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Use correct angle tune range of +/-30 on PMW33XX (#17693) 

Co-authored-by: Daniel Kao <daniel.m.kao@gmail.com>

Co-authored-by: Daniel Kao <daniel.m.kao@gmail.com>
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Stefan Kerkmann 2022-07-16 11:33:18 +02:00 committed by GitHub
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140
docs/feature_pointing_device.md
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@ -23,10 +23,10 @@ POINTING_DEVICE_DRIVER = adns5050
The ADNS 5050 sensor uses a serial type protocol for communication, and requires an additional light source.
| Setting | Description |
|--------------------|---------------------------------------------------------------------|
|`ADNS5050_SCLK_PIN` | (Required) The pin connected to the clock pin of the sensor. |
|`ADNS5050_SDIO_PIN` | (Required) The pin connected to the data pin of the sensor. |
|`ADNS5050_CS_PIN` | (Required) The pin connected to the cable select pin of the sensor. |
| ------------------- | ------------------------------------------------------------------- |
| `ADNS5050_SCLK_PIN` | (Required) The pin connected to the clock pin of the sensor. |
| `ADNS5050_SDIO_PIN` | (Required) The pin connected to the data pin of the sensor. |
| `ADNS5050_CS_PIN` | (Required) The pin connected to the cable select pin of the sensor. |
The CPI range is 125-1375, in increments of 125. Defaults to 500 CPI.
@ -41,12 +41,12 @@ POINTING_DEVICE_DRIVER = adns9800
The ADNS 9800 is an SPI driven optical sensor, that uses laser output for surface tracking.
| Setting | Description | Default |
|--------------------------------|------------------------------------------------------------------------|---------------|
|`ADNS9800_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
|`ADNS9800_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
|`ADNS9800_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
|`ADNS9800_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
|`ADNS9800_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
| ----------------------- | ---------------------------------------------------------------------- | ------------- |
| `ADNS9800_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
| `ADNS9800_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
| `ADNS9800_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `3` |
| `ADNS9800_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
| `ADNS9800_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
The CPI range is 800-8200, in increments of 200. Defaults to 1800 CPI.
@ -62,15 +62,15 @@ POINTING_DEVICE_DRIVER = analog_joystick
The Analog Joystick is an analog (ADC) driven sensor. There are a variety of joysticks that you can use for this.
| Setting | Description | Default |
|----------------------------------|----------------------------------------------------------------------------|---------------|
|`ANALOG_JOYSTICK_X_AXIS_PIN` | (Required) The pin used for the vertical/X axis. | _not defined_ |
|`ANALOG_JOYSTICK_Y_AXIS_PIN` | (Required) The pin used for the horizontal/Y axis. | _not defined_ |
|`ANALOG_JOYSTICK_AXIS_MIN` | (Optional) Sets the lower range to be considered movement. | `0` |
|`ANALOG_JOYSTICK_AXIS_MAX` | (Optional) Sets the upper range to be considered movement. | `1023` |
|`ANALOG_JOYSTICK_SPEED_REGULATOR` | (Optional) The divisor used to slow down movement. (lower makes it faster) | `20` |
|`ANALOG_JOYSTICK_READ_INTERVAL` | (Optional) The interval in milliseconds between reads. | `10` |
|`ANALOG_JOYSTICK_SPEED_MAX` | (Optional) The maximum value used for motion. | `2` |
|`ANALOG_JOYSTICK_CLICK_PIN` | (Optional) The pin wired up to the press switch of the analog stick. | _not defined_ |
| --------------------------------- | -------------------------------------------------------------------------- | ------------- |
| `ANALOG_JOYSTICK_X_AXIS_PIN` | (Required) The pin used for the vertical/X axis. | _not defined_ |
| `ANALOG_JOYSTICK_Y_AXIS_PIN` | (Required) The pin used for the horizontal/Y axis. | _not defined_ |
| `ANALOG_JOYSTICK_AXIS_MIN` | (Optional) Sets the lower range to be considered movement. | `0` |
| `ANALOG_JOYSTICK_AXIS_MAX` | (Optional) Sets the upper range to be considered movement. | `1023` |
| `ANALOG_JOYSTICK_SPEED_REGULATOR` | (Optional) The divisor used to slow down movement. (lower makes it faster) | `20` |
| `ANALOG_JOYSTICK_READ_INTERVAL` | (Optional) The interval in milliseconds between reads. | `10` |
| `ANALOG_JOYSTICK_SPEED_MAX` | (Optional) The maximum value used for motion. | `2` |
| `ANALOG_JOYSTICK_CLICK_PIN` | (Optional) The pin wired up to the press switch of the analog stick. | _not defined_ |
### Cirque Trackpad
@ -90,14 +90,14 @@ POINTING_DEVICE_DRIVER = cirque_pinnacle_spi
This supports the Cirque Pinnacle 1CA027 Touch Controller, which is used in the TM040040, TM035035 and the TM023023 trackpads. These are I2C or SPI compatible, and both configurations are supported.
| Setting | Description | Default |
|-------------------------------- |------------------------------------------------------------|--------------------|
|`CIRQUE_PINNACLE_X_LOWER` | (Optional) The minimum reachable X value on the sensor. | `127` |
|`CIRQUE_PINNACLE_X_UPPER` | (Optional) The maximum reachable X value on the sensor. | `1919` |
|`CIRQUE_PINNACLE_Y_LOWER` | (Optional) The minimum reachable Y value on the sensor. | `63` |
|`CIRQUE_PINNACLE_Y_UPPER` | (Optional) The maximum reachable Y value on the sensor. | `1471` |
|`CIRQUE_PINNACLE_DIAMETER_MM` | (Optional) Diameter of the trackpad sensor in millimeters. | `40` |
|`CIRQUE_PINNACLE_ATTENUATION` | (Optional) Sets the attenuation of the sensor data. | `ADC_ATTENUATE_4X` |
|`CIRQUE_PINNACLE_CURVED_OVERLAY` | (Optional) Applies settings tuned for curved overlay. | _not defined_ |
| -------------------------------- | ---------------------------------------------------------- | ------------------ |
| `CIRQUE_PINNACLE_X_LOWER` | (Optional) The minimum reachable X value on the sensor. | `127` |
| `CIRQUE_PINNACLE_X_UPPER` | (Optional) The maximum reachable X value on the sensor. | `1919` |
| `CIRQUE_PINNACLE_Y_LOWER` | (Optional) The minimum reachable Y value on the sensor. | `63` |
| `CIRQUE_PINNACLE_Y_UPPER` | (Optional) The maximum reachable Y value on the sensor. | `1471` |
| `CIRQUE_PINNACLE_DIAMETER_MM` | (Optional) Diameter of the trackpad sensor in millimeters. | `40` |
| `CIRQUE_PINNACLE_ATTENUATION` | (Optional) Sets the attenuation of the sensor data. | `ADC_ATTENUATE_4X` |
| `CIRQUE_PINNACLE_CURVED_OVERLAY` | (Optional) Applies settings tuned for curved overlay. | _not defined_ |
**`CIRQUE_PINNACLE_ATTENUATION`** is a measure of how much data is suppressed in regards to sensitivity. The higher the attenuation, the less sensitive the touchpad will be.
@ -108,17 +108,17 @@ Default attenuation is set to 4X, although if you are using a thicker overlay (s
* `ADC_ATTENUATE_1X`: Most sensitive
| I2C Setting | Description | Default |
|--------------------------|---------------------------------------------------------------------------------|---------|
|`CIRQUE_PINNACLE_ADDR` | (Required) Sets the I2C Address for the Cirque Trackpad | `0x2A` |
|`CIRQUE_PINNACLE_TIMEOUT` | (Optional) The timeout for i2c communication with the trackpad in milliseconds. | `20` |
| ------------------------- | ------------------------------------------------------------------------------- | ------- |
| `CIRQUE_PINNACLE_ADDR` | (Required) Sets the I2C Address for the Cirque Trackpad | `0x2A` |
| `CIRQUE_PINNACLE_TIMEOUT` | (Optional) The timeout for i2c communication with the trackpad in milliseconds. | `20` |
| SPI Setting | Description | Default |
|-------------------------------|------------------------------------------------------------------------|----------------|
|`CIRQUE_PINNACLE_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `1000000` |
|`CIRQUE_PINNACLE_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
|`CIRQUE_PINNACLE_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `1` |
|`CIRQUE_PINNACLE_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
|`CIRQUE_PINNACLE_SPI_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
| ------------------------------ | ---------------------------------------------------------------------- | ------------- |
| `CIRQUE_PINNACLE_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `1000000` |
| `CIRQUE_PINNACLE_SPI_LSBFIRST` | (Optional) Sets the Least/Most Significant Byte First setting for SPI. | `false` |
| `CIRQUE_PINNACLE_SPI_MODE` | (Optional) Sets the SPI Mode for the sensor. | `1` |
| `CIRQUE_PINNACLE_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
| `CIRQUE_PINNACLE_SPI_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
Default Scaling is 1024. Actual CPI depends on trackpad diameter.
@ -127,12 +127,12 @@ Also see the `POINTING_DEVICE_TASK_THROTTLE_MS`, which defaults to 10ms when usi
#### Cirque Trackpad gestures
| Gesture Setting | Description | Default |
|-----------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------|
|`POINTING_DEVICE_GESTURES_CURSOR_GLIDE_ENABLE` | (Optional) Enable inertial cursor. Cursor continues moving after a flick gesture and slows down by kinetic friction | _not defined_ |
|`CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE` | (Optional) Enable circular scroll. Touch originating in outer ring can trigger scroll by moving along the perimeter. Near side triggers vertical scroll and far side triggers horizontal scroll. | _not defined_ |
|`CIRQUE_PINNACLE_TAP_ENABLE` | (Optional) Enable tap to click. This currently only works on the master side. | _not defined_ |
|`CIRQUE_PINNACLE_TAPPING_TERM` | (Optional) Length of time that a touch can be to be considered a tap. | `TAPPING_TERM`/`200` |
|`CIRQUE_PINNACLE_TOUCH_DEBOUNCE` | (Optional) Length of time that a touch can be to be considered a tap. | `TAPPING_TERM`/`200` |
| ---------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------------------- |
| `POINTING_DEVICE_GESTURES_CURSOR_GLIDE_ENABLE` | (Optional) Enable inertial cursor. Cursor continues moving after a flick gesture and slows down by kinetic friction | _not defined_ |
| `CIRQUE_PINNACLE_CIRCULAR_SCROLL_ENABLE` | (Optional) Enable circular scroll. Touch originating in outer ring can trigger scroll by moving along the perimeter. Near side triggers vertical scroll and far side triggers horizontal scroll. | _not defined_ |
| `CIRQUE_PINNACLE_TAP_ENABLE` | (Optional) Enable tap to click. This currently only works on the master side. | _not defined_ |
| `CIRQUE_PINNACLE_TAPPING_TERM` | (Optional) Length of time that a touch can be to be considered a tap. | `TAPPING_TERM`/`200` |
| `CIRQUE_PINNACLE_TOUCH_DEBOUNCE` | (Optional) Length of time that a touch can be to be considered a tap. | `TAPPING_TERM`/`200` |
**`POINTING_DEVICE_GESTURES_CURSOR_GLIDE_ENABLE`** is not specific to Cirque trackpad; any pointing device with a lift/contact status can integrate this gesture into its driver. e.g. PMW3360 can use Lift_Stat from Motion register. Note that `POINTING_DEVICE_MOTION_PIN` cannot be used with this feature; continuous polling of `pointing_device_get_report()` is needed to generate glide reports.
@ -147,12 +147,12 @@ POINTING_DEVICE_DRIVER = pimoroni_trackball
The Pimoroni Trackball module is a I2C based breakout board with an RGB enable trackball.
| Setting | Description | Default |
|-------------------------------------|------------------------------------------------------------------------------------|---------|
|`PIMORONI_TRACKBALL_ADDRESS` | (Required) Sets the I2C Address for the Pimoroni Trackball. | `0x0A` |
|`PIMORONI_TRACKBALL_TIMEOUT` | (Optional) The timeout for i2c communication with the trackball in milliseconds. | `100` |
|`PIMORONI_TRACKBALL_SCALE` | (Optional) The multiplier used to generate reports from the sensor. | `5` |
|`PIMORONI_TRACKBALL_DEBOUNCE_CYCLES` | (Optional) The number of scan cycles used for debouncing on the ball press. | `20` |
|`PIMORONI_TRACKBALL_ERROR_COUNT` | (Optional) Specifies the number of read/write errors until the sensor is disabled. | `10` |
| ------------------------------------ | ---------------------------------------------------------------------------------- | ------- |
| `PIMORONI_TRACKBALL_ADDRESS` | (Required) Sets the I2C Address for the Pimoroni Trackball. | `0x0A` |
| `PIMORONI_TRACKBALL_TIMEOUT` | (Optional) The timeout for i2c communication with the trackball in milliseconds. | `100` |
| `PIMORONI_TRACKBALL_SCALE` | (Optional) The multiplier used to generate reports from the sensor. | `5` |
| `PIMORONI_TRACKBALL_DEBOUNCE_CYCLES` | (Optional) The number of scan cycles used for debouncing on the ball press. | `20` |
| `PIMORONI_TRACKBALL_ERROR_COUNT` | (Optional) Specifies the number of read/write errors until the sensor is disabled. | `10` |
### PMW 3360 and PMW 3389 Sensor
@ -177,14 +177,14 @@ The CPI range is 50-16000, in increments of 50. Defaults to 2000 CPI.
Both PMW 3360 and PMW 3389 are SPI driven optical sensors, that use a built in IR LED for surface tracking.
| Setting | Description | Default |
| ---------------------------- | ------------------------------------------------------------------------------------------- | ------------- |
| ---------------------------- | ------------------------------------------------------------------------------------------ | ------------- |
| `PMW33XX_CS_PIN` | (Required) Sets the Cable Select pin connected to the sensor. | _not defined_ |
| `PMW33XX_CS_PINS` | (Alternative) Sets the Cable Select pins connected to multiple sensors. | _not defined_ |
| `PMW33XX_CPI` | (Optional) Sets counts per inch sensitivity of the sensor. | _varies_ |
| `PMW33XX_CLOCK_SPEED` | (Optional) Sets the clock speed that the sensor runs at. | `2000000` |
| `PMW33XX_SPI_DIVISOR` | (Optional) Sets the SPI Divisor used for SPI communication. | _varies_ |
| `PMW33XX_LIFTOFF_DISTANCE` | (Optional) Sets the lift off distance at run time | `0x02` |
| `ROTATIONAL_TRANSFORM_ANGLE` | (Optional) Allows for the sensor data to be rotated +/- 127 degrees directly in the sensor. | `0` |
| `ROTATIONAL_TRANSFORM_ANGLE` | (Optional) Allows for the sensor data to be rotated +/- 30 degrees directly in the sensor. | `0` |
To use multiple sensors, instead of setting `PMW33XX_CS_PIN` you need to set `PMW33XX_CS_PINS` and also handle and merge the read from this sensor in user code.
Note that different (per sensor) values of CPI, speed liftoff, rotational angle or flipping of X/Y is not currently supported.
@ -238,14 +238,14 @@ void pointing_device_driver_set_cpi(uint16_t cpi) {}
## Common Configuration
| Setting | Description | Default |
|----------------------------------|-----------------------------------------------------------------------|-------------------|
|`POINTING_DEVICE_ROTATION_90` | (Optional) Rotates the X and Y data by 90 degrees. | _not defined_ |
|`POINTING_DEVICE_ROTATION_180` | (Optional) Rotates the X and Y data by 180 degrees. | _not defined_ |
|`POINTING_DEVICE_ROTATION_270` | (Optional) Rotates the X and Y data by 270 degrees. | _not defined_ |
|`POINTING_DEVICE_INVERT_X` | (Optional) Inverts the X axis report. | _not defined_ |
|`POINTING_DEVICE_INVERT_Y` | (Optional) Inverts the Y axis report. | _not defined_ |
|`POINTING_DEVICE_MOTION_PIN` | (Optional) If supported, will only read from sensor if pin is active. | _not defined_ |
|`POINTING_DEVICE_TASK_THROTTLE_MS` | (Optional) Limits the frequency that the sensor is polled for motion. | _not defined_ |
| ---------------------------------- | --------------------------------------------------------------------- | ------------- |
| `POINTING_DEVICE_ROTATION_90` | (Optional) Rotates the X and Y data by 90 degrees. | _not defined_ |
| `POINTING_DEVICE_ROTATION_180` | (Optional) Rotates the X and Y data by 180 degrees. | _not defined_ |
| `POINTING_DEVICE_ROTATION_270` | (Optional) Rotates the X and Y data by 270 degrees. | _not defined_ |
| `POINTING_DEVICE_INVERT_X` | (Optional) Inverts the X axis report. | _not defined_ |
| `POINTING_DEVICE_INVERT_Y` | (Optional) Inverts the Y axis report. | _not defined_ |
| `POINTING_DEVICE_MOTION_PIN` | (Optional) If supported, will only read from sensor if pin is active. | _not defined_ |
| `POINTING_DEVICE_TASK_THROTTLE_MS` | (Optional) Limits the frequency that the sensor is polled for motion. | _not defined_ |
!> When using `SPLIT_POINTING_ENABLE` the `POINTING_DEVICE_MOTION_PIN` functionality is not supported and `POINTING_DEVICE_TASK_THROTTLE_MS` will default to `1`. Increasing this value will increase transport performance at the cost of possible mouse responsiveness.
@ -255,16 +255,16 @@ void pointing_device_driver_set_cpi(uint16_t cpi) {}
The following configuration options are only available when using `SPLIT_POINTING_ENABLE` see [data sync options](feature_split_keyboard.md?id=data-sync-options). The rotation and invert `*_RIGHT` options are only used with `POINTING_DEVICE_COMBINED`. If using `POINTING_DEVICE_LEFT` or `POINTING_DEVICE_RIGHT` use the common configuration above to configure your pointing device.
| Setting | Description | Default |
|----------------------------------------|-----------------------------------------------------------------------|---------------|
|`POINTING_DEVICE_LEFT` | Pointing device on the left side (Required - pick one only) | _not defined_ |
|`POINTING_DEVICE_RIGHT` | Pointing device on the right side (Required - pick one only) | _not defined_ |
|`POINTING_DEVICE_COMBINED` | Pointing device on both sides (Required - pick one only) | _not defined_ |
|`POINTING_DEVICE_ROTATION_90_RIGHT` | (Optional) Rotates the X and Y data by 90 degrees. | _not defined_ |
|`POINTING_DEVICE_ROTATION_180_RIGHT` | (Optional) Rotates the X and Y data by 180 degrees. | _not defined_ |
|`POINTING_DEVICE_ROTATION_270_RIGHT` | (Optional) Rotates the X and Y data by 270 degrees. | _not defined_ |
|`POINTING_DEVICE_INVERT_X_RIGHT` | (Optional) Inverts the X axis report. | _not defined_ |
|`POINTING_DEVICE_INVERT_Y_RIGHT` | (Optional) Inverts the Y axis report. | _not defined_ |
|`MOUSE_EXTENDED_REPORT` | (Optional) Enables support for extended mouse reports. (-32767 to 32767, instead of just -127 to 127) |
| ------------------------------------ | ----------------------------------------------------------------------------------------------------- | ------------- |
| `POINTING_DEVICE_LEFT` | Pointing device on the left side (Required - pick one only) | _not defined_ |
| `POINTING_DEVICE_RIGHT` | Pointing device on the right side (Required - pick one only) | _not defined_ |
| `POINTING_DEVICE_COMBINED` | Pointing device on both sides (Required - pick one only) | _not defined_ |
| `POINTING_DEVICE_ROTATION_90_RIGHT` | (Optional) Rotates the X and Y data by 90 degrees. | _not defined_ |
| `POINTING_DEVICE_ROTATION_180_RIGHT` | (Optional) Rotates the X and Y data by 180 degrees. | _not defined_ |
| `POINTING_DEVICE_ROTATION_270_RIGHT` | (Optional) Rotates the X and Y data by 270 degrees. | _not defined_ |
| `POINTING_DEVICE_INVERT_X_RIGHT` | (Optional) Inverts the X axis report. | _not defined_ |
| `POINTING_DEVICE_INVERT_Y_RIGHT` | (Optional) Inverts the Y axis report. | _not defined_ |
| `MOUSE_EXTENDED_REPORT` | (Optional) Enables support for extended mouse reports. (-32767 to 32767, instead of just -127 to 127) |
!> If there is a `_RIGHT` configuration option or callback, the [common configuration](feature_pointing_device.md?id=common-configuration) option will work for the left. For correct left/right detection you should setup a [handedness option](feature_split_keyboard?id=setting-handedness), `EE_HANDS` is usually a good option for an existing board that doesn't do handedness by hardware.
@ -272,7 +272,7 @@ The following configuration options are only available when using `SPLIT_POINTIN
## Callbacks and Functions
| Function | Description |
|-----------------------------------|----------------------------------------------------------------------------------------------------------------------------------------|
| ---------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
| `pointing_device_init_kb(void)` | Callback to allow for keyboard level initialization. Useful for additional hardware sensors. |
| `pointing_device_init_user(void)` | Callback to allow for user level initialization. Useful for additional hardware sensors. |
| `pointing_device_task_kb(mouse_report)` | Callback that sends sensor data, so keyboard code can intercept and modify the data. Returns a mouse report. |
@ -292,7 +292,7 @@ The following configuration options are only available when using `SPLIT_POINTIN
The combined functions below are only available when using `SPLIT_POINTING_ENABLE` and `POINTING_DEVICE_COMBINED`. The 2 callbacks `pointing_device_task_combined_*` replace the single sided equivalents above. See the [combined pointing devices example](feature_pointing_device.md?id=combined-pointing-devices)
| Function | Description |
|-----------------------------------------------------------------|--------------------------------------------------------------------------------------------------------------------------|
| --------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------ |
| `pointing_device_set_shared_report(mouse_report)` | Sets the shared mouse report to the assigned `mouse_report_t` data structured passed to the function. |
| `pointing_device_set_cpi_on_side(bool, uint16_t)` | Sets the CPI/DPI of one side, if supported. Passing `true` will set the left and `false` the right` |
| `pointing_device_combine_reports(left_report, right_report)` | Returns a combined mouse_report of left_report and right_report (as a `mouse_report_t` data structure) |

3
drivers/sensors/pmw33xx_common.c
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@ -1,3 +1,4 @@
// Copyright 2022 Daniel Kao (dkao)
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// Copyright 2021 Alabastard (@Alabastard-64)
@ -165,7 +166,7 @@ bool pmw33xx_init(uint8_t sensor) {
wait_ms(1);
pmw33xx_write(sensor, REG_Config2, 0x00);
pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -127, 127));
pmw33xx_write(sensor, REG_Angle_Tune, CONSTRAIN(ROTATIONAL_TRANSFORM_ANGLE, -30, 30));
pmw33xx_write(sensor, REG_Lift_Config, PMW33XX_LIFTOFF_DISTANCE);
if (!pmw33xx_check_signature(sensor)) {

5
drivers/sensors/pmw33xx_common.h
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@ -1,3 +1,4 @@
// Copyright 2022 Daniel Kao (dkao)
// Copyright 2022 Stefan Kerkmann (KarlK90)
// Copyright 2022 Ulrich Spörlein (@uqs)
// Copyright 2021 Alabastard (@Alabastard-64)
@ -58,6 +59,10 @@ _Static_assert(sizeof((pmw33xx_report_t){0}.motion) == 1, "pmw33xx_report_t.moti
# define ROTATIONAL_TRANSFORM_ANGLE 0x00
#endif
#if ROTATIONAL_TRANSFORM_ANGLE > 30 || ROTATIONAL_TRANSFORM_ANGLE < (-30)
# error ROTATIONAL_TRANSFORM_ANGLE has to be in the range of +/- 30 for all PMW33XX sensors.
#endif
// Support single and plural spellings
#ifndef PMW33XX_CS_PINS
# ifndef PMW33XX_CS_PIN