Mercurial > louis > kiibohd-controller
view Scan/avr-capsense/scan_loop.c @ 98:0271d9f93ffd
Fixing the strobe count on the Kishsaver
- Should fix the last of the phantom keys
author | Jacob Alexander <triplehaata@gmail.com> |
---|---|
date | Sun, 01 Dec 2013 14:52:54 -0500 |
parents | 492a32843639 |
children | 6cdbd3f73785 |
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/* Copyright (C) 2011-2013 by Joseph Makuch * Additions by Jacob Alexander (2013) * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 3.0 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library. If not, see <http://www.gnu.org/licenses/>. */ // ----- Includes ----- // Compiler Includes #include <Lib/ScanLib.h> // Project Includes #include <led.h> #include <print.h> // Local Includes #include "scan_loop.h" // ----- Defines ----- // TODO dfj defines...needs commenting and maybe some cleaning... #define MAX_PRESS_DELTA_MV 380 #define THRESHOLD_MV (MAX_PRESS_DELTA_MV >> 1) //(2560 / (0x3ff/2)) ~= 5 #define MV_PER_ADC 5 #define THRESHOLD (THRESHOLD_MV / MV_PER_ADC) #define STROBE_SETTLE 1 #define MUX_SETTLE 1 #define TEST_KEY_STROBE (0x05) #define TEST_KEY_MASK (1 << 0) #define ADHSM 7 #define RIGHT_JUSTIFY 0 #define LEFT_JUSTIFY (0xff) // set left or right justification here: #define JUSTIFY_ADC RIGHT_JUSTIFY #define ADLAR_MASK (1 << ADLAR) #ifdef JUSTIFY_ADC #define ADLAR_BITS ((ADLAR_MASK) & (JUSTIFY_ADC)) #else // defaults to right justification. #define ADLAR_BITS 0 #endif // full muxmask #define FULL_MUX_MASK ((1 << MUX0) | (1 << MUX1) | (1 << MUX2) | (1 << MUX3) | (1 << MUX4)) // F0-f7 pins only muxmask. #define MUX_MASK ((1 << MUX0) | (1 << MUX1) | (1 << MUX2)) // Strobe Masks #define D_MASK (0xff) #define E_MASK (0x03) #define C_MASK (0xff) // set ADC clock prescale #define PRESCALE_MASK ((1 << ADPS0) | (1 << ADPS1) | (1 << ADPS2)) #define PRESCALE_SHIFT (ADPS0) #define PRESCALE 3 // Max number of strobes supported by the hardware // Strobe lines are detected at startup, extra strobes cause anomalies like phantom keypresses #define MAX_STROBES 18 // Number of consecutive samples required to pass debounce #define DEBOUNCE_THRESHOLD 5 #define MUXES_COUNT 8 #define MUXES_COUNT_XSHIFT 3 #define WARMUP_LOOPS ( 1024 ) #define WARMUP_STOP (WARMUP_LOOPS - 1) #define SAMPLES 10 #define SAMPLE_OFFSET ((SAMPLES) - MUXES_COUNT) #define SAMPLE_CONTROL 3 // Starting average for keys, per key will adjust during runtime // XXX - A better method is needed to choose this value (i.e. not experimental) // The ideal average is not always found for weak keys if this is set too high... #define DEFAULT_KEY_BASE 0xB0 #define KEY_COUNT ((MAX_STROBES) * (MUXES_COUNT)) #define RECOVERY_CONTROL 1 #define RECOVERY_SOURCE 0 #define RECOVERY_SINK 2 #define ON 1 #define OFF 0 // mix in 1/4 of the current average to the running average. -> (@mux_mix = 2) #define MUX_MIX 2 #define IDLE_COUNT_MASK 0xff #define IDLE_COUNT_SHIFT 8 // av = (av << shift) - av + sample; av >>= shift // e.g. 1 -> (av + sample) / 2 simple average of new and old // 2 -> (3 * av + sample) / 4 i.e. 3:1 mix of old to new. // 3 -> (7 * av + sample) / 8 i.e. 7:1 mix of old to new. #define KEYS_AVERAGES_MIX_SHIFT 3 // ----- Macros ----- // Make sure we haven't overflowed the buffer #define bufferAdd(byte) \ if ( KeyIndex_BufferUsed < KEYBOARD_BUFFER ) \ KeyIndex_Buffer[KeyIndex_BufferUsed++] = byte // Select mux #define SET_FULL_MUX(X) ((ADMUX) = (((ADMUX) & ~(FULL_MUX_MASK)) | ((X) & (FULL_MUX_MASK)))) // ----- Variables ----- // Buffer used to inform the macro processing module which keys have been detected as pressed volatile uint8_t KeyIndex_Buffer[KEYBOARD_BUFFER]; volatile uint8_t KeyIndex_BufferUsed; // TODO dfj variables...needs cleaning up and commenting volatile uint16_t full_av = 0; uint8_t ze_strober = 0; uint16_t samples [SAMPLES]; uint8_t cur_keymap[MAX_STROBES]; uint8_t keymap_change; uint16_t threshold = THRESHOLD; uint8_t column = 0; uint16_t keys_averages_acc[KEY_COUNT]; uint16_t keys_averages [KEY_COUNT]; uint8_t keys_debounce [KEY_COUNT]; uint8_t full_samples[KEY_COUNT]; // TODO: change this to 'booting', then count down. uint16_t boot_count = 0; uint16_t idle_count = 0; uint8_t idle = 1; uint8_t error = 0; uint16_t error_data = 0; uint8_t total_strobes = MAX_STROBES; uint8_t strobe_map[MAX_STROBES]; uint8_t dump_count = 0; uint16_t db_delta = 0; uint8_t db_sample = 0; uint16_t db_threshold = 0; // ----- Function Declarations ----- void dump( void ); void recovery( uint8_t on ); int sampleColumn( uint8_t column ); void capsense_scan( void ); void setup_ADC( void ); void strobe_w( uint8_t strobe_num ); uint8_t testColumn( uint8_t strobe ); // ----- Functions ----- // Initial setup for cap sense controller inline void scan_setup() { // TODO dfj code...needs cleanup + commenting... setup_ADC(); DDRC = C_MASK; PORTC = 0; DDRD = D_MASK; PORTD = 0; DDRE = E_MASK; PORTE = 0 ; // Hardcoded strobes for debugging // Strobes start at 0 and go to 17 (18), not all Model Fs use all of the available strobes // The single row ribbon connector Model Fs only have a max of 16 strobes #define KISHSAVER_STROBE //#define TERMINAL_6110668_STROBE //#define UNSAVER_STROBE #ifdef KISHSAVER_STROBE total_strobes = 8; //total_strobes = 9; strobe_map[0] = 2; // Kishsaver doesn't use strobe 0 and 1 strobe_map[1] = 3; strobe_map[2] = 4; strobe_map[3] = 5; strobe_map[4] = 6; strobe_map[5] = 7; strobe_map[6] = 8; strobe_map[7] = 9; // XXX - Disabling for now, not sure how to deal with test points yet (without spamming the debug) //strobe_map[9] = 15; // Test point strobe (3 test points, sense 1, 4, 5) #elif defined(TERMINAL_6110668_STROBE) total_strobes = 16; strobe_map[0] = 0; strobe_map[1] = 1; strobe_map[2] = 2; strobe_map[3] = 3; strobe_map[4] = 4; strobe_map[5] = 5; strobe_map[6] = 6; strobe_map[7] = 7; strobe_map[8] = 8; strobe_map[9] = 9; strobe_map[10] = 10; strobe_map[11] = 11; strobe_map[12] = 12; strobe_map[13] = 13; strobe_map[14] = 14; strobe_map[15] = 15; #elif defined(UNSAVER_STROBE) total_strobes = 14; strobe_map[0] = 0; strobe_map[1] = 1; strobe_map[2] = 2; strobe_map[3] = 3; strobe_map[4] = 4; strobe_map[5] = 5; strobe_map[6] = 6; strobe_map[7] = 7; strobe_map[8] = 8; strobe_map[9] = 9; strobe_map[10] = 10; strobe_map[11] = 11; strobe_map[12] = 12; strobe_map[13] = 13; #else // Strobe detection // TODO #endif // TODO all this code should probably be in scan_resetKeyboard for ( int i = 0; i < total_strobes; ++i) { cur_keymap[i] = 0; } for ( int i = 0; i < KEY_COUNT; ++i ) { keys_averages[i] = DEFAULT_KEY_BASE; keys_averages_acc[i] = (DEFAULT_KEY_BASE); // Reset debounce table keys_debounce[i] = 0; } /** warm things up a bit before we start collecting data, taking real samples. */ for ( uint8_t i = 0; i < total_strobes; ++i ) { sampleColumn( strobe_map[i] ); } // Reset the keyboard before scanning, we might be in a wierd state // Also sets the KeyIndex_BufferUsed to 0 scan_resetKeyboard(); } // Main Detection Loop // This is where the important stuff happens inline uint8_t scan_loop() { capsense_scan(); // Error case, should not occur in normal operation if ( error ) { erro_msg("Problem detected... "); // Keymap scan debug for ( uint8_t i = 0; i < total_strobes; ++i ) { printHex(cur_keymap[strobe_map[i]]); print(" "); } print(" : "); printHex(error); error = 0; print(" : "); printHex(error_data); error_data = 0; // Display keymaps and other debug information if warmup completede if ( boot_count >= WARMUP_LOOPS ) { dump(); } } // Return non-zero if macro and USB processing should be delayed // Macro processing will always run if returning 0 // USB processing only happens once the USB send timer expires, if it has not, scan_loop will be called // after the macro processing has been completed return 0; } // Reset Keyboard void scan_resetKeyboard( void ) { // Empty buffer, now that keyboard has been reset KeyIndex_BufferUsed = 0; } // Send data to keyboard // NOTE: Only used for converters, since the scan module shouldn't handle sending data in a controller uint8_t scan_sendData( uint8_t dataPayload ) { return 0; } // Reset/Hold keyboard // NOTE: Only used for converters, not needed for full controllers void scan_lockKeyboard( void ) { } // NOTE: Only used for converters, not needed for full controllers void scan_unlockKeyboard( void ) { } // Signal KeyIndex_Buffer that it has been properly read // NOTE: Only really required for implementing "tricks" in converters for odd protocols void scan_finishedWithBuffer( uint8_t sentKeys ) { // Convenient place to clear the KeyIndex_Buffer KeyIndex_BufferUsed = 0; return; } // Signal KeyIndex_Buffer that it has been properly read and sent out by the USB module // NOTE: Only really required for implementing "tricks" in converters for odd protocols void scan_finishedWithUSBBuffer( uint8_t sentKeys ) { return; } inline void capsense_scan() { // TODO dfj code...needs commenting + cleanup... uint32_t full_av_acc = 0; for ( uint8_t strober = 0; strober < total_strobes; ++strober ) { uint8_t map_strobe = strobe_map[strober]; uint8_t tries = 1; while ( tries++ && sampleColumn( map_strobe ) ) { tries &= 0x7; } // don't waste this one just because the last one was poop. column = testColumn( map_strobe ); idle |= column; // if column has any pressed keys, then we are not idle. // TODO Is this needed anymore? Really only helps debug -HaaTa if( column != cur_keymap[map_strobe] && ( boot_count >= WARMUP_LOOPS ) ) { cur_keymap[map_strobe] = column; keymap_change = 1; } idle |= keymap_change; // if any keys have changed inc. released, then we are not idle. if ( error == 0x50 ) { error_data |= (((uint16_t)map_strobe) << 12); } uint8_t strobe_line = map_strobe << MUXES_COUNT_XSHIFT; for ( int i = 0; i < MUXES_COUNT; ++i ) { // discard sketchy low bit, and meaningless high bits. uint8_t sample = samples[SAMPLE_OFFSET + i] >> 1; full_samples[strobe_line + i] = sample; keys_averages_acc[strobe_line + i] += sample; } for ( uint8_t i = SAMPLE_OFFSET; i < ( SAMPLE_OFFSET + MUXES_COUNT ); ++i ) { full_av_acc += (samples[i]); } } // for strober #ifdef VERIFY_TEST_PAD // verify test key is not down. if ( ( cur_keymap[TEST_KEY_STROBE] & TEST_KEY_MASK ) ) { error = 0x05; error_data = cur_keymap[TEST_KEY_STROBE] << 8; error_data += full_samples[TEST_KEY_STROBE * 8]; } #endif /** aggregate if booting, or if idle; * else, if not booting, check for dirty USB. * */ idle_count++; idle_count &= IDLE_COUNT_MASK; // Warm up voltage references if ( boot_count < WARMUP_LOOPS ) { boot_count++; switch ( boot_count ) { // First loop case 1: // Show msg at first iteration only info_msg("Warming up the voltage references"); break; // Middle iterations case 300: case 600: case 900: case 1200: print("."); break; // Last loop case WARMUP_STOP: print("\n"); info_msg("Warmup finished using "); printInt16( WARMUP_LOOPS ); print(" iterations\n"); break; } } else { // Reset accumulators and idle flag/counter if ( keymap_change ) { for ( uint8_t c = 0; c < KEY_COUNT; ++c ) { keys_averages_acc[c] = 0; } idle_count = 0; idle = 0; keymap_change = 0; } if ( !idle_count ) { if( idle ) { // aggregate for ( uint8_t i = 0; i < KEY_COUNT; ++i ) { uint16_t acc = keys_averages_acc[i] >> IDLE_COUNT_SHIFT; uint32_t av = keys_averages[i]; av = (av << KEYS_AVERAGES_MIX_SHIFT) - av + acc; av >>= KEYS_AVERAGES_MIX_SHIFT; keys_averages[i] = av; keys_averages_acc[i] = 0; } } if ( boot_count >= WARMUP_LOOPS ) { dump(); } } } } void setup_ADC() { // disable adc digital pins. DIDR1 |= (1 << AIN0D) | (1<<AIN1D); // set disable on pins 1,0. DDRF = 0x0; PORTF = 0x0; uint8_t mux = 0 & 0x1f; // 0 == first. // 0x1e = 1.1V ref. // 0 = external aref 1,1 = 2.56V internal ref uint8_t aref = ((1 << REFS1) | (1 << REFS0)) & ((1 << REFS1) | (1 << REFS0)); uint8_t adate = (1 << ADATE) & (1 << ADATE); // trigger enable uint8_t trig = 0 & ((1 << ADTS0) | (1 << ADTS1) | (1 << ADTS2)); // 0 = free running // ps2, ps1 := /64 ( 2^6 ) ps2 := /16 (2^4), ps1 := 4, ps0 :=2, PS1,PS0 := 8 (2^8) uint8_t prescale = ( ((PRESCALE) << PRESCALE_SHIFT) & PRESCALE_MASK ); // 001 == 2^1 == 2 uint8_t hispeed = (1 << ADHSM); uint8_t en_mux = (1 << ACME); ADCSRA = (1 << ADEN) | prescale; // ADC enable // select ref. //ADMUX |= ((1 << REFS1) | (1 << REFS0)); // 2.56 V internal. //ADMUX |= ((1 << REFS0) ); // Vcc with external cap. //ADMUX &= ~((1 << REFS1) | (1 << REFS0)); // 0,0 : aref. ADMUX = aref | mux | ADLAR_BITS; // set free-running ADCSRA |= adate; // trigger enable ADCSRB = en_mux | hispeed | trig | (ADCSRB & ~((1 << ADTS0) | (1 << ADTS1) | (1 << ADTS2))); // trigger select free running ADCSRA |= (1 << ADEN); // ADC enable ADCSRA |= (1 << ADSC); // start conversions q } void recovery( uint8_t on ) { DDRB |= (1 << RECOVERY_CONTROL); PORTB &= ~(1 << RECOVERY_SINK); // SINK always zero DDRB &= ~(1 << RECOVERY_SOURCE); // SOURCE high imp if ( on ) { // set strobes to sink to gnd. DDRC |= C_MASK; DDRD |= D_MASK; DDRE |= E_MASK; PORTC &= ~C_MASK; PORTD &= ~D_MASK; PORTE &= ~E_MASK; DDRB |= (1 << RECOVERY_SINK); // SINK pull PORTB |= (1 << RECOVERY_CONTROL); PORTB |= (1 << RECOVERY_SOURCE); // SOURCE high DDRB |= (1 << RECOVERY_SOURCE); } else { PORTB &= ~(1 << RECOVERY_CONTROL); DDRB &= ~(1 << RECOVERY_SOURCE); PORTB &= ~(1 << RECOVERY_SOURCE); // SOURCE low DDRB &= ~(1 << RECOVERY_SINK); // SINK high-imp } } void hold_sample( uint8_t on ) { if ( !on ) { PORTB |= (1 << SAMPLE_CONTROL); DDRB |= (1 << SAMPLE_CONTROL); } else { DDRB |= (1 << SAMPLE_CONTROL); PORTB &= ~(1 << SAMPLE_CONTROL); } } void strobe_w( uint8_t strobe_num ) { PORTC &= ~(C_MASK); PORTD &= ~(D_MASK); PORTE &= ~(E_MASK); // Strobe table // Not all strobes are used depending on which are detected switch ( strobe_num ) { case 0: PORTD |= (1 << 0); break; case 1: PORTD |= (1 << 1); break; case 2: PORTD |= (1 << 2); break; case 3: PORTD |= (1 << 3); break; case 4: PORTD |= (1 << 4); break; case 5: PORTD |= (1 << 5); break; case 6: PORTD |= (1 << 6); break; case 7: PORTD |= (1 << 7); break; case 8: PORTE |= (1 << 0); break; case 9: PORTE |= (1 << 1); break; case 10: PORTC |= (1 << 0); break; case 11: PORTC |= (1 << 1); break; case 12: PORTC |= (1 << 2); break; case 13: PORTC |= (1 << 3); break; case 14: PORTC |= (1 << 4); break; case 15: PORTC |= (1 << 5); break; case 16: PORTC |= (1 << 6); break; case 17: PORTC |= (1 << 7); break; default: break; } } inline uint16_t getADC(void) { ADCSRA |= (1 << ADIF); // clear int flag by writing 1. //wait for last read to complete. while ( !( ADCSRA & (1 << ADIF) ) ); return ADC; // return sample } int sampleColumn_8x( uint8_t column, uint16_t * buffer ) { // ensure all probe lines are driven low, and chill for recovery delay. ADCSRA |= (1 << ADEN) | (1 << ADSC); // enable and start conversions PORTC &= ~C_MASK; PORTD &= ~D_MASK; PORTE &= ~E_MASK; PORTF = 0; DDRF = 0; recovery(OFF); strobe_w(column); hold_sample(OFF); SET_FULL_MUX(0); for ( uint8_t i = 0; i < STROBE_SETTLE; ++i ) { getADC(); } hold_sample(ON); #undef MUX_SETTLE #if (MUX_SETTLE) for ( uint8_t mux = 0; mux < 8; ++mux ) { SET_FULL_MUX(mux); // our sample will use this // wait for mux to settle. for ( uint8_t i = 0; i < MUX_SETTLE; ++i ) { getADC(); } // retrieve current read. buffer[mux] = getADC(); } #else uint8_t mux = 0; SET_FULL_MUX(mux); getADC(); // throw away; unknown mux. do { SET_FULL_MUX(mux + 1); // our *next* sample will use this // retrieve current read. buffer[mux] = getADC(); mux++; } while (mux < 8); #endif hold_sample(OFF); recovery(ON); // turn off adc. ADCSRA &= ~(1 << ADEN); // pull all columns' strobe-lines low. DDRC |= C_MASK; DDRD |= D_MASK; DDRE |= E_MASK; PORTC &= ~C_MASK; PORTD &= ~D_MASK; PORTE &= ~E_MASK; return 0; } int sampleColumn( uint8_t column ) { int rval = 0; rval = sampleColumn_8x( column, samples + SAMPLE_OFFSET ); return rval; } uint8_t testColumn( uint8_t strobe ) { uint8_t column = 0; uint8_t bit = 1; for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux ) { uint16_t delta = keys_averages[(strobe << MUXES_COUNT_XSHIFT) + mux]; uint8_t key = (strobe << MUXES_COUNT_XSHIFT) + mux; // Keypress detected if ( (db_sample = samples[SAMPLE_OFFSET + mux] >> 1) > (db_threshold = threshold) + (db_delta = delta) ) { column |= bit; // Only register keypresses once the warmup is complete, or not enough debounce info if ( boot_count >= WARMUP_LOOPS && keys_debounce[key] <= DEBOUNCE_THRESHOLD ) { // Add to the Macro processing buffer if debounce criteria met // Automatically handles converting to a USB code and sending off to the PC if ( keys_debounce[key] == DEBOUNCE_THRESHOLD ) { #define KEYSCAN_DEBOUNCE_DEBUG #ifdef KEYSCAN_DEBOUNCE_DEBUG // Debug message print("0x"); printHex_op( key, 2 ); print(" "); #endif // Only add the key to the buffer once // NOTE: Buffer can easily handle multiple adds, just more efficient // and nicer debug messages :P //bufferAdd( key ); } keys_debounce[key]++; //#define KEYSCAN_THRESHOLD_DEBUG #ifdef KEYSCAN_THRESHOLD_DEBUG // Debug message // <key> [<strobe>:<mux>] : <sense val> : <delta + threshold> : <margin> dbug_msg("0x"); printHex_op( key, 2 ); print(" ["); printInt8( strobe ); print(":"); printInt8( mux ); print("] : "); printHex( db_sample ); // Sense print(" : "); printHex( db_threshold ); print("+"); printHex( db_delta ); print("="); printHex( db_threshold + db_delta ); // Sense compare print(" : "); printHex( db_sample - ( db_threshold + db_delta ) ); // Margin print("\n"); #endif } } // Clear debounce entry if no keypress detected else { // If the key was previously pressed, remove from the buffer for ( uint8_t c = 0; c < KeyIndex_BufferUsed; c++ ) { // Key to release found if ( KeyIndex_Buffer[c] == key ) { // Shift keys from c position for ( uint8_t k = c; k < KeyIndex_BufferUsed - 1; k++ ) KeyIndex_Buffer[k] = KeyIndex_Buffer[k + 1]; // Decrement Buffer KeyIndex_BufferUsed--; break; } } // Clear debounce entry keys_debounce[key] = 0; } bit <<= 1; } return column; } void dump(void) { #ifdef DEBUG_FULL_SAMPLES_AVERAGES // we don't want to debug-out during the measurements. if ( !dump_count ) { // Averages currently set per key for ( int i = 0; i < KEY_COUNT; ++i ) { if ( !(i & 0x0f) ) { print("\n"); } else if ( !(i & 0x07) ) { print(" "); } print(" "); printHex( keys_averages[i] ); } print("\n"); // Previously read full ADC scans? for ( int i = 0; i< KEY_COUNT; ++i) { if ( !(i & 0x0f) ) { print("\n"); } else if ( !(i & 0x07) ) { print(" "); } print(" "); printHex(full_samples[i]); } } #endif #ifdef DEBUG_STROBE_SAMPLES_AVERAGES // Per strobe information uint8_t cur_strober = ze_strober; print("\n"); printHex(cur_strober); // Previously read ADC scans on current strobe print(" :"); for ( uint8_t i = 0; i < MUXES_COUNT; ++i ) { print(" "); printHex(full_samples[(cur_strober << MUXES_COUNT_XSHIFT) + i]); } // Averages current set on current strobe print(" :"); for ( uint8_t i = 0; i < MUXES_COUNT; ++i ) { print(" "); printHex(keys_averages[(cur_strober << MUXES_COUNT_XSHIFT) + i]); } #endif #ifdef DEBUG_DELTA_SAMPLE_THRESHOLD print("\n"); printHex( db_delta ); print(" "); printHex( db_sample ); print(" "); printHex( db_threshold ); print(" "); printHex( column ); #endif #ifdef DEBUG_USB_KEYMAP print("\n "); // Current keymap values for ( uint8_t i = 0; i < total_strobes; ++i ) { printHex(cur_keymap[i]); print(" "); } #endif ze_strober++; ze_strober &= 0xf; dump_count++; dump_count &= 0x0f; }