Merge pull request #13 from abhishek-kakkar/master
Touchscreen 3 point calibration support
This commit is contained in:
Tectu
commit
3dd0b1a5af
@ -49,6 +49,9 @@
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/* Include the low level driver information */
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#include "touchpad_lld.h"
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/* For definitions of coord_t, we require gdisp.h */
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#include "gdisp.h"
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/*===========================================================================*/
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/* Type definitions */
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/*===========================================================================*/
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@ -57,10 +60,12 @@
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* @brief Struct used for calibration
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*/
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typedef struct cal_t {
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float xm;
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float ym;
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float xn;
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float yn;
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float ax;
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float bx;
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float cx;
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float ay;
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float by;
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float cy;
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} cal_t;
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/*===========================================================================*/
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@ -72,12 +77,12 @@ extern "C" {
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#endif
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void tpInit(const TOUCHPADDriver *tp);
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uint16_t tpReadX(void);
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uint16_t tpReadY(void);
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coord_t tpReadX(void);
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coord_t tpReadY(void);
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void tpCalibrate(void);
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#if TOUCHPAD_HAS_IRQ
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uint8_t tpIRQ(void);
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bool_t tpIRQ(void);
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#endif
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#if TOUCHPAD_HAS_PRESSURE
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641
src/touchpad.c
641
src/touchpad.c
@ -1,266 +1,375 @@
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/* ChibiOS/GFX - Copyright (C) 2012
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Joel Bodenmann aka Tectu <joel@unormal.org>
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This file is part of ChibiOS/GFX.
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ChibiOS/GFX is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/GFX is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file src/touchpad.c
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* @brief Touchpad Driver code.
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*
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* @addtogroup TOUCHPAD
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "gdisp.h"
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#include "touchpad.h"
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#if GFX_USE_TOUCHPAD || defined(__DOXYGEN__)
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#if TOUCHPAD_STORE_CALIBRATION
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extern void tp_store_calibration_lld(struct cal_t *cal);
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extern struct cal_t *tp_restore_calibration_lld(void);
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#endif
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables. */
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/*===========================================================================*/
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static struct cal_t *cal;
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static uint16_t _tpReadRealX(void) {
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uint32_t results = 0;
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uint16_t i, x;
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/* Median filtering is already done in LLD */
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for(i = 0; i < CONVERSIONS; i++) {
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results += tp_lld_read_x();
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}
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/* Take the average of the readings */
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x = results / CONVERSIONS;
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return x;
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}
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static uint16_t _tpReadRealY(void) {
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uint32_t results = 0;
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uint16_t i, y;
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/* Median filtering is already done in LLD */
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for(i = 0; i < CONVERSIONS; i++) {
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results += tp_lld_read_y();
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}
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/* Take the average of the readings */
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y = results / CONVERSIONS;
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return y;
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}
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static void _tpDrawCross(uint16_t x, uint16_t y) {
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gdispDrawLine(x-15, y, x-2, y, 0xffff);
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gdispDrawLine(x+2, y, x+15, y, 0xffff);
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gdispDrawLine(x, y-15, x, y-2, 0xffff);
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gdispDrawLine(x, y+2, x, y+15, 0xffff);
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gdispDrawLine(x-15, y+15, x-7, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y+7, x-15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y-15, x-7, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y-7, x-15, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+7, y+15, x+15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+15, y+7, x+15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+7, y-15, x+15, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+15, y-15, x+15, y-7, RGB565CONVERT(184,158,131));
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}
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/*===========================================================================*/
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/* Driver exported functions. */
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/*===========================================================================*/
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/**
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* @brief Touchpad Driver initialization.
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* @note This function is NOT currently implicitly invoked by @p halInit().
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* It must be called manually.
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*
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* @param[in] tp The touchpad driver struct
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*
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* @api
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*/
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void tpInit(const TOUCHPADDriver *tp) {
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cal = (struct cal_t*)chHeapAlloc(NULL, sizeof(struct cal_t));
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if(cal == NULL)
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return;
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/* Initialise Mutex */
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//MUTEX_INIT
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/* Initialise driver */
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//MUTEX_ENTER
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tp_lld_init(tp);
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//MUTEX_EXIT
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#if TOUCHPAD_STORE_CALIBRATION
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cal = tp_restore_calibration_lld();
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if(cal == NULL) {
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cal = (struct cal_t*)chHeapAlloc(NULL, sizeof(struct cal_t));
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tpCalibrate();
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}
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#endif
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}
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/**
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* @brief Get the X-Coordinate, relative to screen zero point.
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*
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* @return The X position in pixels.
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*
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* @api
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*/
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uint16_t tpReadX(void) {
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uint16_t x, y;
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#if TOUCHPAD_XY_INVERTED == TRUE
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x = cal->xm * _tpReadRealY() + cal->xn;
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y = cal->ym * _tpReadRealX() + cal->yn;
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#else
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x = cal->xm * _tpReadRealX() + cal->xn;
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y = cal->ym * _tpReadRealY() + cal->yn;
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#endif
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switch(gdispGetOrientation()) {
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case GDISP_ROTATE_0:
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return x;
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case GDISP_ROTATE_90:
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return y;
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case GDISP_ROTATE_180:
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return GDISP_SCREEN_WIDTH - x - 1;
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case GDISP_ROTATE_270:
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return GDISP_SCREEN_HEIGHT - y - 1;
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}
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return 0;
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}
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/**
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* @brief Get the X-Coordinate, relative to screen zero point.
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*
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* @return The Y position in pixels.
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*
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* @api
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*/
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uint16_t tpReadY(void) {
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uint16_t x, y;
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#if TOUCHPAD_XY_INVERTED == TRUE
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x = cal->xm * _tpReadRealY() + cal->xn;
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y = cal->ym * _tpReadRealX() + cal->yn;
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#else
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x = cal->xm * _tpReadRealX() + cal->xn;
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y = cal->ym * _tpReadRealY() + cal->yn;
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#endif
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switch(gdispGetOrientation()) {
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case GDISP_ROTATE_0:
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return y;
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case GDISP_ROTATE_90:
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return GDISP_SCREEN_WIDTH - x - 1;
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case GDISP_ROTATE_180:
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return GDISP_SCREEN_HEIGHT - y - 1;
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case GDISP_ROTATE_270:
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return x;
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}
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return 0;
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}
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/**
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* @brief Get the pressure.
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*
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* @return The pressure.
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*
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* @api
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*/
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#if TOUCHPAD_HAS_PRESSURE || defined(__DOXYGEN__)
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uint16_t tpReadZ(void) {
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/* ToDo */
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return (tp_lld_read_z());
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}
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#endif
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/**
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* @brief returns if touchpad is pressed or not
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*
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* @return 1 if pressed, 0 otherwise
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*
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* @api
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*/
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#if TOUCHPAD_HAS_IRQ || defined(__DOXYGEN__)
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uint8_t tpIRQ(void) {
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return tp_lld_irq();
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}
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#endif
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void tpCalibrate(void) {
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const uint16_t h = gdispGetHeight();
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const uint16_t w = gdispGetWidth();
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const uint16_t cross[2][2] = {{(w/8), (h/8)}, {(w-(w/8)) , (h-(h/8))}};
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uint16_t points[2][2];
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uint8_t i;
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gdispSetOrientation(GDISP_ROTATE_0);
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gdispClear(Red);
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gdispFillStringBox(0, 10, gdispGetWidth(), 30, "Calibration", &fontUI2Double, White, Red, justifyCenter);
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for(i = 0; i < 2; i++) {
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_tpDrawCross(cross[i][0], cross[i][1]);
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while(!tpIRQ());
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points[i][0] = _tpReadRealX();
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points[i][1] = _tpReadRealY();
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chThdSleepMilliseconds(100);
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while(tpIRQ());
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gdispFillArea(cross[i][0]-15, cross[i][1]-15, 42, 42, Red);
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}
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cal->xm = ((float)cross[1][0] - (float)cross[0][0]) / ((float)points[1][0] - (float)points[0][0]);
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cal->ym = ((float)cross[1][1] - (float)cross[0][1]) / ((float)points[1][1] - (float)points[0][1]);
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cal->xn = (float)cross[0][0] - cal->xm * (float)points[0][0];
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cal->yn = (float)cross[0][1] - cal->ym * (float)points[0][1];
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#if TOUCHPAD_STORE_CALIBRATION
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tp_store_calibration_lld(cal);
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#endif
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}
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#endif /* GFX_USE_TOUCHPAD */
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/** @} */
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/* ChibiOS/GFX - Copyright (C) 2012
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Joel Bodenmann aka Tectu <joel@unormal.org>
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This file is part of ChibiOS/GFX.
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ChibiOS/GFX is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation; either version 3 of the License, or
|
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(at your option) any later version.
|
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|
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ChibiOS/GFX is distributed in the hope that it will be useful,
|
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but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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GNU General Public License for more details.
|
||||
|
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You should have received a copy of the GNU General Public License
|
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file src/touchpad.c
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* @brief Touchpad Driver code.
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*
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* @addtogroup TOUCHPAD
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* @{
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*/
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#include "ch.h"
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#include "hal.h"
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#include "gdisp.h"
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#include "touchpad.h"
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#if GFX_USE_TOUCHPAD || defined(__DOXYGEN__)
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#if TOUCHPAD_STORE_CALIBRATION
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extern void tp_store_calibration_lld(struct cal_t *cal);
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extern struct cal_t *tp_restore_calibration_lld(void);
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#endif
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/*===========================================================================*/
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/* Driver local definitions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver exported variables. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver local variables. */
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/*===========================================================================*/
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static struct cal_t *cal;
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/*===========================================================================*/
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/* Driver local functions. */
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/*===========================================================================*/
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static coord_t _tpReadRealX(void) {
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int32_t results = 0;
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int16_t i;
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coord_t x;
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for(i = 0; i < CONVERSIONS; i++) {
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results += tp_lld_read_x();
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}
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/* Take the average of the readings */
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x = results / CONVERSIONS;
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return x;
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}
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static coord_t _tpReadRealY(void) {
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int32_t results = 0;
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int16_t i;
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coord_t y;
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for(i = 0; i < CONVERSIONS; i++) {
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results += tp_lld_read_y();
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}
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/* Take the average of the readings */
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y = results / CONVERSIONS;
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return y;
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}
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static void _tpDrawCross(uint16_t x, uint16_t y) {
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gdispDrawLine(x-15, y, x-2, y, 0xffff);
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gdispDrawLine(x+2, y, x+15, y, 0xffff);
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gdispDrawLine(x, y-15, x, y-2, 0xffff);
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gdispDrawLine(x, y+2, x, y+15, 0xffff);
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gdispDrawLine(x-15, y+15, x-7, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y+7, x-15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y-15, x-7, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x-15, y-7, x-15, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+7, y+15, x+15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+15, y+7, x+15, y+15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+7, y-15, x+15, y-15, RGB565CONVERT(184,158,131));
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gdispDrawLine(x+15, y-15, x+15, y-7, RGB565CONVERT(184,158,131));
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}
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static void _tpTransform(coord_t *x, coord_t *y) {
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*x = (coord_t) (cal->ax * (*x) + cal->bx * (*y) + cal->cx);
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*y = (coord_t) (cal->ay * (*x) + cal->by * (*y) + cal->cy);
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}
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static void _tpDo3PointCalibration(const coord_t (*cross)[2], coord_t (*points)[2],
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cal_t *c)
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{
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float dx, dx0, dx1, dx2, dy0, dy1, dy2;
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/* Compute all the required determinants */
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dx = ((float)(points[0][0] - points[2][0])) * ((float)(points[1][1] - points[2][1]))
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- ((float)(points[1][0] - points[2][0])) * ((float)(points[0][1] - points[2][1]));
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dx0 = ((float)(cross[0][0] - cross[2][0])) * ((float)(points[1][1] - points[2][1]))
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- ((float)(cross[1][0] - cross[2][0])) * ((float)(points[0][1] - points[2][1]));
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dx1 = ((float)(points[0][0] - points[2][0])) * ((float)(cross[1][0] - cross[2][0]))
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- ((float)(points[1][0] - points[2][0])) * ((float)(cross[0][0] - cross[2][0]));
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dx2 = cross[0][0] * ((float)points[1][0] * (float)points[2][1] - (float)points[2][0] * (float)points[1][1]) -
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cross[1][0] * ((float)points[0][0] * (float)points[2][1] - (float)points[2][0] * (float)points[0][1]) +
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cross[2][0] * ((float)points[0][0] * (float)points[1][1] - (float)points[1][0] * (float)points[0][1]);
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dy0 = ((float)(cross[0][1] - cross[2][1])) * ((float)(points[1][1] - points[2][1]))
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- ((float)(cross[1][1] - cross[2][1])) * ((float)(points[0][1] - points[2][1]));
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dy1 = ((float)(points[0][0] - points[2][0])) * ((float)(cross[1][1] - cross[2][1]))
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- ((float)(points[1][0] - points[2][0])) * ((float)(cross[0][1] - cross[2][1]));
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dy2 = cross[0][1] * ((float)points[1][0] * (float)points[2][1] - (float)points[2][0] * (float)points[1][1]) -
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cross[1][1] * ((float)points[0][0] * (float)points[2][1] - (float)points[2][0] * (float)points[0][1]) +
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cross[2][1] * ((float)points[0][0] * (float)points[1][1] - (float)points[1][0] * (float)points[0][1]);
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/* Now, calculate all the required coefficients */
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c->ax = dx0 / dx;
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c->bx = dx1 / dx;
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c->cx = dx2 / dx;
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c->ay = dy0 / dx;
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c->by = dy1 / dx;
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c->cy = dy2 / dx;
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}
|
||||
|
||||
/*===========================================================================*/
|
||||
/* Driver exported functions. */
|
||||
/*===========================================================================*/
|
||||
|
||||
/**
|
||||
* @brief Touchpad Driver initialization.
|
||||
* @note This function is NOT currently implicitly invoked by @p halInit().
|
||||
* It must be called manually.
|
||||
*
|
||||
* @param[in] tp The touchpad driver struct
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void tpInit(const TOUCHPADDriver *tp) {
|
||||
cal = (struct cal_t*)chHeapAlloc(NULL, sizeof(struct cal_t));
|
||||
if(cal == NULL)
|
||||
return;
|
||||
|
||||
/* Initialise Mutex */
|
||||
//MUTEX_INIT
|
||||
|
||||
/* Initialise driver */
|
||||
//MUTEX_ENTER
|
||||
tp_lld_init(tp);
|
||||
//MUTEX_EXIT
|
||||
|
||||
#if TOUCHPAD_STORE_CALIBRATION
|
||||
cal = tp_restore_calibration_lld();
|
||||
if(cal == NULL) {
|
||||
cal = (struct cal_t*)chHeapAlloc(NULL, sizeof(struct cal_t));
|
||||
tpCalibrate();
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the X-Coordinate, relative to screen zero point.
|
||||
*
|
||||
* @return The X position in pixels.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
coord_t tpReadX(void) {
|
||||
coord_t x, y;
|
||||
|
||||
#if TOUCHPAD_XY_INVERTED == TRUE
|
||||
x = _tpReadRealY();
|
||||
y = _tpReadRealX();
|
||||
#else
|
||||
x = _tpReadRealX();
|
||||
y = _tpReadRealY();
|
||||
#endif
|
||||
|
||||
_tpTransform(&x, &y);
|
||||
|
||||
switch(gdispGetOrientation()) {
|
||||
case GDISP_ROTATE_0:
|
||||
return x;
|
||||
case GDISP_ROTATE_90:
|
||||
return y;
|
||||
case GDISP_ROTATE_180:
|
||||
return GDISP_SCREEN_WIDTH - x - 1;
|
||||
case GDISP_ROTATE_270:
|
||||
return GDISP_SCREEN_HEIGHT - y - 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the X-Coordinate, relative to screen zero point.
|
||||
*
|
||||
* @return The Y position in pixels.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
coord_t tpReadY(void) {
|
||||
coord_t x, y;
|
||||
|
||||
#if TOUCHPAD_XY_INVERTED == TRUE
|
||||
x = _tpReadRealY();
|
||||
y = _tpReadRealX();
|
||||
#else
|
||||
x = _tpReadRealX();
|
||||
y = _tpReadRealY();
|
||||
#endif
|
||||
|
||||
_tpTransform(&x, &y);
|
||||
|
||||
switch(gdispGetOrientation()) {
|
||||
case GDISP_ROTATE_0:
|
||||
return y;
|
||||
case GDISP_ROTATE_90:
|
||||
return GDISP_SCREEN_WIDTH - x - 1;
|
||||
case GDISP_ROTATE_180:
|
||||
return GDISP_SCREEN_HEIGHT - y - 1;
|
||||
case GDISP_ROTATE_270:
|
||||
return x;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get the pressure.
|
||||
*
|
||||
* @return The pressure.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#if TOUCHPAD_HAS_PRESSURE || defined(__DOXYGEN__)
|
||||
uint16_t tpReadZ(void) {
|
||||
/* ToDo */
|
||||
return (tp_lld_read_z());
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Returns if touchpad is pressed or not
|
||||
*
|
||||
* @return TRUE if pressed, FALSE otherwise
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
#if TOUCHPAD_HAS_IRQ || defined(__DOXYGEN__)
|
||||
bool_t tpIRQ(void) {
|
||||
return tp_lld_irq();
|
||||
}
|
||||
#endif
|
||||
|
||||
/* Define maximum no. of times to sample the calibration point */
|
||||
#define MAX_CAL_SAMPLES 10
|
||||
|
||||
/**
|
||||
* @brief This function interactively performs calibration of the touchscreen
|
||||
* using 3-point calibration algorithm. Optionally, it also verifies
|
||||
* the accuracy of the calibration coefficients obtained if the symbol
|
||||
* TOUCHPAD_VERIFY_CALIBRATION is defined in the configuration.
|
||||
*
|
||||
* @api
|
||||
*/
|
||||
void tpCalibrate(void) {
|
||||
const uint16_t height = gdispGetHeight();
|
||||
const uint16_t width = gdispGetWidth();
|
||||
const coord_t cross[][2] = {{(width / 4), (height / 4)},
|
||||
{(width - (width / 4)) , (height / 4)},
|
||||
{(width - (width / 4)) , (height - (height / 4))},
|
||||
{(width / 2), (height / 2)}}; /* Check point */
|
||||
coord_t points[4][2];
|
||||
int32_t px, py;
|
||||
uint8_t i, j;
|
||||
|
||||
gdispSetOrientation(GDISP_ROTATE_0);
|
||||
gdispClear(Blue);
|
||||
|
||||
gdispFillStringBox(0, 5, gdispGetWidth(), 30, "Calibration", &fontUI2Double, White, Blue, justifyCenter);
|
||||
|
||||
#if defined(TOUCHPAD_VERIFY_CALIBRATION)
|
||||
calibrate:
|
||||
for(i = 0; i < 4; i++) {
|
||||
#else
|
||||
for(i = 0; i < 3; i++) {
|
||||
#endif
|
||||
_tpDrawCross(cross[i][0], cross[i][1]);
|
||||
|
||||
while(!tpIRQ())
|
||||
chThdSleepMilliseconds(2); /* Be nice to other threads*/
|
||||
|
||||
chThdSleepMilliseconds(20); /* Allow screen to settle */
|
||||
|
||||
/* Take a little more samples per point and their average
|
||||
* for precise calibration */
|
||||
px = py = 0;
|
||||
|
||||
j = 0;
|
||||
while (j < MAX_CAL_SAMPLES) {
|
||||
if (tpIRQ()) {
|
||||
/* We have valid pointer data */
|
||||
px += _tpReadRealX();
|
||||
py += _tpReadRealY();
|
||||
|
||||
j++;
|
||||
}
|
||||
}
|
||||
|
||||
points[i][0] = px / j;
|
||||
points[i][1] = py / j;
|
||||
|
||||
chThdSleepMilliseconds(100);
|
||||
|
||||
while(tpIRQ())
|
||||
chThdSleepMilliseconds(2); /* Be nice to other threads*/
|
||||
|
||||
gdispFillArea(cross[i][0] - 15, cross[i][1] - 15, 42, 42, Blue);
|
||||
}
|
||||
|
||||
/* Apply 3 point calibration algorithm */
|
||||
_tpDo3PointCalibration(cross, points, cal);
|
||||
|
||||
#if defined(TOUCHPAD_VERIFY_CALIBRATION)
|
||||
/* Verification of correctness of calibration (optional) :
|
||||
* See if the 4th point (Middle of the screen) coincides with the calibrated
|
||||
* result. If point is with +/- 2 pixel margin, then successful calibration
|
||||
* Else, start from the beginning.
|
||||
*/
|
||||
|
||||
/* Transform the co-ordinates */
|
||||
_tpTransform(&points[3][0], &points[3][1]);
|
||||
|
||||
/* Calculate the delta */
|
||||
px = (points[3][0] - cross[3][0]) * (points[3][0] - cross[3][0]) +
|
||||
(points[3][1] - cross[3][1]) * (points[3][1] - cross[3][1]);
|
||||
|
||||
if (px > 4)
|
||||
goto calibrate;
|
||||
#endif
|
||||
|
||||
/* If enabled, serialize the calibration values for storage */
|
||||
#if TOUCHPAD_STORE_CALIBRATION
|
||||
tp_store_calibration_lld(cal);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif /* GFX_USE_TOUCHPAD */
|
||||
/** @} */
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user