/** * Copyright (c) 2016 - 2019, Nordic Semiconductor ASA * * All rights reserved. * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. Redistributions in binary form, except as embedded into a Nordic * Semiconductor ASA integrated circuit in a product or a software update for * such product, must reproduce the above copyright notice, this list of * conditions and the following disclaimer in the documentation and/or other * materials provided with the distribution. * * 3. Neither the name of Nordic Semiconductor ASA nor the names of its * contributors may be used to endorse or promote products derived from this * software without specific prior written permission. * * 4. This software, with or without modification, must only be used with a * Nordic Semiconductor ASA integrated circuit. * * 5. Any software provided in binary form under this license must not be reverse * engineered, decompiled, modified and/or disassembled. * * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * */ #include "sdk_common.h" #if NRF_MODULE_ENABLED(NRF_CSENSE) #include #include #include "nrf_csense.h" #include "nrf_peripherals.h" #include "nrf_assert.h" #if defined(__CC_ARM) #elif defined(__ICCARM__) #elif defined(__GNUC__) #ifndef __CLZ #define __CLZ(x) __builtin_clz(x) #endif #endif APP_TIMER_DEF(nrf_csense_timer); typedef struct { nrf_csense_event_handler_t event_handler; //!< Event handler for module. nrfx_drv_state_t state; //!< State of module. uint32_t ticks; //!< Timeout ticks of app_timer instance controlling csense module. uint16_t raw_analog_values[MAX_ANALOG_INPUTS]; //!< Raw values of measurements. uint8_t enabled_analog_channels_mask; //!< Mask of enabled channels. } nrf_csense_t; /* Module instance. */ static nrf_csense_t m_nrf_csense; /* First of touch elements instances that creates linked list. */ static nrf_csense_instance_t * mp_nrf_csense_instance_head; /* Buffer for values got from measurements. */ static uint16_t m_values_buffer[NRF_CSENSE_MAX_PADS_NUMBER]; /** * @brief Function for handling time-outs. * * @param[in] p_context General purpose pointer. Will be passed to the time-out handler * when the timer expires. */ static void csense_timer_handler(void * p_context) { if (m_nrf_csense.state != NRFX_DRV_STATE_POWERED_ON) { return; } if (nrf_drv_csense_sample() == NRF_ERROR_BUSY) { return; } } /** * @brief Function for updating maximum or minimum value. * * @param [in] p_instance Pointer to csense instance. * @param [in] p_pad Pointer to pad which should be checked for minimum or maximum value. */ __STATIC_INLINE void min_or_max_update(nrf_csense_instance_t const * p_instance, nrf_csense_pad_t * p_pad) { uint16_t val = m_nrf_csense.raw_analog_values[p_pad->analog_input_number]; if (p_instance->min_max[p_pad->pad_index].min_value > val) { p_instance->min_max[p_pad->pad_index].min_value = val; } if (p_instance->min_max[p_pad->pad_index].max_value < val) { p_instance->min_max[p_pad->pad_index].max_value = val; } } /** * @brief Function for calculating proportions on slider pad. * * @note This function help to self calibrate the pads. * * @param [in] p_instance Pointer to csense instance. * @param [in] p_pad Pointer to pad to calculate ratio for. * * @return Difference between maximum and minimum values read on pads or 0 if minimum is bigger than maximum. * */ __STATIC_INLINE uint16_t ratio_calculate(nrf_csense_instance_t const * p_instance, nrf_csense_pad_t * p_pad) { if (p_instance->min_max[p_pad->pad_index].max_value > p_instance->min_max[p_pad->pad_index].min_value) { uint16_t scale; scale = (uint16_t)(p_instance->min_max[p_pad->pad_index].max_value - p_instance->min_max[p_pad->pad_index].min_value); return scale; } else { return 0; } } /** * @brief Function for calculating step. * * Function calculates step for slider basing on index of touched pads and values measured on * them and neighboring pads. * * @param[in] p_instance Pointer to csense instance. * @param[in] pad_index Index of the pad. * * @return Detected touched step. */ static uint16_t calculate_step(nrf_csense_instance_t * p_instance, uint8_t pad_index) { uint16_t step = 0; uint32_t values_sum; uint32_t values_product; pad_index += 1; values_sum = m_values_buffer[pad_index] + m_values_buffer[pad_index - 1] + m_values_buffer[pad_index + 1]; values_product = (uint32_t)(p_instance->steps-1) * (m_values_buffer[pad_index - 1] * (pad_index - 2) + m_values_buffer[pad_index] * (pad_index - 1) + m_values_buffer[pad_index + 1] * (pad_index)); step = 1 + ROUNDED_DIV(values_product, (values_sum * (p_instance->number_of_pads - 1))); // Add 1 to the result of the division // to get the appropriate range of values. memset((void*)m_values_buffer, 0, sizeof(m_values_buffer)); return step; } /** * @brief Function for finding mask of touched pads. * * @param [in] p_instance Pointer to csense instance. * * @return Mask of touched pads. */ static uint32_t find_touched_mask(nrf_csense_instance_t const * p_instance) { uint32_t touched_mask = 0; uint16_t max_value = 0; uint16_t ratio; nrf_csense_pad_t * p_pad; for (p_pad = p_instance->p_nrf_csense_pad; NULL != p_pad; p_pad = p_pad->p_next_pad) // run through all pads and look for those with biggest value { min_or_max_update(p_instance, p_pad); ratio = ratio_calculate(p_instance, p_pad); if (ratio == 0) { return 0; } uint16_t val = (uint16_t)(((uint32_t)(m_nrf_csense.raw_analog_values[p_pad->analog_input_number] - p_instance->min_max[p_pad->pad_index].min_value) * NRF_CSENSE_MAX_VALUE) / ratio); m_values_buffer[p_pad->pad_index+1] = val; if (val > max_value) { max_value = val; touched_mask = (1UL << (p_pad->pad_index)); } else if (val == max_value) { max_value = val; touched_mask |= (1UL << (p_pad->pad_index)); } } return touched_mask; } /** * @brief Function for finding touched pad. * * If there is more than one pad connected to an analog channel this functions which one was actually touched. This is done by * comparing values of neighboring pads. * * @param [in] instance Pointer to csense instance. * @param [in] touched_mask Mask of touched pads. * * @return Touched pad. */ static uint16_t find_touched_pad(nrf_csense_instance_t const * p_instance, uint32_t touched_mask) { uint8_t i; uint8_t biggest_deviation = 0; uint8_t temp_biggest = 0; uint16_t pad = UINT16_MAX; static uint16_t previous_pad = 0; for (i = 0; i < (p_instance->number_of_pads); i++) { if ((1UL << i) & touched_mask) { temp_biggest = m_values_buffer[i]; temp_biggest += m_values_buffer[i + 2]; if ((i != 0) && (i != ((p_instance->number_of_pads-1)))) { temp_biggest /= 2; } if ((temp_biggest > NRF_CSENSE_PAD_DEVIATION) && (temp_biggest > biggest_deviation)) { biggest_deviation = temp_biggest; pad = i; } } } if (pad == UINT16_MAX) { pad = previous_pad; } else { previous_pad = pad; } return pad; } /** * @brief Function for finding touched step. * * @param [in] instance Pointer to csense instance. * * @return Detected touched step. */ static uint16_t find_touched_step(nrf_csense_instance_t * p_instance) { uint32_t touched_mask = 0; uint16_t pad = 0; uint16_t step; touched_mask = find_touched_mask(p_instance); if (touched_mask == 0) { return UINT16_MAX; } if ((touched_mask & (-(int32_t)touched_mask)) == touched_mask) // Check if there is only one pad with greatest value. { pad = 31 - __CLZ(touched_mask); } else { pad = find_touched_pad(p_instance, touched_mask); } step = calculate_step(p_instance, pad); return step; } /** * @brief Event handler for csense. * * param [in] p_event_struct Pointer to event structure. */ static void csense_event_handler(nrf_drv_csense_evt_t * p_event_struct) { nrf_csense_evt_t event; static uint16_t prev_analog_values[MAX_ANALOG_INPUTS]; bool touched = false; nrf_csense_instance_t * instance; uint8_t i; if ((m_nrf_csense.enabled_analog_channels_mask & (1UL << (p_event_struct->analog_channel))) == 0) { return; } m_nrf_csense.raw_analog_values[p_event_struct->analog_channel] = p_event_struct->read_value; if (nrf_drv_csense_is_busy()) { return; } for (instance = mp_nrf_csense_instance_head; instance != NULL; instance = instance->p_next_instance) // run through all instances { if (instance->is_active) { event.p_instance = instance; nrf_csense_pad_t * p_pad = instance->p_nrf_csense_pad; for (i = 0; i < MAX_ANALOG_INPUTS; i++) { if ((m_nrf_csense.raw_analog_values[i] < (prev_analog_values[i] - NRF_CSENSE_PAD_HYSTERESIS)) || (m_nrf_csense.raw_analog_values[i] > (prev_analog_values[i] + NRF_CSENSE_PAD_HYSTERESIS))) { touched = true; break; } } if (touched) { touched = false; for (p_pad = instance->p_nrf_csense_pad; p_pad != NULL; p_pad = p_pad->p_next_pad) { if (m_nrf_csense.raw_analog_values[p_pad->analog_input_number] > p_pad->threshold) { touched = true; break; } } } else { continue; } // Specify the event if ((instance->is_touched) && touched) { // dragged if (instance->number_of_pads > 1) { event.params.slider.step = find_touched_step(instance); event.nrf_csense_evt_type = NRF_CSENSE_SLIDER_EVT_DRAGGED; m_nrf_csense.event_handler(&event); } } else if ((!(instance->is_touched)) && touched) { // pressed if (instance->number_of_pads > 1) { event.params.slider.step = find_touched_step(instance); event.nrf_csense_evt_type = NRF_CSENSE_SLIDER_EVT_PRESSED; } else { event.nrf_csense_evt_type = NRF_CSENSE_BTN_EVT_PRESSED; } instance->is_touched = true; m_nrf_csense.event_handler(&event); } else if ((instance->is_touched) && (!touched)) { // released if (instance->number_of_pads > 1) { event.params.slider.step = find_touched_step(instance); event.nrf_csense_evt_type = NRF_CSENSE_SLIDER_EVT_RELEASED; } else { event.nrf_csense_evt_type = NRF_CSENSE_BTN_EVT_RELEASED; } instance->is_touched = false; m_nrf_csense.event_handler(&event); } else { // nothing changed } } touched = false; } memset(m_values_buffer, 0, sizeof(m_values_buffer)); memcpy(prev_analog_values, m_nrf_csense.raw_analog_values, sizeof(m_nrf_csense.raw_analog_values)); } ret_code_t nrf_csense_init(nrf_csense_event_handler_t event_handler, uint32_t ticks) { ASSERT(event_handler != NULL); ASSERT(m_nrf_csense.state == NRFX_DRV_STATE_UNINITIALIZED); ret_code_t err_code; static const nrf_drv_csense_config_t m_csense_config = { .output_pin = NRF_CSENSE_OUTPUT_PIN }; m_nrf_csense.event_handler = event_handler; m_nrf_csense.ticks = ticks; mp_nrf_csense_instance_head = NULL; err_code = app_timer_create(&nrf_csense_timer, APP_TIMER_MODE_REPEATED, csense_timer_handler); if (err_code != NRF_SUCCESS) { return err_code; } err_code = nrf_drv_csense_init(&m_csense_config, csense_event_handler); if (err_code != NRF_SUCCESS) { return err_code; } m_nrf_csense.state = NRFX_DRV_STATE_INITIALIZED; return NRF_SUCCESS; } ret_code_t nrf_csense_uninit(void) { ASSERT(m_nrf_csense.state != NRFX_DRV_STATE_UNINITIALIZED); ret_code_t err_code; nrf_csense_instance_t ** pp_instance = &mp_nrf_csense_instance_head; err_code = nrf_drv_csense_uninit(); if (err_code != NRF_SUCCESS) { return err_code; } if (m_nrf_csense.enabled_analog_channels_mask != 0) { err_code = app_timer_stop(nrf_csense_timer); if (err_code != NRF_SUCCESS) { return err_code; } } while ((*pp_instance) != NULL) { nrf_csense_instance_t ** pp_instance_next = (&(*pp_instance)->p_next_instance); (*pp_instance) = NULL; pp_instance = pp_instance_next; } memset((void *)&m_nrf_csense, 0, sizeof(nrf_csense_t)); m_nrf_csense.state = NRFX_DRV_STATE_UNINITIALIZED; return NRF_SUCCESS; } ret_code_t nrf_csense_add(nrf_csense_instance_t * const p_instance) { ASSERT(m_nrf_csense.state != NRFX_DRV_STATE_UNINITIALIZED); ASSERT(p_instance->p_next_instance == NULL); ASSERT(p_instance != NULL); ret_code_t err_code; nrf_csense_instance_t ** pp_instance = &mp_nrf_csense_instance_head; while ((*pp_instance) != NULL) { ASSERT((*pp_instance) != p_instance); pp_instance = &((*pp_instance)->p_next_instance); } *pp_instance = p_instance; err_code = nrf_csense_enable(p_instance); return err_code; } ret_code_t nrf_csense_enable(nrf_csense_instance_t * const p_instance) { ASSERT(m_nrf_csense.state != NRFX_DRV_STATE_UNINITIALIZED); ASSERT(p_instance != NULL); ret_code_t err_code; nrf_csense_pad_t const * p_pad; uint8_t analog_channels_mask = 0; if (m_nrf_csense.enabled_analog_channels_mask == 0) { err_code = app_timer_start(nrf_csense_timer, m_nrf_csense.ticks, NULL); if (err_code != NRF_SUCCESS) { return err_code; } } p_instance->is_active = true; for (p_pad = p_instance->p_nrf_csense_pad; p_pad != NULL; p_pad = p_pad->p_next_pad) { p_instance->min_max[p_pad->pad_index].min_value = UINT16_MAX; // If channel was already enabled skip it. if ((m_nrf_csense.enabled_analog_channels_mask & (1UL << (p_pad->analog_input_number))) == 0) { analog_channels_mask |= (1UL << (p_pad->analog_input_number)); m_nrf_csense.enabled_analog_channels_mask |= (1UL << (p_pad->analog_input_number)); } } m_nrf_csense.state = NRFX_DRV_STATE_POWERED_ON; nrf_drv_csense_channels_enable(analog_channels_mask); return NRF_SUCCESS; } ret_code_t nrf_csense_disable(nrf_csense_instance_t * const p_instance) { ASSERT(m_nrf_csense.state == NRFX_DRV_STATE_POWERED_ON); ret_code_t err_code; nrf_csense_instance_t * p_instance_temp = mp_nrf_csense_instance_head; nrf_csense_pad_t const * p_pad; uint8_t channels_mask = 0; uint8_t instance_channels_mask = 0; for (p_instance_temp = mp_nrf_csense_instance_head; p_instance_temp != NULL; p_instance_temp = p_instance_temp->p_next_instance) { for (p_pad = p_instance_temp->p_nrf_csense_pad; p_pad != NULL; p_pad = p_pad->p_next_pad) { if (p_instance_temp == p_instance) { instance_channels_mask |= (1UL << (p_pad->analog_input_number)); p_instance->is_active = false; } else { channels_mask |= (1UL << (p_pad->analog_input_number)); } } } nrf_drv_csense_channels_disable((~channels_mask) & instance_channels_mask); m_nrf_csense.enabled_analog_channels_mask = channels_mask; if (m_nrf_csense.enabled_analog_channels_mask == 0) { err_code = app_timer_stop(nrf_csense_timer); if (err_code != NRF_SUCCESS) { return err_code; } m_nrf_csense.state = NRFX_DRV_STATE_INITIALIZED; } return NRF_SUCCESS; } ret_code_t nrf_csense_ticks_set(uint32_t ticks) { ASSERT(m_nrf_csense.state != NRFX_DRV_STATE_UNINITIALIZED); ret_code_t err_code; if (nrf_drv_csense_is_busy()) { return NRF_ERROR_BUSY; } m_nrf_csense.ticks = ticks; if (m_nrf_csense.state == NRFX_DRV_STATE_POWERED_ON) { err_code = app_timer_stop(nrf_csense_timer); if (err_code != NRF_SUCCESS) { return err_code; } err_code = app_timer_start(nrf_csense_timer, ticks, NULL); if (err_code != NRF_SUCCESS) { return err_code; } } return NRF_SUCCESS; } ret_code_t nrf_csense_steps_set(nrf_csense_instance_t * const p_instance, uint16_t steps) { if (p_instance->is_active) { return NRF_ERROR_INVALID_STATE; } p_instance->steps = steps; return NRF_SUCCESS; } #endif //NRF_MODULE_ENABLED(NRF_CSENSE)