#include "sns_Touch.h"
point touchBuffer[sns_Touch_BUFFERSIZE];
uint8_t rxbufidx;
uint8_t pushStatus;
point lastValidPoint;
#ifdef sns_Touch_USEEEPROM
#include "sns_Touch_eeprom.h"
struct eeprom_sns_Touch EEMEM eeprom_sns_Touch =
{
{
///TODO: Define initialization values on the EEPROM variables here, this will generate a *.eep file that can be used to store this values to the node, can in future be done with a EEPROM module and the make-scrips. Write the values in the exact same order as the struct is defined in the *.h file.
0xAB, // x
0x1234 // y
},
0 // crc, must be a correct value, but this will also be handled by the EEPROM module or make scripts
};
#endif
void sns_Touch_Init(void)
{
#ifdef sns_Touch_USEEEPROM
if (EEDATA_OK)
{
///TODO: Use stored data to set initial values for the module
blablaX = eeprom_read_byte(EEDATA.x);
blablaY = eeprom_read_word(EEDATA.y);
} else
{ //The CRC of the EEPROM is not correct, store default values and update CRC
eeprom_write_byte_crc(EEDATA.x, 0xAB, WITHOUT_CRC);
eeprom_write_word_crc(EEDATA.y, 0x1234, WITHOUT_CRC);
EEDATA_UPDATE_CRC;
}
#endif
///TODO: Initialize hardware etc here
// to use PCINt lib, call this function: (the callback function look as a timer callback function)
// Pcint_SetCallbackPin(sns_Touch_PCINT, EXP_C , &sns_Touch_pcint_callback);
ADC_Init();
Timer_SetTimeout(sns_Touch_POLL_TIMER, sns_Touch_POLL_PERIOD , TimerTypeFreeRunning, 0);
rxbufidx = 0;
pushStatus = 0;
lastValidPoint.x=0;
lastValidPoint.y=0;
}
/*
F1: Klar
F2: Klar
F3: Klar
F4: Klar
F5: Klar
F6: Klar
F7: Klar
F8: Klar? (kontrollera funktion)
F9: Klar
*/
/*
Touch gesture parser
Implementation of 'A new gesture recognition algorithm and segmentation
method of Korean scripts for gesture-allowed ink editor' by Mi Gyung Cho
Call function parseBuffer with a buffer containing x/y coordinates, the buffer start and end.
Returns function results that describe the gesture in 24bits
Written by Linus Lundin, Jonas Andersson and Anders Runeson, 2009
To fix:
Break out to a driver file
*/
gesture parseBuffer(point *buffer, uint8_t startIndex, uint8_t endIndex)
{
int16_t f1_k = 0, f3_tmp = 0, f4_tmp = 0, f5_tmp = 0;
uint8_t f7_tmp = 0, f7_sign = 0, f1_sign = 0, f3_yref = 0, xMin, xMax, yMin, yMax, f9_tmp;
gesture functionData;
functionData.f1=0;
functionData.f7=0;
/* Function 6 indicates the sign value of the y coordinates of the last point minus y coordinates of the first point */
functionData.f6 = CAN_MODULE_ENUM_TOUCH_GESTURE_F6_M;
if ((int16_t)buffer[endIndex].y - (int16_t)buffer[startIndex].y > 0)
{
functionData.f6 = CAN_MODULE_ENUM_TOUCH_GESTURE_F6_P;
}
xMin = buffer[startIndex].x;
xMax = buffer[startIndex].x;
yMin = buffer[startIndex].y;
yMax = buffer[startIndex].y;
f3_yref = (buffer[startIndex].y + buffer[endIndex].y)/2;
f1_k = ((buffer[endIndex].y-buffer[startIndex].y)<<4)/(buffer[endIndex].x-buffer[startIndex].x);
f1_sign = CAN_MODULE_ENUM_TOUCH_GESTURE_F2_U;
for (uint8_t i = startIndex+1; i < endIndex-1; i++)
{
/* Function 1 indicates the number of intersection points between an input gesture g(x) and the straight line f(x)
which connects the first and last point of the gesture */
if (((f1_k*(buffer[i].x-buffer[0].x))>>4) + buffer[0].y < buffer[i].y)
{
if (f1_sign != CAN_MODULE_ENUM_TOUCH_GESTURE_F2_P)
{
functionData.f1++;
}
f1_sign = CAN_MODULE_ENUM_TOUCH_GESTURE_F2_P;
}
else
{
if (f1_sign != CAN_MODULE_ENUM_TOUCH_GESTURE_F2_M)
{
functionData.f1++;
}
f1_sign = CAN_MODULE_ENUM_TOUCH_GESTURE_F2_M;
}
/* Function 3 indicates the sign value of area gap between g(x) and f(x) */
if (buffer[i].x > min(buffer[startIndex].x, buffer[endIndex].x) && buffer[i].x < max(buffer[startIndex].x, buffer[endIndex].x))
{
f3_tmp += f3_yref - (buffer[i].y + buffer[i-1].y)/2;
}
/* find min and max of x and y */
if (xMin > buffer[i].x)
{
xMin = buffer[i].x;
}
if (xMax < buffer[i].x)
{
xMax = buffer[i].x;
}
if (yMin > buffer[i].y)
{
yMin = buffer[i].y;
}
if (yMax < buffer[i].y)
{
yMax = buffer[i].y;
}
/* Function 4 represents the sign value of the sum of the x coordinates of all the points that constitute strokes
minus the x coordinates of the last point */
f4_tmp += (int16_t)buffer[i].x - (int16_t)buffer[endIndex].x;
/* Function 5 checks the sign value of the sum of the x coordinates of all the points that constitute strokes
minus x coordinates of the first point */
f5_tmp += (int16_t)buffer[i].x - (int16_t)buffer[startIndex].x;
}
/* Function 7 indicates the number of intersection points between an input gesture g(x) and all horizontal lines yi,
where i is between 0 and n, that constitute a gesture*/
for (uint8_t j = yMin; j < yMax-1; j++)
{
f7_tmp = 0xff;
f7_sign = 0;
for (uint8_t i = startIndex+1; i < endIndex-1; i++)
{
if (j > buffer[i].y)
{
if (f7_sign != '+')
{
f7_tmp++;
}
f7_sign = '+';
}
else {
if (f7_sign != '-')
{
f7_tmp++;
}
f7_sign = '-';
}
}
if (f7_tmp > functionData.f7)
{
functionData.f7 = f7_tmp;
}
}
functionData.f1--;
/* Function 2 checks if the y coordinates of the points which exist between the intersection point and the last point are
greater than the y coordinates of the intersection point */
functionData.f2 = f1_sign;
if (functionData.f1 == 0)
{
functionData.f2 = CAN_MODULE_ENUM_TOUCH_GESTURE_F2_U;
}
/* Function 3 indicates the sign value of area gap between g(x) and f(x) */
functionData.f3 = CAN_MODULE_ENUM_TOUCH_GESTURE_F3_P;
if (f3_tmp > 0)
{
functionData.f3 = CAN_MODULE_ENUM_TOUCH_GESTURE_F3_M;
}
/* Function 9 represents the sign value of the multiplication of x coordinates of the first point and the last point
minus the mediate value of x coordinates of all the points */
//f9_tmp = ((buffer[startIndex].x - (xMax+xMin)/2)*(buffer[endIndex].x - (xMax+xMin)/2));
f9_tmp = ((buffer[startIndex].x - (xMax+xMin)/2 > 0) ^ (buffer[endIndex].x - (xMax+xMin)/2 > 0));
functionData.f9 = CAN_MODULE_ENUM_TOUCH_GESTURE_F9_M;
if (!f9_tmp)
{
functionData.f9 = CAN_MODULE_ENUM_TOUCH_GESTURE_F9_P;
}
/* Function 5 checks the sign value of the sum of the x coordinates of all the points that constitute strokes
minus x coordinates of the first point */
functionData.f5 = CAN_MODULE_ENUM_TOUCH_GESTURE_F5_M;
if (f5_tmp > 0)
{
functionData.f5 = CAN_MODULE_ENUM_TOUCH_GESTURE_F5_P;
}
/* Function 4 represents the sign value of the sum of the x coordinates of all the points that constitute strokes
minus the x coordinates of the last point */
functionData.f4 = CAN_MODULE_ENUM_TOUCH_GESTURE_F4_M;
if (f4_tmp > 0)
{
functionData.f4 = CAN_MODULE_ENUM_TOUCH_GESTURE_F4_P;
}
/* Function 8 checks whether or not x coordinates of all the points except for the first point and the last point is between x0 and xn */
functionData.f8 = CAN_MODULE_ENUM_TOUCH_GESTURE_F8_M;
if (xMin < min(buffer[startIndex].x,buffer[endIndex].x) || xMax > max(buffer[startIndex].x,buffer[endIndex].x))
{
functionData.f8 = CAN_MODULE_ENUM_TOUCH_GESTURE_F8_P;
}
//printf("1%u2%c3%c4%c5%c6%c7%u8%c9%c\n", f1, f2, f3, f4, f5, f6, f7, f8, f9);
return functionData;
}
void sns_Touch_Process(void)
{
if (Timer_Expired(sns_Touch_POLL_TIMER)) {
//StdCan_Msg_t txMsg;
gpio_set_in(sns_Touch_XPLUS);
gpio_set_pullup(sns_Touch_XPLUS); //turn on pullup for x+
gpio_set_out(sns_Touch_YPLUS);
gpio_set_pin(sns_Touch_YPLUS); //turn on 1 on y+
gpio_set_out(sns_Touch_YMINUS);
gpio_clr_pin(sns_Touch_YMINUS); //turn on 0 on y-
#ifdef sns_Touch_SWITCH_XY
uint8_t adyval = ADC_Get(sns_Touch_TOUCHXAD)>>2; //read x-
#else
uint8_t adxval = ADC_Get(sns_Touch_TOUCHXAD)>>2; //read x-
#endif
gpio_set_in(sns_Touch_YPLUS);
gpio_clr_pullup(sns_Touch_YPLUS); //turn off pullup for y+
gpio_set_in(sns_Touch_YMINUS);
gpio_clr_pullup(sns_Touch_YMINUS); //turn off pullup for y-
gpio_set_in(sns_Touch_XPLUS);
gpio_clr_pullup(sns_Touch_XPLUS); //turn off pullup for x+
gpio_set_in(sns_Touch_YPLUS);
gpio_set_pullup(sns_Touch_YPLUS); //turn on pullup for y+
gpio_set_out(sns_Touch_XPLUS);
gpio_set_pin(sns_Touch_XPLUS); //turn on 1 on x+
gpio_set_out(sns_Touch_XMINUS);
gpio_clr_pin(sns_Touch_XMINUS); //turn on 0 on x-
#ifdef sns_Touch_SWITCH_XY
uint8_t adxval = ADC_Get(sns_Touch_TOUCHYAD)>>2; //read y-
#else
uint8_t adyval = ADC_Get(sns_Touch_TOUCHYAD)>>2; //read y-
#endif
gpio_set_in(sns_Touch_XPLUS);
gpio_clr_pullup(sns_Touch_XPLUS); //turn off pullup for x+
gpio_set_in(sns_Touch_XMINUS);
gpio_clr_pullup(sns_Touch_XMINUS); //turn off pullup for x-
gpio_set_in(sns_Touch_YPLUS);
gpio_clr_pullup(sns_Touch_YPLUS); //turn off pullup for y+
if (adyval < 0xf0 && adxval < 0xf0 )
{
#ifdef sns_Touch_INVERT_Y
adyval = 255-adyval;
#endif
#ifdef sns_Touch_INVERT_X
adxval = 255-adxval;
#endif
lastValidPoint.x=adxval;
lastValidPoint.y=adyval;
pushStatus = 1;
uint8_t xdiff=0;
uint8_t ydiff=0;
if (rxbufidx > 0)
{
xdiff = touchBuffer[rxbufidx-1].x - adxval;
if (touchBuffer[rxbufidx-1].x < adxval)
{
xdiff = adxval - touchBuffer[rxbufidx-1].x;
}
ydiff = touchBuffer[rxbufidx-1].y - adyval;
if (touchBuffer[rxbufidx-1].y < adyval)
{
ydiff = adyval - touchBuffer[rxbufidx-1].y;
}
}
if (rxbufidx == 0 || (rxbufidx > 0 && xdiff+ydiff > 10))
{
touchBuffer[rxbufidx].x = adxval;
touchBuffer[rxbufidx].y = adyval;
rxbufidx++;
if (rxbufidx==sns_Touch_BUFFERSIZE)
{
rxbufidx=0;
}
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_TOUCH;
txMsg.Header.ModuleId = sns_Touch_ID;
txMsg.Header.Command = CAN_MODULE_CMD_TOUCH_RAW;
txMsg.Length = 3;
txMsg.Data[0] = CAN_MODULE_ENUM_TOUCH_RAW_STATUS_PRESSED;
txMsg.Data[1] = adxval;
txMsg.Data[2] = adyval;
StdCan_Put(&txMsg);
}
//printf("Y: %d X: %d\n", adyval, adxval);
}
else if (rxbufidx > 3)
{
if (pushStatus==1)
{
pushStatus = 2;
}
//printf("Released %d\n", rxbufidx);
gesture functionData = parseBuffer(touchBuffer, 0, rxbufidx-1);
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_TOUCH;
txMsg.Header.ModuleId = sns_Touch_ID;
txMsg.Header.Command = CAN_MODULE_CMD_TOUCH_GESTURE;
txMsg.Length = 3;
txMsg.Data[0] = functionData.f1;
txMsg.Data[1] = functionData.f7;
txMsg.Data[2] = functionData.f3<<7|functionData.f4<<6|functionData.f5<<5|functionData.f6<<4|functionData.f8<<3|functionData.f9<<2|functionData.f2;
StdCan_Put(&txMsg);
/*for (uint8_t i = 0; i < rxbufidx; i++)
{
printf("%3d ", touchBuffer[i].x);
}
printf("\n");
for (uint8_t i = 0; i < rxbufidx; i++)
{
printf("%3d ", touchBuffer[i].y);
}
printf("\n");
*/
rxbufidx = 0;
}
else if (pushStatus==1)
{
rxbufidx = 0;
pushStatus = 2;
}
if (pushStatus == 2)
{
pushStatus = 0;
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_TOUCH;
txMsg.Header.ModuleId = sns_Touch_ID;
txMsg.Header.Command = CAN_MODULE_CMD_TOUCH_RAW;
txMsg.Length = 3;
txMsg.Data[0] = CAN_MODULE_ENUM_TOUCH_RAW_STATUS_RELEASED;
txMsg.Data[1] = lastValidPoint.x;
txMsg.Data[2] = lastValidPoint.y;
StdCan_Put(&txMsg);
}
}
}
void sns_Touch_HandleMessage(StdCan_Msg_t *rxMsg)
{
/*if ( StdCan_Ret_class(rxMsg->Header) == CAN_MODULE_CLASS_xyz && ///TODO: Change this to the actual class type
StdCan_Ret_direction(rxMsg->Header) == DIRECTIONFLAG_FROM_OWNER &&
rxMsg->Header.ModuleType == CAN_MODULE_TYPE_xyz && ///TODO: Change this to the actual module type
rxMsg->Header.ModuleId == sns_Touch_ID)
{
switch (rxMsg->Header.Command)
{
case CAN_CMD_MODULE_DUMMY:
///TODO: Do something dummy
break;
}
}*/
}
void sns_Touch_List(uint8_t ModuleSequenceNumber)
{
StdCan_Msg_t txMsg;
StdCan_Set_class(txMsg.Header, CAN_MODULE_CLASS_SNS);
StdCan_Set_direction(txMsg.Header, DIRECTIONFLAG_FROM_OWNER);
txMsg.Header.ModuleType = CAN_MODULE_TYPE_SNS_TOUCH;
txMsg.Header.ModuleId = sns_Touch_ID;
txMsg.Header.Command = CAN_MODULE_CMD_GLOBAL_LIST;
txMsg.Length = 6;
txMsg.Data[0] = NODE_HW_ID_BYTE0;
txMsg.Data[1] = NODE_HW_ID_BYTE1;
txMsg.Data[2] = NODE_HW_ID_BYTE2;
txMsg.Data[3] = NODE_HW_ID_BYTE3;
txMsg.Data[4] = NUMBER_OF_MODULES;
txMsg.Data[5] = ModuleSequenceNumber;
while (StdCan_Put(&txMsg) != StdCan_Ret_OK);
}