blob: bcf55496b2d5e48079b6b724ee25f1a48882e731 [file] [log] [blame]
/*
* Copyright 2024 Google LLC
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT pixart_pmw3610
#include <stdint.h>
#include <stdlib.h>
#include <zephyr/device.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/drivers/spi.h>
#include <zephyr/input/input.h>
#include <zephyr/input/input_pmw3610.h>
#include <zephyr/kernel.h>
#include <zephyr/logging/log.h>
#include <zephyr/pm/device.h>
#include <zephyr/pm/device_runtime.h>
#include <zephyr/sys/byteorder.h>
#include <zephyr/sys/util.h>
LOG_MODULE_REGISTER(input_pmw3610, CONFIG_INPUT_LOG_LEVEL);
/* Page 0 */
#define PMW3610_PROD_ID 0x00
#define PMW3610_REV_ID 0x01
#define PMW3610_MOTION 0x02
#define PMW3610_DELTA_X_L 0x03
#define PMW3610_DELTA_Y_L 0x04
#define PMW3610_DELTA_XY_H 0x05
#define PMW3610_PERFORMANCE 0x11
#define PMW3610_BURST_READ 0x12
#define PMW3610_RUN_DOWNSHIFT 0x1b
#define PMW3610_REST1_RATE 0x1c
#define PMW3610_REST1_DOWNSHIFT 0x1d
#define PMW3610_OBSERVATION1 0x2d
#define PMW3610_SMART_MODE 0x32
#define PMW3610_POWER_UP_RESET 0x3a
#define PMW3610_SHUTDOWN 0x3b
#define PMW3610_SPI_CLK_ON_REQ 0x41
#define PWM3610_SPI_PAGE0 0x7f
/* Page 1 */
#define PMW3610_RES_STEP 0x05
#define PWM3610_SPI_PAGE1 0x7f
/* Burst register offsets */
#define BURST_MOTION 0
#define BURST_DELTA_X_L 1
#define BURST_DELTA_Y_L 2
#define BURST_DELTA_XY_H 3
#define BURST_SQUAL 4
#define BURST_SHUTTER_HI 5
#define BURST_SHUTTER_LO 6
#define BURST_DATA_LEN_NORMAL (BURST_DELTA_XY_H + 1)
#define BURST_DATA_LEN_SMART (BURST_SHUTTER_LO + 1)
#define BURST_DATA_LEN_MAX MAX(BURST_DATA_LEN_NORMAL, BURST_DATA_LEN_SMART)
/* Init sequence values */
#define OBSERVATION1_INIT_MASK 0x0f
#define PERFORMANCE_INIT 0x0d
#define RUN_DOWNSHIFT_INIT 0x04
#define REST1_RATE_INIT 0x04
#define REST1_DOWNSHIFT_INIT 0x0f
#define PRODUCT_ID_PMW3610 0x3e
#define SPI_WRITE BIT(7)
#define MOTION_STATUS_MOTION BIT(7)
#define SPI_CLOCK_ON_REQ_ON 0xba
#define SPI_CLOCK_ON_REQ_OFF 0xb5
#define RES_STEP_INV_X_BIT 6
#define RES_STEP_INV_Y_BIT 5
#define RES_STEP_RES_MASK 0x1f
#define PERFORMANCE_FMODE_MASK (0x0f << 4)
#define PERFORMANCE_FMODE_NORMAL (0x00 << 4)
#define PERFORMANCE_FMODE_FORCE_AWAKE (0x0f << 4)
#define POWER_UP_WAKEUP 0x96
#define SHUTDOWN_ENABLE 0xe7
#define SPI_PAGE0_1 0xff
#define SPI_PAGE1_0 0x00
#define SHUTTER_SMART_THRESHOLD 45
#define SMART_MODE_ENABLE 0x00
#define SMART_MODE_DISABLE 0x80
#define PMW3610_DATA_SIZE_BITS 12
#define RESET_DELAY_MS 10
#define INIT_OBSERVATION_DELAY_MS 10
#define CLOCK_ON_DELAY_US 300
#define RES_STEP 200
#define RES_MIN 200
#define RES_MAX 3200
struct pmw3610_config {
struct spi_dt_spec spi;
struct gpio_dt_spec motion_gpio;
struct gpio_dt_spec reset_gpio;
uint16_t axis_x;
uint16_t axis_y;
int16_t res_cpi;
bool invert_x;
bool invert_y;
bool force_awake;
bool smart_mode;
};
struct pmw3610_data {
const struct device *dev;
struct k_work motion_work;
struct gpio_callback motion_cb;
bool smart_flag;
};
static int pmw3610_read(const struct device *dev,
uint8_t addr, uint8_t *value, uint8_t len)
{
const struct pmw3610_config *cfg = dev->config;
const struct spi_buf tx_buf = {
.buf = &addr,
.len = sizeof(addr),
};
const struct spi_buf_set tx = {
.buffers = &tx_buf,
.count = 1,
};
struct spi_buf rx_buf[] = {
{
.buf = NULL,
.len = sizeof(addr),
},
{
.buf = value,
.len = len,
},
};
const struct spi_buf_set rx = {
.buffers = rx_buf,
.count = ARRAY_SIZE(rx_buf),
};
return spi_transceive_dt(&cfg->spi, &tx, &rx);
}
static int pmw3610_read_reg(const struct device *dev, uint8_t addr, uint8_t *value)
{
return pmw3610_read(dev, addr, value, 1);
}
static int pmw3610_write_reg(const struct device *dev, uint8_t addr, uint8_t value)
{
const struct pmw3610_config *cfg = dev->config;
uint8_t write_buf[] = {addr | SPI_WRITE, value};
const struct spi_buf tx_buf = {
.buf = write_buf,
.len = sizeof(write_buf),
};
const struct spi_buf_set tx = {
.buffers = &tx_buf,
.count = 1,
};
return spi_write_dt(&cfg->spi, &tx);
}
static int pmw3610_spi_clk_on(const struct device *dev)
{
int ret;
ret = pmw3610_write_reg(dev, PMW3610_SPI_CLK_ON_REQ, SPI_CLOCK_ON_REQ_ON);
k_sleep(K_USEC(CLOCK_ON_DELAY_US));
return ret;
}
static int pmw3610_spi_clk_off(const struct device *dev)
{
return pmw3610_write_reg(dev, PMW3610_SPI_CLK_ON_REQ, SPI_CLOCK_ON_REQ_OFF);
}
static void pmw3610_motion_work_handler(struct k_work *work)
{
struct pmw3610_data *data = CONTAINER_OF(
work, struct pmw3610_data, motion_work);
const struct device *dev = data->dev;
const struct pmw3610_config *cfg = dev->config;
uint8_t burst_data[BURST_DATA_LEN_MAX];
uint8_t burst_data_len;
int32_t x, y;
int ret;
if (cfg->smart_mode) {
burst_data_len = BURST_DATA_LEN_SMART;
} else {
burst_data_len = BURST_DATA_LEN_NORMAL;
}
ret = pmw3610_read(dev, PMW3610_BURST_READ, burst_data, burst_data_len);
if (ret < 0) {
return;
}
if ((burst_data[BURST_MOTION] & MOTION_STATUS_MOTION) == 0x00) {
return;
}
x = ((burst_data[BURST_DELTA_XY_H] << 4) & 0xf00) | burst_data[BURST_DELTA_X_L];
y = ((burst_data[BURST_DELTA_XY_H] << 8) & 0xf00) | burst_data[BURST_DELTA_Y_L];
x = sign_extend(x, PMW3610_DATA_SIZE_BITS - 1);
y = sign_extend(y, PMW3610_DATA_SIZE_BITS - 1);
input_report_rel(data->dev, cfg->axis_x, x, false, K_FOREVER);
input_report_rel(data->dev, cfg->axis_y, y, true, K_FOREVER);
if (cfg->smart_mode) {
uint16_t shutter_val = sys_get_be16(&burst_data[BURST_SHUTTER_HI]);
if (data->smart_flag && shutter_val < SHUTTER_SMART_THRESHOLD) {
pmw3610_spi_clk_on(dev);
ret = pmw3610_write_reg(dev, PMW3610_SMART_MODE, SMART_MODE_ENABLE);
if (ret < 0) {
return;
}
pmw3610_spi_clk_off(dev);
data->smart_flag = false;
} else if (!data->smart_flag && shutter_val > SHUTTER_SMART_THRESHOLD) {
pmw3610_spi_clk_on(dev);
ret = pmw3610_write_reg(dev, PMW3610_SMART_MODE, SMART_MODE_DISABLE);
if (ret < 0) {
return;
}
pmw3610_spi_clk_off(dev);
data->smart_flag = true;
}
}
}
static void pmw3610_motion_handler(const struct device *gpio_dev,
struct gpio_callback *cb,
uint32_t pins)
{
struct pmw3610_data *data = CONTAINER_OF(
cb, struct pmw3610_data, motion_cb);
k_work_submit(&data->motion_work);
}
int pmw3610_set_resolution(const struct device *dev, uint16_t res_cpi)
{
uint8_t val;
int ret;
if (!IN_RANGE(res_cpi, RES_MIN, RES_MAX)) {
LOG_ERR("res_cpi out of range: %d", res_cpi);
return -EINVAL;
}
ret = pmw3610_spi_clk_on(dev);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PWM3610_SPI_PAGE0, SPI_PAGE0_1);
if (ret < 0) {
return ret;
}
ret = pmw3610_read_reg(dev, PMW3610_RES_STEP, &val);
if (ret < 0) {
return ret;
}
val &= ~RES_STEP_RES_MASK;
val |= res_cpi / RES_STEP;
ret = pmw3610_write_reg(dev, PMW3610_RES_STEP, val);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PWM3610_SPI_PAGE1, SPI_PAGE1_0);
if (ret < 0) {
return ret;
}
ret = pmw3610_spi_clk_off(dev);
if (ret < 0) {
return ret;
}
return 0;
}
int pmw3610_force_awake(const struct device *dev, bool enable)
{
uint8_t val;
int ret;
ret = pmw3610_read_reg(dev, PMW3610_PERFORMANCE, &val);
if (ret < 0) {
return ret;
}
val &= ~PERFORMANCE_FMODE_MASK;
if (enable) {
val |= PERFORMANCE_FMODE_FORCE_AWAKE;
} else {
val |= PERFORMANCE_FMODE_NORMAL;
}
ret = pmw3610_spi_clk_on(dev);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PMW3610_PERFORMANCE, val);
if (ret < 0) {
return ret;
}
ret = pmw3610_spi_clk_off(dev);
if (ret < 0) {
return ret;
}
return 0;
}
static int pmw3610_configure(const struct device *dev)
{
const struct pmw3610_config *cfg = dev->config;
uint8_t val;
int ret;
if (cfg->reset_gpio.port != NULL) {
if (!gpio_is_ready_dt(&cfg->reset_gpio)) {
LOG_ERR("%s is not ready", cfg->reset_gpio.port->name);
return -ENODEV;
}
ret = gpio_pin_configure_dt(&cfg->reset_gpio, GPIO_OUTPUT_ACTIVE);
if (ret != 0) {
LOG_ERR("Reset pin configuration failed: %d", ret);
return ret;
}
k_sleep(K_MSEC(RESET_DELAY_MS));
gpio_pin_set_dt(&cfg->reset_gpio, 0);
k_sleep(K_MSEC(RESET_DELAY_MS));
}
ret = pmw3610_read_reg(dev, PMW3610_PROD_ID, &val);
if (ret < 0) {
return ret;
}
if (val != PRODUCT_ID_PMW3610) {
LOG_ERR("Invalid product id: %02x", val);
return -ENOTSUP;
}
/* Power-up init sequence */
ret = pmw3610_spi_clk_on(dev);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PMW3610_OBSERVATION1, 0);
if (ret < 0) {
return ret;
}
k_sleep(K_MSEC(INIT_OBSERVATION_DELAY_MS));
ret = pmw3610_read_reg(dev, PMW3610_OBSERVATION1, &val);
if (ret < 0) {
return ret;
}
if ((val & OBSERVATION1_INIT_MASK) != OBSERVATION1_INIT_MASK) {
LOG_ERR("Unexpected OBSERVATION1 value: %02x", val);
return -EINVAL;
}
for (uint8_t reg = PMW3610_MOTION; reg <= PMW3610_DELTA_XY_H; reg++) {
ret = pmw3610_read_reg(dev, reg, &val);
if (ret < 0) {
return ret;
}
}
ret = pmw3610_write_reg(dev, PMW3610_PERFORMANCE, PERFORMANCE_INIT);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PMW3610_RUN_DOWNSHIFT, RUN_DOWNSHIFT_INIT);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PMW3610_REST1_RATE, REST1_RATE_INIT);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PMW3610_REST1_DOWNSHIFT, REST1_DOWNSHIFT_INIT);
if (ret < 0) {
return ret;
}
/* Configuration */
if (cfg->invert_x || cfg->invert_y) {
ret = pmw3610_write_reg(dev, PWM3610_SPI_PAGE0, SPI_PAGE0_1);
if (ret < 0) {
return ret;
}
ret = pmw3610_read_reg(dev, PMW3610_RES_STEP, &val);
if (ret < 0) {
return ret;
}
WRITE_BIT(val, RES_STEP_INV_X_BIT, cfg->invert_x);
WRITE_BIT(val, RES_STEP_INV_Y_BIT, cfg->invert_y);
ret = pmw3610_write_reg(dev, PMW3610_RES_STEP, val);
if (ret < 0) {
return ret;
}
ret = pmw3610_write_reg(dev, PWM3610_SPI_PAGE1, SPI_PAGE1_0);
if (ret < 0) {
return ret;
}
}
ret = pmw3610_spi_clk_off(dev);
if (ret < 0) {
return ret;
}
/* The remaining functions call spi_clk_on/off independently. */
if (cfg->res_cpi > 0) {
pmw3610_set_resolution(dev, cfg->res_cpi);
}
pmw3610_force_awake(dev, cfg->force_awake);
return 0;
}
static int pmw3610_init(const struct device *dev)
{
const struct pmw3610_config *cfg = dev->config;
struct pmw3610_data *data = dev->data;
int ret;
if (!spi_is_ready_dt(&cfg->spi)) {
LOG_ERR("%s is not ready", cfg->spi.bus->name);
return -ENODEV;
}
data->dev = dev;
k_work_init(&data->motion_work, pmw3610_motion_work_handler);
if (!gpio_is_ready_dt(&cfg->motion_gpio)) {
LOG_ERR("%s is not ready", cfg->motion_gpio.port->name);
return -ENODEV;
}
ret = gpio_pin_configure_dt(&cfg->motion_gpio, GPIO_INPUT);
if (ret != 0) {
LOG_ERR("Motion pin configuration failed: %d", ret);
return ret;
}
gpio_init_callback(&data->motion_cb, pmw3610_motion_handler,
BIT(cfg->motion_gpio.pin));
ret = gpio_add_callback_dt(&cfg->motion_gpio, &data->motion_cb);
if (ret < 0) {
LOG_ERR("Could not set motion callback: %d", ret);
return ret;
}
ret = pmw3610_configure(dev);
if (ret != 0) {
LOG_ERR("Device configuration failed: %d", ret);
return ret;
}
ret = gpio_pin_interrupt_configure_dt(&cfg->motion_gpio,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret != 0) {
LOG_ERR("Motion interrupt configuration failed: %d", ret);
return ret;
}
ret = pm_device_runtime_enable(dev);
if (ret < 0) {
LOG_ERR("Failed to enable runtime power management: %d", ret);
return ret;
}
return 0;
}
#ifdef CONFIG_PM_DEVICE
static int pmw3610_pm_action(const struct device *dev,
enum pm_device_action action)
{
int ret;
switch (action) {
case PM_DEVICE_ACTION_SUSPEND:
ret = pmw3610_write_reg(dev, PMW3610_SHUTDOWN, SHUTDOWN_ENABLE);
if (ret < 0) {
return ret;
}
break;
case PM_DEVICE_ACTION_RESUME:
ret = pmw3610_write_reg(dev, PMW3610_POWER_UP_RESET, POWER_UP_WAKEUP);
if (ret < 0) {
return ret;
}
break;
default:
return -ENOTSUP;
}
return 0;
}
#endif
#define PMW3610_SPI_MODE (SPI_OP_MODE_MASTER | SPI_WORD_SET(8) | \
SPI_MODE_CPOL | SPI_MODE_CPHA | SPI_TRANSFER_MSB)
#define PMW3610_INIT(n) \
BUILD_ASSERT(IN_RANGE(DT_INST_PROP_OR(n, res_cpi, RES_MIN), \
RES_MIN, RES_MAX), "invalid res-cpi"); \
\
static const struct pmw3610_config pmw3610_cfg_##n = { \
.spi = SPI_DT_SPEC_INST_GET(n, PMW3610_SPI_MODE, 0), \
.motion_gpio = GPIO_DT_SPEC_INST_GET(n, motion_gpios), \
.reset_gpio = GPIO_DT_SPEC_INST_GET_OR(n, reset_gpios, {}), \
.axis_x = DT_INST_PROP(n, zephyr_axis_x), \
.axis_y = DT_INST_PROP(n, zephyr_axis_y), \
.res_cpi = DT_INST_PROP_OR(n, res_cpi, -1), \
.invert_x = DT_INST_PROP(n, invert_x), \
.invert_y = DT_INST_PROP(n, invert_y), \
.force_awake = DT_INST_PROP(n, force_awake), \
.smart_mode = DT_INST_PROP(n, smart_mode), \
}; \
\
static struct pmw3610_data pmw3610_data_##n; \
\
PM_DEVICE_DT_INST_DEFINE(n, pmw3610_pm_action); \
\
DEVICE_DT_INST_DEFINE(n, pmw3610_init, PM_DEVICE_DT_INST_GET(n), \
&pmw3610_data_##n, &pmw3610_cfg_##n, \
POST_KERNEL, CONFIG_INPUT_INIT_PRIORITY, \
NULL);
DT_INST_FOREACH_STATUS_OKAY(PMW3610_INIT)