- Removed 'Zombie' code - Still a bit of iffiness with the averaging algorithm (should be looked at again) - Added more CLI debugging (averaging and press/debounce)

10 vuotta sitten · 5e9bcf012c
--- a/README
+++ b/README
@@ -62,6 +62,7 @@ Next, install the compiler(s) you want.
 You just need the Atmel AVR 8-bit Toolchain. The latest should be fine, as of writing it was 3.4.3.

 http://www.atmel.com/tools/atmelavrtoolchainforwindows.aspx
 (Atmel AVR 8-bit Toolchain 3.4.3 - Windows)

 Extract the files to a directory, say C:\avr8-gnu-toolchain. Then copy all the folders in that directory to the Cygwin directory.
 Mine is C:\cygwin64.
--- a/Scan/DPH/scan_loop.c
+++ b/Scan/DPH/scan_loop.c
@@ -41,9 +41,6 @@

 #define STROBE_SETTLE 1

 #define TEST_KEY_STROBE (0x05)
 #define TEST_KEY_MASK (1 << 0)

 #define ADHSM 7

 #define RIGHT_JUSTIFY 0
@@ -85,7 +82,7 @@
 #define MUXES_COUNT 8
 #define MUXES_COUNT_XSHIFT 3

 #define WARMUP_LOOPS ( 1024 )
 #define WARMUP_LOOPS ( 2048 )
 #define WARMUP_STOP (WARMUP_LOOPS - 1)

 #define SAMPLE_CONTROL 3
@@ -122,10 +119,28 @@

 // ----- Function Declarations -----

 // CLI Functions
 void cliFunc_avgDebug ( char* args );
 void cliFunc_echo ( char* args );
 void cliFunc_keyDebug ( char* args );
 void cliFunc_pressDebug( char* args );
 void cliFunc_senseDebug( char* args );

 // Debug Functions
 void dumpSenseTable();

 // High-level Capsense Functions
 void setup_ADC();
 void capsense_scan();

 // Capsense Sense Functions
 void testColumn ( uint8_t strobe );
 void sampleColumn( uint8_t column );

 // Low-level Capsense Functions
 void strobe_w( uint8_t strobe_num );
 void recovery( uint8_t on );



 // ----- Variables -----
@@ -139,18 +154,20 @@ volatile uint8_t KeyIndex_BufferUsed;
 char* scanCLIDictName = "DPH Module Commands";
 CLIDictItem scanCLIDict[] = {
 { "echo", "Example command, echos the arguments.", cliFunc_echo },
 { "avgDebug", "Enables/Disables averaging results." NL "\t\tDisplays each average, starting from Key 0x00, ignoring 0 valued averages.", cliFunc_avgDebug },
 { "keyDebug", "Enables/Disables long debug for each keypress." NL "\t\tkeycode - [strobe:mux] : sense val : threshold+delta=total : margin", cliFunc_keyDebug },
 { "senseDebug", "Prints out the current sense table N times." NL "\t\tsense:threshold:delta.", cliFunc_senseDebug },
 { "pressDebug", "Enables/Disables short debug for each keypress.", cliFunc_pressDebug },
 { "senseDebug", "Prints out the current sense table N times." NL "\t\tsense:max sense:delta", cliFunc_senseDebug },
 { 0, 0, 0 } // Null entry for dictionary end
 };

 // CLI Control Variables
 uint8_t enableKeyDebug = 1; // XXX Debugging on by default for now -HaaTa
 uint8_t senseDebugCount = 0;
 uint8_t enableAvgDebug = 0;
 uint8_t enableKeyDebug = 0;
 uint8_t enablePressDebug = 1;
 uint8_t senseDebugCount = 3; // In order to get boot-time oddities


 // TODO dfj variables...needs cleaning up and commenting

 // Variables used to calculate the starting sense value (averaging)
 uint32_t full_avg = 0;
 uint32_t high_avg = 0;
@@ -160,55 +177,27 @@ uint8_t high_count = 0;
 uint8_t low_count = 0;


 uint16_t samples[MAX_STROBES][MUXES_COUNT];

 uint8_t cur_keymap[MAX_STROBES];
 uint16_t samples[MAX_STROBES][MUXES_COUNT]; // Overall table of cap sense ADC values
 uint16_t sampleMax[MAX_STROBES][MUXES_COUNT]; // Records the max seen ADC value

 uint8_t keymap_change;
 uint8_t key_activity = 0; // Increments for each detected key per each full scan of the keyboard, it is reset before each full scan
 uint8_t key_release = 0; // Indicates if going from key press state to release state (some keys pressed to no keys pressed)

 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]; // Contains debounce statistics
 uint8_t keys_problem [KEY_COUNT]; // Marks keys that should be ignored (determined by averaging at startup)

 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];



 // ----- Function Declarations -----

 void dumpSenseTable();

 void recovery( uint8_t on );

 int sampleColumn( uint8_t column );

 void capsense_scan();

 void setup_ADC();

 void strobe_w( uint8_t strobe_num );

 uint8_t testColumn( uint8_t strobe );



 // ----- Functions -----

 // Initial setup for cap sense controller
@@ -311,11 +300,6 @@ inline void Scan_setup()
 // TODO
 #endif

 for ( int i = 0; i < total_strobes; ++i)
 {
 cur_keymap[i] = 0;
 }

 // Reset debounce table
 for ( int i = 0; i < KEY_COUNT; ++i )
 {
@@ -336,33 +320,6 @@ 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 sense table if warmup completede
 if ( boot_count >= WARMUP_LOOPS )
 {
 dumpSenseTable();
 }
 }


 // 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
@@ -401,34 +358,21 @@ inline void capsense_scan()

 high_count = 0;

 // Reset key activity, if there is no key activity, averages will accumulate for sense deltas, otherwise they will be reset
 key_activity = 0;

 // Scan each of the mapped strobes in the matrix
 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.
 // Sample the ADCs for the given column/strobe
 sampleColumn( map_strobe );

 // Only process sense data if warmup is finished
 if ( boot_count >= WARMUP_LOOPS )
 {
 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);
 testColumn( map_strobe );
 }

 uint8_t strobe_line = map_strobe << MUXES_COUNT_XSHIFT;
@@ -436,7 +380,6 @@ inline void capsense_scan()
 {
 // discard sketchy low bit, and meaningless high bits.
 uint8_t sample = samples[map_strobe][mux] >> 1;
 full_samples[strobe_line + mux] = sample;
 keys_averages_acc[strobe_line + mux] += sample;
 }

@@ -489,23 +432,6 @@ inline void capsense_scan()
 }
 }

 #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 )
 {
@@ -568,43 +494,60 @@ inline void capsense_scan()
 }
 else
 {
 // Reset accumulators and idle flag/counter
 if ( keymap_change )
 // No keypress, accumulate averages
 if( !key_activity )
 {
 for ( uint8_t c = 0; c < KEY_COUNT; ++c ) { keys_averages_acc[c] = 0; }
 idle_count = 0;
 idle = 0;

 keymap_change = 0;
 }
 // Average Debugging
 if ( enableAvgDebug )
 {
 print("\033[1mAvg\033[0m: ");
 }

 if ( !idle_count )
 {
 if( idle )
 // aggregate
 for ( uint8_t i = 0; i < KEY_COUNT; ++i )
 {
 // 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];
 uint16_t acc = keys_averages_acc[i];
 //uint16_t acc = keys_averages_acc[i] >> IDLE_COUNT_SHIFT; // XXX This fixes things... -HaaTa
 uint32_t av = keys_averages[i];

  av = (av << KEYS_AVERAGES_MIX_SHIFT) - av + acc;
  av >>= KEYS_AVERAGES_MIX_SHIFT;
 av = (av << KEYS_AVERAGES_MIX_SHIFT) - av + acc;
 av >>= KEYS_AVERAGES_MIX_SHIFT;

 keys_averages[i] = av;
 keys_averages_acc[i] = 0;
 keys_averages[i] = av;
 keys_averages_acc[i] = 0;

 // Average Debugging
 if ( enableAvgDebug && av > 0 )
 {
 printHex( av );
 print(" ");
 }
 }

 // If the debugging sense table is non-zero, display
 if ( senseDebugCount > 0 )
 // Average Debugging
 if ( enableAvgDebug )
 {
 senseDebugCount--;
 print( NL );
 dumpSenseTable();
 }

 // No key presses detected, set key_release indicator
 key_release = 1;
 }
 // Keypresses, reset accumulators
 else if ( key_release )
 {
 for ( uint8_t c = 0; c < KEY_COUNT; ++c ) { keys_averages_acc[c] = 0; }

 key_release = 0;
 }

 // If the debugging sense table is non-zero, display
 if ( senseDebugCount > 0 )
 {
 senseDebugCount--;
 print( NL );
 dumpSenseTable();
 }
 }
 }

@@ -739,7 +682,7 @@ inline uint16_t getADC(void)
 }


 int sampleColumn( uint8_t column )
 void sampleColumn( uint8_t column )
 {
 // ensure all probe lines are driven low, and chill for recovery delay.
 ADCSRA |= (1 << ADEN) | (1 << ADSC); // enable and start conversions
@@ -769,7 +712,15 @@ int sampleColumn( uint8_t column )
 SET_FULL_MUX( mux + 1 ); // our *next* sample will use this

 // retrieve current read.
 samples[column][mux] = getADC();
 uint16_t readVal = getADC();
 samples[column][mux] = readVal;

 // Update max sense sample table
 if ( readVal > sampleMax[column][mux] )
 {
 sampleMax[column][mux] = readVal;
 }

 mux++;

 } while ( mux < 8 );
@@ -788,12 +739,10 @@ int sampleColumn( uint8_t column )
 PORTC &= ~C_MASK;
 PORTD &= ~D_MASK;
 PORTE &= ~E_MASK;

 return 0;
 }


 uint8_t testColumn( uint8_t strobe )
 void testColumn( uint8_t strobe )
 {
 uint16_t db_delta = 0;
 uint8_t db_sample = 0;
@@ -821,11 +770,9 @@ uint8_t testColumn( uint8_t strobe )

 keys_problem[key] = 0;
 }
 // Otherwise, don't waste any more cycles processing the problem key
 else
 {
 continue;
 }

 // Do not waste any more cycles processing, regardless, a keypress cannot be detected
 continue;
 }

 // Keypress detected
@@ -833,6 +780,7 @@ uint8_t testColumn( uint8_t strobe )
 if ( (db_sample = samples[strobe][mux] >> 1) > (db_threshold = threshold) + (db_delta = delta) )
 {
 column |= bit;
 key_activity++; // No longer idle, stop averaging ADC data

 // Only register keypresses once the warmup is complete, or not enough debounce info
 if ( keys_debounce[key] <= DEBOUNCE_THRESHOLD )
@@ -841,13 +789,13 @@ uint8_t testColumn( uint8_t strobe )
 // 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
 // Debug message, pressDebug CLI
 if ( enablePressDebug )
 {
  print("0x");
  printHex_op( key, 2 );
  print(" ");
 }

 // Only add the key to the buffer once
 // NOTE: Buffer can easily handle multiple adds, just more efficient
@@ -857,29 +805,30 @@ uint8_t testColumn( uint8_t strobe )

 keys_debounce[key]++;

 // Long form key debugging
 if ( enableKeyDebug )
 {
 // 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( NL );
 }
 }

 // Long form key debugging
 if ( enableKeyDebug )
 {
 // 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( NL );
 }
 }
 // Clear debounce entry if no keypress detected
@@ -909,14 +858,15 @@ uint8_t testColumn( uint8_t strobe )

 bit <<= 1;
 }
 return column;
 }


 void dumpSenseTable()
 {
 // Initial table alignment
 print(" ");
 // Initial table alignment, with base threshold used for every key
 print("\033[1m");
 printHex( threshold );
 print("\033[0m ");

 // Print out headers first
 for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux )
@@ -942,14 +892,21 @@ void dumpSenseTable()
 for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux )
 {
 uint8_t delta = keys_averages[(strobe << MUXES_COUNT_XSHIFT) + mux];
 uint8_t sample = samples[strobe][mux] >> 1; // TODO Make larger samples array (2d)
 uint8_t sample = samples[strobe][mux] >> 1;
 uint8_t max = sampleMax[strobe][mux] >> 1;

 // Indicate if the key is being pressed by displaying green
 if ( sample > delta + threshold )
 {
 print("\033[1;32m");
 }

 printHex_op( sample, 2 );
 print(":");
 printHex_op( threshold, 2 );
 printHex_op( max, 2 );
 print(":");
 printHex_op( delta, 2 );
 print(" ");
 print("\033[0m ");
 }

 // New line for each strobe
@@ -984,6 +941,23 @@ void cliFunc_echo( char* args )
 }
 }

 void cliFunc_avgDebug( char* args )
 {
 print( NL );

 // Args ignored, just toggling
 if ( enableAvgDebug )
 {
 info_print("Cap Sense averaging debug disabled.");
 enableAvgDebug = 0;
 }
 else
 {
 info_print("Cap Sense averaging debug enabled.");
 enableAvgDebug = 1;
 }
 }

 void cliFunc_keyDebug( char* args )
 {
 print( NL );
@@ -991,16 +965,33 @@ void cliFunc_keyDebug( char* args )
 // Args ignored, just toggling
 if ( enableKeyDebug )
 {
 info_print("Cap Sense key debug disabled.");
 info_print("Cap Sense key long debug disabled - pre debounce.");
 enableKeyDebug = 0;
 }
 else
 {
 info_print("Cap Sense key debug enabled.");
 info_print("Cap Sense key long debug enabled - pre debounce.");
 enableKeyDebug = 1;
 }
 }

 void cliFunc_pressDebug( char* args )
 {
 print( NL );

 // Args ignored, just toggling
 if ( enablePressDebug )
 {
 info_print("Cap Sense key debug disabled - post debounce.");
 enablePressDebug = 0;
 }
 else
 {
 info_print("Cap Sense key debug enabled - post debounce.");
 enablePressDebug = 1;
 }
 }

 void cliFunc_senseDebug( char* args )
 {
 // Parse code from argument