diff --git a/devices/PMW3389DM_ORCA3_ROW_SROMxE8.py b/devices/PMW3389DM_ORCA3_ROW_SROMxE8.py new file mode 100644 index 0000000..0775ce4 --- /dev/null +++ b/devices/PMW3389DM_ORCA3_ROW_SROMxE8.py @@ -0,0 +1,283 @@ +# // the firmeware that is uploaded in the ADNS each time it boots + +# #include + +# // Firmware "ORCA3_ROW_SROMxE8" + +# const unsigned short firmware_length = 4094; + +# const unsigned char firmware_data[] PROGMEM = { +PROGMEM = [ +0x01, 0xe8, 0xba, 0x26, 0x0b, 0xb2, 0xbe, 0xfe, 0x7e, 0x5f, 0x3c, 0xdb, 0x15, 0xa8, 0xb3, +0xe4, 0x2b, 0xb5, 0xe8, 0x53, 0x07, 0x6d, 0x3b, 0xd1, 0x20, 0xc2, 0x06, 0x6f, 0x3d, 0xd9, +0x11, 0xa0, 0xc2, 0xe7, 0x2d, 0xb9, 0xd1, 0x20, 0xa3, 0xa5, 0xc8, 0xf3, 0x64, 0x4a, 0xf7, +0x4d, 0x18, 0x93, 0xa4, 0xca, 0xf7, 0x6c, 0x5a, 0x36, 0xee, 0x5e, 0x3e, 0xfe, 0x7e, 0x7e, +0x5f, 0x1d, 0x99, 0xb0, 0xc3, 0xe5, 0x29, 0xd3, 0x03, 0x65, 0x48, 0x12, 0x87, 0x6d, 0x58, +0x32, 0xe6, 0x2f, 0xdc, 0x3a, 0xf2, 0x4f, 0xfd, 0x59, 0x11, 0x81, 0x61, 0x21, 0xc0, 0x02, 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SCK: str = None): + + # SPI_type = 'SPI1' or 'SPI2' or 'softSPI' + SPIparams = {'baudrate': 1000000, 'polarity': 1, 'phase': 1, + 'bits': 8, 'firstbit': machine.SPI.MSB} + if '1' in SPI_type: + self.SPI = machine.SPI(1, **SPIparams) + + elif '2' in SPI_type: + self.SPI = machine.SPI(2, **SPIparams) + + elif 'soft' in SPI_type.lower(): # Works for newer versions of micropython + self.SPI = machine.SoftSPI(sck=machine.Pin(SCK, mode=machine.Pin.OUT, pull=machine.Pin.PULL_DOWN), + mosi=machine.Pin(MO, mode=machine.Pin.OUT, pull=machine.Pin.PULL_DOWN), + miso=machine.Pin(MI, mode=machine.Pin.IN), + **SPIparams + ) + + self.select = Digital_output(pin=CS, inverted=True) + self.reset = Digital_output(pin=reset, inverted=True) + + self.reset.off() + self.select.off() + + def read_pos(self): + # write and read Motion register to lock the content of delta registers + self.write_register(0x02, 0x01) + self.read_register(0x02) + + delta_x_L = self.read_register(0x03) + delta_x_H = self.read_register(0x04) + delta_y_L = self.read_register(0x05) + delta_y_H = self.read_register(0x06) + + delta_x = delta_x_H + delta_x_L + delta_y = delta_y_H + delta_y_L + + delta_x = int.from_bytes(delta_x, 'little') + delta_y = int.from_bytes(delta_y, 'little') + + delta_x = twos_comp(delta_x) + delta_y = twos_comp(delta_y) + + return delta_x, delta_y + + def read_register(self, addrs: int): + """ + addrs < 128 + """ + # ensure MSB=0 + addrs = addrs & 0x7f + addrs = addrs.to_bytes(1, 'little') + self.select.on() + self.SPI.write(addrs) + utime.sleep_us(100) # tSRAD + data = self.SPI.read(1) + utime.sleep_us(1) # tSCLK-NCS for read operation is 120ns + self.select.off() + utime.sleep_us(19) # tSRW/tSRR (=20us) minus tSCLK-NCS + return data + + def write_register(self, addrs: int, data: int): + """ + addrs < 128 + """ + # flip the MSB to 1: + addrs = addrs | 0x80 + addrs = addrs.to_bytes(1, 'little') + data = data.to_bytes(1, 'little') + self.select.on() + self.SPI.write(addrs) + self.SPI.write(data) + utime.sleep_us(20) # tSCLK-NCS for write operation + self.select.off() + utime.sleep_us(100) # tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound + + def power_up(self): + """ + Perform the power up sequence + As per page 26 of datasheet + """ + # 2 + self.select.off() + self.select.on() + self.select.off() + # 3 + self.write_register(0x3a, 0x5a) + # 4 + utime.sleep_ms(50) + # 5 + self.read_pos() + + # SROM Download + # As per page 23 of datasheet + # 2 + self.write_register(0x10, 0x20) + # 3 + self.write_register(0x13, 0x1d) + # 4 + utime.sleep_ms(10) + # 5 + self.write_register(0x13, 0x18) + # 6 + self.download_srom(PROGMEM) + # 7 + ID = int.from_bytes(self.read_register(0x2a), 'little') + assert ID == 0x04, "bad SROM v={}".format(ID) + # 8 + # Write 0x00 to Config2 register for wired mouse or 0x20 for wireless mouse design (Enable/Disable Rest mode) + self.write_register(0x10, 0x00) + + # CONFIGURATION + # set initial CPI resolution + self.write_register(0x0f, 0x00) # CPI setting 0x31=5000; 0x00=100 + # set lift detection + self.write_register(0x63, 0x03) # Lift detection: +3mm + self.CPI = int.from_bytes(self.read_register(0x0f), 'little') * 100 + 100 + + self.select.off() + + utime.sleep_ms(10) + + def shut_down(self, deinitSPI=True): + """ + Perform the shut down sequence + As per page 27 of datasheet + """ + self.select.off() + utime.sleep_ms(1) + self.select.on() + utime.sleep_ms(1) + self.reset.on() + utime.sleep_ms(60) + self.read_pos() + utime.sleep_ms(1) + self.select.off() + utime.sleep_ms(1) + if deinitSPI: + self.SPI.deinit() + + def download_srom(self, srom): + self.select.on() + # flip the MSB to 1: + self.SPI.write((0x62 | 0x80) .to_bytes(1, 'little')) + utime.sleep_us(15) + for srom_byte in srom: + self.SPI.write(srom_byte.to_bytes(1, 'little')) + utime.sleep_us(15) + + self.select.off() + utime.sleep_ms(1) + + def read_register_buff(self, addrs: bytes, buff: bytes): + """ + addrs < 128 + """ + self.select.on() + self.SPI.write(addrs) + utime.sleep_us(100) # tSRAD + self.SPI.readinto(buff) + utime.sleep_us(1) # tSCLK-NCS for read operation is 120ns + self.select.off() + utime.sleep_us(19) # tSRW/tSRR (=20us) minus tSCLK-NCS + + def write_register_buff(self, addrs: bytes, data: bytes): + """ + addrs < 128 + """ + # flip the MSB to 1:... + self.select.on() + self.SPI.write(addrs) + self.SPI.write(data) + utime.sleep_us(20) # tSCLK-NCS for write operation + self.select.off() + utime.sleep_us(100) # tSWW/tSWR (=120us) minus tSCLK-NCS. Could be shortened, but is looks like a safe lower bound + + +class MotionDetector(Analog_input): + """ + Using the Analog_input code to interface with 2 PMW3389DM sensors + reading `x` (SPI2) and `y` (softSPI) separately. + """ + def __init__(self, reset, cs1, cs2, + name='MotDet', calib_coef=1, + threshold=1, sampling_rate=100, event='motion'): + """ + name: name of the analog signal which will be streamed to the PC + cs1, cs2: Chip select pins for each sensor + threshold: in centimeters, + distance travelled longer than THRESHOLD triggers a PyControl event, + under the hood, THRESHOLD is saved as the square of the movement counts. + """ + self.sensor_x = PMW3389DM(SPI_type='SPI2', reset=reset, CS=cs1) + self.sensor_y = PMW3389DM(SPI_type='SPI2', reset=reset, CS=cs2) + + self.sensor_x.power_up() + self.sensor_y.power_up() + self.calib_coef = calib_coef + self.threshold = threshold + + # Motion sensor variables + self.x_buffer = bytearray(2) + self.y_buffer = bytearray(2) + self.x_buffer_mv = memoryview(self.x_buffer) + self.y_buffer_mv = memoryview(self.y_buffer) + self.delta_x_l = self.x_buffer_mv[0:1] + self.delta_x_h = self.x_buffer_mv[1:] + self.delta_y_l = self.y_buffer_mv[0:1] + self.delta_y_h = self.y_buffer_mv[1:] + + self.delta_x, self.delta_y = 0, 0 + self._delta_x, self._delta_y = 0, 0 + self.x, self.y = 0, 0 # to be accessed from the task, unit=movement count in CPI*inches + + # Parent + Analog_input.__init__(self, pin=None, name=name + '-X', sampling_rate=int(sampling_rate), + threshold=threshold, rising_event=event, falling_event=None, + data_type='l') + self.data_chx = self.data_channel + self.data_chy = Data_channel(name + '-Y', sampling_rate, data_type='l') + self.crossing_direction = True # to conform to the Analog_input syntax + self.timestamp = fw.current_time + self.acquiring = False + + gc.collect() + utime.sleep_ms(2) + + @property + def threshold(self): + "return the value in cms" + return math.sqrt(self._threshold) / self.sensor_x.CPI * 2.54 + + @threshold.setter + def threshold(self, new_threshold): + self._threshold = int((new_threshold / 2.54 * self.sensor_x.CPI)**2) * self.calib_coef + self.reset_delta() + + def reset_delta(self): + "reset the accumulated position data" + self.delta_x, self.delta_y = 0, 0 + + def read_sample(self): + "read the sensors once" + self.sensor_y.write_register_buff(b'\x82', b'\x01') + self.sensor_y.read_register_buff(b'\x02', self.delta_y_l) + self.sensor_y.read_register_buff(b'\x03', self.delta_y_l) + self.sensor_y.read_register_buff(b'\x04', self.delta_y_l) + self.sensor_y.read_register_buff(b'\x05', self.delta_y_l) + self.sensor_y.read_register_buff(b'\x06', self.delta_y_h) + self._delta_y = twos_comp(int.from_bytes(self.y_buffer_mv, 'little')) + + self.sensor_x.write_register_buff(b'\x82', b'\x01') + self.sensor_x.read_register_buff(b'\x02', self.delta_x_l) + self.sensor_x.read_register_buff(b'\x03', self.delta_x_l) + self.sensor_x.read_register_buff(b'\x04', self.delta_x_h) + self.sensor_x.read_register_buff(b'\x05', self.delta_y_l) + self.sensor_x.read_register_buff(b'\x06', self.delta_y_l) + self._delta_x = twos_comp(int.from_bytes(self.x_buffer_mv, 'little')) + + self.delta_y += self._delta_y + self.delta_x += self._delta_x + + def _timer_ISR(self, t): + "Read a sample to the buffer, update write index." + self.read_sample() + self.data_chx.put(self._delta_x) + self.data_chy.put(self._delta_y) + + if self.delta_x**2 + self.delta_y**2 >= self._threshold: + self.x = self.delta_x + self.y = self.delta_y + self.reset_delta() + self.timestamp = fw.current_time + interrupt_queue.put(self.ID) + + def _stop_acquisition(self): + # Stop sampling analog input values. + self.timer.deinit() + self.data_chx.stop() + self.data_chy.stop() + self.sensor_x.shut_down(deinitSPI=False) + self.sensor_y.shut_down() + self.acquiring = False + + def _start_acquisition(self): + # Start sampling analog input values. + self.timer.init(freq=self.data_chx.sampling_rate) + self.timer.callback(self._timer_ISR) + self.acquiring = True + + def record(self): + "Start streaming data to computer." + self.data_chx.record() + self.data_chy.record() + if not self.acquiring: + self._start_acquisition()