b, 0x97, 0x2b,
0x00, 0x58, 0x65, 0x2e, 0x07, 0x49, 0x0a, 0x3b, 0x6b, 0x2e, 0x50, 0x6c, 0x1d, 0xac, 0xb7,
0x6a, 0x26, 0xd8, 0x13, 0xa4, 0xca, 0x16, 0xae, 0xab, 0x93, 0xb9, 0x1c, 0x1c, 0xb4, 0x47,
0x6a, 0x38, 0x36, 0x17, 0x27, 0xc9, 0x7f, 0xc7, 0x64, 0xcb, 0x89, 0x58, 0xc5, 0x61, 0xc2,
0xc6, 0xea, 0x15, 0x0b, 0x34, 0x0c, 0x5d, 0x61, 0x76, 0x6e, 0x2b, 0x62, 0x40, 0x92, 0xa3,
0x6c, 0xef, 0xf4, 0xe4, 0xc3, 0xa1, 0xa8, 0xf5, 0x94, 0x79, 0x0d, 0xd1, 0x3d, 0xcb, 0x3d,
0x40, 0xb6, 0xd0, 0xf0, 0x10, 0x54, 0xd8, 0x47, 0x25, 0x51, 0xc5, 0x41, 0x79, 0x00, 0xe5,
0xa0, 0x72, 0xde, 0xbb, 0x3b, 0x62, 0x17, 0xf6, 0xbc, 0x5d, 0x00, 0x76, 0x2e, 0xa7, 0x3b,
0xb6, 0xf1, 0x98, 0x72, 0x59, 0x2a, 0x73, 0xb0, 0x21, 0xd6, 0x49, 0xe0, 0xc0, 0xd5, 0xeb,
0x02, 0x7d, 0x4b, 0x41, 0x28, 0x70, 0x2d, 0xec, 0x2b, 0x71, 0x1f, 0x0b, 0xb9, 0x71, 0x63,
0x06, 0xe6, 0xbc, 0x60, 0xbb, 0xf4, 0x9a, 0x62, 0x43, 0x09, 0x18, 0x4e, 0x93, 0x06, 0x4d,
0x76, 0xfa, 0x7f, 0xbd, 0x02, 0xe4, 0x50, 0x91, 0x12, 0xe5, 0x86, 0xff, 0x64, 0x1e, 0xaf,
0x7e, 0xb3, 0xb2, 0xde, 0x89, 0xc1, 0xa2, 0x6f, 0x40, 0x7b, 0x41, 0x51, 0x63, 0xea, 0x25,
0xd1, 0x97, 0x57, 0x92, 0xa8, 0x45, 0xa1, 0xa5, 0x45, 0x21, 0x43, 0x7f, 0x83, 0x15, 0x29,
0xd0, 0x30, 0x53, 0x32, 0xb4, 0x5a, 0x17, 0x96, 0xbc, 0xc2, 0x68, 0xa9, 0xb7, 0xaf, 0xac,
0xdf, 0xf1, 0xe3, 0x89, 0xba, 0x24, 0x79, 0x54, 0xc6, 0x14, 0x07, 0x1c, 0x1e, 0x0d, 0x3a,
0x6b, 0xe5, 0x3d, 0x4e, 0x10, 0x60, 0x96, 0xec, 0x6c, 0xda, 0x47, 0xae, 0x03, 0x25, 0x39,
0x1d, 0x74, 0xc8, 0xac, 0x6a, 0xf2, 0x6b, 0x05, 0x2a, 0x9a, 0xe7, 0xe8, 0x92, 0xd6, 0xc2,
0x6d, 0xfa, 0xe8, 0xa7, 0x9d, 0x5f, 0x48, 0xc9, 0x75, 0xf1, 0x66, 0x6a, 0xdb, 0x5d, 0x9a,
0xcd, 0x27, 0xdd, 0xb9, 0x24, 0x04, 0x9c, 0x18, 0xc2, 0x6d, 0x0c, 0x91, 0x34, 0x48, 0x42,
0x6f, 0xe9, 0x59, 0x70, 0xc4, 0x7e, 0x81, 0x0e, 0x32, 0x0a, 0x93, 0x48, 0xb0, 0xc0, 0x15,
0x9e, 0x05, 0xac, 0x36, 0x16, 0xcb, 0x59, 0x65, 0xa0, 0x83, 0xdf, 0x3e, 0xda, 0xfb, 0x1d,
0x1a, 0xdb, 0x65, 0xec, 0x9a, 0xc6, 0xc3, 0x8e, 0x3c, 0x45, 0xfd, 0xc8, 0xf5, 0x1c, 0x6a,
0x67, 0x0d, 0x8f, 0x99, 0x7d, 0x30, 0x21, 0x8c, 0xea, 0x22, 0x87, 0x65, 0xc9, 0xb2, 0x4c,
0xe4, 0x1b, 0x46, 0xba, 0x54, 0xbd, 0x7c, 0xca, 0xd5, 0x8f, 0x5b, 0xa5, 0x01, 0x04, 0xd8,
0x0a, 0x16, 0xbf, 0xb9, 0x50, 0x2e, 0x37, 0x2f, 0x64, 0xf3, 0x70, 0x11, 0x02, 0x05, 0x31,
0x9b, 0xa0, 0xb2, 0x01, 0x5e, 0x4f, 0x19, 0xc9, 0xd4, 0xea, 0xa1, 0x79, 0x54, 0x53, 0xa7,
0xde, 0x2f, 0x49, 0xd3, 0xd1, 0x63, 0xb5, 0x03, 0x15, 0x4e, 0xbf, 0x04, 0xb3, 0x26, 0x8b,
0x20, 0xb2, 0x45, 0xcf, 0xcd, 0x5b, 0x82, 0x32, 0x88, 0x61, 0xa7, 0xa8, 0xb2, 0xa0, 0x72,
0x96, 0xc0, 0xdb, 0x2b, 0xe2, 0x5f, 0xba, 0xe3, 0xf5, 0x8a, 0xde, 0xf1, 0x18, 0x01, 0x16,
0x40, 0xd9, 0x86, 0x12, 0x09, 0x18, 0x1b, 0x05, 0x0c, 0xb1, 0xb5, 0x47, 0xe2, 0x43, 0xab,
0xfe, 0x92, 0x63, 0x7e, 0x95, 0x2b, 0xf0, 0xaf, 0xe1, 0xf1, 0xc3, 0x4a, 0xff, 0x2b, 0x09,
0xbb, 0x4a, 0x0e, 0x9a, 0xc4, 0xd8, 0x64, 0x7d, 0x83, 0xa0, 0x4f, 0x44, 0xdb, 0xc4, 0xa8,
0x58, 0xef, 0xfc, 0x9e, 0x77, 0xf9, 0xa6, 0x8f, 0x58, 0x8b, 0x12, 0xf4, 0xe9, 0x81, 0x12,
0x47, 0x51, 0x41, 0x83, 0xef, 0xf6, 0x73, 0xbc, 0x8e, 0x0f, 0x4c, 0x8f, 0x4e, 0x69, 0x90,
0x77, 0x29, 0x5d, 0x92, 0xb0, 0x6d, 0x06, 0x67, 0x29, 0x60, 0xbd, 0x4b, 0x17, 0xc8, 0x89,
0x69, 0x28, 0x29, 0xd6, 0x78, 0xcb, 0x11, 0x4c, 0xba, 0x8b, 0x68, 0xae, 0x7e, 0x9f, 0xef,
0x95, 0xda, 0xe2, 0x9e, 0x7f, 0xe9, 0x55, 0xe5, 0xe1, 0xe2, 0xb7, 0xe6, 0x5f, 0xbb, 0x2c,
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}