228 lines
6.5 KiB
Python
228 lines
6.5 KiB
Python
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import busio
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import digitalio
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import microcontroller
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import time
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from kmk.keys import AX
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from kmk.modules import Module
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from kmk.modules.adns9800_firmware import firmware
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class REG:
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Product_ID = 0x0
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Revision_ID = 0x1
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MOTION = 0x2
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DELTA_X_L = 0x3
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DELTA_X_H = 0x4
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DELTA_Y_L = 0x5
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DELTA_Y_H = 0x6
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SQUAL = 0x7
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PIXEL_SUM = 0x8
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Maximum_Pixel = 0x9
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Minimum_Pixel = 0xA
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Shutter_Lower = 0xB
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Shutter_Upper = 0xC
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Frame_Period_Lower = 0xD
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Frame_Period_Upper = 0xE
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Configuration_I = 0xF
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Configuration_II = 0x10
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Frame_Capture = 0x12
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SROM_Enable = 0x13
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Run_Downshift = 0x14
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Rest1_Rate = 0x15
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Rest1_Downshift = 0x16
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Rest2_Rate = 0x17
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Rest2_Downshift = 0x18
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Rest3_Rate = 0x19
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Frame_Period_Max_Bound_Lower = 0x1A
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Frame_Period_Max_Bound_Upper = 0x1B
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Frame_Period_Min_Bound_Lower = 0x1C
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Frame_Period_Min_Bound_Upper = 0x1D
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Shutter_Max_Bound_Lower = 0x1E
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Shutter_Max_Bound_Upper = 0x1F
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LASER_CTRL0 = 0x20
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Observation = 0x24
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Data_Out_Lower = 0x25
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Data_Out_Upper = 0x26
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SROM_ID = 0x2A
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Lift_Detection_Thr = 0x2E
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Configuration_V = 0x2F
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Configuration_IV = 0x39
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Power_Up_Reset = 0x3A
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Shutdown = 0x3B
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Inverse_Product_ID = 0x3F
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Snap_Angle = 0x42
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Motion_Burst = 0x50
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SROM_Load_Burst = 0x62
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Pixel_Burst = 0x64
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class ADNS9800(Module):
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tswr = tsww = 120
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tsrw = tsrr = 20
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tsrad = 100
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tbexit = 1
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baud = 2000000
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cpol = 1
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cpha = 1
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DIR_WRITE = 0x80
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DIR_READ = 0x7F
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def __init__(self, cs, sclk, miso, mosi, invert_x=False, invert_y=False):
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self.cs = digitalio.DigitalInOut(cs)
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self.cs.direction = digitalio.Direction.OUTPUT
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self.spi = busio.SPI(clock=sclk, MOSI=mosi, MISO=miso)
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self.invert_x = invert_x
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self.invert_y = invert_y
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def adns_start(self):
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self.cs.value = False
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def adns_stop(self):
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self.cs.value = True
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def adns_write(self, reg, data):
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while not self.spi.try_lock():
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pass
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try:
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self.spi.configure(baudrate=self.baud, polarity=self.cpol, phase=self.cpha)
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self.adns_start()
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self.spi.write(bytes([reg | self.DIR_WRITE, data]))
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finally:
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self.spi.unlock()
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self.adns_stop()
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def adns_read(self, reg):
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result = bytearray(1)
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while not self.spi.try_lock():
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pass
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try:
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self.spi.configure(baudrate=self.baud, polarity=self.cpol, phase=self.cpha)
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self.adns_start()
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self.spi.write(bytes([reg & self.DIR_READ]))
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microcontroller.delay_us(self.tsrad)
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self.spi.readinto(result)
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finally:
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self.spi.unlock()
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self.adns_stop()
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return result[0]
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def adns_upload_srom(self):
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while not self.spi.try_lock():
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pass
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try:
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self.spi.configure(baudrate=self.baud, polarity=self.cpol, phase=self.cpha)
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self.adns_start()
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self.spi.write(bytes([REG.SROM_Load_Burst | self.DIR_WRITE]))
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for b in firmware:
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self.spi.write(bytes([b]))
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finally:
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self.spi.unlock()
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self.adns_stop()
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def delta_to_int(self, high, low):
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comp = (high << 8) | low
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if comp & 0x8000:
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return (-1) * (0xFFFF + 1 - comp)
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return comp
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def adns_read_motion(self):
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result = bytearray(14)
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while not self.spi.try_lock():
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pass
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try:
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self.spi.configure(baudrate=self.baud, polarity=self.cpol, phase=self.cpha)
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self.adns_start()
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self.spi.write(bytes([REG.Motion_Burst & self.DIR_READ]))
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microcontroller.delay_us(self.tsrad)
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self.spi.readinto(result)
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finally:
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self.spi.unlock()
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self.adns_stop()
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microcontroller.delay_us(self.tbexit)
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self.adns_write(REG.MOTION, 0x0)
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return result
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def during_bootup(self, keyboard):
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self.adns_write(REG.Power_Up_Reset, 0x5A)
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time.sleep(0.1)
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self.adns_read(REG.MOTION)
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microcontroller.delay_us(self.tsrr)
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self.adns_read(REG.DELTA_X_L)
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microcontroller.delay_us(self.tsrr)
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self.adns_read(REG.DELTA_X_H)
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microcontroller.delay_us(self.tsrr)
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self.adns_read(REG.DELTA_Y_L)
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microcontroller.delay_us(self.tsrr)
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self.adns_read(REG.DELTA_Y_H)
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microcontroller.delay_us(self.tsrw)
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self.adns_write(REG.Configuration_IV, 0x2)
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microcontroller.delay_us(self.tsww)
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self.adns_write(REG.SROM_Enable, 0x1D)
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microcontroller.delay_us(1000)
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self.adns_write(REG.SROM_Enable, 0x18)
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microcontroller.delay_us(self.tsww)
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self.adns_upload_srom()
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microcontroller.delay_us(2000)
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laser_ctrl0 = self.adns_read(REG.LASER_CTRL0)
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microcontroller.delay_us(self.tsrw)
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self.adns_write(REG.LASER_CTRL0, laser_ctrl0 & 0xF0)
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microcontroller.delay_us(self.tsww)
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self.adns_write(REG.Configuration_I, 0x10)
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microcontroller.delay_us(self.tsww)
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if keyboard.debug_enabled:
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print('ADNS: Product ID ', hex(self.adns_read(REG.Product_ID)))
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microcontroller.delay_us(self.tsrr)
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print('ADNS: Revision ID ', hex(self.adns_read(REG.Revision_ID)))
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microcontroller.delay_us(self.tsrr)
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print('ADNS: SROM ID ', hex(self.adns_read(REG.SROM_ID)))
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microcontroller.delay_us(self.tsrr)
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if self.adns_read(REG.Observation) & 0x20:
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print('ADNS: Sensor is running SROM')
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else:
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print('ADNS: Error! Sensor is not runnin SROM!')
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return
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def before_matrix_scan(self, keyboard):
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motion = self.adns_read_motion()
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if motion[0] & 0x80:
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delta_x = self.delta_to_int(motion[3], motion[2])
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delta_y = self.delta_to_int(motion[5], motion[4])
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if self.invert_x:
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delta_x *= -1
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if self.invert_y:
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delta_y *= -1
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if delta_x:
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AX.X.move(delta_x)
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if delta_y:
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AX.Y.move(delta_y)
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if keyboard.debug_enabled:
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print('Delta: ', delta_x, ' ', delta_y)
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def after_matrix_scan(self, keyboard):
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return
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def before_hid_send(self, keyboard):
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return
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def after_hid_send(self, keyboard):
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return
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def on_powersave_enable(self, keyboard):
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return
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def on_powersave_disable(self, keyboard):
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return
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