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Fix ADNS-9800 read #24406

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merged 1 commit into from
Sep 18, 2024
Merged

Fix ADNS-9800 read #24406

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18 changes: 10 additions & 8 deletions drivers/sensors/adns9800.c
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Original file line number Diff line number Diff line change
Expand Up @@ -67,14 +67,15 @@
#define REG_SROM_Load_Burst 0x62
#define REG_Pixel_Burst 0x64

#define MIN_CPI 200
#define MAX_CPI 8200
#define CPI_STEP 200
#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
#define US_BETWEEN_WRITES 120
#define US_BETWEEN_READS 20
#define US_BEFORE_MOTION 100
#define MSB1 0x80
#define MIN_CPI 200
#define MAX_CPI 8200
#define CPI_STEP 200
#define CLAMP_CPI(value) value<MIN_CPI ? MIN_CPI : value> MAX_CPI ? MAX_CPI : value
#define US_BETWEEN_WRITES 120
#define US_BETWEEN_READS 20
#define US_DELAY_AFTER_ADDR 100
#define US_BEFORE_MOTION 100
#define MSB1 0x80
// clang-format on

void adns9800_spi_start(void) {
Expand All @@ -92,6 +93,7 @@ void adns9800_write(uint8_t reg_addr, uint8_t data) {
uint8_t adns9800_read(uint8_t reg_addr) {
adns9800_spi_start();
spi_write(reg_addr & 0x7f);
wait_us(US_DELAY_AFTER_ADDR);
uint8_t data = spi_read();
spi_stop();
wait_us(US_BETWEEN_READS);
Expand Down