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Commit ad60460a authored by Per Lindgren's avatar Per Lindgren
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pmw3389 wip, got data

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examples/pmw3389.rs
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......@@ -61,14 +61,14 @@ 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::High);
let cs = gpiob.pb4.into_push_pull_output();
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,
(sck, miso, mosi),
MODE_3,
stm32f4xx_hal::time::KiloHertz(2000).into(),
stm32f4xx_hal::time::KiloHertz(1000).into(),
clocks,
);
......@@ -291,6 +291,13 @@ mod pmw3389 {
iprintln!(&mut itm.stim[0], "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()?;
iprintln!(&mut itm.stim[0], "product_id 0x{:x}", id);
......@@ -300,11 +307,6 @@ mod pmw3389 {
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
......@@ -315,12 +317,12 @@ mod pmw3389 {
// 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);
// 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)?;
......@@ -343,7 +345,8 @@ mod pmw3389 {
pmw3389.read_register(Register::DeltaYH)?;
pmw3389.upload_firmware(itm)?;
pmw3389.delay.delay_ms(10);
pmw3389.delay.delay_ms(1000);
iprintln!(&mut itm.stim[0], "Optical Chip Initialized");
......@@ -354,14 +357,40 @@ mod pmw3389 {
let srom_id = pmw3389.read_register(Register::SROMId)?;
iprintln!(&mut itm.stim[0], "srom_id {}, 0x{:x}", srom_id, srom_id);
pmw3389.delay.delay_ms(1000);
loop {
pmw3389.read_status(itm)?;
pmw3389.delay.delay_ms(1000);
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;
iprintln!(
&mut itm.stim[0],
"motion {}, surface {}, (x, y) {:?}",
motion_detect,
surface,
(x, y),
);
pmw3389.delay.delay_ms(200);
}
Ok(pmw3389)
// 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> {
......@@ -372,6 +401,7 @@ mod pmw3389 {
// tSRAD
self.delay.delay_us(100);
self.delay.delay_us(120);
let mut buffer = [0];
self.spi.transfer(&mut buffer)?;
......@@ -383,6 +413,7 @@ mod pmw3389 {
// tSRW/tSRR (=20us) minus tSCLK-NCS
self.delay.delay_us(19);
self.delay.delay_us(120);
Ok(buffer[0])
}
......@@ -419,7 +450,7 @@ mod pmw3389 {
self.com_begin();
self.spi.transfer(&mut [Register::MotionBurst.addr()])?;
self.delay.delay_ms(35); // waits for tSRAD
self.delay.delay_us(35); // waits for tSRAD
// read burst buffer
let mut buf = [0u8; 12];
......@@ -534,10 +565,9 @@ mod pmw3389 {
}
// // Per: added this, seems adequate
// self.delay.delay_us(105);
self.delay.delay_us(105);
// // let _ = self.cs.set_high();
// self.com_end();
self.com_end();
//Read the SROM_ID register to verify the ID before any other register reads or writes.
// adns_read_reg(SROM_ID);
......@@ -547,50 +577,20 @@ 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, 0x20)?;
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
self.write_register(Register::ResolutionL, 0)?;
self.write_register(Register::ResolutionH, 0x15)?;
// self.write_register(Register::ResolutionL, 0x15)?;
self.write_register(Register::ResolutionL, 0x5)?;
// self.write_register(Register::ResolutionH, 0x15)?;
self.write_register(Register::ResolutionH, 0x00)?;
// adns_com_end();
// adns_com_end(); // why the CS is already high
self.com_end();
Ok(())
}
// /// Read multiple bytes starting from the `start_reg` register.
// /// This function will attempt to fill the provided buffer.
// fn read_many(&mut self, start_reg: Register, buffer: &mut [u8]) -> Result<(), E> {
// let _ = self.cs.set_low();
// buffer[0] = start_reg.addr() | MULTI | READ;
// self.spi.transfer(buffer)?;
// let _ = self.cs.set_high();
// Ok(())
// }
// /// Change configuration in register
// ///
// /// Helper function to update a particular part of a register without
// /// affecting other parts of the register that might contain desired
// /// configuration. This allows the `L3gd20` struct to be used like
// /// a builder interface when configuring specific parameters.
// fn change_config<B: BitValue>(&mut self, reg: Register, bits: B) -> Result<&mut Self, E> {
// // Create bit mask from width and shift of value
// let mask = B::mask() << B::shift();
// // Extract the value as u8
// let bits = (bits.value() << B::shift()) & mask;
// // Read current value of register
// let current = self.read_register(reg)?;
// // Use supplied mask so we don't affect more than necessary
// let masked = current & !mask;
// // Use `or` to apply the new value without affecting other parts
// let new_reg = masked | bits;
// self.write_register(reg, new_reg)?;
// Ok(self)
// }
}
// const unsigned char firmware_data[] PROGMEM
......
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