fixed compile errors, added SPI interface to Enchanti touch board

IDMIL · Jan 13, 2024 · 4c75b8c · 4c75b8c
1 parent 3b600e1
commit 4c75b8c
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Showing 7 changed files with 141 additions and 43 deletions.
diff --git a/firmware/include/tstick-properties.h b/firmware/include/tstick-properties.h
@@ -28,7 +28,7 @@ Define the ESP32 Board
 /*
 Set the amount of capacitive stripes to for the T-Stick, up to 120
 */
-#define TSTICK_SIZE 30
+#define TSTICK_SIZE 60
 
 /*
 Define I2C properties
@@ -80,7 +80,7 @@ Define Interrupt pins for sensors
 /*
 Enable second OSC address
 */
-//#define OSC2
+#define OSC2
 
 /*
 Task Rates
@@ -92,7 +92,7 @@ Task Rates
 #define OSC_UPDATE_RATE 10 // ms (~77Hz) 
 
 // Sensors
-#define TOUCH_UPDATE_RATE 10 // ms (takes 6ms to read 120 bytes over I2C)
+#define TOUCH_UPDATE_RATE 10 // ms (takes 3ms to read 120 bytes over I2C)
 #define IMU_UPDATE_RATE 2 // ms
 #define ANG_UPDATE_RATE 2 // ms
 

diff --git a/firmware/include/tstick-sensors.h b/firmware/include/tstick-sensors.h
@@ -17,9 +17,9 @@ Sensor Boards
 /*
 Define the Touch Board
 */
-#define touch_TRILL
+//#define touch_TRILL
 //#define touch_IDMIL
-//#define touch_ENCHANTI
+#define touch_ENCHANTI
 
 /*
 Define the IMU

diff --git a/firmware/lib/Touch/Enchanti-touch/enchanti-touch.cpp b/firmware/lib/Touch/Enchanti-touch/enchanti-touch.cpp
@@ -1,7 +1,7 @@
 #include "enchanti-touch.h"
 
 // Initialise touch board, 
-void EnchantiTouch::initTouch(float num, int threshold, int mode) {
+void EnchantiTouch::initTouch(float num, int threshold, int mode, int com_mode) {
     // Clip number of touch boards to 2
     if (num > 2) {
         num = 2;
@@ -13,16 +13,42 @@ void EnchantiTouch::initTouch(float num, int threshold, int mode) {
     num_boards = num;
     noise_threshold = threshold;
     boardMode = mode;
-    if (boardMode == RAW) {
-        baseReg = RAW_REG;
-    } else if (boardMode == DIFF) {
-        baseReg = DIFF_REG;
-    } else if (boardMode == BASELINE) {
-        baseReg = BASELINE_REG;
-    } else {
-        baseReg = DIFF_REG;
+    comMode = com_mode;
+
+    // Setup SPI if spi mode selected
+    if (comMode == SPI_MODE) {
+        // to use DMA buffer, use these methods to allocate buffer
+        spi_master_tx_buf = master.allocDMABuffer(ENCHANTI_BUFFERSIZE);
+        spi_master_rx_buf = master.allocDMABuffer(ENCHANTI_BUFFERSIZE);
+
+        // set the DMA buffer
+        for (uint32_t i = 0; i < ENCHANTI_BUFFERSIZE; i++) {
+            spi_master_tx_buf[i] = i & 0xFF;
+        }
+        memset(spi_master_rx_buf, 0, ENCHANTI_BUFFERSIZE);
+
+        // intialising the spi bus 
+        master.setDataMode(SPI_MODE0);    
+        master.setFrequency(spiClk);            
+        master.setMaxTransferSize(ENCHANTI_BUFFERSIZE);  
+        master.setDutyCyclePos(96);
+        // Start bus
+        master.begin();
     }
 
+    // // Send configuration data to touch board
+    // // Send number of boards
+    // Wire.beginTransmission(main_i2c_addr);
+    // Wire.write(NUMBOARD_REG);
+    // Wire.write(int(num_boards));
+    // uint8_t last_status = Wire.endTransmission();
+
+    // // Set up touch mode
+    // Wire.beginTransmission(main_i2c_addr);
+    // Wire.write(TOUCHMODE_REG);
+    // Wire.write(mode);
+    // last_status = Wire.endTransmission();    
+
     // set touchsize
     touchSize = floor(num_boards * ENCHANTI_BASETOUCHSIZE);
     // enable sensor
@@ -31,23 +57,28 @@ void EnchantiTouch::initTouch(float num, int threshold, int mode) {
 }
 
 void EnchantiTouch::readTouch(){
-    // Read data from all 60 touch buttons
-    // Compute buffer length
-    int length = 0;
-    if (touchSize < ENCHANTI_BASETOUCHSIZE) {
-        // Each sensor needs 2 bytes == 120 Byte read
-        length = touchSize * 2;
-    } else {
-        length = ENCHANTI_BASETOUCHSIZE * 2;
+    // Read data from all touch buttons
+    if (comMode == I2C_MODE) {
+        // Compute buffer length
+        int length = 0;
+        if (touchSize < ENCHANTI_BASETOUCHSIZE) {
+            // Each sensor needs 2 bytes == 120 Byte read
+            length = touchSize * 2;
+        } else {
+            length = ENCHANTI_BASETOUCHSIZE * 2;
+        }
+
+        // Read touch data from I2C buffer
+        readI2CBuffer(main_i2c_addr, baseReg, length);
+
+        // Read auxillary touch board data
+        if (num_boards > 1) {
+            length = (touchSize - ENCHANTI_BASETOUCHSIZE) * 2;
+            readI2CBuffer(aux_i2c_addr, baseReg, length, ENCHANTI_BASETOUCHSIZE); // offset data index to not overwrite main touch board data
+        }
     }
-
-    // Read touch data from I2C buffer
-    readBuffer(main_i2c_addr, baseReg, length);
-
-    // Read auxillary touch board data
-    if (num_boards > 1) {
-        length = (touchSize - ENCHANTI_BASETOUCHSIZE) * 2;
-        readBuffer(aux_i2c_addr, baseReg, length, ENCHANTI_BASETOUCHSIZE); // offset data index to not overwrite main touch board data
+    if (comMode == SPI_MODE) {
+        readSPIBuffer(ENCHANTI_BUFFERSIZE, 2);
     }
 }
 
@@ -81,7 +112,7 @@ void EnchantiTouch::cookData() {
     }
 }
 
-void EnchantiTouch::readBuffer(uint8_t i2c_addr, uint8_t reg, uint8_t length, int offset)
+void EnchantiTouch::readI2CBuffer(uint8_t i2c_addr, uint8_t reg, uint8_t length, int offset)
 {
     // prepare for data read
     uint8_t loc = 0;
@@ -103,4 +134,29 @@ void EnchantiTouch::readBuffer(uint8_t i2c_addr, uint8_t reg, uint8_t length, in
         }
         ++loc;
     }
+}
+
+void EnchantiTouch::readSPIBuffer(uint16_t length, int offset)
+{
+    // prepare for data read
+    uint8_t loc = 0;
+    uint16_t value = 0;  
+
+    // Start transaction
+    master.transfer(NULL, spi_master_rx_buf, length);
+
+    // Process data
+    while (loc < (touchSize*2)) {
+        uint8_t lsb  = spi_master_rx_buf[loc+offset];
+        ++loc;
+        uint8_t msb  = spi_master_rx_buf[loc+offset];
+        ++loc;
+        value = uint16_t(msb << 8) | uint16_t(lsb);
+        if (data[int(loc/2)] != value) {
+            newData = 1;
+        }
+        if (value < 10000) { // spi occassionally throws junk ignore it
+            data[int(loc/2)] = value;
+        }
+    }   
 }
diff --git a/firmware/lib/Touch/Enchanti-touch/enchanti-touch.h b/firmware/lib/Touch/Enchanti-touch/enchanti-touch.h
@@ -3,9 +3,18 @@
 
 #include <Arduino.h>
 #include "Wire.h"
+#include <ESP32DMASPIMaster.h>
 #include <iostream>
 
 #define ENCHANTI_BASETOUCHSIZE 60
+#define ENCHANTI_BUFFERSIZE 256
+#define ENCHANTI_MAXBUFFERSIZE 1024
+
+// SPI Pins
+#define CS 10
+#define MISO 13
+#define MOSI 11
+#define CLK 12
 
 class EnchantiTouch
 {
@@ -16,22 +25,35 @@ class EnchantiTouch
 			BASELINE = 2,
 			DIFF = 3
 		};
+        // Board modes
+        enum COMMS {
+			SPI_MODE = 1,
+			I2C_MODE = 2
+		};
 
         // Register addresses for touch data
         enum regAddr
         {
-            RAW_REG         = 4, // Register for raw data for button 1
-            DIFF_REG        = 4, // Register of difference data for button 1 (raw - baseline)
-            BASELINE_REG    = 4, // Register of baseline data for button 1 
+            BOARDMODE_REG   = 1, // Register for mode of the board
+            NUMBOARD_REG    = 2, // Register for number of touch boards
+            TOUCHMODE_REG   = 3, // Register for the touch mode
+            DATA_REG        = 4, // Register of difference data for button 1 (raw - baseline)
         };
 
+        // Include SPI
+        ESP32DMASPI::Master master;
+        const int spiClk = 4000000;
+        uint8_t* spi_master_tx_buf;
+        uint8_t* spi_master_rx_buf;
+
         // Board Properties
+        int comMode = SPI_MODE;
         int boardMode = RAW;
         int newData = 0;
         float num_boards = 1; // number of touch boards, set half numbers to indicate if using only the first touch circuit
         uint8_t main_i2c_addr = 0x1E;
         uint8_t aux_i2c_addr = 0x1F;
-        uint8_t baseReg = RAW_REG;
+        uint8_t baseReg = DATA_REG;
 
         // Touch properties
         int noise_threshold = 0;
@@ -56,11 +78,12 @@ class EnchantiTouch
         bool running = true;
 
         // Methods
-		void initTouch(float num=1, int threshold=0, int mode=DIFF);
+		void initTouch(float num=1, int threshold=0, int mode=DIFF, int com_mode=SPI_MODE);
         void readTouch();
         void cookData();
 
     private:
-        void readBuffer(uint8_t i2c_addr, uint8_t reg, uint8_t length, int offset = 0);
+        void readI2CBuffer(uint8_t i2c_addr, uint8_t reg, uint8_t length, int offset = 0);
+        void readSPIBuffer(uint16_t length, int offset = 0);
 };
 #endif
diff --git a/firmware/lib/Touch/touch.h b/firmware/lib/Touch/touch.h
@@ -6,7 +6,7 @@
 TrillTouch touch;
 #endif
 #ifdef touch_ENCHANTI
-#include "Enchanti-touch/enchanti-touch."
+#include "Enchanti-touch/enchanti-touch.h"
 EnchantiTouch touch;
 #endif
 #ifdef touch_IDMIL

diff --git a/firmware/platformio.ini b/firmware/platformio.ini
@@ -19,6 +19,7 @@ lib_deps =
 	https://github.com/BelaPlatform/Trill-Arduino.git
 	https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary.git
 	https://github.com/CAP1Sup/Arduino_LSM9DS1.git
+	https://github.com/hideakitai/ESP32DMASPI.git
 	https://github.com/arkhipenko/TaskScheduler.git
 build_flags = 
 	-DCONFIG_ARDUINO_LOOP_STACK_SIZE=32768

diff --git a/firmware/src/main.cpp b/firmware/src/main.cpp
@@ -19,6 +19,11 @@ Include T-Stick properties
 #include "tstick-properties.h"
 #include "tstick-sensors.h"
 
+// Includ SPI
+#include "SPI.h"
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3
+#define VSPI FSPI
+#endif
 // Sensor libraries
 #include "touch.h"
 
@@ -319,7 +324,7 @@ void updateGestures();
 
 // Setup sensor tasks (task rates defined in tstick-properties.h)
 Task updateIMU (TASK_IMMEDIATE, TASK_ONCE, &readIMU, &runnerSensors, false);
-// Task updateTOUCH (TOUCH_UPDATE_RATE, TASK_FOREVER, &readTouch, &runnerSensors, false);
+Task updateTOUCH (TOUCH_UPDATE_RATE, TASK_FOREVER, &readTouch, &runnerSensors, false);
 Task updateANALOG (ANG_UPDATE_RATE, TASK_FOREVER, &readAnalog, &runnerSensors, false);
 Task updateGesture (GESTURE_UPDATE_RATE, TASK_FOREVER, &updateGestures, &runnerSensors, false);
 Task updateBattery (BATTERY_UPDATE_RATE, TASK_FOREVER, &readBattery, &runnerSensors, false);
@@ -520,6 +525,13 @@ void updateOSC1() {
                 mergeddiscretetouch[114], mergeddiscretetouch[115], mergeddiscretetouch[116], mergeddiscretetouch[117], mergeddiscretetouch[118], mergeddiscretetouch[119]);
             }
 
+            #ifdef touch_ENCHANTI
+            oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/scantime");
+            lo_send(osc1, oscNamespace.c_str(), "i", touch.scantime);
+            oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/polltime");
+            lo_send(osc1, oscNamespace.c_str(), "i", touch.polltime);
+            #endif
+
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/all");
             lo_send(osc1, oscNamespace.c_str(), "f", gestures.touchAll);
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/top");
@@ -773,6 +785,13 @@ void updateOSC2() {
                 mergeddiscretetouch[114], mergeddiscretetouch[115], mergeddiscretetouch[116], mergeddiscretetouch[117], mergeddiscretetouch[118], mergeddiscretetouch[119]);
             }
 
+            #ifdef touch_ENCHANTI
+            oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/scantime");
+            lo_send(osc2, oscNamespace.c_str(), "i", touch.scantime);
+            oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/polltime");
+            lo_send(osc2, oscNamespace.c_str(), "i", touch.polltime);
+            #endif
+
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/all");
             lo_send(osc2, oscNamespace.c_str(), "f", gestures.touchAll);
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/top");
@@ -782,7 +801,8 @@ void updateOSC2() {
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "instrument/touch/bottom");
             lo_send(osc2, oscNamespace.c_str(), "f", gestures.touchBottom);
 
-            event.touchReady - false;
+            event.touchReady = false;
+            touch.newData = 0; // clear new data flag
         }
         if (event.mimu) {
             oscNamespace.replace(oscNamespace.begin()+baseNamespace.size(),oscNamespace.end(), "raw/accl");
@@ -929,11 +949,9 @@ void readTouch() {
     // Update event structure
     if (touch.newData) {
         event.touchReady = true;
-        touch.newData = 0;
-    } else {
-        event.touchReady = false;
     }
 }
+
 
 void readAnalog() {
     // Update button