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- /* 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 <Lib/MainLib.h>
-
- // Project Includes
- #include <macro.h>
- #include <scan_loop.h>
- #include <output_com.h>
-
- #include <cli.h>
- #include <led.h>
- #include <print.h>
-
-
-
- // ----- 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 );
- }
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