Wilmer Briceño / TSIServo

Libreria para manejo de Touchpad

Dependents:   Module2-vibrations

TSISensor.cpp@0:53d8d4e25c00, 2015-06-08 (annotated)

Committer:
RafaB
Date:
Mon Jun 08 00:52:01 2015 +0000
Revision:
0:53d8d4e25c00
Librer?a Touchpad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RafaB 0:53d8d4e25c00 1 /* Freescale Semiconductor Inc.
RafaB 0:53d8d4e25c00 2 * (c) Copyright 2004-2005 Freescale Semiconductor, Inc.
RafaB 0:53d8d4e25c00 3 * (c) Copyright 2001-2004 Motorola, Inc.
RafaB 0:53d8d4e25c00 4 *
RafaB 0:53d8d4e25c00 5 * mbed Microcontroller Library
RafaB 0:53d8d4e25c00 6 * (c) Copyright 2009-2012 ARM Limited.
RafaB 0:53d8d4e25c00 7 *
RafaB 0:53d8d4e25c00 8 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
RafaB 0:53d8d4e25c00 9 * and associated documentation files (the "Software"), to deal in the Software without
RafaB 0:53d8d4e25c00 10 * restriction, including without limitation the rights to use, copy, modify, merge, publish,
RafaB 0:53d8d4e25c00 11 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
RafaB 0:53d8d4e25c00 12 * Software is furnished to do so, subject to the following conditions:
RafaB 0:53d8d4e25c00 13 *
RafaB 0:53d8d4e25c00 14 * The above copyright notice and this permission notice shall be included in all copies or
RafaB 0:53d8d4e25c00 15 * substantial portions of the Software.
RafaB 0:53d8d4e25c00 16 *
RafaB 0:53d8d4e25c00 17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
RafaB 0:53d8d4e25c00 18 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
RafaB 0:53d8d4e25c00 19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
RafaB 0:53d8d4e25c00 20 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
RafaB 0:53d8d4e25c00 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
RafaB 0:53d8d4e25c00 22 */
RafaB 0:53d8d4e25c00 23
RafaB 0:53d8d4e25c00 24 #include "mbed.h"
RafaB 0:53d8d4e25c00 25 #include "TSISensor.h"
RafaB 0:53d8d4e25c00 26
RafaB 0:53d8d4e25c00 27 #define NO_TOUCH 0
RafaB 0:53d8d4e25c00 28 #define SLIDER_LENGTH 40 //LENGTH in mm
RafaB 0:53d8d4e25c00 29 #define TOTAL_ELECTRODE 3
RafaB 0:53d8d4e25c00 30
RafaB 0:53d8d4e25c00 31 #define TSI0a 0
RafaB 0:53d8d4e25c00 32 #define TSI1 1
RafaB 0:53d8d4e25c00 33 #define TSI2 2
RafaB 0:53d8d4e25c00 34 #define TSI3 3
RafaB 0:53d8d4e25c00 35 #define TSI4 4
RafaB 0:53d8d4e25c00 36 #define TSI5 5
RafaB 0:53d8d4e25c00 37 #define TSI6 6
RafaB 0:53d8d4e25c00 38 #define TSI7 7
RafaB 0:53d8d4e25c00 39 #define TSI8 8
RafaB 0:53d8d4e25c00 40 #define TSI9 9
RafaB 0:53d8d4e25c00 41 #define TSI10 10
RafaB 0:53d8d4e25c00 42 #define TSI11 11
RafaB 0:53d8d4e25c00 43 #define TSI12 12
RafaB 0:53d8d4e25c00 44 #define TSI13 13
RafaB 0:53d8d4e25c00 45 #define TSI14 14
RafaB 0:53d8d4e25c00 46 #define TSI15 15
RafaB 0:53d8d4e25c00 47
RafaB 0:53d8d4e25c00 48 /*Chose the correct TSI channel for the electrode number*/
RafaB 0:53d8d4e25c00 49 #define ELECTRODE0 TSI9
RafaB 0:53d8d4e25c00 50 #define ELECTRODE1 TSI10
RafaB 0:53d8d4e25c00 51 #define ELECTRODE2 TSI0a
RafaB 0:53d8d4e25c00 52 #define ELECTRODE3 TSI1
RafaB 0:53d8d4e25c00 53 #define ELECTRODE4 TSI2
RafaB 0:53d8d4e25c00 54 #define ELECTRODE5 TSI3
RafaB 0:53d8d4e25c00 55 #define ELECTRODE6 TSI4
RafaB 0:53d8d4e25c00 56 #define ELECTRODE7 TSI5
RafaB 0:53d8d4e25c00 57 #define ELECTRODE8 TSI6
RafaB 0:53d8d4e25c00 58 #define ELECTRODE9 TSI7
RafaB 0:53d8d4e25c00 59 #define ELECTRODE10 TSI8
RafaB 0:53d8d4e25c00 60 #define ELECTRODE11 TSI11
RafaB 0:53d8d4e25c00 61 #define ELECTRODE12 TSI12
RafaB 0:53d8d4e25c00 62 #define ELECTRODE13 TSI13
RafaB 0:53d8d4e25c00 63 #define ELECTRODE14 TSI14
RafaB 0:53d8d4e25c00 64 #define ELECTRODE15 TSI15
RafaB 0:53d8d4e25c00 65
RafaB 0:53d8d4e25c00 66 #define THRESHOLD0 100
RafaB 0:53d8d4e25c00 67 #define THRESHOLD1 100
RafaB 0:53d8d4e25c00 68 #define THRESHOLD2 100
RafaB 0:53d8d4e25c00 69 #define THRESHOLD3 100
RafaB 0:53d8d4e25c00 70 #define THRESHOLD4 100
RafaB 0:53d8d4e25c00 71 #define THRESHOLD5 100
RafaB 0:53d8d4e25c00 72 #define THRESHOLD6 100
RafaB 0:53d8d4e25c00 73 #define THRESHOLD7 100
RafaB 0:53d8d4e25c00 74 #define THRESHOLD8 100
RafaB 0:53d8d4e25c00 75 #define THRESHOLD9 100
RafaB 0:53d8d4e25c00 76 #define THRESHOLD10 100
RafaB 0:53d8d4e25c00 77 #define THRESHOLD11 100
RafaB 0:53d8d4e25c00 78 #define THRESHOLD12 100
RafaB 0:53d8d4e25c00 79 #define THRESHOLD13 100
RafaB 0:53d8d4e25c00 80 #define THRESHOLD14 100
RafaB 0:53d8d4e25c00 81 #define THRESHOLD15 100
RafaB 0:53d8d4e25c00 82
RafaB 0:53d8d4e25c00 83 static uint8_t total_electrode = TOTAL_ELECTRODE;
RafaB 0:53d8d4e25c00 84 static uint8_t elec_array[16]={ELECTRODE0,ELECTRODE1,ELECTRODE2,ELECTRODE3,ELECTRODE4,ELECTRODE5,
RafaB 0:53d8d4e25c00 85 ELECTRODE6,ELECTRODE7,ELECTRODE8,ELECTRODE9,ELECTRODE10,ELECTRODE11,
RafaB 0:53d8d4e25c00 86 ELECTRODE12,ELECTRODE13,ELECTRODE14,ELECTRODE15};
RafaB 0:53d8d4e25c00 87 static uint16_t gu16TSICount[16];
RafaB 0:53d8d4e25c00 88 static uint16_t gu16Baseline[16];
RafaB 0:53d8d4e25c00 89 static uint16_t gu16Threshold[16]={THRESHOLD0,THRESHOLD1,THRESHOLD2,THRESHOLD3,THRESHOLD4,THRESHOLD5,
RafaB 0:53d8d4e25c00 90 THRESHOLD6,THRESHOLD7,THRESHOLD8,THRESHOLD9,THRESHOLD10,THRESHOLD11,
RafaB 0:53d8d4e25c00 91 THRESHOLD12,THRESHOLD13,THRESHOLD14,THRESHOLD15};
RafaB 0:53d8d4e25c00 92 static uint16_t gu16Delta[16];
RafaB 0:53d8d4e25c00 93 static uint8_t ongoing_elec;
RafaB 0:53d8d4e25c00 94 static uint8_t end_flag = 1;
RafaB 0:53d8d4e25c00 95
RafaB 0:53d8d4e25c00 96 static uint8_t SliderPercentegePosition[2] = {NO_TOUCH,NO_TOUCH};
RafaB 0:53d8d4e25c00 97 static uint8_t SliderDistancePosition[2] = {NO_TOUCH,NO_TOUCH};
RafaB 0:53d8d4e25c00 98 static uint32_t AbsolutePercentegePosition = NO_TOUCH;
RafaB 0:53d8d4e25c00 99 static uint32_t AbsoluteDistancePosition = NO_TOUCH;
RafaB 0:53d8d4e25c00 100
RafaB 0:53d8d4e25c00 101 static void tsi_irq();
RafaB 0:53d8d4e25c00 102
RafaB 0:53d8d4e25c00 103 TSISensor::TSISensor() {
RafaB 0:53d8d4e25c00 104 SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
RafaB 0:53d8d4e25c00 105 SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
RafaB 0:53d8d4e25c00 106
RafaB 0:53d8d4e25c00 107 TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
RafaB 0:53d8d4e25c00 108 | TSI_GENCS_MODE(0)
RafaB 0:53d8d4e25c00 109 | TSI_GENCS_REFCHRG(4)
RafaB 0:53d8d4e25c00 110 | TSI_GENCS_DVOLT(0)
RafaB 0:53d8d4e25c00 111 | TSI_GENCS_EXTCHRG(7)
RafaB 0:53d8d4e25c00 112 | TSI_GENCS_PS(4)
RafaB 0:53d8d4e25c00 113 | TSI_GENCS_NSCN(11)
RafaB 0:53d8d4e25c00 114 | TSI_GENCS_TSIIEN_MASK
RafaB 0:53d8d4e25c00 115 | TSI_GENCS_STPE_MASK
RafaB 0:53d8d4e25c00 116 );
RafaB 0:53d8d4e25c00 117
RafaB 0:53d8d4e25c00 118 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
RafaB 0:53d8d4e25c00 119
RafaB 0:53d8d4e25c00 120 NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
RafaB 0:53d8d4e25c00 121 NVIC_EnableIRQ(TSI0_IRQn);
RafaB 0:53d8d4e25c00 122
RafaB 0:53d8d4e25c00 123 selfCalibration();
RafaB 0:53d8d4e25c00 124 }
RafaB 0:53d8d4e25c00 125
RafaB 0:53d8d4e25c00 126 void TSISensor::TSISensor_reset(void) {
RafaB 0:53d8d4e25c00 127 SIM->SCGC5 |= SIM_SCGC5_PORTB_MASK;
RafaB 0:53d8d4e25c00 128 SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
RafaB 0:53d8d4e25c00 129
RafaB 0:53d8d4e25c00 130 TSI0->GENCS |= (TSI_GENCS_ESOR_MASK
RafaB 0:53d8d4e25c00 131 | TSI_GENCS_MODE(0)
RafaB 0:53d8d4e25c00 132 | TSI_GENCS_REFCHRG(4)
RafaB 0:53d8d4e25c00 133 | TSI_GENCS_DVOLT(0)
RafaB 0:53d8d4e25c00 134 | TSI_GENCS_EXTCHRG(7)
RafaB 0:53d8d4e25c00 135 | TSI_GENCS_PS(4)
RafaB 0:53d8d4e25c00 136 | TSI_GENCS_NSCN(11)
RafaB 0:53d8d4e25c00 137 | TSI_GENCS_TSIIEN_MASK
RafaB 0:53d8d4e25c00 138 | TSI_GENCS_STPE_MASK
RafaB 0:53d8d4e25c00 139 );
RafaB 0:53d8d4e25c00 140
RafaB 0:53d8d4e25c00 141 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
RafaB 0:53d8d4e25c00 142
RafaB 0:53d8d4e25c00 143 //NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
RafaB 0:53d8d4e25c00 144 //NVIC_EnableIRQ(TSI0_IRQn);
RafaB 0:53d8d4e25c00 145
RafaB 0:53d8d4e25c00 146 selfCalibration();
RafaB 0:53d8d4e25c00 147 }
RafaB 0:53d8d4e25c00 148
RafaB 0:53d8d4e25c00 149 void TSISensor::selfCalibration(void)
RafaB 0:53d8d4e25c00 150 {
RafaB 0:53d8d4e25c00 151 unsigned char cnt;
RafaB 0:53d8d4e25c00 152 unsigned char trigger_backup;
RafaB 0:53d8d4e25c00 153
RafaB 0:53d8d4e25c00 154 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
RafaB 0:53d8d4e25c00 155 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
RafaB 0:53d8d4e25c00 156
RafaB 0:53d8d4e25c00 157 if(TSI0->GENCS & TSI_GENCS_STM_MASK) // Back-up TSI Trigger mode from Application
RafaB 0:53d8d4e25c00 158 trigger_backup = 1;
RafaB 0:53d8d4e25c00 159 else
RafaB 0:53d8d4e25c00 160 trigger_backup = 0;
RafaB 0:53d8d4e25c00 161
RafaB 0:53d8d4e25c00 162 TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger
RafaB 0:53d8d4e25c00 163 TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts
RafaB 0:53d8d4e25c00 164
RafaB 0:53d8d4e25c00 165 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
RafaB 0:53d8d4e25c00 166
RafaB 0:53d8d4e25c00 167 for(cnt=0; cnt < total_electrode; cnt++) // Get Counts when Electrode not pressed
RafaB 0:53d8d4e25c00 168 {
RafaB 0:53d8d4e25c00 169 TSI0->DATA = ((elec_array[cnt] << TSI_DATA_TSICH_SHIFT) );
RafaB 0:53d8d4e25c00 170 TSI0->DATA |= TSI_DATA_SWTS_MASK;
RafaB 0:53d8d4e25c00 171 while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
RafaB 0:53d8d4e25c00 172 TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
RafaB 0:53d8d4e25c00 173 gu16Baseline[cnt] = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
RafaB 0:53d8d4e25c00 174 }
RafaB 0:53d8d4e25c00 175
RafaB 0:53d8d4e25c00 176 TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
RafaB 0:53d8d4e25c00 177 TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt
RafaB 0:53d8d4e25c00 178 if(trigger_backup) // Restore trigger mode
RafaB 0:53d8d4e25c00 179 TSI0->GENCS |= TSI_GENCS_STM_MASK;
RafaB 0:53d8d4e25c00 180 else
RafaB 0:53d8d4e25c00 181 TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
RafaB 0:53d8d4e25c00 182
RafaB 0:53d8d4e25c00 183 TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
RafaB 0:53d8d4e25c00 184
RafaB 0:53d8d4e25c00 185 TSI0->DATA = ((elec_array[0]<<TSI_DATA_TSICH_SHIFT) );
RafaB 0:53d8d4e25c00 186 TSI0->DATA |= TSI_DATA_SWTS_MASK;
RafaB 0:53d8d4e25c00 187 }
RafaB 0:53d8d4e25c00 188
RafaB 0:53d8d4e25c00 189 void TSISensor::sliderRead(void ) {
RafaB 0:53d8d4e25c00 190 if(end_flag) {
RafaB 0:53d8d4e25c00 191 end_flag = 0;
RafaB 0:53d8d4e25c00 192 if((gu16Delta[0] > gu16Threshold[0])||(gu16Delta[1] > gu16Threshold[1])) {
RafaB 0:53d8d4e25c00 193 SliderPercentegePosition[0] = (gu16Delta[0]*100)/(gu16Delta[0]+gu16Delta[1]);
RafaB 0:53d8d4e25c00 194 SliderPercentegePosition[1] = (gu16Delta[1]*100)/(gu16Delta[0]+gu16Delta[1]);
RafaB 0:53d8d4e25c00 195 SliderDistancePosition[0] = (SliderPercentegePosition[0]* SLIDER_LENGTH)/100;
RafaB 0:53d8d4e25c00 196 SliderDistancePosition[1] = (SliderPercentegePosition[1]* SLIDER_LENGTH)/100;
RafaB 0:53d8d4e25c00 197 AbsolutePercentegePosition = ((100 - SliderPercentegePosition[0]) + SliderPercentegePosition[1])/2;
RafaB 0:53d8d4e25c00 198 AbsoluteDistancePosition = ((SLIDER_LENGTH - SliderDistancePosition[0]) + SliderDistancePosition[1])/2;
RafaB 0:53d8d4e25c00 199 } else {
RafaB 0:53d8d4e25c00 200 SliderPercentegePosition[0] = NO_TOUCH;
RafaB 0:53d8d4e25c00 201 SliderPercentegePosition[1] = NO_TOUCH;
RafaB 0:53d8d4e25c00 202 SliderDistancePosition[0] = NO_TOUCH;
RafaB 0:53d8d4e25c00 203 SliderDistancePosition[1] = NO_TOUCH;
RafaB 0:53d8d4e25c00 204 AbsolutePercentegePosition = NO_TOUCH;
RafaB 0:53d8d4e25c00 205 AbsoluteDistancePosition = NO_TOUCH;
RafaB 0:53d8d4e25c00 206 }
RafaB 0:53d8d4e25c00 207 }
RafaB 0:53d8d4e25c00 208 }
RafaB 0:53d8d4e25c00 209
RafaB 0:53d8d4e25c00 210 float TSISensor::readPercentage() {
RafaB 0:53d8d4e25c00 211 sliderRead();
RafaB 0:53d8d4e25c00 212 return (float)AbsolutePercentegePosition/100.0;
RafaB 0:53d8d4e25c00 213 }
RafaB 0:53d8d4e25c00 214
RafaB 0:53d8d4e25c00 215 uint8_t TSISensor::readDistance() {
RafaB 0:53d8d4e25c00 216 sliderRead();
RafaB 0:53d8d4e25c00 217 return AbsoluteDistancePosition;
RafaB 0:53d8d4e25c00 218 }
RafaB 0:53d8d4e25c00 219
RafaB 0:53d8d4e25c00 220 uint16_t TSISensor::readValue(uint8_t index)
RafaB 0:53d8d4e25c00 221 {
RafaB 0:53d8d4e25c00 222 return gu16TSICount[index];
RafaB 0:53d8d4e25c00 223 }
RafaB 0:53d8d4e25c00 224
RafaB 0:53d8d4e25c00 225 static void changeElectrode(void)
RafaB 0:53d8d4e25c00 226 {
RafaB 0:53d8d4e25c00 227 int16_t u16temp_delta;
RafaB 0:53d8d4e25c00 228
RafaB 0:53d8d4e25c00 229 gu16TSICount[ongoing_elec] = (TSI0->DATA & TSI_DATA_TSICNT_MASK); // Save Counts for current electrode
RafaB 0:53d8d4e25c00 230 u16temp_delta = gu16TSICount[ongoing_elec] - gu16Baseline[ongoing_elec]; // Obtains Counts Delta from callibration reference
RafaB 0:53d8d4e25c00 231 if(u16temp_delta < 0)
RafaB 0:53d8d4e25c00 232 gu16Delta[ongoing_elec] = 0;
RafaB 0:53d8d4e25c00 233 else
RafaB 0:53d8d4e25c00 234 gu16Delta[ongoing_elec] = u16temp_delta;
RafaB 0:53d8d4e25c00 235
RafaB 0:53d8d4e25c00 236 //Change Electrode to Scan
RafaB 0:53d8d4e25c00 237 if(total_electrode > 1)
RafaB 0:53d8d4e25c00 238 {
RafaB 0:53d8d4e25c00 239 if((total_electrode-1) > ongoing_elec)
RafaB 0:53d8d4e25c00 240 ongoing_elec++;
RafaB 0:53d8d4e25c00 241 else
RafaB 0:53d8d4e25c00 242 ongoing_elec = 0;
RafaB 0:53d8d4e25c00 243
RafaB 0:53d8d4e25c00 244 TSI0->DATA = ((elec_array[ongoing_elec]<<TSI_DATA_TSICH_SHIFT) );
RafaB 0:53d8d4e25c00 245 TSI0->DATA |= TSI_DATA_SWTS_MASK;
RafaB 0:53d8d4e25c00 246 }
RafaB 0:53d8d4e25c00 247 }
RafaB 0:53d8d4e25c00 248
RafaB 0:53d8d4e25c00 249 void tsi_irq(void)
RafaB 0:53d8d4e25c00 250 {
RafaB 0:53d8d4e25c00 251 end_flag = 1;
RafaB 0:53d8d4e25c00 252 TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
RafaB 0:53d8d4e25c00 253 changeElectrode();
RafaB 0:53d8d4e25c00 254 }
RafaB 0:53d8d4e25c00 255