/* Copyright (C) 2011-2014 by Jacob Alexander * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ // ----- Includes ----- // Compiler Includes #include // Project Includes #include #include #include #include #include #include // ----- Defines ----- // Verified Keypress Defines #define USB_TRANSFER_DIVIDER 10 // 1024 == 1 Send of keypresses per second, 1 == 1 Send of keypresses per ~1 millisecond // ----- Macros ----- #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) #define CPU_PRESCALE(n) (CLKPR = 0x80, CLKPR = (n)) #endif // ----- Function Declarations ----- void cliFunc_distRead ( char* args ); void cliFunc_free ( char* args ); void cliFunc_gaugeHelp ( char* args ); void cliFunc_single ( char* args ); void cliFunc_start ( char* args ); void cliFunc_stop ( char* args ); void cliFunc_zeroForce ( char* args ); void cliFunc_zeroPosition( char* args ); char receiveUART0Char(); void transmitUART0String( char* str ); uint32_t readDistanceGauge(); // ----- Variables ----- // Timer Interrupt for flagging a send of the sampled key detection data to the USB host uint16_t sendKeypressCounter = 0; // Flag generated by the timer interrupt volatile uint8_t sendKeypresses = 0; // ----- Functions ----- // Initial Pin Setup, make sure they are sane inline void pinSetup(void) { // AVR #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // For each pin, 0=input, 1=output #if defined(__AVR_AT90USB1286__) DDRA = 0x00; #endif DDRB = 0x00; DDRC = 0x00; DDRD = 0x00; DDRE = 0x00; DDRF = 0x00; // Setting pins to either high or pull-up resistor #if defined(__AVR_AT90USB1286__) PORTA = 0x00; #endif PORTB = 0x00; PORTC = 0x00; PORTD = 0x00; PORTE = 0x00; PORTF = 0x00; // ARM #elif defined(_mk20dx128_) // TODO - Should be cleared, but not that necessary due to the pin layout #endif } inline void usbTimerSetup(void) { // AVR #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // Setup with 16 MHz clock CPU_PRESCALE( 0 ); // Setup ISR Timer for flagging a kepress send to USB // Set to 256 * 1024 (8 bit timer with Clock/1024 prescalar) timer TCCR0A = 0x00; TCCR0B = 0x03; TIMSK0 = (1 << TOIE0); // ARM #elif defined(_mk20dx128_) // 48 MHz clock by default // System Clock Gating Register Disable SIM_SCGC6 |= SIM_SCGC6_PIT; // Enable Timers PIT_MCR = 0x00; // Setup ISR Timer for flagging a kepress send to USB // 1 ms / (1 / 48 MHz) - 1 = 47999 cycles -> 0xBB7F PIT_LDVAL0 = 0x0000BB7F; PIT_TCTRL0 = 0x3; // Enable Timer 0 interrupts, and Enable Timer 0 // Insert the required vector for Timer 0 NVIC_ENABLE_IRQ( IRQ_PIT_CH0 ); #endif } int main(void) { // Configuring Pins pinSetup(); init_errorLED(); // Setup Output Module output_setup(); // Enable CLI init_cli(); // Setup ISR Timer for flagging a kepress send to USB usbTimerSetup(); // Main Detection Loop uint8_t ledTimer = F_CPU / 1000000; // Enable LED for a short time while ( 1 ) { // Setup the scanning module scan_setup(); while ( 1 ) { // Acquire Key Indices // Loop continuously until scan_loop returns 0 cli(); while ( scan_loop() ); sei(); // Run Macros over Key Indices and convert to USB Keys process_macros(); // Send keypresses over USB if the ISR has signalled that it's time if ( !sendKeypresses ) continue; // Send USB Data usb_send(); // Clear sendKeypresses Flag sendKeypresses = 0; // Indicate Error, if valid errorLED( ledTimer ); if ( ledTimer > 0 ) ledTimer--; } // Loop should never get here (indicate error) ledTimer = 255; // HID Debug Error message erro_print("Detection loop error, this is very bad...bug report!"); } } // ----- Interrupts ----- // USB Keyboard Data Send Counter Interrupt #if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // AVR ISR( TIMER0_OVF_vect ) #elif defined(_mk20dx128_) // ARM void pit0_isr(void) #endif { sendKeypressCounter++; if ( sendKeypressCounter > USB_TRANSFER_DIVIDER ) { sendKeypressCounter = 0; sendKeypresses = 1; } #if defined(_mk20dx128_) // ARM // Clear the interrupt flag PIT_TFLG0 = 1; #endif } // ----- CLI Command Functions ----- uint32_t readDistanceGauge() { // Setup distance read parameters for iGaging Distance Scale // freq = 9kHz // duty_cycle = 20% // high_delay = (1/freq) * (duty_cycle/100) // low_delay = (1/freq) * ((100-duty_cycle)/100) uint8_t bits = 21; // 21 clock pulses, for 21 bits uint32_t high_delay = 22; // Clock high time per pulse uint32_t low_delay = 89; // Clock low time per pulse // Data uint32_t distInput = 0; // Make sure clock is low initially GPIOC_PCOR |= (1<<2); // Set Clock low // Scan each of the bits for ( uint8_t bit = 0; bit < bits; bit++ ) { // Begin clock pulse GPIOC_PSOR |= (1<<2); // Set Clock high // Delay for duty cycle delayMicroseconds( high_delay ); // End clock pulse GPIOC_PCOR |= (1<<2); // Set Clock low // Read Data Bit distInput |= GPIOC_PDIR & (1<<1) ? (1 << bit) : 0; // Delay for duty cycle delayMicroseconds( low_delay ); } return distInput; } void cliFunc_distRead( char* args ) { // Parse number from argument // NOTE: Only first argument is used char* arg1Ptr; char* arg2Ptr; argumentIsolation_cli( args, &arg1Ptr, &arg2Ptr ); // Convert the argument into an int int read_count = decToInt( arg1Ptr ) + 1; // If no argument specified, default to 1 read if ( *arg1Ptr == '\0' ) { read_count = 2; } // Repeat reading as many times as specified in the argument print( NL ); while ( --read_count > 0 ) { // Prepare to print output info_msg("Distance: "); // Data uint32_t distInput = readDistanceGauge() - distanceOffset; // Output result printInt32( distInput ); // Convert to mm // As per http://www.shumatech.com/web/21bit_protocol?page=0,1 // 21 bits is 2560 CPI (counts per inch) (C/inch) // 1 inch is 25.4 mm // 2560 / 25.4 = 100.7874016... CPMM (C/mm) // Or // 1 count is 1/2560 = 0.000390625... inches // 1 count is (1/2560) * 25.4 = 0.00992187500000000 mm = 9.92187500000000 um = 9921.87500000000 nm // Since there are 21 bits (2 097 152 positions) converting to um is possible by multiplying by 1000 // which is 2 097 152 000, and within 32 bits (4 294 967 295). // However, um is still not convenient, so 64 bits (18 446 744 073 709 551 615) is a more accurate alternative. // For each nm there are 2 097 152 000 000 positions. // And for shits: // mm is 2 097 152 : 0.009 921 875 000 mm : 32 bit // um is 2 097 152 000 : 9.921 875 000 um : 32 bit (ideal acc. for 32 bit) // nm is 2 097 152 000 000 : 9 921.875 000 nm : 64 bit // pm is 2 097 152 000 000 000 : 9 921 875.000 pm : 64 bit (ideal acc. for 64 bit) // XXX Apparently shumatech was sorta wrong about the 21 bits of usage // Yes there are 21 bits, but the values only go from ~338 to ~30681 which is less than 16 bits... // This means that the conversion at NM can use 32 bits :D // It's been noted that the multiplier should be 100.6 (and that it could vary from scale to scale) uint32_t distNM = distInput * 9921;; uint32_t distUM = distNM / 1000; uint32_t distMM = distUM / 1000; print(" "); printInt32( distMM ); print(" mm "); printInt32( distUM ); print(" um "); printInt32( distNM ); print(" nm "); print( NL ); // Only delay if still counting if ( read_count > 1 ) delay( 50 ); } } void cliFunc_free( char* args ) { // Set the forceDistanceRead to 1, which will read until start has passed twice forceDistanceRead = 1; } void cliFunc_gaugeHelp( char* args ) { print( NL "\033[1;32mForce Curve Gauge Help\033[0m" NL " \033[1;33mUsage Overview\033[0m" NL " TODO" NL " \033[1;33mAdditional Command Details\033[0m" NL " \033[1;35mdistRead\033[0m" NL " Reads the current value from the distance gauge." NL " If specified it will N repeated reads with a delay after each read. Useful for testing the distance gauge." NL " e.g. \033[35mdistRead 250\033[0m" NL " \033[1;35mfree\033[0m" NL " Start free scanning force/distance reads." NL " Will continue until the [start] distance point has been past twice." NL " \033[1;35mimadaComm\033[0m" NL " Sends a command to the Imada force gauge." NL " e.g. \033[35mimadaComm D\033[0m" NL " The commands supported by the gauge depends on the model. Listed below is for the DS2." NL " K Select g units (default)" NL " N Select N units" NL " O Select oz units" NL " P Select peak mode" NL " T Select real time mode (default)" NL " Z Zero out display/reading" NL " Q Turn off power" NL " E Read high/low set points" NL " D Read data from force gauge" NL " E\033[35mHHHHLLLL\033[0m" NL " Set the high/low setpoints, ignore decimals" NL " \033[35mHHHH\033[0m is 4 digit high, \033[35mLLLL\033[0m is 4 digit low" NL " Responses from the above commands." NL " R Command successful" NL " E Error/Invalid Command" NL " E\033[35mHHHHLLLL\033[0m" NL " Current high/low setpoints" NL " \033[35mHHHH\033[0m is 4 digit high, \033[35mLLLL\033[0m is 4 digit low" NL " \033[35m[value][units][mode]\033[0m" NL " Data read response" NL " \033[35m[value]\033[0m is force currently showing on the display (peak or realtime)" NL " \033[35m[units]\033[0m is the configured force units" NL " \033[35m[mode]\033[0m is the current mode (peak or realtime)" NL " \033[1;35mread\033[0m" NL " Read the current force/distance value." NL " If specified it will N repeated reads with a delay after each read." NL " e.g. \033[35mread 125\033[0m" NL " \033[1;35mstart\033[0m" NL " Distance marker \033[35m[start]\033[0m for the start/end of a force curve measurement." NL " While in free running mode, a special message is displayed when reaching the \033[35m[start]\033[0m point." NL " \033[35m[start]\033[0m is defined by positioning the distance sensor at the position to start and running this command." NL ); } void cliFunc_read( char* args ) { // Parse number from argument // NOTE: Only first argument is used char* arg1Ptr; char* arg2Ptr; argumentIsolation_cli( args, &arg1Ptr, &arg2Ptr ); // Convert the argument into an int int read_count = decToInt( arg1Ptr ) + 1; // If no argument specified, default to 1 read if ( *arg1Ptr == '\0' ) { read_count = 2; } // Set the overall read count to read_count forceDistanceReadCount = read_count; } void cliFunc_start( char* args ) { // Read the current distance and set the new start/end position distanceStart = readDistanceGauge(); print( NL ); info_msg("New start/end position: "); printInt32( distanceStart - distanceOffset ); } void cliFunc_stop( char* args ) { // Reset the forceDistanceRead and forceDistanceReadCount forceDistanceRead = 0; forceDistanceReadCount = 0; } void cliFunc_zeroForce( char* args ) { // Just use the imadaComm command sending the needed argument char* commandArg = "Z"; imadaVerboseRead( commandArg ); } void cliFunc_zeroPosition( char* args ) { // Read the current distance and set the new offset distanceOffset = readDistanceGauge(); print( NL ); info_msg("New distance offset: "); printInt32( distanceOffset ); }