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Press/Release is working!

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- 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)
This commit is contained in:
Jacob Alexander 2014-04-20 01:08:02 -07:00
parent 5b8d1bb8db
commit 5e9bcf012c
2 changed files with 176 additions and 184 deletions
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1
README
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@ -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. 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 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. 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. Mine is C:\cygwin64.

359
Scan/DPH/scan_loop.c
View File

@ -41,9 +41,6 @@
#define STROBE_SETTLE 1 #define STROBE_SETTLE 1
#define TEST_KEY_STROBE (0x05)
#define TEST_KEY_MASK (1 << 0)
#define ADHSM 7 #define ADHSM 7
#define RIGHT_JUSTIFY 0 #define RIGHT_JUSTIFY 0
@ -85,7 +82,7 @@
#define MUXES_COUNT 8 #define MUXES_COUNT 8
#define MUXES_COUNT_XSHIFT 3 #define MUXES_COUNT_XSHIFT 3
#define WARMUP_LOOPS ( 1024 ) #define WARMUP_LOOPS ( 2048 )
#define WARMUP_STOP (WARMUP_LOOPS - 1) #define WARMUP_STOP (WARMUP_LOOPS - 1)
#define SAMPLE_CONTROL 3 #define SAMPLE_CONTROL 3
@ -122,10 +119,28 @@
// ----- Function Declarations ----- // ----- Function Declarations -----
// CLI Functions
void cliFunc_avgDebug ( char* args );
void cliFunc_echo ( char* args ); void cliFunc_echo ( char* args );
void cliFunc_keyDebug ( char* args ); void cliFunc_keyDebug ( char* args );
void cliFunc_pressDebug( char* args );
void cliFunc_senseDebug( 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 ----- // ----- Variables -----
@ -139,18 +154,20 @@ volatile uint8_t KeyIndex_BufferUsed;
char* scanCLIDictName = "DPH Module Commands"; char* scanCLIDictName = "DPH Module Commands";
CLIDictItem scanCLIDict[] = { CLIDictItem scanCLIDict[] = {
{ "echo", "Example command, echos the arguments.", cliFunc_echo }, { "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 }, { "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 { 0, 0, 0 } // Null entry for dictionary end
}; };
// CLI Control Variables // CLI Control Variables
uint8_t enableKeyDebug = 1; // XXX Debugging on by default for now -HaaTa uint8_t enableAvgDebug = 0;
uint8_t senseDebugCount = 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) // Variables used to calculate the starting sense value (averaging)
uint32_t full_avg = 0; uint32_t full_avg = 0;
uint32_t high_avg = 0; uint32_t high_avg = 0;
@ -160,55 +177,27 @@ uint8_t high_count = 0;
uint8_t low_count = 0; uint8_t low_count = 0;
uint16_t samples[MAX_STROBES][MUXES_COUNT]; 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 cur_keymap[MAX_STROBES]; 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)
uint8_t keymap_change;
uint16_t threshold = THRESHOLD; uint16_t threshold = THRESHOLD;
uint8_t column = 0;
uint16_t keys_averages_acc[KEY_COUNT]; uint16_t keys_averages_acc[KEY_COUNT];
uint16_t keys_averages [KEY_COUNT]; uint16_t keys_averages [KEY_COUNT];
uint8_t keys_debounce [KEY_COUNT]; // Contains debounce statistics 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 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. // TODO: change this to 'booting', then count down.
uint16_t boot_count = 0; 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 total_strobes = MAX_STROBES;
uint8_t strobe_map[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 ----- // ----- Functions -----
// Initial setup for cap sense controller // Initial setup for cap sense controller
@ -311,11 +300,6 @@ inline void Scan_setup()
// TODO // TODO
#endif #endif
for ( int i = 0; i < total_strobes; ++i)
{
cur_keymap[i] = 0;
}
// Reset debounce table // Reset debounce table
for ( int i = 0; i < KEY_COUNT; ++i ) for ( int i = 0; i < KEY_COUNT; ++i )
{ {
@ -336,33 +320,6 @@ inline uint8_t Scan_loop()
{ {
capsense_scan(); 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 // Return non-zero if macro and USB processing should be delayed
// Macro processing will always run if returning 0 // 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 // 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; 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 // Scan each of the mapped strobes in the matrix
for ( uint8_t strober = 0; strober < total_strobes; ++strober ) for ( uint8_t strober = 0; strober < total_strobes; ++strober )
{ {
uint8_t map_strobe = strobe_map[strober]; uint8_t map_strobe = strobe_map[strober];
uint8_t tries = 1; // Sample the ADCs for the given column/strobe
while ( tries++ && sampleColumn( map_strobe ) ) { tries &= 0x7; } // don't waste this one just because the last one was poop. sampleColumn( map_strobe );
// Only process sense data if warmup is finished // Only process sense data if warmup is finished
if ( boot_count >= WARMUP_LOOPS ) if ( boot_count >= WARMUP_LOOPS )
{ {
column = testColumn( map_strobe ); 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; 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. // discard sketchy low bit, and meaningless high bits.
uint8_t sample = samples[map_strobe][mux] >> 1; uint8_t sample = samples[map_strobe][mux] >> 1;
full_samples[strobe_line + mux] = sample;
keys_averages_acc[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 // Warm up voltage references
if ( boot_count < WARMUP_LOOPS ) if ( boot_count < WARMUP_LOOPS )
{ {
@ -568,43 +494,60 @@ inline void capsense_scan()
} }
else else
{ {
// Reset accumulators and idle flag/counter // No keypress, accumulate averages
if ( keymap_change ) if( !key_activity )
{ {
for ( uint8_t c = 0; c < KEY_COUNT; ++c ) { keys_averages_acc[c] = 0; } // Average Debugging
idle_count = 0; if ( enableAvgDebug )
idle = 0;
keymap_change = 0;
}
if ( !idle_count )
{
if( idle )
{ {
// aggregate print("\033[1mAvg\033[0m: ");
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];
//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;
keys_averages[i] = av;
keys_averages_acc[i] = 0;
// Average Debugging
if ( enableAvgDebug && av > 0 )
{ {
uint16_t acc = keys_averages_acc[i] >> IDLE_COUNT_SHIFT; printHex( av );
uint32_t av = keys_averages[i]; print(" ");
av = (av << KEYS_AVERAGES_MIX_SHIFT) - av + acc;
av >>= KEYS_AVERAGES_MIX_SHIFT;
keys_averages[i] = av;
keys_averages_acc[i] = 0;
} }
} }
// If the debugging sense table is non-zero, display // Average Debugging
if ( senseDebugCount > 0 ) if ( enableAvgDebug )
{ {
senseDebugCount--;
print( NL ); 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. // ensure all probe lines are driven low, and chill for recovery delay.
ADCSRA |= (1 << ADEN) | (1 << ADSC); // enable and start conversions 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 SET_FULL_MUX( mux + 1 ); // our *next* sample will use this
// retrieve current read. // 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++; mux++;
} while ( mux < 8 ); } while ( mux < 8 );
@ -788,12 +739,10 @@ int sampleColumn( uint8_t column )
PORTC &= ~C_MASK; PORTC &= ~C_MASK;
PORTD &= ~D_MASK; PORTD &= ~D_MASK;
PORTE &= ~E_MASK; PORTE &= ~E_MASK;
return 0;
} }
uint8_t testColumn( uint8_t strobe ) void testColumn( uint8_t strobe )
{ {
uint16_t db_delta = 0; uint16_t db_delta = 0;
uint8_t db_sample = 0; uint8_t db_sample = 0;
@ -821,11 +770,9 @@ uint8_t testColumn( uint8_t strobe )
keys_problem[key] = 0; keys_problem[key] = 0;
} }
// Otherwise, don't waste any more cycles processing the problem key
else // Do not waste any more cycles processing, regardless, a keypress cannot be detected
{ continue;
continue;
}
} }
// Keypress detected // 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) ) if ( (db_sample = samples[strobe][mux] >> 1) > (db_threshold = threshold) + (db_delta = delta) )
{ {
column |= bit; column |= bit;
key_activity++; // No longer idle, stop averaging ADC data
// Only register keypresses once the warmup is complete, or not enough debounce info // Only register keypresses once the warmup is complete, or not enough debounce info
if ( keys_debounce[key] <= DEBOUNCE_THRESHOLD ) 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 // Automatically handles converting to a USB code and sending off to the PC
if ( keys_debounce[key] == DEBOUNCE_THRESHOLD ) if ( keys_debounce[key] == DEBOUNCE_THRESHOLD )
{ {
//#define KEYSCAN_DEBOUNCE_DEBUG // Debug message, pressDebug CLI
#ifdef KEYSCAN_DEBOUNCE_DEBUG if ( enablePressDebug )
// Debug message {
print("0x"); print("0x");
printHex_op( key, 2 ); printHex_op( key, 2 );
print(" "); print(" ");
#endif }
// Only add the key to the buffer once // Only add the key to the buffer once
// NOTE: Buffer can easily handle multiple adds, just more efficient // NOTE: Buffer can easily handle multiple adds, just more efficient
@ -857,29 +805,30 @@ uint8_t testColumn( uint8_t strobe )
keys_debounce[key]++; keys_debounce[key]++;
// Long form key debugging }
if ( enableKeyDebug )
{ // Long form key debugging
// Debug message if ( enableKeyDebug )
// <key> [<strobe>:<mux>] : <sense val> : <delta + threshold> : <margin> {
dbug_msg("0x"); // Debug message
printHex_op( key, 2 ); // <key> [<strobe>:<mux>] : <sense val> : <delta + threshold> : <margin>
print(" ["); dbug_msg("0x");
printInt8( strobe ); printHex_op( key, 2 );
print(":"); print(" [");
printInt8( mux ); printInt8( strobe );
print("] : "); print(":");
printHex( db_sample ); // Sense printInt8( mux );
print(" : "); print("] : ");
printHex( db_threshold ); printHex( db_sample ); // Sense
print("+"); print(" : ");
printHex( db_delta ); printHex( db_threshold );
print("="); print("+");
printHex( db_threshold + db_delta ); // Sense compare printHex( db_delta );
print(" : "); print("=");
printHex( db_sample - ( db_threshold + db_delta ) ); // Margin printHex( db_threshold + db_delta ); // Sense compare
print( NL ); print(" : ");
} printHex( db_sample - ( db_threshold + db_delta ) ); // Margin
print( NL );
} }
} }
// Clear debounce entry if no keypress detected // Clear debounce entry if no keypress detected
@ -909,14 +858,15 @@ uint8_t testColumn( uint8_t strobe )
bit <<= 1; bit <<= 1;
} }
return column;
} }
void dumpSenseTable() void dumpSenseTable()
{ {
// Initial table alignment // Initial table alignment, with base threshold used for every key
print(" "); print("\033[1m");
printHex( threshold );
print("\033[0m ");
// Print out headers first // Print out headers first
for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux ) for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux )
@ -942,14 +892,21 @@ void dumpSenseTable()
for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux ) for ( uint8_t mux = 0; mux < MUXES_COUNT; ++mux )
{ {
uint8_t delta = keys_averages[(strobe << MUXES_COUNT_XSHIFT) + 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 ); printHex_op( sample, 2 );
print(":"); print(":");
printHex_op( threshold, 2 ); printHex_op( max, 2 );
print(":"); print(":");
printHex_op( delta, 2 ); printHex_op( delta, 2 );
print(" "); print("\033[0m ");
} }
// New line for each strobe // 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 ) void cliFunc_keyDebug( char* args )
{ {
print( NL ); print( NL );
@ -991,16 +965,33 @@ void cliFunc_keyDebug( char* args )
// Args ignored, just toggling // Args ignored, just toggling
if ( enableKeyDebug ) if ( enableKeyDebug )
{ {
info_print("Cap Sense key debug disabled."); info_print("Cap Sense key long debug disabled - pre debounce.");
enableKeyDebug = 0; enableKeyDebug = 0;
} }
else else
{ {
info_print("Cap Sense key debug enabled."); info_print("Cap Sense key long debug enabled - pre debounce.");
enableKeyDebug = 1; 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 ) void cliFunc_senseDebug( char* args )
{ {
// Parse code from argument // Parse code from argument