-// ----- 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_zeroForce ( char* args );
-void cliFunc_zeroPosition( char* args );
-
-
-
-// ----- 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)
+int main()
{
-// AVR
+ // AVR - Teensy Set Clock speed to 16 MHz
#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 );
+ CLKPR = 0x80;
+ CLKPR = 0x00;
#endif
-}
-
-
-int main(void)
-{
- // Configuring Pins
- pinSetup();
- init_errorLED();
-
- // Setup Output Module
- output_setup();
// Enable CLI
- init_cli();
+ CLI_init();
- // Setup ISR Timer for flagging a kepress send to USB
- usbTimerSetup();
+ // Setup Modules
+ Output_setup();
+ Macro_setup();
+ Scan_setup();
// 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;
+ // Process CLI
+ CLI_process();
- // Send USB Data
- usb_send();
+ // Acquire Key Indices
+ // Loop continuously until scan_loop returns 0
+ cli();
+ while ( Scan_loop() );
+ sei();
- // Clear sendKeypresses Flag
- sendKeypresses = 0;
+ // Run Macros over Key Indices and convert to USB Keys
+ Macro_process();
- // 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!");
+ // Sends USB data only if changed
+ Output_send();
}
}
-
-// ----- 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 -----
-
-void cliFunc_distRead( char* args )
-{
- // Prepare to print output
- print( NL );
- info_msg("Distance: ");
-
- // Data
- uint32_t distInput = 0;
-
- // 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
- uint32_t high_delay = 40; // Clock high time per pulse
- uint32_t low_delay = 60; // Clock low time per pulse
-
- // Make sure clock is low initially
- GPIOC_PCOR |= (1<<2); // Set Clock low
-/*
-while(1)
-{
-*/
- // Scan each of the bits
- for ( uint8_t bit = bits; bit > 0; 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 |= GPIOD_PDIR & (1<<6) ? (1 << (bit - 1)) : 0;
- //if ( GPIOD_PDIR )
- if ( GPIOD_PDIR & (1<<6) )
- {
- print("1");
- }
- else
- {
- print("0");
- }
-
- // Delay for duty cycle
- delayMicroseconds( low_delay );
- }
- print(" ");
-
- // 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 = 0.0000153789370078740 mm = 0.0153789370078740 um = 15.3789370078740 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:
- // pm is 2 097 152 : 0.000 015 378 937 007 874 0 mm : 32 bit
- // pm is 2 097 152 000 : 0.015 378 937 007 874 0 um : 32 bit (ideal acc. for 32 bit)
- // pm is 2 097 152 000 000 : 15.378 937 007 874 0 nm : 64 bit
- // pm is 2 097 152 000 000 000 : 15 378.937 007 874 0 pm : 64 bit
- // fm is 2 097 152 000 000 000 000 : 15 378 937.007 874 0 fm : 64 bit (ideal acc. for 64 bit)
- //uint64_t distNM = distInput * 15;
- //uint64_t distPM = distInput * 15378;
- uint64_t distFM = distInput * 15378937;
-
- // Calculate um and mm
- //uint32_t distNM = distInput * 15; // XXX
- //uint32_t distUM = distNM / 1000;
- //uint32_t distMM = distNM / 1000000;
- uint32_t distNM = distFM * 1000000;
- uint32_t distUM = distNM / 1000;
- uint32_t distMM = distUM / 1000;
-
- print(" ");
- printInt32( distMM );
- print(" mm ");
- printInt32( distUM );
- print(" um ");
- printInt32( distNM );
- print(" nm");
-
-/*
-//Wait
-print(NL);
-delay( 7 );
-distInput = 0;
-}
-*/
-}
-
-
-void cliFunc_free( char* args )
-{
-}
-
-
-void cliFunc_gaugeHelp( char* args )
-{
-}
-
-
-void cliFunc_single( char* args )
-{
-}
-
-
-void cliFunc_start( char* args )
-{
-}
-
-
-void cliFunc_zeroForce( char* args )
-{
-}
-
-
-void cliFunc_zeroPosition( char* args )
-{
-}
-
projects / kiibohd-controller.git / blobdiff