Oddball keyboard - trackball improvements

keyboards/oddball/adns.c → keyboards/oddball/adns/adns.c

@@ -1,9 +1,23 @@
-#include <avr/io.h>
-#include <avr/interrupt.h>
+/* Copyright 2020 Alexander Tulloh
+ *
+ * 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 "spi_master.h"
 #include "quantum.h"
-#include "pointing_device.h"
-#include "adns9800_srom_A4.h"
-#include "../../lib/lufa/LUFA/Drivers/Peripheral/SPI.h"
+#include "adns9800_srom_A6.h"
+#include "adns.h"
 
 // registers
 #define REG_Product_ID                           0x00
@@ -52,103 +66,57 @@
 #define REG_SROM_Load_Burst                      0x62
 #define REG_Pixel_Burst                          0x64
 
-// pins
-#define NCS 0
+#define ADNS_SPI_MODE 3
+#define ADNS_SPI_DIVISOR 8
 
 extern const uint16_t firmware_length;
 extern const uint8_t firmware_data[];
 
-enum motion_burst_property{
-    motion = 0,
-    observation,
-    delta_x_l,
-    delta_x_h,
-    delta_y_l,
-    delta_y_h,
-    squal,
-    pixel_sum,
-    maximum_pixel,
-    minimum_pixel,
-    shutter_upper,
-    shutter_lower,
-    frame_period_upper,
-    frame_period_lower,
-    end_data
-};
-
-// used to track the motion delta between updates
-volatile int32_t delta_x;
-volatile int32_t delta_y;
-
-void adns_begin(void){
-    PORTB &= ~ (1 << NCS);
-}
-
-void adns_end(void){
-    PORTB |= (1 << NCS);
+void adns_spi_start(void){
+    spi_start(SPI_SS_PIN, false, ADNS_SPI_MODE, ADNS_SPI_DIVISOR);
 }
 
 void adns_write(uint8_t reg_addr, uint8_t data){
 
-    adns_begin();
+    adns_spi_start();
 
     //send address of the register, with MSBit = 1 to indicate it's a write
-    SPI_TransferByte(reg_addr | 0x80 );
-    SPI_TransferByte(data);
+    spi_write(reg_addr | 0x80 );
+    spi_write(data);
 
     // tSCLK-NCS for write operation
     wait_us(20);
 
-    adns_end();
+    spi_stop();
 
     // tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound
     wait_us(100);
 }
 
 uint8_t adns_read(uint8_t reg_addr){
 
-    adns_begin();
+    adns_spi_start();
 
     // send adress of the register, with MSBit = 0 to indicate it's a read
-    SPI_TransferByte(reg_addr & 0x7f );
-    uint8_t data = SPI_TransferByte(0);
+    spi_write(reg_addr & 0x7f );
+    uint8_t data = spi_read();
 
     // tSCLK-NCS for read operation is 120ns
     wait_us(1);
 
-    adns_end();
+    spi_stop();
 
     //  tSRW/tSRR (=20us) minus tSCLK-NCS
     wait_us(19);
 
     return data;
 }
 
-void pointing_device_init(void) {
-
-    if(!is_keyboard_master())
-        return;
-
-    // interrupt 2
-    EICRA &= ~(1 << 4);
-    EICRA |= (1 << 5);
-    EIMSK |= (1<<INT2);
-
-    // mode 3
-    SPI_Init(
-        SPI_SPEED_FCPU_DIV_8 |
-        SPI_ORDER_MSB_FIRST |
-        SPI_SCK_LEAD_FALLING |
-        SPI_SAMPLE_TRAILING |
-        SPI_MODE_MASTER);
+void adns_init() {
 
-    // set B0 output
-    DDRB |= (1 << 0);
+    setPinOutput(SPI_SS_PIN);
 
-    // reset serial port
-    adns_end();
-    adns_begin();
-    adns_end();
+    spi_init();
 
     // reboot
     adns_write(REG_Power_Up_Reset, 0x5a);
@@ -178,21 +146,21 @@ void pointing_device_init(void) {
     adns_write(REG_SROM_Enable, 0x18);
 
     // write the SROM file (=firmware data)
-    adns_begin();
+    adns_spi_start();
 
     // write burst destination adress
-    SPI_TransferByte(REG_SROM_Load_Burst | 0x80);
+    spi_write(REG_SROM_Load_Burst | 0x80);
     wait_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_TransferByte(c);
+        spi_write(c);
         wait_us(15);
     }
 
-    adns_end();
+    spi_stop();
 
     wait_ms(10);
 
@@ -204,36 +172,17 @@ void pointing_device_init(void) {
     adns_write(REG_LASER_CTRL0, laser_ctrl0 & 0xf0);
 
     wait_ms(1);
-
-    // set the configuration_I register to set the CPI
-    // 0x01 = 50, minimum
-    // 0x44 = 3400, default
-    // 0x8e = 7100
-    // 0xA4 = 8200, maximum
-    adns_write(REG_Configuration_I, 0x04);
-
-    wait_ms(100);
 }
 
-void pointing_device_task(void) {
-
-    if(!is_keyboard_master())
-        return;
-
-    report_mouse_t report = pointing_device_get_report();
-
-    // clamp deltas from -127 to 127
-    report.x = delta_x < -127 ? 127 : delta_x > 127 ? 127 : delta_x;
-    report.x = -report.x;
-
-    report.y = delta_y < -127 ? 127 : delta_y > 127 ? 127 : delta_y;
-
-    // reset deltas
-    delta_x = 0;
-    delta_y = 0;
+config_adns_t adns_get_config(void) {
+    uint8_t config_1 = adns_read(REG_Configuration_I);
+    return (config_adns_t){ (config_1 & 0xFF) * 200 };
+}
 
-    pointing_device_set_report(report);
-    pointing_device_send();
+void adns_set_config(config_adns_t config) {
+    uint8_t config_1 = (config.cpi / 200) & 0xFF;
+    adns_write(REG_Configuration_I, config_1);
+    wait_ms(100);
 }
 
 int16_t convertDeltaToInt(uint8_t high, uint8_t low){
@@ -243,28 +192,39 @@ int16_t convertDeltaToInt(uint8_t high, uint8_t low){
 
     // convert twos comp to int
     if (twos_comp & 0x8000)
-        return -1 * ((twos_comp ^ 0xffff) + 1);
+        return -1 * (~twos_comp + 1);
 
     return twos_comp;
 }
 
-ISR(INT2_vect) {
-    // called on interrupt 2 when sensed motion
-    // copy burst data from the respective registers
+report_adns_t adns_get_report(void) {
+
+    report_adns_t report = {0, 0};
+
+    adns_spi_start();
+
+    // start burst mode
+    spi_write(REG_Motion_Burst & 0x7f);
+
+    // motion register
+    uint8_t motion = spi_read();
 
-    adns_begin();
+    if(motion & 0x80) {
 
-    // send adress of the register, with MSBit = 1 to indicate it's a write
-    SPI_TransferByte(REG_Motion_Burst & 0x7f);
+        // clear observation register
+        spi_read();
 
-    uint8_t burst_data[pixel_sum];
+        // delta registers
+        uint8_t delta_x_l = spi_read();
+        uint8_t delta_x_h = spi_read();
+        uint8_t delta_y_l = spi_read();
+        uint8_t delta_y_h = spi_read();
 
-    for (int i = 0; i < pixel_sum; ++i) {
-        burst_data[i] = SPI_TransferByte(0);
+        report.x = convertDeltaToInt(delta_x_h, delta_x_l);
+        report.y = convertDeltaToInt(delta_y_h, delta_y_l);
     }
 
-    delta_x += convertDeltaToInt(burst_data[delta_x_h], burst_data[delta_x_l]);
-    delta_y += convertDeltaToInt(burst_data[delta_y_h], burst_data[delta_y_l]);
+    spi_stop();
 
-    adns_end();
+    return report;
 }

keyboards/oddball/adns/adns.h

@@ -0,0 +1,35 @@
+/* Copyright 2020 Alexander Tulloh
+ *
+ * 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 <stdint.h>
+
+typedef struct {
+    /* 200 - 8200 CPI supported */
+    uint16_t cpi;
+} config_adns_t;
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+} report_adns_t;
+
+void adns_init(void);
+config_adns_t adns_get_config(void);
+void adns_set_config(config_adns_t);
+/* Reads and clears the current delta values on the ADNS sensor */
+report_adns_t adns_get_report(void);