364 строки
8.5 KiB
C
364 строки
8.5 KiB
C
/* Copyright (C) 2011-2014 by Jacob Alexander
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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// ----- Includes -----
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// Compiler Includes
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#include <Lib/MainLib.h>
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// Project Includes
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#include <macro.h>
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#include <scan_loop.h>
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#include <output_com.h>
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#include <cli.h>
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#include <led.h>
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#include <print.h>
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// ----- Defines -----
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// Verified Keypress Defines
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#define USB_TRANSFER_DIVIDER 10 // 1024 == 1 Send of keypresses per second, 1 == 1 Send of keypresses per ~1 millisecond
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// ----- Macros -----
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#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_)
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#define CPU_PRESCALE(n) (CLKPR = 0x80, CLKPR = (n))
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#endif
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// ----- Function Declarations -----
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void cliFunc_distRead ( char* args );
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void cliFunc_free ( char* args );
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void cliFunc_gaugeHelp ( char* args );
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void cliFunc_single ( char* args );
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void cliFunc_start ( char* args );
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void cliFunc_zeroForce ( char* args );
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void cliFunc_zeroPosition( char* args );
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// ----- Variables -----
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// Timer Interrupt for flagging a send of the sampled key detection data to the USB host
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uint16_t sendKeypressCounter = 0;
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// Flag generated by the timer interrupt
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volatile uint8_t sendKeypresses = 0;
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// ----- Functions -----
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// Initial Pin Setup, make sure they are sane
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inline void pinSetup(void)
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{
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// AVR
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#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_)
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// For each pin, 0=input, 1=output
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#if defined(__AVR_AT90USB1286__)
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DDRA = 0x00;
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#endif
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DDRB = 0x00;
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DDRC = 0x00;
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DDRD = 0x00;
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DDRE = 0x00;
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DDRF = 0x00;
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// Setting pins to either high or pull-up resistor
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#if defined(__AVR_AT90USB1286__)
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PORTA = 0x00;
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#endif
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PORTB = 0x00;
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PORTC = 0x00;
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PORTD = 0x00;
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PORTE = 0x00;
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PORTF = 0x00;
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// ARM
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#elif defined(_mk20dx128_)
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// TODO - Should be cleared, but not that necessary due to the pin layout
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#endif
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}
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inline void usbTimerSetup(void)
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{
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// AVR
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#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_)
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// Setup with 16 MHz clock
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CPU_PRESCALE( 0 );
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// Setup ISR Timer for flagging a kepress send to USB
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// Set to 256 * 1024 (8 bit timer with Clock/1024 prescalar) timer
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TCCR0A = 0x00;
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TCCR0B = 0x03;
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TIMSK0 = (1 << TOIE0);
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// ARM
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#elif defined(_mk20dx128_)
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// 48 MHz clock by default
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// System Clock Gating Register Disable
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SIM_SCGC6 |= SIM_SCGC6_PIT;
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// Enable Timers
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PIT_MCR = 0x00;
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// Setup ISR Timer for flagging a kepress send to USB
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// 1 ms / (1 / 48 MHz) - 1 = 47999 cycles -> 0xBB7F
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PIT_LDVAL0 = 0x0000BB7F;
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PIT_TCTRL0 = 0x3; // Enable Timer 0 interrupts, and Enable Timer 0
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// Insert the required vector for Timer 0
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NVIC_ENABLE_IRQ( IRQ_PIT_CH0 );
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#endif
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}
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int main(void)
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{
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// Configuring Pins
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pinSetup();
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init_errorLED();
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// Setup Output Module
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output_setup();
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// Enable CLI
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init_cli();
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// Setup ISR Timer for flagging a kepress send to USB
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usbTimerSetup();
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// Main Detection Loop
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uint8_t ledTimer = F_CPU / 1000000; // Enable LED for a short time
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while ( 1 )
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{
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// Setup the scanning module
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scan_setup();
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while ( 1 )
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{
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// Acquire Key Indices
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// Loop continuously until scan_loop returns 0
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cli();
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while ( scan_loop() );
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sei();
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// Run Macros over Key Indices and convert to USB Keys
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process_macros();
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// Send keypresses over USB if the ISR has signalled that it's time
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if ( !sendKeypresses )
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continue;
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// Send USB Data
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usb_send();
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// Clear sendKeypresses Flag
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sendKeypresses = 0;
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// Indicate Error, if valid
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errorLED( ledTimer );
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if ( ledTimer > 0 )
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ledTimer--;
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}
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// Loop should never get here (indicate error)
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ledTimer = 255;
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// HID Debug Error message
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erro_print("Detection loop error, this is very bad...bug report!");
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}
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}
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// ----- Interrupts -----
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// USB Keyboard Data Send Counter Interrupt
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#if defined(_at90usb162_) || defined(_atmega32u4_) || defined(_at90usb646_) || defined(_at90usb1286_) // AVR
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ISR( TIMER0_OVF_vect )
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#elif defined(_mk20dx128_) // ARM
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void pit0_isr(void)
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#endif
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{
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sendKeypressCounter++;
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if ( sendKeypressCounter > USB_TRANSFER_DIVIDER ) {
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sendKeypressCounter = 0;
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sendKeypresses = 1;
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}
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#if defined(_mk20dx128_) // ARM
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// Clear the interrupt flag
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PIT_TFLG0 = 1;
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#endif
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}
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// ----- CLI Command Functions -----
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void cliFunc_distRead( char* args )
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{
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// Prepare to print output
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print( NL );
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info_msg("Distance: ");
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// Data
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uint32_t distInput = 0;
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// Setup distance read parameters for iGaging Distance Scale
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// freq = 9kHz
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// duty_cycle = 20%
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// high_delay = (1/freq) * (duty_cycle/100)
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// low_delay = (1/freq) * ((100-duty_cycle)/100)
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uint8_t bits = 21; // 21 clock pulses, for 21 bits
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//uint32_t high_delay = 22; // Clock high time per pulse
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//uint32_t low_delay = 89; // Clock low time per pulse
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uint32_t high_delay = 40; // Clock high time per pulse
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uint32_t low_delay = 60; // Clock low time per pulse
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// Make sure clock is low initially
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GPIOC_PCOR |= (1<<2); // Set Clock low
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/*
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while(1)
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{
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*/
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// Scan each of the bits
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for ( uint8_t bit = bits; bit > 0; bit-- )
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{
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// Begin clock pulse
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GPIOC_PSOR |= (1<<2); // Set Clock high
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// Delay for duty cycle
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delayMicroseconds( high_delay );
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// End clock pulse
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GPIOC_PCOR |= (1<<2); // Set Clock low
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// Read Data Bit
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//distInput |= GPIOD_PDIR & (1<<6) ? (1 << (bit - 1)) : 0;
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//if ( GPIOD_PDIR )
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if ( GPIOD_PDIR & (1<<6) )
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{
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print("1");
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}
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else
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{
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print("0");
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}
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// Delay for duty cycle
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delayMicroseconds( low_delay );
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}
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print(" ");
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// Output result
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printInt32( distInput );
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// Convert to mm
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// As per http://www.shumatech.com/web/21bit_protocol?page=0,1
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// 21 bits is 2560 CPI (counts per inch) (C/inch)
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// 1 inch is 25.4 mm
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// 2560 / 25.4 = 100.7874016... CPMM (C/mm)
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// Or
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// 1 count is 1/2560 = 0.000390625... inches
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// 1 count is (1/2560) * 25.4 = 0.0000153789370078740 mm = 0.0153789370078740 um = 15.3789370078740 nm
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// Since there are 21 bits (2 097 152 positions) converting to um is possible by multiplying by 1000
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// which is 2 097 152 000, and within 32 bits (4 294 967 295).
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// However, um is still not convenient, so 64 bits (18 446 744 073 709 551 615) is a more accurate alternative.
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// For each nm there are 2 097 152 000 000 positions.
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// And for shits:
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// pm is 2 097 152 : 0.000 015 378 937 007 874 0 mm : 32 bit
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// pm is 2 097 152 000 : 0.015 378 937 007 874 0 um : 32 bit (ideal acc. for 32 bit)
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// pm is 2 097 152 000 000 : 15.378 937 007 874 0 nm : 64 bit
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// pm is 2 097 152 000 000 000 : 15 378.937 007 874 0 pm : 64 bit
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// fm is 2 097 152 000 000 000 000 : 15 378 937.007 874 0 fm : 64 bit (ideal acc. for 64 bit)
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//uint64_t distNM = distInput * 15;
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//uint64_t distPM = distInput * 15378;
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uint64_t distFM = distInput * 15378937;
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// Calculate um and mm
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//uint32_t distNM = distInput * 15; // XXX
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//uint32_t distUM = distNM / 1000;
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//uint32_t distMM = distNM / 1000000;
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uint32_t distNM = distFM * 1000000;
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uint32_t distUM = distNM / 1000;
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uint32_t distMM = distUM / 1000;
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print(" ");
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printInt32( distMM );
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print(" mm ");
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printInt32( distUM );
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print(" um ");
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printInt32( distNM );
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print(" nm");
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/*
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//Wait
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print(NL);
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delay( 7 );
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distInput = 0;
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}
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*/
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}
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void cliFunc_free( char* args )
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{
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}
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void cliFunc_gaugeHelp( char* args )
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{
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}
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void cliFunc_single( char* args )
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{
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}
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void cliFunc_start( char* args )
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{
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}
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void cliFunc_zeroForce( char* args )
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{
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}
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void cliFunc_zeroPosition( char* args )
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{
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}
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