void Touchpanel_FT5X06::readTouchPoint(uint8_t addr, TouchPoint *tp)
{
uint8_t b;
b = i2cReadByte(addr++);
tp->event = b >> 6;
b &= 0x0F;
tp->x = ((uint16_t)b) << 8;
tp->x |= i2cReadByte(addr++);
b = i2cReadByte(addr++);
tp->id = b >> 4;
b &= 0x0F;
tp->y = ((uint16_t)b) << 8;
tp->y |= i2cReadByte(addr);
}
int i2cMasterRead(uint8_t i2c_addr, uint8_t intaddr_size, uint32_t int_addr, uint8_t *data) {
MUTEX_TAKE(i2c_mutex, -1);
pm_lock();
i2cMasterConf(i2c_addr, intaddr_size, int_addr, I2CMASTER_READ);
int rc = i2cReadByte(data);
pm_unlock();
MUTEX_GIVE(i2c_mutex);
return rc;
}
Status I2CGpioHardwareBus::Receive(byte& value)
{
auto result = i2cReadByte(_i2cHandle);
checkStatus(result, Status::ReceiveFail);
value = byte(result & 0x000000FF);
return Status::Ok;
}
// Reads x, y and z gyroscope registers
void Read_Gyro()
{
unsigned char buff[6];
unsigned short raw[3];
unsigned char reg = GYRO_DATAREG;
int i = 0;
// Select device
i2cSetAddress(GYRO_ADDRESS);
// Read 6 bytes
while(i<6&®<GYRO_DATAREG+6){
buff[i] = i2cReadByte(reg);
//printf("gyro[%x]:%x ",reg,buff[i]);
//usleep(5000);
reg++;
i++;
}
if (i == 6) // All bytes received?
{
//ints are stored as 2-byte 2s-complements on an arduino so casting to int is sufficent to
//retrieve 16bit 2s-complement values from sensor registers on an arduino.
//gyro1[0] = -1 * ((((int) buff[2]) << 8) | buff[3]); // X axis (internal sensor -y axis)
//gyro1[1] = -1 * ((((int) buff[0]) << 8) | buff[1]); // Y axis (internal sensor -x axis)
//gyro1[2] = -1 * ((((int) buff[4]) << 8) | buff[5]); // Z axis (internal sensor -z axis)
// MSB first, X Y reversed
raw[0] = ((buff[2]) << 8) | buff[3]; // X axis (internal sensor -y axis)
raw[1] = ((buff[0]) << 8) | buff[1]; // Y axis (internal sensor -x axis)
raw[2] = ((buff[4]) << 8) | buff[5]; // Z axis (internal sensor -z axis)
//Manual 2s-complement conversion on ARM v8
//nasty bit of code can be optimized.
//TODO: make it branch-less
int k;
for(k=0;k<3;k++){
//Convert from twos complement
if((raw[k] >> 15) == 1){
raw[k] = ~raw[k] + 1;
gyro[k] = raw[k];
gyro[k] *= -1;
//printf("negative");
}else{
gyro[k] = raw[k];
}
//XXXX is the maximum value of an X-bit signed register
//TODO: Scale based on Max value being read.
//gyro2[k] = (float)16 * (gyro2[k]/(0x1FF));
//printf("\n%f\n",gyro[k]);
}
void Touchpanel_FT5X06::setup()
{
uint8_t b, i;
power = 0;
mouseX = mouseY = 0;
mouseButtonState = 0;
mouseZoom = 0;
// set analog pins to input
pinMode(AXM, INPUT);
pinMode(AXP, INPUT);
pinMode(AYM, INPUT);
pinMode(AYP, INPUT);
// set interrupt pin to input
pinMode(INT_PIN, INPUT);
digitalWrite(INT_PIN, HIGH); // pull-up on
// wait for startup (check chip vendor id)
#if DEBUG > 0
Serial.println(F("TP: init chip..."));
#endif
for(i=0; i < 5; i++)
{
b = i2cReadByte(REG_CIPHER);
if(b == CHIP_VENDOR_ID)
{
break;
}
else
{
#if DEBUG > 0
Serial.print(F("TP: Chip Vendor wrong 0x"));
Serial.println(b, HEX);
#endif
#if USE_WATCHDOG > 0
wdt_reset();
#endif
digitalWrite(LED_RED, HIGH);
delay(250);
digitalWrite(LED_RED, LOW);
delay(250);
}
}
// read settings
#if DEBUG > 0
b = i2cReadByte(REG_CIPHER);
Serial.print(F("TP: Chip Vendor 0x"));
Serial.println(b, HEX);
b = i2cReadByte(REG_FWID);
Serial.print(F("TP: FW 0x"));
Serial.println(b, HEX);
b = i2cReadByte(REG_FTCHIPID);
Serial.print(F("TP: Chip ID 0x"));
Serial.println(b, HEX);
b = i2cReadByte(REG_DEVICE_MODE);
Serial.print(F("TP: Device Mode 0x"));
Serial.println(b, HEX);
Serial.println(F("TP: Reg 0x80...0xE0"));
for(i = 0x80; i <= 0xE0; i++)
{
Serial.print(i, HEX);
Serial.print(" ");
Serial.println(i2cReadByte(i));
}
#endif
// write settings
i2cWriteByte(REG_DEVICE_MODE, 0); // Device Mode, 0x00 = normal operating, 0x40 = test
i2cWriteByte(REG_MODE, 0); // Interrupt status to host, 0 = polling, 1 = trigger
i2cWriteByte(REG_THGROUP, 35); // Valid touching detect threshold
i2cWriteByte(REG_ENTERMONITOR, 120); // Delay to enter 'Monitor' status (s)
/*
i2cWriteByte(REG_THGROUP, 35); // Valid touching detect threshold
i2cWriteByte(REG_THPEAK, 60); // Valid touching peak detect threshold
i2cWriteByte(REG_THCAL, 140); // Touch focus threshold
i2cWriteByte(REG_THWATER, 211); // Threshold when there is surface water
i2cWriteByte(REG_THTEMP, 235); // Threshold of temperature compensation
i2cWriteByte(REG_THDIFF, 160); // Touch difference threshold
i2cWriteByte(REG_CTRL, 1); // Power Control Mode
i2cWriteByte(REG_ENTERMONITOR, 200); // Delay to enter 'Monitor' status (s)
i2cWriteByte(REG_PERIODACTIVE, 6); // Period of 'Active' status (ms) 3-14
i2cWriteByte(REG_PERIODMONITOR, 40); // Timer to enter ‘idle’ when in 'Monitor' (ms) 3-14
*/
// check error register
for(i=0; i < 10; i++)
{
b = i2cReadByte(REG_ERR);
if(b == 0) // okay
{
on(); // touchpanel on
break;
}
else // error
{
#if DEBUG > 0
Serial.print(F("TP: error 0x"));
Serial.println(b, HEX);
#endif
}
}
}
void Touchpanel_FT5X06::loop()
{
uint8_t b;
static uint8_t slowdown = 0;
if(!power)
return;
// check INT pin of touch controller, when no touch press is active/detected
if(mouseButtonState == 0)
{
slowdown++;
if((slowdown > 8) || (digitalRead(INT_PIN) == 0)) // INT low -> new data
{
slowdown = 0;
}
else // INT high -> no new data
{
return;
}
}
b = i2cReadByte(REG_STATE);
//#if DEBUG > 2
// Serial.print(F("TP: state 0x"));
// Serial.println(b, HEX);
//#endif
if(b == STATE_WORK)
{
b = i2cReadByte(REG_TD_STATUS);
if((b != 0) && (b != 255)) // no touch points on 0 and 255
{
nrPoints = b & 0x0F; //Bit3:0
readTouchPoint(REG_TOUCH_1, &touch[0]);
// no multi touch support at the moment
//readTouchPoint(REG_TOUCH_2, &touch[1]);
//readTouchPoint(REG_TOUCH_3, &touch[2]);
//readTouchPoint(REG_TOUCH_4, &touch[3]);
//readTouchPoint(REG_TOUCH_5, &touch[4]);
#if DEBUG > 1
Serial.print(F("TP: Points 0x"));
Serial.print(nrPoints, HEX);
Serial.print(F(" ID 0x"));
Serial.print(touch[0].id, HEX);
Serial.print(F(" Event 0x"));
Serial.println(touch[0].event, HEX);
#endif
if(nrPoints >= 1 && touch[0].id == 0 && (touch[0].event == 0 || touch[0].event == 2)) // put down or contact
{
mouseX = touch[0].x * TOUCHMAX / (settings.data.screenWidth - 1);
mouseY = touch[0].y * TOUCHMAX / (settings.data.screenHeight - 1);
if(settings.data.x0 != 0) // add x correction
{
int16_t x = settings.data.x0 + mouseX;
mouseX = x;
}
if(settings.data.y0 != 0) // add y correction
{
int16_t y = settings.data.y0 + mouseY;
mouseY = y;
}
b = i2cReadByte(REG_GESTURE); // GESTURE_MOVE_UP GESTURE_MOVE_LEFT GESTURE_MOVE_DOWN GESTURE_MOVE_RIGHT GESTURE_ZOOM_IN GESTURE_ZOOM_OUT
#if DEBUG > 1
Serial.print(F("TP: Gesture 0x"));
Serial.println(b, HEX);
#endif
if(b == GESTURE_ZOOM_IN)
mouseZoom = 1;
else if(b == GESTURE_ZOOM_OUT)
mouseZoom = -1;
else
mouseZoom = 0;
mouseButtonDown();
}
else
{
mouseButtonUp();
}
}
else
{
mouseButtonUp();
}
}
}
int main(int argc, char *argv[])
{
int i;
int r;
int handle;
char aout;
unsigned char command[2];
unsigned char value[4];
unsigned char str[8];
int j;
int key;
if (gpioInitialise() < 0) return 1;
initscr();
noecho();
cbreak();
nodelay(stdscr, true);
curs_set(0);
printw("PCF8591 + or - to change aout, any other key to quit.");
mvaddstr(10, 0, "Brightness");
mvaddstr(12, 0, "Temperature");
mvaddstr(14, 0, "?");
mvaddstr(16, 0, "Resistor");
refresh();
handle = i2cOpen(1, PCF8591_I2C_ADDR, 0);
command[1] = 0;
aout = 128;
while (1)
{
for (i=0; i<4; i++)
{
command[1] = aout;
command[0] = 0x40 | ((i + 1) & 0x03); // output enable | read input i
i2cWriteDevice(handle, &command, 2);
usleep(20000);
// the read is always one step behind the selected input
value[i] = i2cReadByte(handle);
sprintf(str, "%3d", value[i]);
mvaddstr(10+i+i, 12, str);
value[i] = value[i] / 4;
move(10 + i + i, 16);
for(j = 0; j < 64; j++)
if(j < value[i]) addch('*'); else addch(' ');
}
refresh();
key = getch();
if ((key == '+') || (key == '=')) aout++;
else if ((key == '-') || (key == '_')) aout--;
else if (key != -1) break;
}
endwin();
i2cClose(handle);
gpioTerminate();
return (0);
}
void DataAquisition::run()
{
//Variablendeklaration
int handle = 0;
int dataready = 0;
int winkel_old= 999;
while(1)
{
int dataX_MSB = 0;
int dataX_LSB = 0;
int dataY_MSB = 0;
int dataY_LSB = 0;
int dataZ_MSB = 0;
int dataZ_LSB = 0;
signed short int dataX = 0;
signed short int dataY = 0;
signed short int dataZ = 0;
int winkel = 0;
double tangens = 0;
double dataX_ABS = 0;
double dataZ_ABS = 0;
//i2c
handle = i2cOpen(1,0x55,0);
i2cSwitchCombined(1); // WICHTIG! Enable "Repeated Start"!!
gpioWrite(13,1); // MMA8491_EN = 1
gpioDelay(2000); // Ton (minimales Delay)
i2cWriteByte(handle,0x00);
dataready = i2cReadByte(handle);
if((dataready & 0x08) == 0x08) // Falls neue Daten Verfügbar
{
dataX_MSB = i2cReadByteData(handle,0x01);
dataX_LSB = i2cReadByteData(handle,0x02);
dataY_MSB = i2cReadByteData(handle,0x03);
dataY_LSB = i2cReadByteData(handle,0x04);
dataZ_MSB = i2cReadByteData(handle,0x05);
dataZ_LSB = i2cReadByteData(handle,0x06);
dataX = dataX_LSB + (dataX_MSB << 8);
dataY = dataY_LSB + (dataY_MSB << 8);
dataZ = dataZ_LSB + (dataZ_MSB << 8);
//Absolutwert und Wandlung in Double
dataX_ABS = abs(dataX);
dataZ_ABS = abs(dataZ);
//Berechnung Tangens
tangens = (dataX_ABS)/(dataZ_ABS);
//Berechnung Winkel
winkel = (atan(tangens))*180 / PI;
//Unterscheidung Quadrant
if((dataZ >= 0) & (dataX >= 0)) // Rechts unten
winkel = winkel;
else if((dataZ <= 0) & (dataX >= 0)) // Rechts oben
winkel = 180 - winkel;
else if((dataZ <= 0) & (dataX <= 0)) // Links oben
winkel = 180 + winkel;
else if((dataZ >= 0) & (dataX <= 0)) // Links unten
winkel = 360 - winkel ;
}
i2cClose(handle);
gpioWrite(13,0); // MMA8491_EN = 0
if (winkel < 3 || winkel > 357)
{
winkel = 0;
}
//Filter gegen Stösse und Schläge
if(winkel_old != 999)
{
if(winkel > (winkel_old+10))
{
winkel = (winkel_old+10);
}
else if(winkel < (winkel_old-10))
{
winkel = (winkel_old-10);
}
}
if(fps == "2")
{
if(i%5 == 0)
{
angleArray[(i/5)] = winkel;
}
}
else if(fps == "30")
{
angleArray[i] = winkel;
angleArray[++i] = winkel;
angleArray[++i] = winkel;
}
else
{
angleArray[i] = winkel;
}
winkel_old = winkel;
i++;
msleep(92);
}
}