improvements + added a toggle for interlaced, not yet fully implemented

gex.mk

@@ -96,7 +96,7 @@ GEX_CDEFS = $(GEX_CDEFS_BASE) \
     -DUSE_STACK_MONITOR=1 \
     -DUSE_DEBUG_UART=1 \
     -DDEBUG_MALLOC=0 \
-    -DDEBUG_RSC=1
+    -DDEBUG_RSC=0
 
 endif
 

platform/irq_dispatcher.c

@@ -69,6 +69,7 @@ static struct callbacks_ {
     struct cbslot tim16;
 
     struct cbslot adc1;
+    struct cbslot tsc;
 
     // XXX add more callbacks here when needed
 } callbacks;
@@ -92,7 +93,8 @@ void irqd_init(void)
     HAL_NVIC_SetPriority(EXTI2_3_IRQn, 2, 0);
     HAL_NVIC_SetPriority(EXTI4_15_IRQn, 2, 0);
 
-//    NVIC_EnableIRQ(TSC_IRQn);                   /*!< Touch Sensing Controller Interrupts                             */
+    NVIC_EnableIRQ(TSC_IRQn);                   /*!< Touch Sensing Controller Interrupts                             */
+    HAL_NVIC_SetPriority(TSC_IRQn, 2, 0);
 
     NVIC_EnableIRQ(DMA1_Channel1_IRQn);         /*!< DMA1 Channel 1 Interrupt                                        */
     NVIC_EnableIRQ(DMA1_Channel2_3_IRQn);       /*!< DMA1 Channel 2 and Channel 3 Interrupt                          */
@@ -178,6 +180,8 @@ static struct cbslot *get_slot_for_periph(void *periph)
     else if (periph == TIM16) slot = &callbacks.tim16;
     // 17 - used by timebase
 
+    else if (periph == TSC) slot = &callbacks.tsc;
+
     else if (periph == ADC1) slot = &callbacks.adc1;
 
     else if (periph >= EXTIS[0] && periph <= EXTIS[15]) {
@@ -352,6 +356,11 @@ void ADC1_COMP_IRQHandler(void)
     CALL_IRQ_HANDLER(callbacks.adc1);
 }
 
+void TSC_IRQHandler(void)
+{
+    CALL_IRQ_HANDLER(callbacks.tsc);
+}
+
 
 // other ISRs...
 

units/touch/_touch_core.c

@@ -0,0 +1,111 @@
+//
+// Created by MightyPork on 2018/02/25.
+//
+
+#include "platform.h"
+#include "unit_base.h"
+#include "unit_touch.h"
+
+#define TOUCH_INTERNAL
+
+#include "_touch_internal.h"
+
+#define DIS_TIME 1
+
+static void startNextPhase(struct priv *priv);
+
+void UTOUCH_HandleIrq(void *arg)
+{
+    Unit *unit = arg;
+    struct priv *priv = unit->data;
+
+    if (TSC->ISR & TSC_ISR_MCEF) {
+        priv->status = UTSC_STATUS_FAIL;
+        dbg_touch("TSC Failure.");
+        TSC->ICR = TSC_ICR_EOAIC | TSC_ICR_MCEIC;
+    }
+
+    if (TSC->ISR & TSC_ISR_EOAF) {
+        TSC->ICR = TSC_ICR_EOAIC;
+//        assert_param((TSC->IOGCSR>>16) == priv->groups_phase[priv->next_phase]);
+
+        // Store captured data
+        const uint32_t chmask = priv->channels_phase[priv->next_phase];
+        for (int i = 0; i < 32; i++) {
+            if (chmask & (1<<i)) {
+                priv->readouts[i] = (uint16_t) (TSC->IOGXCR[i >> 2] & 0x3FFF);
+            }
+        }
+
+        priv->next_phase++;
+        // check if we've run out of existing or populated groups
+        if (priv->next_phase == 3 || priv->groups_phase[priv->next_phase] == 0) {
+            priv->next_phase = 0;
+            priv->status = UTSC_STATUS_READY;
+            // we'll stay in READY after the first loop until an error occurs or it's re-inited
+        }
+
+        TSC->CR &= ~TSC_CR_IODEF; // pull low - discharge
+    }
+
+    priv->ongoing = false;
+    priv->discharge_delay = DIS_TIME;
+}
+
+#if TSC_DEBUG
+static volatile uint32_t xcnt=0;
+#endif
+
+void UTOUCH_updateTick(Unit *unit)
+{
+#if TSC_DEBUG
+    xcnt++;
+#endif
+
+    struct priv *priv = unit->data;
+
+    if (priv->ongoing) {
+        return;
+    }
+
+    if (priv->discharge_delay > 0) {
+        priv->discharge_delay--;
+    } else {
+        startNextPhase(priv);
+    }
+
+#if TSC_DEBUG
+    if(xcnt >= 250) {
+        xcnt=0;
+        PRINTF("> ");
+        for (int i = 0; i < 32; i++) {
+            if (priv->all_channels_mask & (1<<i)) {
+                PRINTF("%d ", (int)priv->readouts[i]);
+            }
+        }
+        PRINTF("\r\n");
+    }
+#endif
+}
+
+static void startNextPhase(struct priv *priv)
+{
+    if (priv->next_phase == 0 && priv->groups_phase[0] == 0) {
+        // no groups are configured
+        return;
+    }
+
+    TSC->IOGCSR = priv->groups_phase[priv->next_phase];
+    TSC->IOCCR = priv->channels_phase[priv->next_phase];
+    TSC->ICR = TSC_ICR_EOAIC | TSC_ICR_MCEIC;
+
+    if (priv->cfg.interlaced) {
+        TSC->CR |= TSC_CR_IODEF;
+        // floaty (must be used for interlaced pads)
+        // note: interlaced pads also need to be sampled individually
+    }
+
+    // Go!
+    priv->ongoing = true;
+    TSC->CR |= TSC_CR_START;
+}

units/touch/_touch_init.c

@@ -2,11 +2,11 @@
 // Created by MightyPork on 2018/02/03.
 //
 
-#include <stm32f072xb.h>
 #include "platform.h"
 #include "unit_base.h"
 
 #define TOUCH_INTERNAL
+
 #include "_touch_internal.h"
 
 /** Allocate data structure and set defaults */
@@ -33,10 +33,47 @@ error_t UTOUCH_init(Unit *unit)
     bool suc = true;
     struct priv *priv = unit->data;
 
+    unit->tick_interval = 1; // sample every 1 ms
+
     TRY(rsc_claim(unit, R_TSC));
 
+    // simple bound checks, just clamp without error
+    if (priv->cfg.charge_time > 16) priv->cfg.charge_time = 16;
+    if (priv->cfg.charge_time < 1) priv->cfg.charge_time = 1;
+
+    if (priv->cfg.drain_time > 16) priv->cfg.drain_time = 16;
+    if (priv->cfg.drain_time < 1) priv->cfg.drain_time = 1;
+
+    if (priv->cfg.spread_deviation > 128) priv->cfg.drain_time = 128;
+
+    if (priv->cfg.ss_presc > 2) priv->cfg.ss_presc = 2;
+    if (priv->cfg.ss_presc < 1) priv->cfg.ss_presc = 1;
+
+    if (priv->cfg.sense_timeout > 7) priv->cfg.sense_timeout = 7;
+    if (priv->cfg.sense_timeout < 1) priv->cfg.sense_timeout = 1;
+
+    uint8_t tmppgpresc = priv->cfg.pg_presc;
+    if (tmppgpresc == 0) return E_BAD_CONFIG;
+    uint8_t pgpresc_reg = 0;
+    while ((tmppgpresc & 1) == 0 && tmppgpresc != 0) {
+        pgpresc_reg++;
+        tmppgpresc >>= 1;
+    }
+    if (tmppgpresc != 1 || pgpresc_reg > 7) {
+        dbg("Bad pgpresc");
+        return E_BAD_CONFIG; // TODO better reporting
+    }
+
+    if ((pgpresc_reg==0 && priv->cfg.drain_time<=2) || (pgpresc_reg==1 && priv->cfg.drain_time==0)) {
+        dbg("Illegal PGPSC vs CTPL");
+        return E_BAD_CONFIG;
+    }
+
     // enable clock
     hw_periph_clock_enable(TSC);
+    // reset
+    __HAL_RCC_TSC_FORCE_RESET();
+    __HAL_RCC_TSC_RELEASE_RESET();
 
     for (int gi = 0; gi < 8; gi++) {
         const uint8_t cap = priv->cfg.group_scaps[gi];
@@ -44,7 +81,7 @@ error_t UTOUCH_init(Unit *unit)
 
         if (cap == 0) {
             if (ch != 0) {
-                dbg_touch("TSC group %d has no cap!", (int)(gi+1));
+                dbg_touch("TSC group %d has no cap!", (int) (gi + 1));
                 return E_BAD_CONFIG;
             }
             continue;
@@ -53,51 +90,89 @@ error_t UTOUCH_init(Unit *unit)
         if (ch == 0) continue; // if no channels, don't bother setting up anything
 
         if (cap != 2 && cap != 4 && cap != 8 && cap != 16) {
-            dbg_touch("TSC group %d has more than 1 cap!", (int)(gi+1));
+            dbg_touch("TSC group %d has more than 1 cap!", (int) (gi + 1));
             return E_BAD_CONFIG;
         }
 
         if (cap & ch) {
-            dbg_touch("TSC pin can't be both channel and cap! (gpr %d)", (int)(gi+1));
+            dbg_touch("TSC pin can't be both channel and cap! (gpr %d)", (int) (gi + 1));
             return E_BAD_CONFIG;
         }
 
-        int chnum = 0;
+        // This is a loop through the pins in a group gi
+        int phasenum = 0;
         for (int pi = 0; pi < 4; pi++) {
             // pin numbers are 1-based in the config
             const bool iscap = 0 != (cap & (2 << pi));
             const bool isch = 0 != (ch & (2 << pi));
 
-            if (iscap || isch) {
+            if (!iscap && !isch) continue;
+
             Resource r = utouch_group_rscs[gi][pi];
             TRY(rsc_claim(unit, r));
+
+            GPIO_TypeDef *port;
+            uint32_t ll;
+            assert_param(hw_pinrsc2ll(r, &port, &ll));
+            LL_GPIO_SetPinOutputType(port, ll, isch ? LL_GPIO_OUTPUT_PUSHPULL : LL_GPIO_OUTPUT_OPENDRAIN);
+
             // 7 and 8 (1-based) use AF1, else AF3
             TRY(hw_configure_gpiorsc_af(r, gi >= 6 ? LL_GPIO_AF_1 : LL_GPIO_AF_3));
 
-                if (iscap) dbg_touch("TSC *cap @ %s", rsc_get_name(r));
-                else dbg_touch("TSC -ch @ %s", rsc_get_name(r));
-            }
+            uint32_t bit = (uint32_t) (1 << (gi * 4 + pi));
 
-            // Sampling cap
             if (iscap) {
-                TSC->IOSCR |= (cap>>1) << (gi*4);
+                dbg_touch("TSC cap @ %s", rsc_get_name(r));
+                // Sampling cap
+                TSC->IOSCR |= bit;
+
+                // Disable pin hysteresis (causes noise)
+                TSC->IOHCR ^= bit;
             }
+            else {
+                dbg_touch("TSC ch @ %s", rsc_get_name(r));
 
                 // channels are configured individually when read.
                 // we prepare bitmaps to use for the read groups (all can be read in at most 3 steps)
-            if (isch) {
-                priv->channels_phase[chnum] |= 1 << (gi*4+pi);
-                priv->pgen_phase[chnum] |= 1 << gi;
-                chnum++;
+                priv->channels_phase[phasenum] |= bit; // this is used for the channel selection register
+                priv->groups_phase[phasenum] |= 1 << gi; // this will be used for the group enable register, if all 0, this and any following phases are unused.
+                phasenum++;
             }
         }
     }
 
+    // common TSC config
+    TSC->CR =
+        ((priv->cfg.charge_time - 1) << TSC_CR_CTPH_Pos) |
+        ((priv->cfg.drain_time - 1) << TSC_CR_CTPL_Pos) |
+        ((priv->cfg.ss_presc - 1) << TSC_CR_SSPSC_Pos) |
+        (pgpresc_reg << TSC_CR_PGPSC_Pos) |
+        ((priv->cfg.sense_timeout - 1) << TSC_CR_MCV_Pos) |
+        TSC_CR_TSCE;
+
+    if (priv->cfg.spread_deviation > 0) {
+        TSC->CR |= ((priv->cfg.spread_deviation - 1) << TSC_CR_SSD_Pos) | TSC_CR_SSE;
+    }
+
+    dbg_touch("CR = %08x, ht is %d, lt is %d", TSC->CR, priv->cfg.charge_time, priv->cfg.drain_time);
+
+    // iofloat is used for discharging
+
+    // Enable the interrupts
+    TSC->IER = TSC_IER_EOAIE | TSC_IER_MCEIE;
+    irqd_attach(TSC, UTOUCH_HandleIrq, unit);
+
     dbg_touch("TSC phases:");
+    priv->all_channels_mask = 0;
     for (int i = 0; i < 3; i++) {
-        dbg_touch(" %d: ch %08"PRIx32", g %02"PRIx32, i+1, priv->channels_phase[i], (uint32_t)priv->pgen_phase[i]);
+        priv->all_channels_mask |= priv->channels_phase[i];
+        dbg_touch(" %d: ch %08"PRIx32", g %02"PRIx32, i + 1, priv->channels_phase[i], (uint32_t) priv->groups_phase[i]);
     }
 
+    priv->status = UTSC_STATUS_BUSY; // first loop ...
+    priv->next_phase = 0;
+    UTOUCH_updateTick(unit);
+
     return E_SUCCESS;
 }
 
@@ -108,11 +183,13 @@ void UTOUCH_deInit(Unit *unit)
     struct priv *priv = unit->data;
 
     // de-init peripherals
-    if (unit->status == E_SUCCESS ) {
+    if (unit->status == E_SUCCESS) {
         hw_periph_clock_disable(TSC);
         // clear all registers to their default values
         __HAL_RCC_TSC_FORCE_RESET();
         __HAL_RCC_TSC_RELEASE_RESET();
+
+        irqd_detach(TSC, UTOUCH_HandleIrq);
     }
 
     // Release all resources, deinit pins

units/touch/_touch_internal.h

@@ -11,14 +11,20 @@
 
 #include "unit_base.h"
 
-#define TSC_DEBUG 0
+#define TSC_DEBUG 1
 
 #if TSC_DEBUG
-#define dbg_touch(...) dbg(...)
+#define dbg_touch(f,...) dbg(f,##__VA_ARGS__)
 #else
-#define dbg_touch(...) do{}while(0)
+#define dbg_touch(f,...) do{}while(0)
 #endif
 
+enum utsc_status {
+    UTSC_STATUS_BUSY = 0,
+    UTSC_STATUS_READY = 1,
+    UTSC_STATUS_FAIL = 2
+};
+
 /** Private data structure */
 struct priv {
     // settings
@@ -32,12 +38,18 @@ struct priv {
         // the schmitts must be disabled on all used channels, restored to 0xFFFF on deinit
         uint8_t group_scaps[8];
         uint8_t group_channels[8];
+        bool interlaced;
     } cfg;
 
     uint8_t next_phase;
+    uint8_t discharge_delay;
     uint32_t channels_phase[3];
-    uint8_t pgen_phase[3];
+    uint8_t groups_phase[3];
     uint16_t readouts[32];
+    uint32_t all_channels_mask;
+    bool ongoing;
+
+    enum utsc_status status;
 };
 
 extern const char *utouch_group_labels[8];
@@ -68,4 +80,8 @@ error_t UTOUCH_init(Unit *unit);
 /** Tear down the unit */
 void UTOUCH_deInit(Unit *unit);
 
+void UTOUCH_updateTick(Unit *unit);
+
+void UTOUCH_HandleIrq(void *arg);
+
 #endif //GEX_F072_TOUCH_INTERNAL_H

units/touch/_touch_settings.c

@@ -46,6 +46,10 @@ void UTOUCH_loadBinary(Unit *unit, PayloadParser *pp)
     priv->cfg.sense_timeout = pp_u8(pp);
     pp_buf(pp, priv->cfg.group_scaps, 8);
     pp_buf(pp, priv->cfg.group_channels, 8);
+
+    if (version >= 1) {
+        priv->cfg.interlaced = pp_bool(pp);
+    }
 }
 
 /** Write to a binary buffer for storing in Flash */
@@ -53,7 +57,7 @@ void UTOUCH_writeBinary(Unit *unit, PayloadBuilder *pb)
 {
     struct priv *priv = unit->data;
 
-    pb_u8(pb, 0); // version
+    pb_u8(pb, 1); // version
 
     pb_u8(pb, priv->cfg.charge_time);
     pb_u8(pb, priv->cfg.drain_time);
@@ -63,6 +67,7 @@ void UTOUCH_writeBinary(Unit *unit, PayloadBuilder *pb)
     pb_u8(pb, priv->cfg.sense_timeout);
     pb_buf(pb, priv->cfg.group_scaps, 8);
     pb_buf(pb, priv->cfg.group_channels, 8);
+    pb_bool(pb, priv->cfg.interlaced);
 }
 
 // ------------------------------------------------------------------------
@@ -91,6 +96,9 @@ error_t UTOUCH_loadIni(Unit *unit, const char *key, const char *value)
     else if (streq(key, "sense-timeout")) {
         priv->cfg.sense_timeout = cfg_u8_parse(value, &suc);
     }
+    else if (streq(key, "interlaced-pads")) {
+        priv->cfg.interlaced = cfg_bool_parse(value, &suc);
+    }
     else {
         volatile char namebuf[10]; // must be volatile or gcc optimizes out the second compare and fucks it up
 
@@ -126,17 +134,23 @@ void UTOUCH_writeIni(Unit *unit, IniWriter *iw)
     iw_cmt_newline(iw);
 
     iw_comment(iw, "Pulse generator clock prescaller (1,2,4,...,128)");
-    iw_entry(iw, "pg-clock-prediv", "%d", (int)priv->cfg.ss_presc);
+    iw_entry(iw, "pg-clock-prediv", "%d", (int)priv->cfg.pg_presc);
     iw_comment(iw, "Sense pad charging time (1-16)");
     iw_entry(iw, "charge-time", "%d", (int)priv->cfg.charge_time);
     iw_comment(iw, "Charge transfer time (1-16)");
     iw_entry(iw, "drain-time", "%d", (int)priv->cfg.drain_time);
+    iw_comment(iw, "Measurement timeout (1-7)");
+    iw_entry(iw, "sense-timeout", "%d", (int)priv->cfg.sense_timeout);
+
+    iw_cmt_newline(iw);
     iw_comment(iw, "Spread spectrum max deviation (0-128,0=off)");
     iw_entry(iw, "ss-deviation", "%d", (int)priv->cfg.spread_deviation);
     iw_comment(iw, "Spreading clock prescaller (1,2)");
     iw_entry(iw, "ss-clock-prediv", "%d", (int)priv->cfg.ss_presc);
-    iw_comment(iw, "Measurement timeout (1-7)");
-    iw_entry(iw, "sense-timeout", "%d", (int)priv->cfg.sense_timeout);
+
+    iw_cmt_newline(iw);
+    iw_comment(iw, "Optimize for interlaced pads");
+    iw_entry(iw, "interlaced-pads", str_yn(priv->cfg.interlaced));
 
     iw_cmt_newline(iw);
     iw_comment(iw, "Each used group must have 1 sampling capacitor and 1-3 channels.");

units/touch/unit_touch.c

@@ -11,13 +11,28 @@
 // ------------------------------------------------------------------------
 
 enum TouchCmd_ {
-    DUMMY=0
+    CMD_READ=0
 };
 
 /** Handle a request message */
 static error_t UTOUCH_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command, PayloadParser *pp)
 {
+    struct priv* priv = unit->data;
+
     switch (command) {
+        case CMD_READ:
+            if (priv->status == UTSC_STATUS_BUSY) return E_BUSY;
+            if (priv->status == UTSC_STATUS_FAIL) return E_HW_TIMEOUT;
+
+            PayloadBuilder pb = pb_start(unit_tmp512, UNIT_TMP_LEN, NULL);
+            for (int i = 0; i < 32; i++) {
+                if (priv->all_channels_mask & (1<<i)) {
+                    pb_u16(&pb, priv->readouts[i]);
+                }
+            }
+            com_respond_pb(frame_id, MSG_SUCCESS, &pb);
+            return E_SUCCESS;
+
         default:
             return E_UNKNOWN_COMMAND;
     }
@@ -25,18 +40,6 @@ static error_t UTOUCH_handleRequest(Unit *unit, TF_ID frame_id, uint8_t command,
 
 // ------------------------------------------------------------------------
 
-/**
- * Handle update-tick (if configured in init)
- *
- * @param unit
- */
-static void UTOUCH_updateTick(Unit *unit)
-{
-    //
-}
-
-// ------------------------------------------------------------------------
-
 /** Unit template */
 const UnitDriver UNIT_TOUCH = {
     .name = "TOUCH",