[Pointing] Add space mouse module uart support

builddefs/common_features.mk

@@ -120,7 +120,7 @@ ifeq ($(strip $(MOUSEKEY_ENABLE)), yes)
     MOUSE_ENABLE := yes
 endif
 
-VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick azoteq_iqs5xx cirque_pinnacle_i2c cirque_pinnacle_spi paw3204 pmw3320 pmw3360 pmw3389 pimoroni_trackball custom
+VALID_POINTING_DEVICE_DRIVER_TYPES := adns5050 adns9800 analog_joystick azoteq_iqs5xx cirque_pinnacle_i2c cirque_pinnacle_spi paw3204 pmw3320 pmw3360 pmw3389 pimoroni_trackball spacemouse_module custom
 ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
     ifeq ($(filter $(POINTING_DEVICE_DRIVER),$(VALID_POINTING_DEVICE_DRIVER_TYPES)),)
         $(call CATASTROPHIC_ERROR,Invalid POINTING_DEVICE_DRIVER,POINTING_DEVICE_DRIVER="$(POINTING_DEVICE_DRIVER)" is not a valid pointing device type)
@@ -154,6 +154,8 @@ ifeq ($(strip $(POINTING_DEVICE_ENABLE)), yes)
             SRC += $(QUANTUM_DIR)/pointing_device/pointing_device_gestures.c
         else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), pimoroni_trackball)
             I2C_DRIVER_REQUIRED = yes
+        else ifeq ($(strip $(POINTING_DEVICE_DRIVER)), spacemouse_module)
+            UART_DRIVER_REQUIRED = yes
         else ifneq ($(filter $(strip $(POINTING_DEVICE_DRIVER)),pmw3360 pmw3389),)
             SPI_DRIVER_REQUIRED = yes
             SRC += drivers/sensors/pmw33xx_common.c

drivers/sensors/spacemouse_module.c

@@ -0,0 +1,138 @@
+// Copyright 2023 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#include "spacemouse_module.h"
+#include "pointing_device_internal.h"
+#include "uart.h"
+
+// REQUEST_DATA (the important part)
+// Function: requests position data from the 3D-Sensor Command: 172 (0xAC)
+// Returns: 16 bytes data
+// Structure: B1 B2 ... B16
+// Byte 1: start-byte 0x96 (150 decimal); every data set starts with this byte Byte 2: high byte of X value
+// Byte 3: low byte of X value
+// Byte 4: high byte of Y value
+// Byte 5: low byte of Y value
+// Byte 6: high byte of Z value
+// Byte 7: low byte of Z value
+// Byte 8: high byte of A value (X rotation) Byte 9: low byte of A value (X rotation) Byte 10: high byte of B value (Y rotation) Byte 11: low byte of B value (Y rotation) Byte 12: high byte of C value (Z rotation) Byte 13: low byte of C value (Z rotation) Byte 14: high byte of Checksum
+// Byte 15: low byte of Checksum
+// Byte 16: end-byte 0x8D; every response ends with this byte
+//
+// X, Y, Z, A, B, C values and the Checksum are transmitted as unsigned 14-Bit values. This is due to the fact, that the MSB of payload data is always cleared (logic 0).
+// Calculating a value:
+// high byte (X) low byte (X)
+// 14-bit value (unsigned)
+// Xvalue = (high byte (X) * 128 + low byte (X)) - 8192
+// Transmitted Checksum:
+// Checksumtrans = (high byte (Checksumtrans) * 128 + low byte (Checksumtrans))
+// Calculating the Checksum:
+// Checksumcalc = (Byte1 + Byte2 + ... + Byte13) & 0x3FFF.
+// By masking the Checksum with 0x3FFF (logic AND operation), the value is reduced to a 14-Bit value.
+// The value range for X, Y, Z, A, B, C values is -350 up to +350.
+
+#define SPACEMOUSE_INPUT_OFFSET (8192)
+
+bool spacemouse_send_command(uint8_t cmd) {
+    uart_write(cmd);
+    uint8_t buf[2];
+    uart_receive(buf, 2);
+    return (buf[0] == cmd && buf[1] == SPACEMOUSE_CMD_END);
+}
+
+/**
+ * @brief Set the zero position of the module
+ *
+ * @return true command ran successfully
+ * @return false command failed
+ */
+bool spacemouse_cmd_set_zero_position(void) {
+    return spacemouse_send_command(SPACEMOUSE_CMD_SET_ZERO_POSITION);
+}
+
+/**
+ * @brief Starts automatic transmission of data, at 30ms invervals
+ * Automatic data transmission happens at 30 ms intervals, but device can be polled at 100/s or 10ms intervals
+ * Since 10ms is what pointing device polling defaults to, we don't need need the stream command, but
+ * it is here for completeness, in case somebody wants to implement it elsewhere.
+ *
+ * @return true command ran successfully
+ * @return false command failed
+ */
+bool spacemouse_cmd_enable_stream(void) {
+    return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_ON);
+}
+
+/**
+ * @brief Stops automatic transmission of data, at 30ms invervals
+ *
+ * @return true command ran successfully
+ * @return false command failed
+ */
+bool spacemouse_cmd_disable_stream(void) {
+    return spacemouse_send_command(SPACEMOUSE_CMD_AUTO_DATA_OFF);
+}
+
+/**
+ * @brief Initialize UART connection and send command to zero out starting position.
+ *
+ * @return true
+ * @return false
+ */
+bool spacemouse_init(void) {
+    uart_init(SPACEMOUSE_BAUD_RATE);
+    // position is zeroed out during device start, but re-zero it out to ensure that the
+    // device is present and working properly.
+    return spacemouse_cmd_set_zero_position();
+}
+
+spacemouse_data_t spacemouse_get_data(void) {
+    spacemouse_data_t data           = {0};
+    uint8_t            retry_attempts = 0, index = 0, payload[SPACEMOUSE_LENGTH_DATA + SPACEMOUSE_LENGTH_CHECKSUM] = {0};
+    uint16_t           checksum = 0, checksum_received = 0;
+    bool               has_started = false;
+    uart_write(SPACEMOUSE_CMD_REQUEST_DATA);
+    while (retry_attempts <= 15) {
+        uint8_t buf = uart_read();
+        if (buf == SPACEMOUSE_DATA_REQUEST_START) {
+            has_started    = true;
+            checksum       = buf;
+            retry_attempts = 0;
+            continue;
+        } else if (has_started) {
+            if (buf == SPACEMOUSE_CMD_END) {
+                break;
+            } else {
+                if (index >= SPACEMOUSE_LENGTH_DATA) {
+                    if (index == SPACEMOUSE_LENGTH_DATA) {
+                        checksum_received = buf << 7;
+                    } else {
+                        checksum_received += buf;
+                    }
+                } else {
+                    payload[index] = buf;
+                    checksum += buf;
+                }
+                index++;
+            }
+        }
+        retry_attempts++;
+    };
+
+    checksum &= 0x3FFF;
+
+    if (has_started) {
+        if (checksum_received == checksum) {
+            data.x = (int16_t)((payload[0] << 7) + payload[1]) - SPACEMOUSE_INPUT_OFFSET;
+            data.z = (int16_t)((payload[2] << 7) + payload[3]) - SPACEMOUSE_INPUT_OFFSET;
+            data.y = (int16_t)((payload[4] << 7) + payload[5]) - SPACEMOUSE_INPUT_OFFSET;
+            data.a = (int16_t)((payload[6] << 7) + payload[7]) - SPACEMOUSE_INPUT_OFFSET;
+            data.b = (int16_t)((payload[8] << 7) + payload[9]) - SPACEMOUSE_INPUT_OFFSET;
+            data.c = (int16_t)((payload[10] << 7) + payload[11]) - SPACEMOUSE_INPUT_OFFSET;
+        } else {
+            pd_dprintf("Space Mouse Checksum error: 0x%04x != 0x%04x \n", checksum_received, checksum);
+        }
+    }
+
+    return data;
+}

drivers/sensors/spacemouse_module.h

@@ -0,0 +1,48 @@
+// Copyright 2023 Christopher Courtney, aka Drashna Jael're  (@drashna) <drashna@live.com>
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+// Datasheet UART settings specify:
+// - 38400 baud
+// - 8 data bits
+// - 1 stop bit
+// - no parity
+// - 100/s data rate
+
+#ifndef SPACEMOUSE_BAUD_RATE
+#    define SPACEMOUSE_BAUD_RATE 38400
+#endif
+
+#define SPACEMOUSE_AXIS_COUNT 6
+
+#define SPACEMOUSE_LENGTH_HEADER 1
+#define SPACEMOUSE_LENGTH_DATA (2 * SPACEMOUSE_AXIS_COUNT)
+#define SPACEMOUSE_LENGTH_CHECKSUM 2
+#define SPACEMOUSE_LENGTH_FOOTER 1
+#define SPACEMOUSE_LENGTH_PACKET (SPACEMOUSE_LENGTH_HEADER + SPACEMOUSE_LENGTH_DATA + SPACEMOUSE_LENGTH_CHECKSUM + SPACEMOUSE_LENGTH_FOOTER)
+
+enum spacemouse_commands {
+    SPACEMOUSE_CMD_REQUEST_DATA            = 0xAC,
+    SPACEMOUSE_CMD_SET_ZERO_POSITION       = 0xAD,
+    SPACEMOUSE_CMD_AUTO_DATA_ON            = 0xAE,
+    SPACEMOUSE_CMD_AUTO_DATA_OFF           = 0xAF,
+    SPACEMOUSE_CMD_END                     = 0x8D,
+    SPACEMOUSE_DATA_REQUEST_START          = 0x96,
+};
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    int16_t a;
+    int16_t b;
+    int16_t c;
+} spacemouse_data_t;
+
+bool spacemouse_send_command(uint8_t cmd);
+bool spacemouse_init(void);
+spacemouse_data_t spacemouse_get_data(void);

quantum/pointing_device/pointing_device.h

@@ -67,6 +67,8 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #    include "spi_master.h"
 #    include "drivers/sensors/pmw33xx_common.h"
 #    define POINTING_DEVICE_MOTION_PIN_ACTIVE_LOW
+#elif defined(POINTING_DEVICE_DRIVER_spacemouse_module)
+#    include "drivers/sensors/spacemouse_module.h"
 #else
 void           pointing_device_driver_init(void);
 report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report);

quantum/pointing_device/pointing_device_drivers.c

@@ -492,6 +492,41 @@ const pointing_device_driver_t pointing_device_driver = {
 };
 // clang-format on
 
+#elif defined(POINTING_DEVICE_DRIVER_spacemouse_module)
+
+static bool spacemouse_present = false;
+
+__attribute__((weak)) void spacemouse_module_handle_axises(spacemouse_data_t *spacemouse_data, report_mouse_t* mouse_report) {
+    mouse_report->x = CONSTRAIN_HID_XY(spacemouse_data->x);
+    mouse_report->y = CONSTRAIN_HID_XY(spacemouse_data->y);
+//    mouse_report->h = CONSTRAIN_HID(spacemouse_data->b);
+//    mouse_report->v = CONSTRAIN_HID(spacemouse_data->c);
+}
+
+static report_mouse_t spacemouse_get_report(report_mouse_t mouse_report) {
+    if (spacemouse_present) {
+        spacemouse_data_t data = spacemouse_get_data();
+
+        if (data.x || data.y || data.z || data.a || data.b || data.c) {
+            pd_dprintf("Raw ] X: %d, Y: %d, Z: %d, A: %d, B: %d, C: %d\n", data.x, data.y, data.z, data.a, data.b, data.c);
+        }
+        spacemouse_module_handle_axises(&data, &mouse_report);
+    }
+    return mouse_report;
+}
+
+static void init(void) {
+    spacemouse_present = spacemouse_init();
+}
+
+// clang-format off
+const pointing_device_driver_t pointing_device_driver = {
+    .init       = init,
+    .get_report = spacemouse_get_report,
+    .set_cpi    = NULL,
+    .get_cpi    = NULL
+};
+// clang-format on
 #else
 __attribute__((weak)) void           pointing_device_driver_init(void) {}
 __attribute__((weak)) report_mouse_t pointing_device_driver_get_report(report_mouse_t mouse_report) {