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Code to run the controller for the wifi robot
Dependencies: ESP8266Interface HTTPClient-SSL WebSocketClient mbed-rtos mbed
Revision 0:e68e51f935d1, committed 2015-10-20
- Comitter:
- anewton8
- Date:
- Tue Oct 20 17:35:45 2015 +0000
- Commit message:
- Finished controller code. Tuesday October 20th, 2015
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ESP8266Interface.lib Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ESP8266/code/ESP8266Interface/#1f4dd0e91837
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HTTPClient-SSL.lib Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sarahmarshy/code/HTTPClient-SSL/#a18a06b000f3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WebSocketClient.lib Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/samux/code/WebSocketClient/#4567996414a5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,414 @@ +#include "mbed.h" + +#define USE_CAP 1 +#define USE_WIFI_BASIC 0 +#define USE_WIFI_ADVANCED 1 + +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +Serial pc(USBTX, USBRX); // tx, rx + +#if USE_CAP +#include <mpr121.h> +// Create the interrupt receiver object on pin 26 +InterruptIn interrupt(p26); +// Setup the i2c bus on pins 9 and 10 +I2C i2c(p9, p10); +// Setup the Mpr121: +// constructor(i2c object, i2c address of the mpr121) +Mpr121 mpr121(&i2c, Mpr121::ADD_VSS); + +void fallInterrupt(); +#endif + +// WiFi stuff +#if USE_WIFI_BASIC +Serial esp(p28, p27); // tx, rx +DigitalOut reset(p29); +Timer t; + +char ssid[32] = "GTother"; // enter WiFi router ssid inside the quotes +char pwd [32] = "GeorgeP@1927"; // enter WiFi router password inside the quotes +int count,ended,timeout; +char buf[1024]; +char snd[255]; + +void SendCMD(), getreply(), ESPconfig(), ESPsetbaudrate(); + +void basicWifiSetup(); +void basicWifiLoop(); +#endif + +#if USE_WIFI_ADVANCED +#include "HTTPClient.h" +#include "ESP8266Interface.h" +#include "TCPSocketConnection.h" +#include "Websocket.h" +#include "rtos.h" + +const char *httpDest = "http://143.215.98.59/"; +ESP8266Interface wifi(p28, p27, p29, "GTother", "GeorgeP@1927", 115200); // TX,RX,Reset,SSID,Password,Baud + +HTTPClient http; +char responseBuffer[512]; + +void advWifiSetup(); +void advWifiTest(); +void advWifiSendCommand(int val); + +Mutex advWifiMutex; +void advWifiThread(void const *args); +int gKeycode = -1; +bool gKeycodeLatch = false; +#endif + +int main() { + pc.printf("====\n\r===\n\r===\n\r=== Reset ====\n\r====\n\r\n\r"); + + led1 = led2 = led3 = led4 = 0; + + #if USE_CAP + interrupt.fall(&fallInterrupt); + interrupt.mode(PullUp); + #endif + + // Wifi setup + #if USE_WIFI_BASIC + basicWifiSetup(); + #endif + + #if USE_WIFI_ADVANCED + advWifiSetup(); + Thread t2(advWifiThread); + #endif + + while(1) { + #if USE_WIFI_BASIC + basicWifiLoop(); + #endif + + #if USE_WIFI_ADVANCED + //for (int i = 0; i < 2; i++) { + // advWifiSendCommand(i); + //} + #endif + } +} + +#if USE_CAP +// Light up LEDs with capacitive touch interrupt stuff +void fallInterrupt() { + int key_code = 0; + int i = 0; + + // Address 0x00 has touch status of 0 - 7 (7, 6, 5, 4, 3, 2, 1, 0) + // Address 0x01 has touch status of 8 - 11 (X,X,X,X, 11, 10, 9, 8) + // Combined value is a bitfield type thing + int value = mpr121.read(0x00); + value += mpr121.read(0x01) << 8; + + // Takes highest set key and uses it + int bits[12]; + for (i = 0; i < 12; i++) { + bits[i] = (value >> i) & 0x01; + if (bits[i] == 1) { + key_code = i + 1; + } + } + led4 = (key_code >> 0) & 0x01; + led3 = (key_code >> 1) & 0x01; + led2 = (key_code >> 2) & 0x01; + led1 = (key_code >> 3) & 0x01; + + #if USE_WIFI_ADVANCED + gKeycode = key_code - 1; + gKeycodeLatch = true; + #endif +} +#endif + +#if USE_WIFI_BASIC +// Sets new ESP8266 baurate, change the esp.baud(xxxxx) to match your new setting once this has been executed +void ESPsetbaudrate() +{ + strcpy(snd, "AT+CIOBAUD=115200\r\n"); // change the numeric value to the required baudrate + SendCMD(); +} + +// +++++++++++++++++++++++++++++++++ This is for ESP8266 config only, run this once to set up the ESP8266 +++++++++++++++ +void ESPconfig() +{ + wait(5); + strcpy(snd,"AT\r\n"); + SendCMD(); + wait(1); + strcpy(snd,"AT\r\n"); + SendCMD(); + wait(1); + strcpy(snd,"AT\r\n"); + SendCMD(); + timeout=1; + getreply(); + wait(1); + pc.printf("\f---------- Starting ESP Config ----------\r\n\n"); + + pc.printf("---------- Reset & get Firmware ----------\r\n"); + strcpy(snd,"AT+RST\r\n"); + SendCMD(); + timeout=5; + getreply(); + pc.printf(buf); + + wait(2); + + pc.printf("\n---------- Get Version ----------\r\n"); + strcpy(snd,"AT+GMR\r\n"); + SendCMD(); + timeout=4; + getreply(); + pc.printf(buf); + + wait(3); + + // set CWMODE to 1=Station,2=AP,3=BOTH, default mode 1 (Station) + pc.printf("\n---------- Setting Mode ----------\r\n"); + strcpy(snd, "AT+CWMODE=1\r\n"); + SendCMD(); + timeout=4; + getreply(); + pc.printf(buf); + + wait(2); + + // set CIPMUX to 0=Single,1=Multi + pc.printf("\n---------- Setting Connection Mode ----------\r\n"); + strcpy(snd, "AT+CIPMUX=1\r\n"); + SendCMD(); + timeout=4; + getreply(); + pc.printf(buf); + + wait(2); + + pc.printf("\n---------- Listing Access Points ----------\r\n"); + strcpy(snd, "AT+CWLAP\r\n"); + SendCMD(); + timeout=15; + getreply(); + pc.printf(buf); + + wait(2); + + pc.printf("\n---------- Connecting to AP ----------\r\n"); + pc.printf("ssid = %s pwd = %s\r\n",ssid,pwd); + strcpy(snd, "AT+CWJAP=\""); + strcat(snd, ssid); + strcat(snd, "\",\""); + strcat(snd, pwd); + strcat(snd, "\"\r\n"); + SendCMD(); + timeout=10; + getreply(); + pc.printf(buf); + + wait(5); + + pc.printf("\n---------- Get IP's ----------\r\n"); + strcpy(snd, "AT+CIFSR\r\n"); + SendCMD(); + timeout=3; + getreply(); + pc.printf(buf); + + wait(1); + + pc.printf("\n---------- Get Connection Status ----------\r\n"); + strcpy(snd, "AT+CIPSTATUS\r\n"); + SendCMD(); + timeout=5; + getreply(); + pc.printf(buf); + + pc.printf("\n\n\n If you get a valid (non zero) IP, ESP8266 has been set up.\r\n"); + pc.printf(" Run this if you want to reconfig the ESP8266 at any time.\r\n"); + pc.printf(" It saves the SSID and password settings internally\r\n"); + wait(10); +} + +void SendCMD() +{ + esp.printf("%s", snd); +} + +void getreply() +{ + memset(buf, '\0', sizeof(buf)); + t.start(); + ended=0; + count=0; + while(!ended) { + if(esp.readable()) { + buf[count] = esp.getc(); + count++; + } + if(t.read() > timeout) { + ended = 1; + t.stop(); + t.reset(); + } + } +} + +// Basic wifi setup code +void basicWifiSetup() { + reset=0; //hardware reset for 8266 + pc.baud(9600); // set what you want here depending on your terminal program speed + pc.printf("\f\n\r-------------ESP8266 Hardware Reset-------------\n\r"); + wait(0.5); + reset=1; + timeout=2; + getreply(); + + esp.baud(115200); // change this to the new ESP8266 baudrate if it is changed at any time. + + //ESPsetbaudrate(); //****************** include this routine to set a different ESP8266 baudrate ****************** + + ESPconfig(); //****************** include Config to set the ESP8266 configuration *********************** +} + +// Loop for basic wifi stuff +void basicWifiLoop() { + pc.printf("\n---------- Listing Acces Points ----------\r\n"); + strcpy(snd, "AT+CWLAP\r\n"); + SendCMD(); + timeout=15; + getreply(); + pc.printf(buf); + wait(2); + pc.printf("\n---------- Get IP and MAC ----------\r\n"); + strcpy(snd, "AT+CIFSR\r\n"); + SendCMD(); + timeout=10; + getreply(); + pc.printf(buf); + wait(2); +} +#endif + +#if USE_WIFI_ADVANCED +// Setup advanced wifi +void advWifiSetup() { + pc.baud(9600); + wifi.init(); //Reset + wifi.connect(); //Use DHCP + + advWifiTest(); // Test the connection +} + +// Test that the advanced wifi is working with pastebin get/post +void advWifiTest() { + bool getSuccess = false, + postSuccess = false; + + //GET + pc.printf("\nTrying to fetch page using GET...\n\r"); + int httpResp = http.get("http://54.175.222.246/get", responseBuffer, 512);//IP address is httpbin.org/get + if (!httpResp) { + pc.printf("Page fetched successfully - read %d characters\n\r", strlen(responseBuffer)); + pc.printf("Result: %s\n\r", responseBuffer); + getSuccess = true; + } else { + pc.printf("Error - ret = %d - HTTP return code = %d\n\r", httpResp, http.getHTTPResponseCode()); + getSuccess = false; + } + + //POST + HTTPMap postDataMap; + HTTPText responseTextBind(responseBuffer, 512); + postDataMap.put("Hello", "World"); + postDataMap.put("test", "1234"); + pc.printf("\nTrying to POST data to httpbin.org/post...\n\r"); + httpResp = http.post("http://54.175.222.246/post", postDataMap, &responseTextBind);//IP address is httpbin.org/post + if (!httpResp) { + pc.printf("Executed POST successfully - read %d characters\n\r", strlen(responseBuffer)); + pc.printf("Result: %s\n\r", responseBuffer); + postSuccess = true; + } + else { + pc.printf("Error - ret = %d - HTTP return code = %d\n\r", httpResp, http.getHTTPResponseCode()); + postSuccess = false; + } + + if (getSuccess && postSuccess) { + pc.printf("\n\r=== WIFI SETUP AND GOOD TO GO====\n\r\n\r"); + } else { + pc.printf("\n\r=== WIFI BAD - Try at your own risk... ====\n\r\n\r"); + } +} + +// Send an advanced wifi command (non-blocking) +// INPUTS: +// keycode - Keycode from capacitive touch screen +void advWifiSendCommand(int keycode) { + pc.printf("Send command %d\n\r", keycode); + + char sendVal[32]; + switch (keycode) { + case 2: + sprintf(sendVal, "fwd"); + break; + case 5: + sprintf(sendVal, "left"); + break; + case 7: + sprintf(sendVal, "right"); + break; + case 10: + sprintf(sendVal, "back"); + break; + default: + pc.printf("\tBailing from bad keycode '%d'...\n\r", keycode); + return; // Bail + } + + // We good to go? Grab a mutex + //if (!advWifiMutex.trylock()) { + // pc.printf("\tFailed to lock mutex. Bailing...\n\r"); + // return; + //} + + // Clear buffer + responseBuffer[0] = '\0'; + + // Setup bindings + HTTPMap postDataMap; + HTTPText responseTextBind(responseBuffer, 512); + postDataMap.put("keycode", sendVal); + + pc.printf("Turning: %s with %d\t(%s)\n\r", sendVal, keycode, httpDest); + int httpResp = http.post(httpDest, postDataMap, &responseTextBind); + if (!httpResp) { + pc.printf("\tSuccess!\n\r"); + pc.printf("\tResult: %s\n\r", responseBuffer); + } else { + pc.printf("\tFailed!\n\r"); + pc.printf("\tResult: %s\n\r", responseBuffer); + pc.printf("\tRespVal(%d) \ ResponseCode(%d)\n\r", httpResp, http.getHTTPResponseCode()); + } + + //advWifiMutex.unlock(); +} + +void advWifiThread(void const *args) { + while(1) { + if (gKeycodeLatch && gKeycode != -1) { + advWifiSendCommand(gKeycode); + gKeycodeLatch = false; + } + + Thread::wait(100); + } +} +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#e45e4ac7c3c8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mpr121.cpp Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,221 @@ +/* +Copyright (c) 2011 Anthony Buckton (abuckton [at] blackink [dot} net {dot} au) + +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. +*/ + +#include <mbed.h> +#include <sstream> +#include <string> +#include <list> + +#include <mpr121.h> + +Mpr121::Mpr121(I2C *i2c, Address i2cAddress) +{ + this->i2c = i2c; + + address = i2cAddress; + + // Configure the MPR121 settings to default + this->configureSettings(); +} + + +void Mpr121::configureSettings() +{ + // Put the MPR into setup mode + this->write(ELE_CFG,0x00); + + // Electrode filters for when data is > baseline + unsigned char gtBaseline[] = { + 0x01, //MHD_R + 0x01, //NHD_R + 0x00, //NCL_R + 0x00 //FDL_R + }; + + writeMany(MHD_R,gtBaseline,4); + + // Electrode filters for when data is < baseline + unsigned char ltBaseline[] = { + 0x01, //MHD_F + 0x01, //NHD_F + 0xFF, //NCL_F + 0x02 //FDL_F + }; + + writeMany(MHD_F,ltBaseline,4); + + // Electrode touch and release thresholds + unsigned char electrodeThresholds[] = { + E_THR_T, // Touch Threshhold + E_THR_R // Release Threshold + }; + + for(int i=0; i<12; i++){ + int result = writeMany((ELE0_T+(i*2)),electrodeThresholds,2); + } + + // Proximity Settings + unsigned char proximitySettings[] = { + 0xff, //MHD_Prox_R + 0xff, //NHD_Prox_R + 0x00, //NCL_Prox_R + 0x00, //FDL_Prox_R + 0x01, //MHD_Prox_F + 0x01, //NHD_Prox_F + 0xFF, //NCL_Prox_F + 0xff, //FDL_Prox_F + 0x00, //NHD_Prox_T + 0x00, //NCL_Prox_T + 0x00 //NFD_Prox_T + }; + writeMany(MHDPROXR,proximitySettings,11); + + unsigned char proxThresh[] = { + PROX_THR_T, // Touch Threshold + PROX_THR_R // Release Threshold + }; + writeMany(EPROXTTH,proxThresh,2); + + this->write(FIL_CFG,0x04); + + // Set the electrode config to transition to active mode + this->write(ELE_CFG,0x0c); +} + +void Mpr121::setElectrodeThreshold(int electrode, unsigned char touch, unsigned char release){ + + if(electrode > 11) return; + + // Get the current mode + unsigned char mode = this->read(ELE_CFG); + + // Put the MPR into setup mode + this->write(ELE_CFG,0x00); + + // Write the new threshold + this->write((ELE0_T+(electrode*2)), touch); + this->write((ELE0_T+(electrode*2)+1), release); + + //Restore the operating mode + this->write(ELE_CFG, mode); +} + + +unsigned char Mpr121::read(int key){ + + unsigned char data[2]; + + //Start the command + i2c->start(); + + // Address the target (Write mode) + int ack1= i2c->write(address); + + // Set the register key to read + int ack2 = i2c->write(key); + + // Re-start for read of data + i2c->start(); + + // Re-send the target address in read mode + int ack3 = i2c->write(address+1); + + // Read in the result + data[0] = i2c->read(0); + + // Reset the bus + i2c->stop(); + + return data[0]; +} + + +int Mpr121::write(int key, unsigned char value){ + + //Start the command + i2c->start(); + + // Address the target (Write mode) + int ack1= i2c->write(address); + + // Set the register key to write + int ack2 = i2c->write(key); + + // Read in the result + int ack3 = i2c->write(value); + + // Reset the bus + i2c->stop(); + + return (ack1+ack2+ack3)-3; +} + + +int Mpr121::writeMany(int start, unsigned char* dataSet, int length){ + //Start the command + i2c->start(); + + // Address the target (Write mode) + int ack= i2c->write(address); + if(ack!=1){ + return -1; + } + + // Set the register key to write + ack = i2c->write(start); + if(ack!=1){ + return -1; + } + + // Write the date set + int count = 0; + while(ack==1 && (count < length)){ + ack = i2c->write(dataSet[count]); + count++; + } + // Stop the cmd + i2c->stop(); + + return count; +} + + +bool Mpr121::getProximityMode(){ + if(this->read(ELE_CFG) > 0x0c) + return true; + else + return false; +} + +void Mpr121::setProximityMode(bool mode){ + this->write(ELE_CFG,0x00); + if(mode){ + this->write(ELE_CFG,0x30); //Sense proximity from ALL pads + } else { + this->write(ELE_CFG,0x0c); //Sense touch, all 12 pads active. + } +} + + +int Mpr121::readTouchData(){ + return this->read(0x00); +} \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mpr121.h Tue Oct 20 17:35:45 2015 +0000 @@ -0,0 +1,157 @@ +/* +Copyright (c) 2011 Anthony Buckton (abuckton [at] blackink [dot} net {dot} au) + + +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. + + Parts written by Jim Lindblom of Sparkfun + Ported to mbed by A.Buckton, Feb 2011 +*/ + +#ifndef MPR121_H +#define MPR121_H + +//using namespace std; + +class Mpr121 +{ + +public: + // i2c Addresses, bit-shifted + enum Address { ADD_VSS = 0xb4,// ADD->VSS = 0x5a <-wiring on Sparkfun board + ADD_VDD = 0xb6,// ADD->VDD = 0x5b + ADD_SCL = 0xb8,// ADD->SDA = 0x5c + ADD_SDA = 0xba // ADD->SCL = 0x5d + }; + + // Real initialiser, takes the i2c address of the device. + Mpr121(I2C *i2c, Address i2cAddress); + + bool getProximityMode(); + + void setProximityMode(bool mode); + + int readTouchData(); + + unsigned char read(int key); + + int write(int address, unsigned char value); + int writeMany(int start, unsigned char* dataSet, int length); + + void setElectrodeThreshold(int electrodeId, unsigned char touchThreshold, unsigned char releaseThreshold); + +protected: + // Configures the MPR with standard settings. This is permitted to be overwritten by sub-classes. + void configureSettings(); + +private: + // The I2C bus instance. + I2C *i2c; + + // i2c address of this mpr121 + Address address; +}; + + +// MPR121 Register Defines +#define MHD_R 0x2B +#define NHD_R 0x2C +#define NCL_R 0x2D +#define FDL_R 0x2E +#define MHD_F 0x2F +#define NHD_F 0x30 +#define NCL_F 0x31 +#define FDL_F 0x32 +#define NHDT 0x33 +#define NCLT 0x34 +#define FDLT 0x35 +// Proximity sensing controls +#define MHDPROXR 0x36 +#define NHDPROXR 0x37 +#define NCLPROXR 0x38 +#define FDLPROXR 0x39 +#define MHDPROXF 0x3A +#define NHDPROXF 0x3B +#define NCLPROXF 0x3C +#define FDLPROXF 0x3D +#define NHDPROXT 0x3E +#define NCLPROXT 0x3F +#define FDLPROXT 0x40 +// Electrode Touch/Release thresholds +#define ELE0_T 0x41 +#define ELE0_R 0x42 +#define ELE1_T 0x43 +#define ELE1_R 0x44 +#define ELE2_T 0x45 +#define ELE2_R 0x46 +#define ELE3_T 0x47 +#define ELE3_R 0x48 +#define ELE4_T 0x49 +#define ELE4_R 0x4A +#define ELE5_T 0x4B +#define ELE5_R 0x4C +#define ELE6_T 0x4D +#define ELE6_R 0x4E +#define ELE7_T 0x4F +#define ELE7_R 0x50 +#define ELE8_T 0x51 +#define ELE8_R 0x52 +#define ELE9_T 0x53 +#define ELE9_R 0x54 +#define ELE10_T 0x55 +#define ELE10_R 0x56 +#define ELE11_T 0x57 +#define ELE11_R 0x58 +// Proximity Touch/Release thresholds +#define EPROXTTH 0x59 +#define EPROXRTH 0x5A +// Debounce configuration +#define DEB_CFG 0x5B +// AFE- Analogue Front End configuration +#define AFE_CFG 0x5C +// Filter configuration +#define FIL_CFG 0x5D +// Electrode configuration - transistions to "active mode" +#define ELE_CFG 0x5E + +#define GPIO_CTRL0 0x73 +#define GPIO_CTRL1 0x74 +#define GPIO_DATA 0x75 +#define GPIO_DIR 0x76 +#define GPIO_EN 0x77 +#define GPIO_SET 0x78 +#define GPIO_CLEAR 0x79 +#define GPIO_TOGGLE 0x7A +// Auto configration registers +#define AUTO_CFG_0 0x7B +#define AUTO_CFG_U 0x7D +#define AUTO_CFG_L 0x7E +#define AUTO_CFG_T 0x7F + +// Threshold defaults +// Electrode touch threshold +#define E_THR_T 0x0F +// Electrode release threshold +#define E_THR_R 0x0A +// Prox touch threshold +#define PROX_THR_T 0x02 +// Prox release threshold +#define PROX_THR_R 0x02 + +#endif