From a152f5a40480ad6cf96f79d8827d899cc9ce71d7 Mon Sep 17 00:00:00 2001 From: N9NElGabry Date: Thu, 24 Aug 2023 15:25:56 +0100 Subject: [PATCH 1/7] Renamed srom file for new model --- devices/PMW3360DM_srom_0x04.py | 283 --------------------------------- 1 file changed, 283 deletions(-) delete mode 100644 devices/PMW3360DM_srom_0x04.py diff --git a/devices/PMW3360DM_srom_0x04.py b/devices/PMW3360DM_srom_0x04.py deleted file mode 100644 index 9c51a33..0000000 --- a/devices/PMW3360DM_srom_0x04.py +++ /dev/null @@ -1,283 +0,0 @@ -# // the firmeware that is uploaded in the ADNS each time it boots - -# #include - -# // Firmware "PMW3360DM_srom_0x04" - -# const unsigned short firmware_length = 4094; - -# const unsigned char firmware_data[] PROGMEM = { -PROGMEM = [ -0x01, 0x04, 0x8e, 0x96, 0x6e, 0x77, 0x3e, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x4e, -0xff, 0x5d, 0x19, 0xb0, 0xc2, 0x04, 0x69, 0x54, 0x2a, 0xd6, 0x2e, 0xbf, 0xdd, 0x19, 0xb0, -0xc3, 0xe5, 0x29, 0xb1, 0xe0, 0x23, 0xa5, 0xa9, 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42b8a96..0000000 --- a/devices/_PMW3360DM.py +++ /dev/null @@ -1,317 +0,0 @@ -import utime, machine, math, gc -from array import array -from pyControl.hardware import * -from devices.PMW3360DM_srom_0x04 import PROGMEM - - -def twos_comp(val, bits=16): - """compute the 2's complement of int value val""" - if (val & (1 << (bits - 1))) != 0: # if sign bit is set e.g., 8bit: 128-255 - val = val - (1 << bits) # compute negative value - return val # return positive value as is - - -class PMW3360DM(): - """ mouse motion sensor.""" - def __init__(self, - SPI_type: str, - reset: str = None, - CS: str = None, - MI: str = None, - MO: str = None, - 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 PMW3360DM 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 = PMW3360DM(SPI_type='SPI2', reset=reset, CS=cs1) - self.sensor_y = PMW3360DM(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() From 9e7e7b0255234d697a679447ea96abc8d1e2131a Mon Sep 17 00:00:00 2001 From: N9NElGabry Date: Thu, 24 Aug 2023 15:45:35 +0100 Subject: [PATCH 3/7] Renamed class to 3389 and imported new srom --- devices/_PMW3389DM.py | 317 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 317 insertions(+) create mode 100644 devices/_PMW3389DM.py diff --git a/devices/_PMW3389DM.py b/devices/_PMW3389DM.py new file mode 100644 index 0000000..4de7293 --- /dev/null +++ b/devices/_PMW3389DM.py @@ -0,0 +1,317 @@ +import utime, machine, math, gc +from array import array +from pyControl.hardware import * +from devices.PMW3389DM_srom_0x04 import PROGMEM + + +def twos_comp(val, bits=16): + """compute the 2's complement of int value val""" + if (val & (1 << (bits - 1))) != 0: # if sign bit is set e.g., 8bit: 128-255 + val = val - (1 << bits) # compute negative value + return val # return positive value as is + + +class PMW3389DM(): + """ mouse motion sensor.""" + def __init__(self, + SPI_type: str, + reset: str = None, + CS: str = None, + MI: str = None, + MO: str = None, + 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() From 4b2ad2c942a834cb67a8e4131fd93832d9a75d9f Mon Sep 17 00:00:00 2001 From: N9NElGabry Date: Thu, 24 Aug 2023 15:46:50 +0100 Subject: [PATCH 4/7] Replaced 3360 srom with 3389 srom and pythonized --- devices/PMW3389DM_srom_0x04.py | 283 +++++++++++++++++++++++++++++++++ 1 file changed, 283 insertions(+) create mode 100644 devices/PMW3389DM_srom_0x04.py diff --git a/devices/PMW3389DM_srom_0x04.py b/devices/PMW3389DM_srom_0x04.py new file mode 100644 index 0000000..0775ce4 --- /dev/null +++ b/devices/PMW3389DM_srom_0x04.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, +0x86, 0x8e, 0x7f, 0x5d, 0x38, 0xf2, 0x47, 0x0c, 0x7b, 0x55, 0x28, 0xb3, 0xe4, 0x4a, 0x16, +0xab, 0xbf, 0xdd, 0x38, 0xf2, 0x66, 0x4e, 0xff, 0x5d, 0x19, 0x91, 0xa0, 0xa3, 0xa5, 0xc8, +0x12, 0xa6, 0xaf, 0xdc, 0x3a, 0xd1, 0x41, 0x60, 0x75, 0x58, 0x24, 0x92, 0xd4, 0x72, 0x6c, +0xe0, 0x2f, 0xfd, 0x23, 0x8d, 0x1c, 0x5b, 0xb2, 0x97, 0x36, 0x3d, 0x0b, 0xa2, 0x49, 0xb1, +0x58, 0xf2, 0x1f, 0xc0, 0xcb, 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<140729594+N9NElGabry@users.noreply.github.com> Date: Fri, 25 Aug 2023 11:51:34 +0100 Subject: [PATCH 5/7] Added PMW3360DM.py to devices folder --- devices/_PMW3360DM.py | 317 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 317 insertions(+) create mode 100644 devices/_PMW3360DM.py diff --git a/devices/_PMW3360DM.py b/devices/_PMW3360DM.py new file mode 100644 index 0000000..42b8a96 --- /dev/null +++ b/devices/_PMW3360DM.py @@ -0,0 +1,317 @@ +import utime, machine, math, gc +from array import array +from pyControl.hardware import * +from devices.PMW3360DM_srom_0x04 import PROGMEM + + +def twos_comp(val, bits=16): + """compute the 2's complement of int value val""" + if (val & (1 << (bits - 1))) != 0: # if sign bit is set e.g., 8bit: 128-255 + val = val - (1 << bits) # compute negative value + return val # return positive value as is + + +class PMW3360DM(): + """ mouse motion sensor.""" + def __init__(self, + SPI_type: str, + reset: str = None, + CS: str = None, + MI: str = None, + MO: str = None, + 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 PMW3360DM 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 = PMW3360DM(SPI_type='SPI2', reset=reset, CS=cs1) + self.sensor_y = PMW3360DM(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() From eed743ed11aedb45c03f8bc1daa323764193ca47 Mon Sep 17 00:00:00 2001 From: N9NElGabry <140729594+N9NElGabry@users.noreply.github.com> Date: Fri, 25 Aug 2023 11:55:22 +0100 Subject: [PATCH 6/7] Added PMW3360DM srom file to devices folder --- devices/PMW3360DM_srom_0x04.py | 283 +++++++++++++++++++++++++++++++++ 1 file changed, 283 insertions(+) create mode 100644 devices/PMW3360DM_srom_0x04.py diff --git a/devices/PMW3360DM_srom_0x04.py b/devices/PMW3360DM_srom_0x04.py new file mode 100644 index 0000000..9c51a33 --- /dev/null +++ b/devices/PMW3360DM_srom_0x04.py @@ -0,0 +1,283 @@ +# // the firmeware that is uploaded in the ADNS each time it boots + +# #include + +# // Firmware "PMW3360DM_srom_0x04" + +# const unsigned short firmware_length = 4094; + +# const unsigned char firmware_data[] PROGMEM = { +PROGMEM = [ +0x01, 0x04, 0x8e, 0x96, 0x6e, 0x77, 0x3e, 0xfe, 0x7e, 0x5f, 0x1d, 0xb8, 0xf2, 0x66, 0x4e, +0xff, 0x5d, 0x19, 0xb0, 0xc2, 0x04, 0x69, 0x54, 0x2a, 0xd6, 0x2e, 0xbf, 0xdd, 0x19, 0xb0, +0xc3, 0xe5, 0x29, 0xb1, 0xe0, 0x23, 0xa5, 0xa9, 0xb1, 0xc1, 0x00, 0x82, 0x67, 0x4c, 0x1a, +0x97, 0x8d, 0x79, 0x51, 0x20, 0xc7, 0x06, 0x8e, 0x7c, 0x7c, 0x7a, 0x76, 0x4f, 0xfd, 0x59, +0x30, 0xe2, 0x46, 0x0e, 0x9e, 0xbe, 0xdf, 0x1d, 0x99, 0x91, 0xa0, 0xa5, 0xa1, 0xa9, 0xd0, +0x22, 0xc6, 0xef, 0x5c, 0x1b, 0x95, 0x89, 0x90, 0xa2, 0xa7, 0xcc, 0xfb, 0x55, 0x28, 0xb3, +0xe4, 0x4a, 0xf7, 0x6c, 0x3b, 0xf4, 0x6a, 0x56, 0x2e, 0xde, 0x1f, 0x9d, 0xb8, 0xd3, 0x05, +0x88, 0x92, 0xa6, 0xce, 0x1e, 0xbe, 0xdf, 0x1d, 0x99, 0xb0, 0xe2, 0x46, 0xef, 0x5c, 0x07, +0x11, 0x5d, 0x98, 0x0b, 0x9d, 0x94, 0x97, 0xee, 0x4e, 0x45, 0x33, 0x6b, 0x44, 0xc7, 0x29, +0x56, 0x27, 0x30, 0xc6, 0xa7, 0xd5, 0xf2, 0x56, 0xdf, 0xb4, 0x38, 0x62, 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N9NElGabry <140729594+N9NElGabry@users.noreply.github.com> Date: Fri, 25 Aug 2023 12:00:15 +0100 Subject: [PATCH 7/7] Rename PMW3389DM_srom_0x04.py to PMW3389DM_ORCA3_ROW_SROMxE8.py Correct firmware in the name of the file --- .../{PMW3389DM_srom_0x04.py => PMW3389DM_ORCA3_ROW_SROMxE8.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename devices/{PMW3389DM_srom_0x04.py => PMW3389DM_ORCA3_ROW_SROMxE8.py} (100%) diff --git a/devices/PMW3389DM_srom_0x04.py b/devices/PMW3389DM_ORCA3_ROW_SROMxE8.py similarity index 100% rename from devices/PMW3389DM_srom_0x04.py rename to devices/PMW3389DM_ORCA3_ROW_SROMxE8.py