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Commit 793bf93b authored by Per Lindgren's avatar Per Lindgren
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pmw3389 wip, fixed com_end

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with 71 additions and 29 deletions
examples/pmw3389.rs
+ 71
− 29
View file @ 793bf93b
......@@ -61,7 +61,8 @@ 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().set_speed(Speed::VeryHigh);
// let cs = gpiob.pb4.into_push_pull_output().set_speed(Speed::High);
let cs = gpiob.pb4.into_push_pull_output();
let spi = Spi::spi2(
device.SPI2,
......@@ -80,8 +81,13 @@ const APP: () = {
delay.delay_us(1000);
let t2 = stm32::DWT::get_cycle_count();
iprintln!(stim, "t1 {}", t1);
iprintln!(stim, "t2 {}", t2);
iprintln!(stim, "1000us {}", t2.wrapping_sub(t1));
let t1 = stm32::DWT::get_cycle_count();
delay.delay_ms(1000);
let t2 = stm32::DWT::get_cycle_count();
iprintln!(stim, "1000ms {}", t2.wrapping_sub(t1));
let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay, &mut core.ITM).unwrap();
......@@ -260,11 +266,6 @@ mod pmw3389 {
}
}
// const READ: u8 = 1 << 7;
// const WRITE: u8 = 0 << 7;
// const MULTI: u8 = 1 << 6;
// const SINGLE: u8 = 0 << 6;
pub struct Pmw3389<SPI, CS> {
spi: SPI,
cs: CS,
......@@ -281,30 +282,58 @@ mod pmw3389 {
}
fn com_end(&mut self) {
self.cs.set_low().ok();
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, itm: &mut stm32::ITM) -> Result<Self, E> {
let mut pmw3389 = Pmw3389 { spi, cs, delay };
iprintln!(&mut itm.stim[0], "pmw3389 - new");
// 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);
iprintln!(&mut itm.stim[0], "reset");
// ensure SPI is reset
pmw3389.com_end();
pmw3389.com_begin();
pmw3389.com_end();
// shutdown
// adns_write_reg(Shutdown, 0xb6); // Shutdown first
// delay(300);
// adns_com_begin(); // drop and raise ncs to reset spi port
// delayMicroseconds(40);
// adns_com_end();
// delayMicroseconds(40);
pmw3389.write_register(Register::Shutdown, 0xb6)?;
pmw3389.delay.delay_ms(300);
pmw3389.com_begin();
pmw3389.delay.delay_us(40);
pmw3389.com_end();
pmw3389.delay.delay_us(40);
// force reset
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);
// // 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);
// 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)?;
......@@ -341,12 +370,15 @@ mod pmw3389 {
pub fn read_register(&mut self, reg: Register) -> Result<u8, E> {
self.com_begin();
let mut buffer = [reg.addr() & 0x7f, 0];
let mut buffer = [reg.addr() & 0x7f];
self.spi.transfer(&mut buffer)?;
// delayMicroseconds(100); // tSRAD
// tSRAD
self.delay.delay_us(100);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
// tSCLK-NCS for read operation is 120ns
self.delay.delay_us(1);
......@@ -355,14 +387,18 @@ mod pmw3389 {
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
Ok(buffer[1])
Ok(buffer[0])
}
pub fn write_register(&mut self, reg: Register, byte: u8) -> Result<(), E> {
self.com_begin();
let buffer = [reg.addr() | 0x80, byte];
self.spi.write(&buffer)?;
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);
......@@ -370,6 +406,7 @@ mod pmw3389 {
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(())
......@@ -389,6 +426,7 @@ mod pmw3389 {
//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, 0x20)?;
// write 0x1d in SROM_enable reg for initializing
......@@ -405,12 +443,14 @@ mod pmw3389 {
// adns_write_reg(SROM_Enable, 0x18);
self.write_register(Register::SROMEnable, 0x18)?;
iprintln!(stim, "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 adress
// SPI.transfer(SROM_Load_Burst | 0x80); // write burst destination address
// delayMicroseconds(15);
self.spi
......@@ -426,17 +466,18 @@ mod pmw3389 {
// delayMicroseconds(15);
// }
iprintln!(stim, "Begin transfer...");
for i in FIRMWARE.iter() {
self.spi.transfer(&mut [*i])?;
self.delay.delay_us(15);
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
// // Per: added this, seems adequate
// self.delay.delay_us(105);
// let _ = self.cs.set_high();
// // let _ = self.cs.set_high();
// self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
......@@ -446,14 +487,15 @@ mod pmw3389 {
// //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)?;
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)?;
self.write_register(Register::ResolutionH, 0x15)?;
// adns_com_end();
self.com_end();
Ok(())
}
......
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