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formatfloat.h

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    • captouch.rs 12.01 KiB 
    use ad7147::{
    device::DecimationFactor,
    stage::{CapInput, CdcInput, InputConnection},
    Ad7147, DeviceConfiguration, Initialized, StageConfiguration,
};
use embassy_futures::select::select;
use embassy_time::{Delay, Duration, Timer};
use embedded_hal_async::digital::Wait;
use esp_println::println;
use hal::{
    gpio::{Gpio15, Gpio16, Unknown},
    i2c::I2C,
    peripherals::I2C0,
};
use shared_bus::{I2cProxy, XtensaMutex};

pub struct CapTouchHandler;

fn init_captouch(
    i2c_bot: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
    i2c_top: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
) -> Result<
    (
        Ad7147<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, Initialized, 12>,
        Ad7147<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, Initialized, 12>,
    ),
    hal::i2c::Error,
> {
    let ad7147_bot = Ad7147::new(i2c_bot, 0b00101101);
    let config_bot = DeviceConfiguration::builder()
        .decimation(DecimationFactor::Factor64)
        .stages([
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN0,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN1,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN2,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN3,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                    .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN4,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN5,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN6,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN7,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN8,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(2)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN9,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(30)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN10,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(26)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN11,
                    cdc: CdcInput::Positive,
                })
                .build(),
            ])
        .build();
    let ad7147_top = Ad7147::new(i2c_top, 0b00101100);
    let config_top = DeviceConfiguration::builder()
        .decimation(DecimationFactor::Factor64)
        .stages([
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(30)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN0,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(30)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN1,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(28)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN2,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(28)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN3,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(28)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN4,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(28)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN5,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(28)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN6,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                    .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(10)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN7,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(20)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN8,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(20)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN9,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(8)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN10,
                    cdc: CdcInput::Positive,
                })
                .build(),
            StageConfiguration::builder()
                .calibration_enabled(true)
                .conversion_complete_interrupt_enabled(true)
                .pos_afe_offset(20)
                .add_input_connection(InputConnection {
                    cin: CapInput::CIN11,
                    cdc: CdcInput::Positive,
                })
                .build(),
        ])
        .build();
    Ok((
        ad7147_bot.init(config_bot, &mut Delay)?,
        ad7147_top.init(config_top, &mut Delay)?,
    ))
}

#[embassy_executor::task]
pub async fn captouch_controller(
    i2c_bot: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
    i2c_top: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
    cap_bot_int: Gpio16<Unknown>,
    cap_top_int: Gpio15<Unknown>,
) -> ! {
    let mut cap_bot_int = cap_bot_int.into_pull_up_input();
    let mut cap_top_int = cap_top_int.into_pull_up_input();
    let (mut ad7147_bot, mut ad7147_top) = init_captouch(i2c_bot, i2c_top).unwrap();

    let device_id = ad7147_bot.read_device_id().unwrap();
    println!("captouch bot device id: {:016b}", device_id);
    let device_id = ad7147_top.read_device_id().unwrap();
    println!("captouch top device id: {:016b}", device_id);
    println!("initialized captouch");
    loop {
        //println!("int pin: {}", cap_b_int.is_input_high());
            select(cap_bot_int.wait_for_low(), cap_top_int.wait_for_low());
        let _ = ad7147_bot.read_interrupt_registers().unwrap();
        let _ = ad7147_top.read_interrupt_registers().unwrap();
        //println!("ints: {:?}", ints);
        let measurement = ad7147_bot.read_all_stages().unwrap();
        println!(
            "{} {} {} {} {} {} {} {} {} {} {} {}",
            measurement[0],
            measurement[1],
            measurement[2],
            measurement[3],
            measurement[4],
            measurement[5],
            measurement[6],
            measurement[7],
            measurement[8],
            measurement[9],
            measurement[10],
            measurement[11]
        );
        let measurement = ad7147_top.read_all_stages().unwrap();
        println!(
            "{} {} {} {} {} {} {} {} {} {} {} {}",
            measurement[0],
            measurement[1],
            measurement[2],
            measurement[3],
            measurement[4],
            measurement[5],
            measurement[6],
            measurement[7],
            measurement[8],
            measurement[9],
            measurement[10],
            measurement[11]
        );
        Timer::after(Duration::from_millis(1000)).await;
    }
}