diff options
Diffstat (limited to 'keyboards/ploopyco/common')
-rw-r--r-- | keyboards/ploopyco/common/opt_encoder.h | 32 | ||||
-rw-r--r-- | keyboards/ploopyco/common/opt_encoder_default.c | 254 | ||||
-rw-r--r-- | keyboards/ploopyco/common/opt_encoder_simple.c | 142 | ||||
-rw-r--r-- | keyboards/ploopyco/common/opt_encoder_tiny.c | 116 |
4 files changed, 544 insertions, 0 deletions
diff --git a/keyboards/ploopyco/common/opt_encoder.h b/keyboards/ploopyco/common/opt_encoder.h new file mode 100644 index 0000000000..8e5159f91c --- /dev/null +++ b/keyboards/ploopyco/common/opt_encoder.h @@ -0,0 +1,32 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <[email protected]> + * Copyright 2020 Ploopy Corporation + * + * This program 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 2 of the License, or + * (at your option) any later version. + * + * This program 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 <http://www.gnu.org/licenses/>. + */ +#pragma once + +#include <stdint.h> + +#ifndef SCROLLER_AR_SIZE +# define SCROLLER_AR_SIZE 31 +#endif + +#ifndef SCROLL_THRESH_RANGE_LIM +# define SCROLL_THRESH_RANGE_LIM 10 +#endif + +void opt_encoder_init(void); +/* Return the rotation direction, positive value means clockwise, negative value + * means counter-clockwise */ +int8_t opt_encoder_handler(uint16_t curA, uint16_t curB); diff --git a/keyboards/ploopyco/common/opt_encoder_default.c b/keyboards/ploopyco/common/opt_encoder_default.c new file mode 100644 index 0000000000..cc8d3b7e22 --- /dev/null +++ b/keyboards/ploopyco/common/opt_encoder_default.c @@ -0,0 +1,254 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <[email protected]> + * Copyright 2020 Ploopy Corporation + * + * This program 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 2 of the License, or + * (at your option) any later version. + * + * This program 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 <http://www.gnu.org/licenses/>. + */ +#include "opt_encoder.h" +#include <stdbool.h> + +enum State { HIHI, HILO, LOLO, LOHI }; + +enum State state; + +/* Variables used for scroll wheel functionality. */ +bool lohif; +bool hilof; +int lowA; +int highA; +bool cLowA; +bool cHighA; +int lowIndexA; +int highIndexA; +bool lowOverflowA; +bool highOverflowA; +int lowB; +int highB; +bool cLowB; +bool cHighB; +int lowIndexB; +int highIndexB; +bool lowOverflowB; +bool highOverflowB; +int scrollThresholdA; +int scrollThresholdB; +int arLowA[SCROLLER_AR_SIZE]; +int arHighA[SCROLLER_AR_SIZE]; +int arLowB[SCROLLER_AR_SIZE]; +int arHighB[SCROLLER_AR_SIZE]; + +void calculateThresholdA(int curA); +void calculateThresholdB(int curB); +int calculateThreshold(int cur, int* low, int* high, bool* cLow, bool* cHigh, int arLow[], int arHigh[], int* lowIndex, int* highIndex, bool* lowOverflow, bool* highOverflow); +int thresholdEquation(int lo, int hi); +void incrementIndex(int* index, bool* ovflw); + +/* Setup function for the scroll wheel. Initializes + the relevant variables. */ +void opt_encoder_init(void) { + state = HIHI; + lohif = false; + hilof = false; + lowA = 1023; + highA = 0; + cLowA = false; + cHighA = false; + lowIndexA = 0; + highIndexA = 0; + lowOverflowA = false; + highOverflowA = false; + lowB = 1023; + highB = 0; + cLowB = false; + cHighB = false; + lowIndexB = 0; + highIndexB = 0; + lowOverflowB = false; + highOverflowB = false; + scrollThresholdA = 0; + scrollThresholdB = 0; +} + +int8_t opt_encoder_handler(uint16_t curA, uint16_t curB) { + if (lowOverflowA == false || highOverflowA == false) calculateThresholdA(curA); + if (lowOverflowB == false || highOverflowB == false) calculateThresholdB(curB); + + bool LO = false; + bool HI = true; + bool sA, sB; + int ret = 0; + + if (curA < scrollThresholdA) + sA = LO; + else + sA = HI; + + if (curB < scrollThresholdB) + sB = LO; + else + sB = HI; + + if (state == HIHI) { + if (sA == LO && sB == HI) { + state = LOHI; + if (hilof) { + ret = 1; + hilof = false; + } + } else if (sA == HI && sB == LO) { + state = HILO; + if (lohif) { + ret = -1; + lohif = false; + } + } + } + + else if (state == HILO) { + if (sA == HI && sB == HI) { + state = HIHI; + hilof = true; + lohif = false; + } else if (sA == LO && sB == LO) { + state = LOLO; + hilof = true; + lohif = false; + } + } + + else if (state == LOLO) { + if (sA == HI && sB == LO) { + state = HILO; + if (lohif) { + ret = 1; + lohif = false; + } + } else if (sA == LO && sB == HI) { + state = LOHI; + if (hilof) { + ret = -1; + hilof = false; + } + } + } + + else { // state must be LOHI + if (sA == HI && sB == HI) { + state = HIHI; + lohif = true; + hilof = false; + } else if (sA == LO && sB == LO) { + state = LOLO; + lohif = true; + hilof = false; + } + } + + return ret; +} + +void calculateThresholdA(int curA) { + scrollThresholdA = calculateThreshold(curA, &lowA, &highA, &cLowA, &cHighA, arLowA, arHighA, &lowIndexA, &highIndexA, &lowOverflowA, &highOverflowA); +} + +void calculateThresholdB(int curB) { + scrollThresholdB = calculateThreshold(curB, &lowB, &highB, &cLowB, &cHighB, arLowB, arHighB, &lowIndexB, &highIndexB, &lowOverflowB, &highOverflowB); +} + +int calculateThreshold(int cur, int* low, int* high, bool* cLow, bool* cHigh, int arLow[], int arHigh[], int* lowIndex, int* highIndex, bool* lowOverflow, bool* highOverflow) { + if (cur < *low) *low = cur; + if (cur > *high) *high = cur; + + int curThresh = thresholdEquation(*low, *high); + int range = *high - *low; + + // The range is enforced to be over a certain limit because noise + // can cause erroneous readings, making these calculations unstable. + if (range >= SCROLL_THRESH_RANGE_LIM) { + if (cur < curThresh) { + if (*cHigh == true) { + // We were just high, and now we crossed to low. + // high reflects a sample of a high reading. + arHigh[*highIndex] = *high; + incrementIndex(highIndex, highOverflow); + int midpoint = ((*high - *low) / 2) + *low; + *low = midpoint; + *high = midpoint; + *cLow = false; + *cHigh = false; + } else { + *cLow = true; + } + } + if (cur > curThresh) { + if (*cLow == true) { + // We were just low, and now we crossed to high. + // low reflects a sample of a low reading. + arLow[*lowIndex] = *low; + incrementIndex(lowIndex, lowOverflow); + int midpoint = ((*high - *low) / 2) + *low; + *low = midpoint; + *high = midpoint; + *cLow = false; + *cHigh = false; + } else { + *cHigh = true; + } + } + } + + int calcHigh = 0; + if (*highOverflow == true) { + for (int i = 0; i < SCROLLER_AR_SIZE; i++) { + calcHigh += arHigh[i]; + } + calcHigh = calcHigh / SCROLLER_AR_SIZE; + } else if (*highIndex != 0) { + for (int i = 0; i < *highIndex; i++) { + calcHigh += arHigh[i]; + } + calcHigh = calcHigh / *highIndex; + } else { + calcHigh = *high; + } + + int calcLow = 0; + if (*lowOverflow == true) { + for (int i = 0; i < SCROLLER_AR_SIZE; i++) { + calcLow += arLow[i]; + } + calcLow = calcLow / SCROLLER_AR_SIZE; + } else if (*lowIndex != 0) { + for (int i = 0; i < *lowIndex; i++) { + calcLow += arLow[i]; + } + calcLow = calcLow / *lowIndex; + } else { + calcLow = *low; + } + + return thresholdEquation(calcLow, calcHigh); +} + +int thresholdEquation(int lo, int hi) { + return ((hi - lo) / 3) + lo; +} + +void incrementIndex(int* index, bool* ovflw) { + if (*index < SCROLLER_AR_SIZE - 1) + (*index)++; + else { + *index = 0; + *ovflw = true; + } +} diff --git a/keyboards/ploopyco/common/opt_encoder_simple.c b/keyboards/ploopyco/common/opt_encoder_simple.c new file mode 100644 index 0000000000..9c1bbb8577 --- /dev/null +++ b/keyboards/ploopyco/common/opt_encoder_simple.c @@ -0,0 +1,142 @@ +/* Copyright 2020 Christopher Courtney, aka Drashna Jael're (@drashna) <[email protected]> + * Copyright 2020 Ploopy Corporation + * Copyright 2022 Leorize <[email protected]> + * + * This program 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 2 of the License, or + * (at your option) any later version. + * + * This program 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 <http://www.gnu.org/licenses/>. + */ +#include "opt_encoder.h" +#include "util.h" +#include <stdbool.h> +#include <stdint.h> + +/* An alternative implementation for interpreting the encoder status: + * + * From graphing the phototransistor voltages, the peak and baseline appears to + * be rather stable. Therefore there is no need to average them out, and instead + * just simply store the min and max voltages of each phototransistor. + * + * This algorithm then distinguish between high and low states by employing an + * approach similar to a Schmitt trigger: a low and high threshold is defined + * for each phototransistor based on their min and max voltages. + * + * Currently, the thresholds are: + * + * * High threshold: The upper quarter of the voltage range. + * * Low threshold: The lower quarter of the voltage range. + * + * these thresholds are defined for each phototransistor. + * + * For a state to cross from high -> low, it must fall below the low threshold. + * Similarly, to cross from low -> high, the voltage must be higher than the + * high threshold. + * + * Having two distinct thresholds filters out the bulk of noise from the + * phototransistors. + * + * For converting the resulting high and low signals into rotation, a simple + * quadrature decoder is used. + */ + +/* The minimum value returned by the ADC */ +#define ENCODER_MIN 0 +/* The maximum value returned by the ADC */ +#define ENCODER_MAX 1023 + +/* Utilities for composing the encoder state */ +#define MAKE_STATE(HI_A, HI_B) (((uint8_t)((HI_A) & 0x1) << 1) | ((uint8_t)((HI_B) & 0x1))) +#define STATE_A(st) ((st & 0x2) >> 1) +#define STATE_B(st) (st & 0x1) +#define LOLO MAKE_STATE(0, 0) +#define HILO MAKE_STATE(1, 0) +#define LOHI MAKE_STATE(0, 1) + +typedef enum { + CALIBRATION, /* Recalibrate encoder state by waiting for a 01 -> 00 or 10 -> 00 transistion */ + DECODE /* Translate changes in the encoder state into movement */ +} encoder_state_t; + +static encoder_state_t mode; + +static uint8_t lastState; + +static uint16_t lowA; +static uint16_t highA; +static uint16_t lowB; +static uint16_t highB; + +#define MOVE_UP 1 +#define MOVE_DOWN -1 +#define MOVE_NONE 0 +#define MOVE_ERR 0x7F +static const uint8_t movement[] = { + // 00 -> 00, 01, 10, 11 + MOVE_NONE, MOVE_DOWN, MOVE_UP, MOVE_ERR, + // 01 -> 00, 01, 10, 11 + MOVE_UP, MOVE_NONE, MOVE_ERR, MOVE_DOWN, + // 10 -> 00, 01, 10, 11 + MOVE_DOWN, MOVE_ERR, MOVE_NONE, MOVE_UP, + // 11 -> 00, 01, 10, 11 + MOVE_ERR, MOVE_UP, MOVE_DOWN, MOVE_NONE}; + +void opt_encoder_init(void) { + mode = CALIBRATION; + lastState = 0; + + lowA = ENCODER_MAX; + lowB = ENCODER_MAX; + highA = ENCODER_MIN; + highB = ENCODER_MIN; +} + +int8_t opt_encoder_handler(uint16_t encA, uint16_t encB) { + int8_t result = 0; + + highA = MAX(encA, highA); + lowA = MIN(encA, lowA); + highB = MAX(encB, highB); + lowB = MIN(encB, lowB); + + /* Only compute the thresholds after a large enough range is established */ + if (highA - lowA > SCROLL_THRESH_RANGE_LIM && highB - lowB > SCROLL_THRESH_RANGE_LIM) { + const int16_t lowThresholdA = (highA + lowA) / 4; + const int16_t highThresholdA = (highA + lowA) - lowThresholdA; + const int16_t lowThresholdB = (highB + lowB) / 4; + const int16_t highThresholdB = (highB + lowB) - lowThresholdB; + + uint8_t state = MAKE_STATE(STATE_A(lastState) ? encA > lowThresholdA : encA > highThresholdA, STATE_B(lastState) ? encB > lowThresholdB : encB > highThresholdB); + + switch (mode) { + case CALIBRATION: + if ((lastState == HILO && state == LOLO) || (lastState == LOHI && state == LOLO)) + mode = DECODE; + else + mode = CALIBRATION; + break; + + case DECODE: + result = movement[lastState * 4 + state]; + /* If we detect a state change that should not be possible, + * then the wheel might have moved too fast and we need to + * recalibrate the encoder position. */ + mode = result == MOVE_ERR ? CALIBRATION : mode; + result = result == MOVE_ERR ? MOVE_NONE : result; + + break; + } + + lastState = state; + } + + return result; +} diff --git a/keyboards/ploopyco/common/opt_encoder_tiny.c b/keyboards/ploopyco/common/opt_encoder_tiny.c new file mode 100644 index 0000000000..29796a5fa6 --- /dev/null +++ b/keyboards/ploopyco/common/opt_encoder_tiny.c @@ -0,0 +1,116 @@ +/* Copyright 2023 Leorize <[email protected]> + * Copyright 2011 Ben Buxton <[email protected]> + * + * This program 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. + * + * This program 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 <http://www.gnu.org/licenses/>. + */ +#include "opt_encoder.h" +#include <stdbool.h> +#include <stdint.h> + +/* An extremely simple implementation of the encoder: + * + * For read out, the mechanism mimics that of a Schmitt trigger, with + * statically defined high/low thresholds used instead of computing + * one at runtime. + * + * The advantage of this approach is computing less in the decoder + * implementation and allow the state to be measured before the wheel + * moved. + * + * Compared to opt_encoder_simple.c, the use of an intermediary state + * reduces sensitivity and de-sensitize against tiny movements caused + * when lifting finger off the wheel. + * + * For turning decoded values into rotation, an algorithm inspired by + * http://www.buxtronix.net/2011/10/rotary-encoders-done-properly.html + * is employed. + */ + +#if !defined(ENCODER_LOW_THRES_A) || !defined(ENCODER_HIGH_THRES_A) +# error "The thresholds for phototransistors A is not defined in config.h" +#endif +#if !defined(ENCODER_LOW_THRES_B) || !defined(ENCODER_HIGH_THRES_B) +# error "The thresholds for phototransistors B is not defined in config.h" +#endif +/* + * Sample values, captured for a Ploopy Mini Trackball + * + * The following min-max values was captured by aggregating data recorded + * when debug_encoder is enabled: + * + * A: min: 0, max: 214 + * B: min: 0, max: 204 + * + * The threshold specified is then defined at the 1/4 and the 3/4 points. + * + * As these values might vary between units, you're encouraged to + * measure your own. + */ +#if 0 +# define ENCODER_LOW_THRES_A 53 +# define ENCODER_HIGH_THRES_A 161 +# define ENCODER_LOW_THRES_B 52 +# define ENCODER_HIGH_THRES_B 153 +#endif + +/* Utilities for composing the encoder state */ +#define MAKE_STATE(HI_A, HI_B) (((uint8_t)((HI_A) & 0x1) << 1) | ((uint8_t)((HI_B) & 0x1))) +#define STATE_A(st) ((st & 0x2) >> 1) +#define STATE_B(st) (st & 0x1) + +typedef enum { + START, + DOWN_BEGIN, + UP_BEGIN, + START_MID, + DOWN_BEGIN_MID, + UP_BEGIN_MID, + STATE_MASK = 0xf, /* 0b1111 */ + EMIT_UP = 0x10, + EMIT_UP_MID = EMIT_UP & START_MID, + EMIT_DOWN = 0x80, + EMIT_DOWN_MID = EMIT_DOWN & START_MID, + EMIT_MASK = 0xf0 +} encoder_state_t; + +static encoder_state_t state; +static uint8_t encState; + +static const uint8_t transitions[] = { + // clang-format off + // START -> 00, 01, 10, 11 + START, DOWN_BEGIN, UP_BEGIN, START_MID, + // DOWN_BEGIN -> 00, 01, 10, 11 + START, DOWN_BEGIN, START, EMIT_DOWN_MID, + // UP_BEGIN -> 00, 01, 10, 11 + START, START, UP_BEGIN, EMIT_UP_MID, + // START_MID -> 00, 01, 10, 11 + START, UP_BEGIN_MID, DOWN_BEGIN_MID, START_MID, + // DOWN_BEGIN_MID -> 00, 01, 10, 11 + EMIT_DOWN, START_MID, DOWN_BEGIN_MID, START_MID, + // UP_BEGIN_MID -> 00, 01, 10, 11 + EMIT_UP, UP_BEGIN_MID, START_MID, START_MID, + // clang-format on +}; + +void opt_encoder_init(void) { + state = START; + encState = 0; +} + +int8_t opt_encoder_handler(uint16_t encA, uint16_t encB) { + encState = MAKE_STATE((STATE_A(encState) & (encA > ENCODER_LOW_THRES_A)) | (encA > ENCODER_HIGH_THRES_A), (STATE_B(encState) & (encB > ENCODER_LOW_THRES_B)) | (encB > ENCODER_HIGH_THRES_B)); + state = transitions[((state & STATE_MASK) << 2) + encState]; + return state & EMIT_MASK; +} |