bool command_extra(uint8_t code)
{
uint32_t t;
uint16_t b;
switch (code) {
case KC_H:
case KC_SLASH: /* ? */
print("\n\n----- Bluetooth RN-42 Help -----\n");
print("i: RN-42 info\n");
print("b: battery voltage\n");
print("Del: enter/exit RN-42 config mode\n");
print("Slck: RN-42 initialize\n");
print("1-4: restore link\n");
print("F1-F4: store link\n");
print("p: pairing\n");
if (config_mode) {
return true;
} else {
print("u: toggle Force USB mode\n");
return false; // to display default command help
}
case KC_P:
pairing();
return true;
/* Store link address to EEPROM */
case KC_F1:
store_link(RN42_LINK0);
return true;
case KC_F2:
store_link(RN42_LINK1);
return true;
case KC_F3:
store_link(RN42_LINK2);
return true;
case KC_F4:
store_link(RN42_LINK3);
return true;
/* Restore link address to EEPROM */
case KC_1:
restore_link(RN42_LINK0);
return true;
case KC_2:
restore_link(RN42_LINK1);
return true;
case KC_3:
restore_link(RN42_LINK2);
return true;
case KC_4:
restore_link(RN42_LINK3);
return true;
case KC_5:
xprintf("blah! \n");
//rn42_cts_hi();
if (stay_connected == 1){
dprintf("Disconnect after 5 min.\n");
stay_connected = !stay_connected;
}else{
dprintf("Stay connected.\n");
stay_connected = 1;
//last_press_timer = timer_read32();
}
return true;
case KC_6:
clear_keyboard();
host_set_driver(&rn42_config_driver); // null driver; not to send a key to host
rn42_disconnect();
return true;
case KC_I:
print("\n----- RN-42 info -----\n");
xprintf("protocol: %s\n", (host_get_driver() == &rn42_driver) ? "RN-42" : "LUFA");
xprintf("force_usb: %X\n", force_usb);
xprintf("rn42: %s\n", rn42_rts() ? "OFF" : (rn42_linked() ? "CONN" : "ON"));
xprintf("rn42_autoconnecting(): %X\n", rn42_autoconnecting());
xprintf("config_mode: %X\n", config_mode);
xprintf("USB State: %s\n",
(USB_DeviceState == DEVICE_STATE_Unattached) ? "Unattached" :
(USB_DeviceState == DEVICE_STATE_Powered) ? "Powered" :
(USB_DeviceState == DEVICE_STATE_Default) ? "Default" :
(USB_DeviceState == DEVICE_STATE_Addressed) ? "Addressed" :
(USB_DeviceState == DEVICE_STATE_Configured) ? "Configured" :
(USB_DeviceState == DEVICE_STATE_Suspended) ? "Suspended" : "?");
xprintf("battery: ");
switch (battery_status()) {
case FULL_CHARGED: xprintf("FULL"); break;
case CHARGING: xprintf("CHARG"); break;
case DISCHARGING: xprintf("DISCHG"); break;
case LOW_VOLTAGE: xprintf("LOW"); break;
default: xprintf("?"); break;
};
xprintf("\n");
xprintf("RemoteWakeupEnabled: %X\n", USB_Device_RemoteWakeupEnabled);
xprintf("VBUS: %X\n", USBSTA&(1<<VBUS));
t = timer_read32()/1000;
uint8_t d = t/3600/24;
uint8_t h = t/3600;
uint8_t m = t%3600/60;
uint8_t s = t%60;
xprintf("uptime: %02u %02u:%02u:%02u\n", d, h, m, s);
xprintf("LINK0: %s\r\n", get_link(RN42_LINK0));
xprintf("LINK1: %s\r\n", get_link(RN42_LINK1));
xprintf("LINK2: %s\r\n", get_link(RN42_LINK2));
xprintf("LINK3: %s\r\n", get_link(RN42_LINK3));
return true;
case KC_B:
// battery monitor
t = timer_read32()/1000;
b = battery_voltage();
xprintf("BAT: %umV\t", b);
xprintf("%02u:", t/3600);
xprintf("%02u:", t%3600/60);
xprintf("%02u\n", t%60);
return true;
case KC_U:
if (config_mode) return false;
if (force_usb) {
print("Auto mode\n");
force_usb = false;
} else {
print("USB mode\n");
clear_keyboard();
host_set_driver(&rn42_driver);
}
return true;
case KC_DELETE:
/* RN-42 Command mode */
if (rn42_autoconnecting()) {
enter_command_mode();
command_state = CONSOLE;
config_mode = true;
} else {
exit_command_mode();
command_state = ONESHOT;
config_mode = false;
}
return true;
case KC_SCROLLLOCK:
init_rn42();
return true;
default:
if (config_mode)
return true;
else
return false; // yield to default command
}
return true;
}
/*
void pid_loop()
Calculates the updated PID
output and parameters for each
iteration.
*/
void pid_loop()
{
if (pid_state != PID_RUNNING)
return;
uint32 dummy_time;
boolean is_update_pid =
timer_is_elapsed32((pid_last_timestamp + PID_LOOP_WAIT_IN_NS), &dummy_time);
if (!is_update_pid)
{
DEBUG_MSG_HIGH(DEBUG_MODULE_PID, "Timer not expired. Time: %d", dummy_time);
return;
}
/* Update the last time PID was read for scheduling next iteration. */
pid_last_timestamp = timer_read32();
/* Read updated temperatures. If last reading was invalid,
skip this PID loop iteration. */
therm_reading_t *temp = &(pid_params.temp);
therm_read(temp);
if (!temp->is_valid)
{
DEBUG_MSG_HIGH(DEBUG_MODULE_PID, "Temperature read failed");
return;
}
/* Do PID calculation. */
float t_current = pid_params.temp.temperature;
float t_desired = pid_params.temp_setpoint;
pid_gain_params *gain_p = &(pid_params.gain);
pid_error_params *error_p = &(pid_params.error);
float err, err_i, err_d;
err = t_desired - t_current;
err_i = err + error_p->err_i;
err_d = err - error_p->err;
float p, i, d;
p = gain_p->k_p * err;
i = gain_p->k_i * err_i;
d = gain_p->k_d * err_d;
/* Scale/saturate the PID output and set the duty cycle. */
float pid_raw = p + i + d;
/* Add 0.5 to do rounding with truncation. */
float pid_scaled = pid_raw + 0.5;
pid_scaled = MAX(pid_raw, 0);
pid_scaled = MIN(pid_scaled, 100);
pwm_set_duty((uint32)pid_scaled);
/* Calculate saturation error for anti-windup loop. */
float err_saturate = (pid_scaled - pid_raw) * (gain_p->k_windup);
/* Update error for next iteration. */
error_p->err = err;
error_p->err_d = err_d;
error_p->err_i = err_i + err_saturate;
DEBUG_MSG_MED(DEBUG_MODULE_PID, "err: %5.2f, err_d: %5.2f, err_i: %5.2f, err_sat: %5.2f",
error_p->err, error_p->err_d, error_p->err_i, err_saturate);
DEBUG_MSG_MED(DEBUG_MODULE_PID, "pid_raw: %5.2f, pid_scaled: %5.2f",
pid_raw, pid_scaled);
}
bool process_record_user(uint16_t keycode, keyrecord_t *record) {
static uint32_t key_timer;
switch (keycode) {
case L_BRI:
if (record->event.pressed) {
if (LED_GCR_STEP > LED_GCR_MAX - gcr_desired) gcr_desired = LED_GCR_MAX;
else gcr_desired += LED_GCR_STEP;
if (led_animation_breathing) gcr_breathe = gcr_desired;
}
return false;
case L_BRD:
if (record->event.pressed) {
if (LED_GCR_STEP > gcr_desired) gcr_desired = 0;
else gcr_desired -= LED_GCR_STEP;
if (led_animation_breathing) gcr_breathe = gcr_desired;
}
return false;
case L_PTN:
if (record->event.pressed) {
if (led_animation_id == led_setups_count - 1) led_animation_id = 0;
else led_animation_id++;
}
return false;
case L_PTP:
if (record->event.pressed) {
if (led_animation_id == 0) led_animation_id = led_setups_count - 1;
else led_animation_id--;
}
return false;
case L_PSI:
if (record->event.pressed) {
led_animation_speed += ANIMATION_SPEED_STEP;
}
return false;
case L_PSD:
if (record->event.pressed) {
led_animation_speed -= ANIMATION_SPEED_STEP;
if (led_animation_speed < 0) led_animation_speed = 0;
}
return false;
case L_T_MD:
if (record->event.pressed) {
led_lighting_mode++;
if (led_lighting_mode > LED_MODE_MAX_INDEX) led_lighting_mode = LED_MODE_NORMAL;
}
return false;
case L_T_ONF:
if (record->event.pressed) {
led_enabled = !led_enabled;
I2C3733_Control_Set(led_enabled);
}
return false;
case L_ON:
if (record->event.pressed) {
led_enabled = 1;
I2C3733_Control_Set(led_enabled);
}
return false;
case L_OFF:
if (record->event.pressed) {
led_enabled = 0;
I2C3733_Control_Set(led_enabled);
}
return false;
case L_T_BR:
if (record->event.pressed) {
led_animation_breathing = !led_animation_breathing;
if (led_animation_breathing) {
gcr_breathe = gcr_desired;
led_animation_breathe_cur = BREATHE_MIN_STEP;
breathe_dir = 1;
}
}
return false;
case L_T_PTD:
if (record->event.pressed) {
led_animation_direction = !led_animation_direction;
}
return false;
case U_T_AGCR:
if (record->event.pressed && MODS_SHIFT && MODS_CTRL) {
TOGGLE_FLAG_AND_PRINT(usb_gcr_auto, "USB GCR auto mode");
}
return false;
case DBG_TOG:
if (record->event.pressed) {
TOGGLE_FLAG_AND_PRINT(debug_enable, "Debug mode");
}
return false;
case DBG_MTRX:
if (record->event.pressed) {
TOGGLE_FLAG_AND_PRINT(debug_matrix, "Debug matrix");
}
return false;
case DBG_KBD:
if (record->event.pressed) {
TOGGLE_FLAG_AND_PRINT(debug_keyboard, "Debug keyboard");
}
return false;
case DBG_MOU:
if (record->event.pressed) {
TOGGLE_FLAG_AND_PRINT(debug_mouse, "Debug mouse");
}
return false;
case MD_BOOT:
if (record->event.pressed) {
key_timer = timer_read32();
} else {
if (timer_elapsed32(key_timer) >= 500) {
reset_keyboard();
}
}
return false;
default:
return true; //Process all other keycodes normally
}
}
uint8_t matrix_scan(void)
{
uint8_t *tmp;
tmp = matrix_prev;
matrix_prev = matrix;
matrix = tmp;
// power on
if (!KEY_POWER_STATE()) KEY_POWER_ON();
for (uint8_t row = 0; row < MATRIX_ROWS; row++) {
for (uint8_t col = 0; col < MATRIX_COLS; col++) {
KEY_SELECT(row, col);
_delay_us(5);
// Not sure this is needed. This just emulates HHKB controller's behaviour.
if (matrix_prev[row] & (1<<col)) {
KEY_PREV_ON();
}
_delay_us(10);
// NOTE: KEY_STATE is valid only in 20us after KEY_ENABLE.
// If V-USB interrupts in this section we could lose 40us or so
// and would read invalid value from KEY_STATE.
uint8_t last = TIMER_RAW;
KEY_ENABLE();
// Wait for KEY_STATE outputs its value.
// 1us was ok on one HHKB, but not worked on another.
// no wait doesn't work on Teensy++ with pro(1us works)
// no wait does work on tmk PCB(8MHz) with pro2
// 1us wait does work on both of above
// 1us wait doesn't work on tmk(16MHz)
// 5us wait does work on tmk(16MHz)
// 5us wait does work on tmk(16MHz/2)
// 5us wait does work on tmk(8MHz)
// 10us wait does work on Teensy++ with pro
// 10us wait does work on 328p+iwrap with pro
// 10us wait doesn't work on tmk PCB(8MHz) with pro2(very lagged scan)
_delay_us(5);
if (KEY_STATE()) {
matrix[row] &= ~(1<<col);
} else {
matrix[row] |= (1<<col);
}
// Ignore if this code region execution time elapses more than 20us.
// MEMO: 20[us] * (TIMER_RAW_FREQ / 1000000)[count per us]
// MEMO: then change above using this rule: a/(b/c) = a*1/(b/c) = a*(c/b)
if (TIMER_DIFF_RAW(TIMER_RAW, last) > 20/(1000000/TIMER_RAW_FREQ)) {
matrix[row] = matrix_prev[row];
}
_delay_us(5);
KEY_PREV_OFF();
KEY_UNABLE();
// NOTE: KEY_STATE keep its state in 20us after KEY_ENABLE.
// This takes 25us or more to make sure KEY_STATE returns to idle state.
#ifdef HHKB_JP
// Looks like JP needs faster scan due to its twice larger matrix
// or it can drop keys in fast key typing
_delay_us(30);
#else
_delay_us(75);
#endif
}
if (matrix[row] ^ matrix_prev[row]) matrix_last_modified = timer_read32();
}
// power off
if (KEY_POWER_STATE() &&
(USB_DeviceState == DEVICE_STATE_Suspended ||
USB_DeviceState == DEVICE_STATE_Unattached ) &&
timer_elapsed32(matrix_last_modified) > MATRIX_POWER_SAVE) {
KEY_POWER_OFF();
suspend_power_down();
}
return 1;
}
void rn42_task(void)
{
int16_t c;
// Raw mode: interpret output report of LED state
while ((c = rn42_getc()) != -1) {
// LED Out report: 0xFE, 0x02, 0x01, <leds>
// To get the report over UART set bit3 with SH, command.
static enum {LED_INIT, LED_FE, LED_02, LED_01} state = LED_INIT;
switch (state) {
case LED_INIT:
if (c == 0xFE) state = LED_FE;
else {
if (0x0 <= c && c <= 0x7f) xprintf("%c", c);
else xprintf(" %02X", c);
}
break;
case LED_FE:
if (c == 0x02) state = LED_02;
else state = LED_INIT;
break;
case LED_02:
if (c == 0x01) state = LED_01;
else state = LED_INIT;
break;
case LED_01:
dprintf("LED status: %02X\n", c);
rn42_set_leds(c);
state = LED_INIT;
break;
default:
state = LED_INIT;
}
}
/* Bluetooth mode when ready */
if (!config_mode && !force_usb) {
if (!rn42_rts() && host_get_driver() != &rn42_driver) {
clear_keyboard();
host_set_driver(&rn42_driver);
} else if (rn42_rts() && host_get_driver() != &lufa_driver) {
clear_keyboard();
host_set_driver(&lufa_driver);
}
}
static uint16_t prev_timer = 0;
uint16_t e = timer_elapsed(prev_timer);
if (e > 1000) {
/* every second */
prev_timer += e/1000*1000;
/* Low voltage alert */
uint8_t bs = battery_status();
if (bs == LOW_VOLTAGE) {
battery_led(LED_ON);
} else {
battery_led(LED_CHARGER);
}
/* every minute */
uint32_t t = timer_read32()/1000;
if (t%60 == 0) {
uint16_t v = battery_voltage();
uint8_t h = t/3600;
uint8_t m = t%3600/60;
uint8_t s = t%60;
dprintf("%02u:%02u:%02u\t%umV\n", h, m, s, v);
/* TODO: xprintf doesn't work for this.
xprintf("%02u:%02u:%02u\t%umV\n", (t/3600), (t%3600/60), (t%60), v);
*/
}
}
/* Connection monitor */
if (!rn42_rts() && rn42_linked()) {
status_led(true);
} else {
status_led(false);
}
}
uint32_t timer_elapsed32(uint32_t tlast)
{
return TIMER_DIFF_32(timer_read32(), tlast);
}
static bool command_common(uint8_t code)
{
#ifdef KEYBOARD_LOCK_ENABLE
static host_driver_t *host_driver = 0;
#endif
#ifdef SLEEP_LED_ENABLE
static bool sleep_led_test = false;
#endif
switch (code) {
#ifdef SLEEP_LED_ENABLE
case KC_Z:
// test breathing sleep LED
print("Sleep LED test\n");
if (sleep_led_test) {
sleep_led_disable();
led_set(host_keyboard_leds());
} else {
sleep_led_enable();
}
sleep_led_test = !sleep_led_test;
break;
#endif
#ifdef BOOTMAGIC_ENABLE
case KC_E:
print("eeconfig:\n");
print_eeconfig();
break;
#endif
#ifdef KEYBOARD_LOCK_ENABLE
case KC_CAPSLOCK:
if (host_get_driver()) {
host_driver = host_get_driver();
clear_keyboard();
host_set_driver(0);
print("Locked.\n");
} else {
host_set_driver(host_driver);
print("Unlocked.\n");
}
break;
#endif
case KC_H:
case KC_SLASH: /* ? */
command_common_help();
break;
case KC_C:
debug_matrix = false;
debug_keyboard = false;
debug_mouse = false;
debug_enable = false;
command_console_help();
print("C> ");
command_state = CONSOLE;
break;
case KC_PAUSE:
clear_keyboard();
print("\n\nbootloader... ");
wait_ms(1000);
bootloader_jump(); // not return
break;
case KC_D:
if (debug_enable) {
print("\ndebug: off\n");
debug_matrix = false;
debug_keyboard = false;
debug_mouse = false;
debug_enable = false;
} else {
print("\ndebug: on\n");
debug_enable = true;
}
break;
case KC_X: // debug matrix toggle
debug_matrix = !debug_matrix;
if (debug_matrix) {
print("\nmatrix: on\n");
debug_enable = true;
} else {
print("\nmatrix: off\n");
}
break;
case KC_K: // debug keyboard toggle
debug_keyboard = !debug_keyboard;
if (debug_keyboard) {
print("\nkeyboard: on\n");
debug_enable = true;
} else {
print("\nkeyboard: off\n");
}
break;
case KC_M: // debug mouse toggle
debug_mouse = !debug_mouse;
if (debug_mouse) {
print("\nmouse: on\n");
debug_enable = true;
} else {
print("\nmouse: off\n");
}
break;
case KC_V: // print version & information
print("\n\t- Version -\n");
print("DESC: " STR(DESCRIPTION) "\n");
print("VID: " STR(VENDOR_ID) "(" STR(MANUFACTURER) ") "
"PID: " STR(PRODUCT_ID) "(" STR(PRODUCT) ") "
"VER: " STR(DEVICE_VER) "\n");
print("BUILD: " STR(VERSION) " (" __TIME__ " " __DATE__ ")\n");
/* build options */
print("OPTIONS:"
#ifdef PROTOCOL_PJRC
" PJRC"
#endif
#ifdef PROTOCOL_LUFA
" LUFA"
#endif
#ifdef PROTOCOL_VUSB
" VUSB"
#endif
#ifdef PROTOCOL_CHIBIOS
" CHIBIOS"
#endif
#ifdef BOOTMAGIC_ENABLE
" BOOTMAGIC"
#endif
#ifdef MOUSEKEY_ENABLE
" MOUSEKEY"
#endif
#ifdef EXTRAKEY_ENABLE
" EXTRAKEY"
#endif
#ifdef CONSOLE_ENABLE
" CONSOLE"
#endif
#ifdef COMMAND_ENABLE
" COMMAND"
#endif
#ifdef NKRO_ENABLE
" NKRO"
#endif
#ifdef KEYMAP_SECTION_ENABLE
" KEYMAP_SECTION"
#endif
" " STR(BOOTLOADER_SIZE) "\n");
print("GCC: " STR(__GNUC__) "." STR(__GNUC_MINOR__) "." STR(__GNUC_PATCHLEVEL__)
#if defined(__AVR__)
" AVR-LIBC: " __AVR_LIBC_VERSION_STRING__
" AVR_ARCH: avr" STR(__AVR_ARCH__) "\n");
#elif defined(__arm__)
// TODO
);
#endif
break;
case KC_S:
print("\n\t- Status -\n");
print_val_hex8(host_keyboard_leds());
print_val_hex8(keyboard_protocol);
print_val_hex8(keyboard_idle);
#ifdef NKRO_ENABLE
print_val_hex8(keyboard_nkro);
#endif
print_val_hex32(timer_read32());
#ifdef PROTOCOL_PJRC
print_val_hex8(UDCON);
print_val_hex8(UDIEN);
print_val_hex8(UDINT);
print_val_hex8(usb_keyboard_leds);
print_val_hex8(usb_keyboard_idle_count);
#endif
#ifdef PROTOCOL_PJRC
# if USB_COUNT_SOF
print_val_hex8(usbSofCount);
# endif
#endif
break;
#ifdef NKRO_ENABLE
case KC_N:
clear_keyboard(); //Prevents stuck keys.
keyboard_nkro = !keyboard_nkro;
if (keyboard_nkro) {
print("NKRO: on\n");
} else {
print("NKRO: off\n");
}
break;
#endif
case KC_ESC:
case KC_GRV:
case KC_0:
case KC_F10:
switch_default_layer(0);
break;
case KC_1 ... KC_9:
switch_default_layer((code - KC_1) + 1);
break;
case KC_F1 ... KC_F9:
switch_default_layer((code - KC_F1) + 1);
break;
default:
print("?");
return false;
}
uint8_t matrix_scan(void)
{
if (mcp23018_status) { // if there was an error
if (++mcp23018_reset_loop == 0) {
// since mcp23018_reset_loop is 8 bit - we'll try to reset once in 255 matrix scans
// this will be approx bit more frequent than once per second
print("trying to reset mcp23018\n");
mcp23018_status = init_mcp23018();
if (mcp23018_status) {
print("left side not responding\n");
} else {
print("left side attached\n");
ergodox_blink_all_leds();
}
}
}
#ifdef DEBUG_MATRIX_SCAN_RATE
matrix_scan_count++;
uint32_t timer_now = timer_read32();
if (TIMER_DIFF_32(timer_now, matrix_timer)>1000) {
print("matrix scan frequency: ");
pdec(matrix_scan_count);
print("\n");
matrix_timer = timer_now;
matrix_scan_count = 0;
}
#endif
#ifdef SHOW_LAYER_LEDS
uint8_t layer = biton32(layer_state);
// use the leds 2 and 3 to show which layer is currently active
ergodox_board_led_off();
ergodox_right_led_2_off();
ergodox_right_led_3_off();
switch (layer) {
case 0:
// no leds
break;
case 1:
ergodox_right_led_3_on();
break;
case 2:
ergodox_right_led_2_on();
break;
case 3:
ergodox_right_led_2_on();
ergodox_right_led_3_on();
break;
}
#endif
#ifdef KEYMAP_CUB
uint8_t layer = biton32(layer_state);
ergodox_board_led_off();
ergodox_right_led_1_off();
ergodox_right_led_2_off();
ergodox_right_led_3_off();
switch (layer) {
case 1:
// no leds
break;
case 2:
// blue
ergodox_left_led_2_on();
break;
case 8:
// blue and green
ergodox_left_led_2_on();
// break missed intentionally
case 3:
// green
ergodox_left_led_3_on();
break;
case 6:
ergodox_board_led_on();
// break missed intentionally
case 4:
case 5:
case 7:
// white
ergodox_left_led_1_on();
break;
case 9:
// white+green
ergodox_left_led_1_on();
ergodox_left_led_3_on();
break;
default:
// none
break;
}
mcp23018_status = ergodox_left_leds_update();
#endif
for (uint8_t i = 0; i < MATRIX_ROWS; i++) {
select_row(i);
matrix_row_t cols = read_cols(i);
if (matrix_debouncing[i] != cols) {
matrix_debouncing[i] = cols;
if (debouncing) {
debug("bounce!: "); debug_hex(debouncing); debug("\n");
}
debouncing = DEBOUNCE;
}
unselect_rows();
}
if (debouncing) {
if (--debouncing) {
_delay_ms(1);
} else {
for (uint8_t i = 0; i < MATRIX_ROWS; i++) {
matrix[i] = matrix_debouncing[i];
}
}
}
return 1;
}
