From 050c21d35f01d4d59d2e1e89eaded2616257f148 Mon Sep 17 00:00:00 2001 From: Erin Call Date: Fri, 27 Apr 2018 11:47:41 -0700 Subject: Bring dactyl/matrix.c in line with quantum/matrix.c (#2613) * Use the new debounce algorithm in dactyl/matrix.c [#2065] This incorporates the fixed/optimized debounce code added to quantum/matrix.c in: * 508eddf8ba8548d3f71e1c09a404839beb49f45c * 4c6960835c0a6e29670dabdc27117d7d3c7f99f5 * 32f88c07173b795c6981c779057dceba00aeb1cb * f4030289744fc6dc82dd85c955070c0845813cc5 * a06115df19a74d39b08758472b221e630c3680d3 * Fix the row/column swap in dactyl [#2065] With a column-driven keyboard, reading from the mcp23081 returns a column-state, which takes some extra work to translate into the row-state used in the actual matrix. The ergodox_ez code sidestepped that problem by calling rows "columns" and columns "rows." With this change, the dactyl now calls rows "rows" and columns "columns." * Cleanup: variable names, documentation [#2065] * Support MATRIX_MASKED in dactyl/matrix.c [#2065] * Only unselect one col in unselect_col [#2065] Bonus: saves one i2c transaction per matrix_scan! * Implement COL2ROW in dactyl/matrix.c [#2065] * Fix a typo in dactyl/matrix.c This entirely doesn't matter. The PORT values are set during init_keyboard and never change. They're repeatedly set to the same thing. These PORT lines shouldn't even exist, but since they do, they should at least look right. * Implement COL_PINS/ROW_PINS for dactyl [#2065] * Rename "mcp23018" to "expander" [#2065] I honestly don't know whether/how well this code works with other I/O expanders, but at least in theory, it should be generic enough to work with others. Given that, the variable names shouldn't refer to a specific model of expander. * Remove matrix_power_up from dactyl/matrix.c [#2065] It's commented out in quantum/matrix.c, and the dactyl has no power up/down behavior beyond being unplugged (which goes to matrix_init), so there's no sense keeping it around. * Only initialize expander_input_mask once [#2065] ...and rename input_mask to expander_input_mask, since now that it isn't scoped to init_expander it isn't clear that it's only for the expander. --- keyboards/handwired/dactyl/matrix.c | 555 +++++++++++++++++++++++------------- 1 file changed, 352 insertions(+), 203 deletions(-) (limited to 'keyboards/handwired/dactyl/matrix.c') diff --git a/keyboards/handwired/dactyl/matrix.c b/keyboards/handwired/dactyl/matrix.c index 0626f93d7..52c76fadd 100644 --- a/keyboards/handwired/dactyl/matrix.c +++ b/keyboards/handwired/dactyl/matrix.c @@ -1,5 +1,4 @@ /* - Copyright 2013 Oleg Kostyuk Copyright 2017 Erin Call @@ -16,10 +15,6 @@ 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 . */ - -/* - * scan matrix - */ #include #include #include @@ -31,47 +26,66 @@ along with this program. If not, see . #include "matrix.h" #include "dactyl.h" #include "i2cmaster.h" -#ifdef DEBUG_MATRIX_SCAN_RATE -#include "timer.h" +#include "timer.h" + + +/* Set 0 if debouncing isn't needed */ + +#ifndef DEBOUNCING_DELAY +# define DEBOUNCING_DELAY 5 #endif -/* - * This constant define not debouncing time in msecs, but amount of matrix - * scan loops which should be made to get stable debounced results. - * - * On the Dactyl, the matrix scan rate is relatively low, because - * communicating with the left hand's I/O expander is slower than simply - * selecting local pins. - * Now it's only 317 scans/second, or about 3.15 msec/scan. - * According to Cherry specs, debouncing time is 5 msec. - * - * And so, there is no sense to have DEBOUNCE higher than 2. - */ - -#ifndef DEBOUNCE -# define DEBOUNCE 5 +#if (DEBOUNCING_DELAY > 0) + static uint16_t debouncing_time; + static bool debouncing = false; +#endif + +#ifdef MATRIX_MASKED + extern const matrix_row_t matrix_mask[]; +#endif + +#if (DIODE_DIRECTION == ROW2COL) || (DIODE_DIRECTION == COL2ROW) +static const uint8_t onboard_row_pins[MATRIX_ROWS] = MATRIX_ONBOARD_ROW_PINS; +static const uint8_t onboard_col_pins[MATRIX_COLS] = MATRIX_ONBOARD_COL_PINS; +static const bool col_expanded[MATRIX_COLS] = COL_EXPANDED; +static const uint8_t expander_row_pins[MATRIX_ROWS] = MATRIX_EXPANDER_ROW_PINS; +static const uint8_t expander_col_pins[MATRIX_COLS] = MATRIX_EXPANDER_COL_PINS; #endif /* matrix state(1:on, 0:off) */ static matrix_row_t matrix[MATRIX_ROWS]; -// Debouncing: store for each key the number of scans until it's eligible to -// change. When scanning the matrix, ignore any changes in keys that have -// already changed in the last DEBOUNCE scans. -static uint8_t debounce_matrix[MATRIX_ROWS * MATRIX_COLS]; - -static matrix_row_t read_cols(uint8_t row); -static void init_cols(void); -static void unselect_rows(void); -static void select_row(uint8_t row); +static matrix_row_t matrix_debouncing[MATRIX_ROWS]; + +#if (DIODE_DIRECTION == COL2ROW) + static void init_cols(void); + static bool read_cols_on_row(matrix_row_t current_matrix[], uint8_t current_row); + static void unselect_rows(void); + static void select_row(uint8_t row); + static void unselect_row(uint8_t row); +#elif (DIODE_DIRECTION == ROW2COL) + static void init_rows(void); + static bool read_rows_on_col(matrix_row_t current_matrix[], uint8_t current_col); + static void unselect_cols(void); + static void select_col(uint8_t col); + static void unselect_col(uint8_t col); +#endif -static uint8_t mcp23018_reset_loop; +static uint8_t expander_reset_loop; +uint8_t expander_status; +uint8_t expander_input_pin_mask; +bool i2c_initialized = false; #ifdef DEBUG_MATRIX_SCAN_RATE uint32_t matrix_timer; uint32_t matrix_scan_count; #endif +#define ROW_SHIFTER ((matrix_row_t)1) +#if (DIODE_DIRECTION == COL2ROW) +// bitmask to ensure the row state from the expander only applies to its columns +#define EXPANDER_MASK ((matrix_row_t)0b00111111) +#endif __attribute__ ((weak)) void matrix_init_user(void) {} @@ -103,20 +117,20 @@ uint8_t matrix_cols(void) void matrix_init(void) { - // initialize row and col - - mcp23018_status = init_mcp23018(); - + init_expander(); +#if (DIODE_DIRECTION == COL2ROW) unselect_rows(); init_cols(); +#elif (DIODE_DIRECTION == ROW2COL) + unselect_cols(); + init_rows(); +#endif // initialize matrix state: all keys off for (uint8_t i=0; i < MATRIX_ROWS; i++) { matrix[i] = 0; - for (uint8_t j=0; j < MATRIX_COLS; ++j) { - debounce_matrix[i * MATRIX_COLS + j] = 0; - } + matrix_debouncing[i] = 0; } #ifdef DEBUG_MATRIX_SCAN_RATE @@ -125,59 +139,100 @@ void matrix_init(void) #endif matrix_init_quantum(); - } -void matrix_power_up(void) { - mcp23018_status = init_mcp23018(); - - unselect_rows(); - init_cols(); +void init_expander(void) { + if (! i2c_initialized) { + i2c_init(); + wait_us(1000000); + } - // initialize matrix state: all keys off - for (uint8_t i=0; i < MATRIX_ROWS; i++) { - matrix[i] = 0; + if (! expander_input_pin_mask) { +#if (DIODE_DIRECTION == COL2ROW) + for (int col = 0; col < MATRIX_COLS; col++) { + if (col_expanded[col]) { + expander_input_pin_mask |= (1 << expander_col_pins[col]); + } + } +#elif (DIODE_DIRECTION == ROW2COL) + for (int row = 0; row < MATRIX_ROWS; row++) { + expander_input_pin_mask |= (1 << expander_row_pins[row]); + } +#endif } -#ifdef DEBUG_MATRIX_SCAN_RATE - matrix_timer = timer_read32(); - matrix_scan_count = 0; + expander_status = i2c_start(I2C_ADDR_WRITE); if (expander_status) goto out; + expander_status = i2c_write(IODIRA); if (expander_status) goto out; + + /* + Pin direction and pull-up depends on both the diode direction + and on whether the column register is 0 ("A") or 1 ("B"): + +-------+---------------+---------------+ + | | ROW2COL | COL2ROW | + +-------+---------------+---------------+ + | Reg 0 | input, output | output, input | + +-------+---------------+---------------+ + | Reg 1 | output, input | input, output | + +-------+---------------+---------------+ + */ + +#if (EXPANDER_COLUMN_REGISTER == 0) +# if (DIODE_DIRECTION == COL2ROW) + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; + expander_status = i2c_write(0); if (expander_status) goto out; +# elif (DIODE_DIRECTION == ROW2COL) + expander_status = i2c_write(0); if (expander_status) goto out; + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; +# endif +#elif (EXPANDER_COLUMN_REGISTER == 1) +# if (DIODE_DIRECTION == COL2ROW) + expander_status = i2c_write(0); if (expander_status) goto out; + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; +# elif (DIODE_DIRECTION == ROW2COL) + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; + expander_status = i2c_write(0); if (expander_status) goto out; +# endif #endif -} -// Returns a matrix_row_t whose bits are set if the corresponding key should be -// eligible to change in this scan. -matrix_row_t debounce_mask(uint8_t row) { - matrix_row_t result = 0; - for (uint8_t j=0; j < MATRIX_COLS; ++j) { - if (debounce_matrix[row * MATRIX_COLS + j]) { - --debounce_matrix[row * MATRIX_COLS + j]; - } else { - result |= (1 << j); - } - } - return result; -} + i2c_stop(); + + // set pull-up + // - unused : off : 0 + // - input : on : 1 + // - driving : off : 0 + expander_status = i2c_start(I2C_ADDR_WRITE); if (expander_status) goto out; + expander_status = i2c_write(GPPUA); if (expander_status) goto out; +#if (EXPANDER_COLUMN_REGISTER == 0) +# if (DIODE_DIRECTION == COL2ROW) + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; + expander_status = i2c_write(0); if (expander_status) goto out; +# elif (DIODE_DIRECTION == ROW2COL) + expander_status = i2c_write(0); if (expander_status) goto out; + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; +# endif +#elif (EXPANDER_COLUMN_REGISTER == 1) +# if (DIODE_DIRECTION == COL2ROW) + expander_status = i2c_write(0); if (expander_status) goto out; + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; +# elif (DIODE_DIRECTION == ROW2COL) + expander_status = i2c_write(expander_input_pin_mask); if (expander_status) goto out; + expander_status = i2c_write(0); if (expander_status) goto out; +# endif +#endif -// Report changed keys in the given row. Resets the debounce countdowns -// corresponding to each set bit in 'change' to DEBOUNCE. -void debounce_report(matrix_row_t change, uint8_t row) { - for (uint8_t i = 0; i < MATRIX_COLS; ++i) { - if (change & (1 << i)) { - debounce_matrix[row * MATRIX_COLS + i] = DEBOUNCE; - } - } +out: + i2c_stop(); } uint8_t matrix_scan(void) { - if (mcp23018_status) { // if there was an error - if (++mcp23018_reset_loop == 0) { - // since mcp23018_reset_loop is 8 bit - we'll try to reset once in 255 matrix scans + if (expander_status) { // if there was an error + if (++expander_reset_loop == 0) { + // since expander_reset_loop is 8 bit - we'll try to reset once in 255 matrix scans // this will be approx bit more frequent than once per second - print("trying to reset mcp23018\n"); - mcp23018_status = init_mcp23018(); - if (mcp23018_status) { + print("trying to reset expander\n"); + init_expander(); + if (expander_status) { print("left side not responding\n"); } else { print("left side attached\n"); @@ -199,37 +254,71 @@ uint8_t matrix_scan(void) } #endif - for (uint8_t i = 0; i < MATRIX_ROWS; i++) { - select_row(i); - wait_us(30); // without this wait read unstable value. - matrix_row_t mask = debounce_mask(i); - matrix_row_t cols = (read_cols(i) & mask) | (matrix[i] & ~mask); - debounce_report(cols ^ matrix[i], i); - matrix[i] = cols; - - unselect_rows(); +#if (DIODE_DIRECTION == COL2ROW) + for (uint8_t current_row = 0; current_row < MATRIX_ROWS; current_row++) { +# if (DEBOUNCING_DELAY > 0) + bool matrix_changed = read_cols_on_row(matrix_debouncing, current_row); + + if (matrix_changed) { + debouncing = true; + debouncing_time = timer_read(); + } +# else + read_cols_on_row(matrix, current_row); +# endif } - matrix_scan_quantum(); +#elif (DIODE_DIRECTION == ROW2COL) + for (uint8_t current_col = 0; current_col < MATRIX_COLS; current_col++) { +# if (DEBOUNCING_DELAY > 0) + bool matrix_changed = read_rows_on_col(matrix_debouncing, current_col); + + if (matrix_changed) { + debouncing = true; + debouncing_time = timer_read(); + } +# else + read_rows_on_col(matrix, current_col); +# endif + + } +#endif +# if (DEBOUNCING_DELAY > 0) + if (debouncing && (timer_elapsed(debouncing_time) > DEBOUNCING_DELAY)) { + for (uint8_t i = 0; i < MATRIX_ROWS; i++) { + matrix[i] = matrix_debouncing[i]; + } + debouncing = false; + } +# endif + + matrix_scan_quantum(); return 1; } bool matrix_is_modified(void) // deprecated and evidently not called. { +#if (DEBOUNCING_DELAY > 0) + if (debouncing) return false; +#endif return true; } inline bool matrix_is_on(uint8_t row, uint8_t col) { - return (matrix[row] & ((matrix_row_t)1<> 4) + 1) &= ~_BV(pin & 0xF); // IN + _SFR_IO8((pin >> 4) + 2) |= _BV(pin & 0xF); // HI + } + } } -static matrix_row_t read_cols(uint8_t row) -{ - if (row < 6) { - if (mcp23018_status) { // if there was an error - return 0; - } else { - uint8_t data = 0; - mcp23018_status = i2c_start(I2C_ADDR_WRITE); if (mcp23018_status) goto out; - mcp23018_status = i2c_write(GPIOB); if (mcp23018_status) goto out; - mcp23018_status = i2c_start(I2C_ADDR_READ); if (mcp23018_status) goto out; - data = i2c_readNak(); - data = ~data; +static bool read_cols_on_row(matrix_row_t current_matrix[], uint8_t current_row) { + // Store last value of row prior to reading + matrix_row_t last_row_value = current_matrix[current_row]; + + // Clear data in matrix row + current_matrix[current_row] = 0; + + // Select row and wait for row selection to stabilize + select_row(current_row); + wait_us(30); + + // Read columns from expander, unless it's in an error state + if (! expander_status) { + expander_status = i2c_start(I2C_ADDR_WRITE); if (expander_status) goto out; + expander_status = i2c_write(GPIOA); if (expander_status) goto out; + expander_status = i2c_start(I2C_ADDR_READ); if (expander_status) goto out; + + current_matrix[current_row] |= (~i2c_readNak()) & EXPANDER_MASK; + out: i2c_stop(); - return data; + } + + // Read columns from onboard pins + for (uint8_t col_index = 0; col_index < MATRIX_COLS; col_index++) { + if (! col_expanded[col_index]) { + uint8_t pin = onboard_col_pins[col_index]; + uint8_t pin_state = (_SFR_IO8(pin >> 4) & _BV(pin & 0xF)); + current_matrix[current_row] |= pin_state ? 0 : (ROW_SHIFTER << col_index); } - } else { - // read from teensy - return - (PINF&(1<<0) ? 0 : (1<<0)) | - (PINF&(1<<1) ? 0 : (1<<1)) | - (PINF&(1<<4) ? 0 : (1<<2)) | - (PINF&(1<<5) ? 0 : (1<<3)) | - (PINF&(1<<6) ? 0 : (1<<4)) | - (PINF&(1<<7) ? 0 : (1<<5)) ; } + + unselect_row(current_row); + + return (last_row_value != current_matrix[current_row]); } -/* Row pin configuration - * - * Teensy - * row: 6 7 8 9 10 11 - * pin: B1 B2 B3 D2 D3 C6 - * - * MCP23018 - * row: 0 1 2 3 4 5 - * pin: A0 A1 A2 A3 A4 A5 - */ -static void unselect_rows(void) -{ - // unselect on mcp23018 - if (mcp23018_status) { // if there was an error - // do nothing - } else { - // set all rows hi-Z : 1 - mcp23018_status = i2c_start(I2C_ADDR_WRITE); if (mcp23018_status) goto out; - mcp23018_status = i2c_write(GPIOA); if (mcp23018_status) goto out; - mcp23018_status = i2c_write(0xFF); if (mcp23018_status) goto out; +static void select_row(uint8_t row) { + // select on expander, unless it's in an error state + if (! expander_status) { + // set active row low : 0 + // set other rows hi-Z : 1 + expander_status = i2c_start(I2C_ADDR_WRITE); if (expander_status) goto out; + expander_status = i2c_write(GPIOB); if (expander_status) goto out; + expander_status = i2c_write(0xFF & ~(1<> 4) + 1) |= _BV(pin & 0xF); // OUT + _SFR_IO8((pin >> 4) + 2) &= ~_BV(pin & 0xF); // LOW +} + +static void unselect_row(uint8_t row) +{ + // No need to explicitly unselect expander pins--their I/O state is + // set simultaneously, with a single bitmask sent to i2c_write. When + // select_row selects a single pin, it implicitly unselects all the + // other ones. + // unselect on teensy - // Hi-Z(DDR:0, PORT:0) to unselect - DDRB &= ~(1<<1 | 1<<2 | 1<<3); - PORTB &= ~(1<<1 | 1<<2 | 1<<3); - DDRD &= ~(1<<2 | 1<<3); - PORTD &= ~(1<<2 | 1<<3); - DDRC &= ~(1<<6); - PORTC &= ~(1<<6); + uint8_t pin = onboard_row_pins[row]; + _SFR_IO8((pin >> 4) + 1) &= ~_BV(pin & 0xF); // OUT + _SFR_IO8((pin >> 4) + 2) |= _BV(pin & 0xF); // LOW +} + +static void unselect_rows(void) { + for (uint8_t x = 0; x < MATRIX_ROWS; x++) { + unselect_row(x); + } } -/* Row pin configuration - * - * Teensy - * row: 6 7 8 9 10 11 - * pin: B1 B2 B3 D2 D3 C6 - * - * MCP23018 - * row: 0 1 2 3 4 5 - * pin: A0 A1 A2 A3 A4 A5 - */ -static void select_row(uint8_t row) +#elif (DIODE_DIRECTION == ROW2COL) + +static void init_rows(void) { - if (row < 6) { - // select on mcp23018 - if (mcp23018_status) { // if there was an error + for (uint8_t x = 0; x < MATRIX_ROWS; x++) { + uint8_t pin = onboard_row_pins[x]; + _SFR_IO8((pin >> 4) + 1) &= ~_BV(pin & 0xF); // IN + _SFR_IO8((pin >> 4) + 2) |= _BV(pin & 0xF); // HI + } +} + +static bool read_rows_on_col(matrix_row_t current_matrix[], uint8_t current_col) +{ + bool matrix_changed = false; + + uint8_t column_state = 0; + + //select col and wait for selection to stabilize + select_col(current_col); + wait_us(30); + + if (current_col < 6) { + // read rows from expander + if (expander_status) { + // it's already in an error state; nothing we can do + return false; + } + + expander_status = i2c_start(I2C_ADDR_WRITE); if (expander_status) goto out; + expander_status = i2c_write(GPIOB); if (expander_status) goto out; + expander_status = i2c_start(I2C_ADDR_READ); if (expander_status) goto out; + column_state = i2c_readNak(); + + out: + i2c_stop(); + + column_state = ~column_state; + } else { + for (uint8_t current_row = 0; current_row < MATRIX_ROWS; current_row++) { + if ((_SFR_IO8(onboard_row_pins[current_row] >> 4) & _BV(onboard_row_pins[current_row] & 0xF)) == 0) { + column_state |= (1 << current_row); + } + } + } + + for (uint8_t current_row = 0; current_row < MATRIX_ROWS; current_row++) { + // Store last value of row prior to reading + matrix_row_t last_row_value = current_matrix[current_row]; + + if (column_state & (1 << current_row)) { + // key closed; set state bit in matrix + current_matrix[current_row] |= (ROW_SHIFTER << current_col); + } else { + // key open; clear state bit in matrix + current_matrix[current_row] &= ~(ROW_SHIFTER << current_col); + } + + // Determine whether the matrix changed state + if ((last_row_value != current_matrix[current_row]) && !(matrix_changed)) + { + matrix_changed = true; + } + } + + unselect_col(current_col); + + return matrix_changed; +} + +static void select_col(uint8_t col) +{ + if (col_expanded[col]) { + // select on expander + if (expander_status) { // if there was an error // do nothing } else { - // set active row low : 0 - // set other rows hi-Z : 1 - mcp23018_status = i2c_start(I2C_ADDR_WRITE); if (mcp23018_status) goto out; - mcp23018_status = i2c_write(GPIOA); if (mcp23018_status) goto out; - mcp23018_status = i2c_write(0xFF & ~(1<> 4) + 1) |= _BV(pin & 0xF); // OUT + _SFR_IO8((pin >> 4) + 2) &= ~_BV(pin & 0xF); // LOW + } +} + +static void unselect_col(uint8_t col) +{ + if (col_expanded[col]) { + // No need to explicitly unselect expander pins--their I/O state is + // set simultaneously, with a single bitmask sent to i2c_write. When + // select_col selects a single pin, it implicitly unselects all the + // other ones. + } else { + // unselect on teensy + uint8_t pin = onboard_col_pins[col]; + _SFR_IO8((pin >> 4) + 1) &= ~_BV(pin & 0xF); // IN + _SFR_IO8((pin >> 4) + 2) |= _BV(pin & 0xF); // HI } } +static void unselect_cols(void) +{ + for(uint8_t x = 0; x < MATRIX_COLS; x++) { + unselect_col(x); + } +} +#endif -- cgit v1.2.3