diff --git a/include/touchpad.h b/include/touchpad.h index 63d6cbf7..ec0ef049 100644 --- a/include/touchpad.h +++ b/include/touchpad.h @@ -49,6 +49,9 @@ /* Include the low level driver information */ #include "touchpad_lld.h" +/* For definitions of coord_t, we require gdisp.h */ +#include "gdisp.h" + /*===========================================================================*/ /* Type definitions */ /*===========================================================================*/ @@ -57,10 +60,12 @@ * @brief Struct used for calibration */ typedef struct cal_t { - float xm; - float ym; - float xn; - float yn; + float ax; + float bx; + float cx; + float ay; + float by; + float cy; } cal_t; /*===========================================================================*/ @@ -72,12 +77,12 @@ extern "C" { #endif void tpInit(const TOUCHPADDriver *tp); -uint16_t tpReadX(void); -uint16_t tpReadY(void); +coord_t tpReadX(void); +coord_t tpReadY(void); void tpCalibrate(void); #if TOUCHPAD_HAS_IRQ - uint8_t tpIRQ(void); + bool_t tpIRQ(void); #endif #if TOUCHPAD_HAS_PRESSURE diff --git a/src/touchpad.c b/src/touchpad.c index d0894686..d667508b 100644 --- a/src/touchpad.c +++ b/src/touchpad.c @@ -1,266 +1,375 @@ -/* ChibiOS/GFX - Copyright (C) 2012 - Joel Bodenmann aka Tectu - - This file is part of ChibiOS/GFX. - - ChibiOS/GFX is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 3 of the License, or - (at your option) any later version. - - ChibiOS/GFX is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . -*/ - -/** - * @file src/touchpad.c - * @brief Touchpad Driver code. - * - * @addtogroup TOUCHPAD - * @{ - */ - -#include "ch.h" -#include "hal.h" -#include "gdisp.h" -#include "touchpad.h" - -#if GFX_USE_TOUCHPAD || defined(__DOXYGEN__) - -#if TOUCHPAD_STORE_CALIBRATION -extern void tp_store_calibration_lld(struct cal_t *cal); -extern struct cal_t *tp_restore_calibration_lld(void); -#endif - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables. */ -/*===========================================================================*/ -static struct cal_t *cal; - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -static uint16_t _tpReadRealX(void) { - uint32_t results = 0; - uint16_t i, x; - - /* Median filtering is already done in LLD */ - for(i = 0; i < CONVERSIONS; i++) { - results += tp_lld_read_x(); - } - - /* Take the average of the readings */ - x = results / CONVERSIONS; - - return x; -} - -static uint16_t _tpReadRealY(void) { - uint32_t results = 0; - uint16_t i, y; - - /* Median filtering is already done in LLD */ - for(i = 0; i < CONVERSIONS; i++) { - results += tp_lld_read_y(); - } - - /* Take the average of the readings */ - y = results / CONVERSIONS; - - return y; -} - -static void _tpDrawCross(uint16_t x, uint16_t y) { - gdispDrawLine(x-15, y, x-2, y, 0xffff); - gdispDrawLine(x+2, y, x+15, y, 0xffff); - gdispDrawLine(x, y-15, x, y-2, 0xffff); - gdispDrawLine(x, y+2, x, y+15, 0xffff); - - gdispDrawLine(x-15, y+15, x-7, y+15, RGB565CONVERT(184,158,131)); - gdispDrawLine(x-15, y+7, x-15, y+15, RGB565CONVERT(184,158,131)); - - gdispDrawLine(x-15, y-15, x-7, y-15, RGB565CONVERT(184,158,131)); - gdispDrawLine(x-15, y-7, x-15, y-15, RGB565CONVERT(184,158,131)); - - gdispDrawLine(x+7, y+15, x+15, y+15, RGB565CONVERT(184,158,131)); - gdispDrawLine(x+15, y+7, x+15, y+15, RGB565CONVERT(184,158,131)); - - gdispDrawLine(x+7, y-15, x+15, y-15, RGB565CONVERT(184,158,131)); - gdispDrawLine(x+15, y-15, x+15, y-7, RGB565CONVERT(184,158,131)); -} - -/*===========================================================================*/ -/* 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 - */ -uint16_t tpReadX(void) { - uint16_t x, y; - -#if TOUCHPAD_XY_INVERTED == TRUE - x = cal->xm * _tpReadRealY() + cal->xn; - y = cal->ym * _tpReadRealX() + cal->yn; -#else - x = cal->xm * _tpReadRealX() + cal->xn; - y = cal->ym * _tpReadRealY() + cal->yn; -#endif - - 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 - */ -uint16_t tpReadY(void) { - uint16_t x, y; - -#if TOUCHPAD_XY_INVERTED == TRUE - x = cal->xm * _tpReadRealY() + cal->xn; - y = cal->ym * _tpReadRealX() + cal->yn; -#else - x = cal->xm * _tpReadRealX() + cal->xn; - y = cal->ym * _tpReadRealY() + cal->yn; -#endif - - 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 1 if pressed, 0 otherwise - * - * @api - */ -#if TOUCHPAD_HAS_IRQ || defined(__DOXYGEN__) - uint8_t tpIRQ(void) { - return tp_lld_irq(); - } -#endif - -void tpCalibrate(void) { - const uint16_t h = gdispGetHeight(); - const uint16_t w = gdispGetWidth(); - const uint16_t cross[2][2] = {{(w/8), (h/8)}, {(w-(w/8)) , (h-(h/8))}}; - uint16_t points[2][2]; - uint8_t i; - - gdispSetOrientation(GDISP_ROTATE_0); - gdispClear(Red); - gdispFillStringBox(0, 10, gdispGetWidth(), 30, "Calibration", &fontUI2Double, White, Red, justifyCenter); - - for(i = 0; i < 2; i++) { - _tpDrawCross(cross[i][0], cross[i][1]); - while(!tpIRQ()); - points[i][0] = _tpReadRealX(); - points[i][1] = _tpReadRealY(); - chThdSleepMilliseconds(100); - while(tpIRQ()); - gdispFillArea(cross[i][0]-15, cross[i][1]-15, 42, 42, Red); - } - - cal->xm = ((float)cross[1][0] - (float)cross[0][0]) / ((float)points[1][0] - (float)points[0][0]); - cal->ym = ((float)cross[1][1] - (float)cross[0][1]) / ((float)points[1][1] - (float)points[0][1]); - - cal->xn = (float)cross[0][0] - cal->xm * (float)points[0][0]; - cal->yn = (float)cross[0][1] - cal->ym * (float)points[0][1]; - - #if TOUCHPAD_STORE_CALIBRATION - tp_store_calibration_lld(cal); - #endif -} - -#endif /* GFX_USE_TOUCHPAD */ -/** @} */ - +/* ChibiOS/GFX - Copyright (C) 2012 + Joel Bodenmann aka Tectu + + This file is part of ChibiOS/GFX. + + ChibiOS/GFX is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/GFX is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +/** + * @file src/touchpad.c + * @brief Touchpad Driver code. + * + * @addtogroup TOUCHPAD + * @{ + */ + +#include "ch.h" +#include "hal.h" +#include "gdisp.h" +#include "touchpad.h" + +#if GFX_USE_TOUCHPAD || defined(__DOXYGEN__) + +#if TOUCHPAD_STORE_CALIBRATION +extern void tp_store_calibration_lld(struct cal_t *cal); +extern struct cal_t *tp_restore_calibration_lld(void); +#endif + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables. */ +/*===========================================================================*/ +static struct cal_t *cal; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +static coord_t _tpReadRealX(void) { + int32_t results = 0; + int16_t i; + coord_t x; + + for(i = 0; i < CONVERSIONS; i++) { + results += tp_lld_read_x(); + } + + /* Take the average of the readings */ + x = results / CONVERSIONS; + + return x; +} + +static coord_t _tpReadRealY(void) { + int32_t results = 0; + int16_t i; + coord_t y; + + for(i = 0; i < CONVERSIONS; i++) { + results += tp_lld_read_y(); + } + + /* Take the average of the readings */ + y = results / CONVERSIONS; + + return y; +} + +static void _tpDrawCross(uint16_t x, uint16_t y) { + gdispDrawLine(x-15, y, x-2, y, 0xffff); + gdispDrawLine(x+2, y, x+15, y, 0xffff); + gdispDrawLine(x, y-15, x, y-2, 0xffff); + gdispDrawLine(x, y+2, x, y+15, 0xffff); + + gdispDrawLine(x-15, y+15, x-7, y+15, RGB565CONVERT(184,158,131)); + gdispDrawLine(x-15, y+7, x-15, y+15, RGB565CONVERT(184,158,131)); + + gdispDrawLine(x-15, y-15, x-7, y-15, RGB565CONVERT(184,158,131)); + gdispDrawLine(x-15, y-7, x-15, y-15, RGB565CONVERT(184,158,131)); + + gdispDrawLine(x+7, y+15, x+15, y+15, RGB565CONVERT(184,158,131)); + gdispDrawLine(x+15, y+7, x+15, y+15, RGB565CONVERT(184,158,131)); + + gdispDrawLine(x+7, y-15, x+15, y-15, RGB565CONVERT(184,158,131)); + gdispDrawLine(x+15, y-15, x+15, y-7, RGB565CONVERT(184,158,131)); +} + +static void _tpTransform(coord_t *x, coord_t *y) { + *x = (coord_t) (cal->ax * (*x) + cal->bx * (*y) + cal->cx); + *y = (coord_t) (cal->ay * (*x) + cal->by * (*y) + cal->cy); +} + +static void _tpDo3PointCalibration(const coord_t (*cross)[2], coord_t (*points)[2], + cal_t *c) +{ + float dx, dx0, dx1, dx2, dy0, dy1, dy2; + + /* Compute all the required determinants */ + dx = ((float)(points[0][0] - points[2][0])) * ((float)(points[1][1] - points[2][1])) + - ((float)(points[1][0] - points[2][0])) * ((float)(points[0][1] - points[2][1])); + + dx0 = ((float)(cross[0][0] - cross[2][0])) * ((float)(points[1][1] - points[2][1])) + - ((float)(cross[1][0] - cross[2][0])) * ((float)(points[0][1] - points[2][1])); + + dx1 = ((float)(points[0][0] - points[2][0])) * ((float)(cross[1][0] - cross[2][0])) + - ((float)(points[1][0] - points[2][0])) * ((float)(cross[0][0] - cross[2][0])); + + dx2 = cross[0][0] * ((float)points[1][0] * (float)points[2][1] - (float)points[2][0] * (float)points[1][1]) - + cross[1][0] * ((float)points[0][0] * (float)points[2][1] - (float)points[2][0] * (float)points[0][1]) + + cross[2][0] * ((float)points[0][0] * (float)points[1][1] - (float)points[1][0] * (float)points[0][1]); + + dy0 = ((float)(cross[0][1] - cross[2][1])) * ((float)(points[1][1] - points[2][1])) + - ((float)(cross[1][1] - cross[2][1])) * ((float)(points[0][1] - points[2][1])); + + dy1 = ((float)(points[0][0] - points[2][0])) * ((float)(cross[1][1] - cross[2][1])) + - ((float)(points[1][0] - points[2][0])) * ((float)(cross[0][1] - cross[2][1])); + + dy2 = cross[0][1] * ((float)points[1][0] * (float)points[2][1] - (float)points[2][0] * (float)points[1][1]) - + cross[1][1] * ((float)points[0][0] * (float)points[2][1] - (float)points[2][0] * (float)points[0][1]) + + cross[2][1] * ((float)points[0][0] * (float)points[1][1] - (float)points[1][0] * (float)points[0][1]); + + /* Now, calculate all the required coefficients */ + c->ax = dx0 / dx; + c->bx = dx1 / dx; + c->cx = dx2 / dx; + + c->ay = dy0 / dx; + c->by = dy1 / dx; + c->cy = dy2 / dx; +} + +/*===========================================================================*/ +/* 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 */ +/** @} */ +