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RIOT/drivers/paa5100je/paa5100je.c

431 lines
12 KiB
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/*
* SPDX-FileCopyrightText: 2025 TU Dresden
* SPDX-License-Identifier: LGPL-2.1-only
*/
/**
* @ingroup drivers_paa5100je
* @{
*
* @file
* @brief Device driver implementation for the PAA5100JE/PMW3901 optical flow sensor
*
* @author Leonard Herbst <leonard.herbst@tu-dresden.de>
*
* @}
*/
#include "paa5100je.h"
#include "paa5100je_constants.h"
#include "paa5100je_params.h"
#include "ztimer.h"
#include "macros/utils.h"
#include "log.h"
#include <stdio.h>
#define PAA5100JE_CMD_READ (0b00000000) /**< Mask applied to a register address when reading */
#define PAA5100JE_CMD_WRITE (0b10000000) /**< Mask applied to a register address when writing */
/* Prototypes of private functions */
static uint8_t _read_reg(const paa5100je_t *dev, uint8_t reg);
static void _read_reg_burst(const paa5100je_t *dev, uint8_t reg, size_t num, uint8_t *buf);
static void _write_reg(const paa5100je_t *dev, uint8_t reg, uint8_t value);
static void _prop_init(const paa5100je_t *dev);
static void _init_paa5100je(const paa5100je_t *dev);
static void _init_pmw3901(const paa5100je_t *dev);
/* Public API */
int paa5100je_init(paa5100je_t *dev, const paa5100je_params_t *params)
{
assert(dev && params);
dev->params = params;
int res = spi_init_cs(params->spi, params->cs);
if (res < 0) {
return -ENXIO;
}
_write_reg(dev, REG_POWER_UP_RESET, 0x5A);
for (uint8_t offset = 0; offset < 5; offset++) {
(void) _read_reg(dev, REG_DATA_READY + offset);
}
_prop_init(dev);
uint8_t id = _read_reg(dev, REG_ID);
uint8_t inv_id = _read_reg(dev, REG_INV_ID);
uint8_t rev = _read_reg(dev, REG_REV);
if ((id ^ inv_id) != 0xFF || id != 0x49 || rev != 0x00) {
LOG_ERROR("[PAA5100JE] Wrong id, inverted id, or unknown revision.\n");
return -ENODEV;
}
return 0;
}
int paa5100je_get_motion_burst(const paa5100je_t *dev, int16_t *x, int16_t *y)
{
uint8_t data[12];
ztimer_now_t start = ztimer_now(ZTIMER_MSEC);
do {
_read_reg_burst(dev, REG_MOTION_BURST, 12, data);
/* PixArt who designed the sensor is pretty secretive. The default threshold for the quality
* and for the shutter are taken from a reference implementation. */
uint8_t data_ready = data[0];
uint8_t quality = data[6];
uint8_t shutter_upper = data[10];
if ((data_ready & 0b10000000)
&& quality >= CONFIG_PAA5100JE_QUALITY_THRESHOLD
&& shutter_upper != 0x1F) {
*x = (int16_t)(data[3] << 8 | data[2]);
*y = (int16_t)(data[5] << 8 | data[4]);
/* Apply scaling factor */
*x *= 100;
*x /= CONFIG_PAA5100JE_SCALE_DENOMINATOR;
*y *= 100;
*y /= CONFIG_PAA5100JE_SCALE_DENOMINATOR;
return 0;
}
ztimer_sleep(ZTIMER_MSEC, 1);
} while (CONFIG_PAA5100JE_TIMEOUT_MS
&& ztimer_now(ZTIMER_MSEC) < start + CONFIG_PAA5100JE_TIMEOUT_MS);
return -ETIME;
}
int paa5100je_set_led_brightness(const paa5100je_t *dev, const paa5100je_led_brightness_t level)
{
assert(dev);
uint8_t reg_val;
switch (level) {
case PAA5100JE_LED_OFF:
reg_val = PAA5100JE_LED_OFF_VAL;
break;
case PAA5100JE_LED_MEDIUM:
reg_val = PAA5100JE_LED_MEDIUM_VAL;
break;
case PAA5100JE_LED_MAX:
reg_val = PAA5100JE_LED_MAX_VAL;
break;
default:
return -EINVAL;
}
_write_reg(dev, 0x7F, 0x14);
_write_reg(dev, REG_LED_BRIGHTNESS, reg_val);
_write_reg(dev, 0x7F, 0x00);
return 0;
}
/* Private API */
static uint8_t _read_reg(const paa5100je_t *dev, uint8_t reg)
{
assert(dev);
assert(!(reg & 0x10000000));
uint8_t value;
spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
value = spi_transfer_reg(dev->params->spi, dev->params->cs, reg | PAA5100JE_CMD_READ, 0);
spi_release(dev->params->spi);
return value;
}
static void _read_reg_burst(const paa5100je_t *dev, uint8_t reg, size_t num, uint8_t *buf)
{
assert(dev);
assert(!(reg & 0x10000000));
spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
spi_transfer_regs(dev->params->spi, dev->params->cs, reg | PAA5100JE_CMD_READ, NULL, buf, num);
spi_release(dev->params->spi);
}
static void _write_reg(const paa5100je_t *dev, uint8_t reg, uint8_t value)
{
assert(dev);
assert(!(reg & 0x10000000));
spi_acquire(dev->params->spi, dev->params->cs, SPI_MODE_3, dev->params->clk);
(void) spi_transfer_reg(dev->params->spi, dev->params->cs, (reg | PAA5100JE_CMD_WRITE), value);
spi_release(dev->params->spi);
}
/**
* @brief Writes a set of magic values to the sensors registers.
*
* The datasheet does not explain this.
* These values and registers are taken from a reference implementation.
*
* @param[in] dev device descriptor
*/
static void _prop_init(const paa5100je_t *dev)
{
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x55, 0x01);
_write_reg(dev, 0x50, 0x07);
_write_reg(dev, 0x7F, 0x0E);
_write_reg(dev, 0x43, 0x10);
int tmp = _read_reg(dev, 0x67);
if (tmp & 0b10000000){
_write_reg(dev, 0x48, 0x04);
}
else {
_write_reg(dev, 0x48, 0x02);
}
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x51, 0x7B);
_write_reg(dev, 0x50, 0x00);
_write_reg(dev, 0x55, 0x00);
_write_reg(dev, 0x7F, 0x0E);
tmp = _read_reg(dev, 0x73);
if (tmp == 0x00){
int c1 = _read_reg(dev, 0x70);
int c2 = _read_reg(dev, 0x71);
if (c1 <= 28) {
c1 += 14;
}
if (c1 > 28) {
c1 += 11;
}
c1 = MAX(0, MIN(0x3F, c1));
c2 = (c2 * 45);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x61, 0xAD);
_write_reg(dev, 0x51, 0x70);
_write_reg(dev, 0x7F, 0x0E);
_write_reg(dev, 0x70, c1);
_write_reg(dev, 0x71, c2);
}
if (dev->params->var == PAA5100JE) {
_init_paa5100je(dev);
}
else {
_init_pmw3901(dev);
}
}
/**
* @brief Writes a set of PAA5100JE specific magic values to the sensors registers.
*
* @param[in] dev device descriptor
*/
static void _init_paa5100je(const paa5100je_t *dev)
{
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x61, 0xAD);
_write_reg(dev, 0x7F, 0x03);
_write_reg(dev, 0x40, 0x00);
_write_reg(dev, 0x7F, 0x05);
_write_reg(dev, 0x41, 0xB3);
_write_reg(dev, 0x43, 0xF1);
_write_reg(dev, 0x45, 0x14);
_write_reg(dev, 0x5F, 0x34);
_write_reg(dev, 0x7B, 0x08);
_write_reg(dev, 0x5E, 0x34);
_write_reg(dev, 0x5B, 0x11);
_write_reg(dev, 0x6D, 0x11);
_write_reg(dev, 0x45, 0x17);
_write_reg(dev, 0x70, 0xE5);
_write_reg(dev, 0x71, 0xE5);
_write_reg(dev, 0x7F, 0x06);
_write_reg(dev, 0x44, 0x1B);
_write_reg(dev, 0x40, 0xBF);
_write_reg(dev, 0x4E, 0x3F);
_write_reg(dev, 0x7F, 0x08);
_write_reg(dev, 0x66, 0x44);
_write_reg(dev, 0x65, 0x20);
_write_reg(dev, 0x6A, 0x3A);
_write_reg(dev, 0x61, 0x05);
_write_reg(dev, 0x62, 0x05);
_write_reg(dev, 0x7F, 0x09);
_write_reg(dev, 0x4F, 0xAF);
_write_reg(dev, 0x5F, 0x40);
_write_reg(dev, 0x48, 0x80);
_write_reg(dev, 0x49, 0x80);
_write_reg(dev, 0x57, 0x77);
_write_reg(dev, 0x60, 0x78);
_write_reg(dev, 0x61, 0x78);
_write_reg(dev, 0x62, 0x08);
_write_reg(dev, 0x63, 0x50);
_write_reg(dev, 0x7F, 0x0A);
_write_reg(dev, 0x45, 0x60);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x4D, 0x11);
_write_reg(dev, 0x55, 0x80);
_write_reg(dev, 0x74, 0x21);
_write_reg(dev, 0x75, 0x1F);
_write_reg(dev, 0x4A, 0x78);
_write_reg(dev, 0x4B, 0x78);
_write_reg(dev, 0x44, 0x08);
_write_reg(dev, 0x45, 0x50);
_write_reg(dev, 0x64, 0xFF);
_write_reg(dev, 0x65, 0x1F);
_write_reg(dev, 0x7F, 0x14);
_write_reg(dev, 0x65, 0x67);
_write_reg(dev, 0x66, 0x08);
_write_reg(dev, 0x63, 0x70);
_write_reg(dev, 0x6F, 0x1C);
_write_reg(dev, 0x7F, 0x15);
_write_reg(dev, 0x48, 0x48);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x41, 0x0D);
_write_reg(dev, 0x43, 0x14);
_write_reg(dev, 0x4B, 0x0E);
_write_reg(dev, 0x45, 0x0F);
_write_reg(dev, 0x44, 0x42);
_write_reg(dev, 0x4C, 0x80);
_write_reg(dev, 0x7F, 0x10);
_write_reg(dev, 0x5B, 0x02);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x40, 0x41);
ztimer_sleep(ZTIMER_MSEC, 100);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x32, 0x00);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x40, 0x40);
_write_reg(dev, 0x7F, 0x06);
_write_reg(dev, 0x68, 0xF0);
_write_reg(dev, 0x69, 0x00);
_write_reg(dev, 0x7F, 0x0D);
_write_reg(dev, 0x48, 0xC0);
_write_reg(dev, 0x6F, 0xD5);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x5B, 0xA0);
_write_reg(dev, 0x4E, 0xA8);
_write_reg(dev, 0x5A, 0x90);
_write_reg(dev, 0x40, 0x80);
_write_reg(dev, 0x73, 0x1F);
ztimer_sleep(ZTIMER_MSEC, 100);
_write_reg(dev, 0x73, 0x00);
}
/**
* @brief Writes a set of PMW301 specific magic values to the sensors registers.
*
* @param[in] dev device descriptor
*/
static void _init_pmw3901(const paa5100je_t *dev)
{
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x61, 0xAD);
_write_reg(dev, 0x7F, 0x03);
_write_reg(dev, 0x40, 0x00);
_write_reg(dev, 0x7F, 0x05);
_write_reg(dev, 0x41, 0xB3);
_write_reg(dev, 0x43, 0xF1);
_write_reg(dev, 0x45, 0x14);
_write_reg(dev, 0x5B, 0x32);
_write_reg(dev, 0x5F, 0x34);
_write_reg(dev, 0x7B, 0x08);
_write_reg(dev, 0x7F, 0x06);
_write_reg(dev, 0x44, 0x1B);
_write_reg(dev, 0x40, 0xBF);
_write_reg(dev, 0x4E, 0x3F);
_write_reg(dev, 0x7F, 0x08);
_write_reg(dev, 0x65, 0x20);
_write_reg(dev, 0x6A, 0x18);
_write_reg(dev, 0x7F, 0x09);
_write_reg(dev, 0x4F, 0xAF);
_write_reg(dev, 0x5F, 0x40);
_write_reg(dev, 0x48, 0x80);
_write_reg(dev, 0x49, 0x80);
_write_reg(dev, 0x57, 0x77);
_write_reg(dev, 0x60, 0x78);
_write_reg(dev, 0x61, 0x78);
_write_reg(dev, 0x62, 0x08);
_write_reg(dev, 0x63, 0x50);
_write_reg(dev, 0x7F, 0x0A);
_write_reg(dev, 0x45, 0x60);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x4D, 0x11);
_write_reg(dev, 0x55, 0x80);
_write_reg(dev, 0x74, 0x1F);
_write_reg(dev, 0x75, 0x1F);
_write_reg(dev, 0x4A, 0x78);
_write_reg(dev, 0x4B, 0x78);
_write_reg(dev, 0x44, 0x08);
_write_reg(dev, 0x45, 0x50);
_write_reg(dev, 0x64, 0xFF);
_write_reg(dev, 0x65, 0x1F);
_write_reg(dev, 0x7F, 0x14);
_write_reg(dev, 0x65, 0x60);
_write_reg(dev, 0x66, 0x08);
_write_reg(dev, 0x63, 0x78);
_write_reg(dev, 0x7F, 0x15);
_write_reg(dev, 0x48, 0x58);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x41, 0x0D);
_write_reg(dev, 0x43, 0x14);
_write_reg(dev, 0x4B, 0x0E);
_write_reg(dev, 0x45, 0x0F);
_write_reg(dev, 0x44, 0x42);
_write_reg(dev, 0x4C, 0x80);
_write_reg(dev, 0x7F, 0x10);
_write_reg(dev, 0x5B, 0x02);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x40, 0x41);
_write_reg(dev, 0x70, 0x00);
ztimer_sleep(ZTIMER_MSEC, 100);
_write_reg(dev, 0x32, 0x44);
_write_reg(dev, 0x7F, 0x07);
_write_reg(dev, 0x40, 0x40);
_write_reg(dev, 0x7F, 0x06);
_write_reg(dev, 0x62, 0xF0);
_write_reg(dev, 0x63, 0x00);
_write_reg(dev, 0x7F, 0x0D);
_write_reg(dev, 0x48, 0xC0);
_write_reg(dev, 0x6F, 0xD5);
_write_reg(dev, 0x7F, 0x00);
_write_reg(dev, 0x5B, 0xA0);
_write_reg(dev, 0x4E, 0xA8);
_write_reg(dev, 0x5A, 0x50);
_write_reg(dev, 0x40, 0x80);
ztimer_sleep(ZTIMER_MSEC, 100);
_write_reg(dev, 0x7F, 0x14);
_write_reg(dev, 0x6F, 0x1C);
_write_reg(dev, 0x7F, 0x00);
}
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