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Commit bd6d5d88 authored by minute's avatar minute
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Merge branch 'trackpad-improvements' into 'master' 

trackpad-fw: Make trackpad more responsive

See merge request reform/reform!49
parents abd26239 4bdc7140
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reform2-trackpad-fw/Makefile
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− 1
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......@@ -17,7 +17,7 @@ F_CPU = 16000000
F_USB = $(F_CPU)
OPTIMIZATION = s
TARGET = Mouse
SRC = $(TARGET).c i2cmaster/i2cmaster.S Descriptors.c $(LUFA_SRC_USB) $(LUFA_SRC_USBCLASS)
SRC = $(TARGET).c i2cmaster/i2cmaster.S Descriptors.c azoteq.c $(LUFA_SRC_USB) $(LUFA_SRC_USBCLASS)
LUFA_PATH = ./lufa-master/LUFA
CC_FLAGS = -DUSE_LUFA_CONFIG_HEADER -IConfig/
LD_FLAGS =
......
reform2-trackpad-fw/Mouse.c
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......@@ -33,62 +33,7 @@
#include <stdlib.h>
#include "i2cmaster/i2cmaster.h"
#define output_low(port,pin) port &= ~(1<<pin)
#define output_high(port,pin) port |= (1<<pin)
#define set_input(portdir,pin) portdir &= ~(1<<pin)
#define set_output(portdir,pin) portdir |= (1<<pin)
// Registers
#define Product_ID 0x00
#define Revision_ID 0x01
#define Motion 0x02
#define Delta_X_L 0x03
#define Delta_X_H 0x04
#define Delta_Y_L 0x05
#define Delta_Y_H 0x06
#define SQUAL 0x07
#define Raw_Data_Sum 0x08
#define Maximum_Raw_data 0x09
#define Minimum_Raw_data 0x0A
#define Shutter_Lower 0x0B
#define Shutter_Upper 0x0C
#define Control 0x0D
#define Config1 0x0F
#define Config2 0x10
#define Angle_Tune 0x11
#define Frame_Capture 0x12
#define SROM_Enable 0x13
#define Run_Downshift 0x14
#define Rest1_Rate_Lower 0x15
#define Rest1_Rate_Upper 0x16
#define Rest1_Downshift 0x17
#define Rest2_Rate_Lower 0x18
#define Rest2_Rate_Upper 0x19
#define Rest2_Downshift 0x1A
#define Rest3_Rate_Lower 0x1B
#define Rest3_Rate_Upper 0x1C
#define Observation 0x24
#define Data_Out_Lower 0x25
#define Data_Out_Upper 0x26
#define Raw_Data_Dump 0x29
#define SROM_ID 0x2A
#define Min_SQ_Run 0x2B
#define Raw_Data_Threshold 0x2C
#define Config5 0x2F
#define Power_Up_Reset 0x3A
#define Shutdown 0x3B
#define Inverse_Product_ID 0x3F
#define LiftCutoff_Tune3 0x41
#define Angle_Snap 0x42
#define LiftCutoff_Tune1 0x4A
#define Motion_Burst 0x50
#define LiftCutoff_Tune_Timeout 0x58
#define LiftCutoff_Tune_Min_Length 0x5A
#define SROM_Load_Burst 0x62
#define Lift_Config 0x63
#define Raw_Data_Burst 0x64
#define LiftCutoff_Tune2 0x65
#include "azoteq.h"
#include "Mouse.h"
......@@ -115,32 +60,24 @@ USB_ClassInfo_HID_Device_t Mouse_HID_Interface =
},
};
#define ADDR_SENSOR (0x74<<1)
uint8_t twi_write_reg[1];
uint8_t twi_write_buf[10];
uint8_t twi_read_buf[10];
void SetupHardware(void)
{
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
/* Disable watchdog if enabled by bootloader/fuses */
MCUSR &= ~(1 << WDRF);
wdt_disable();
// Disable clock division
// Disable clock division
// this should yield 8Mhz with internal osc
clock_prescale_set(clock_div_1);
clock_prescale_set(clock_div_1);
DDRD = 0b00000000;
DDRB = 0b00000100;
DDRC = 0b00000000;
//output_high(PORTC, 5);
// no jtag plox
//MCUCR |=(1<<JTD);
//MCUCR |=(1<<JTD);
i2c_init();
USB_Init();
......@@ -158,6 +95,13 @@ void SetupHardware(void)
i2c_write(0); // reset
i2c_stop();
// Disable idle mode timeout, so we never enter LP1
i2c_start_wait(ADDR_SENSOR|I2C_WRITE);
i2c_write(0x05);
i2c_write(0x86);
i2c_write(0xff); // Idle mode, 255s = never timeout
i2c_stop();
Delay_MS(100);
}
......@@ -174,49 +118,39 @@ void EVENT_USB_Device_Disconnect(void)
/** Event handler for the library USB Configuration Changed event. */
void EVENT_USB_Device_ConfigurationChanged(void)
{
bool ConfigSuccess = true;
bool ConfigSuccess = true;
ConfigSuccess &= HID_Device_ConfigureEndpoints(&Mouse_HID_Interface);
ConfigSuccess &= HID_Device_ConfigureEndpoints(&Mouse_HID_Interface);
USB_Device_EnableSOFEvents();
USB_Device_EnableSOFEvents();
}
/** Event handler for the library USB Control Request reception event. */
void EVENT_USB_Device_ControlRequest(void)
{
HID_Device_ProcessControlRequest(&Mouse_HID_Interface);
HID_Device_ProcessControlRequest(&Mouse_HID_Interface);
}
/** Event handler for the USB device Start Of Frame event. */
void EVENT_USB_Device_StartOfFrame(void)
{
HID_Device_MillisecondElapsed(&Mouse_HID_Interface);
HID_Device_MillisecondElapsed(&Mouse_HID_Interface);
}
uint8_t addr1 = 0x00;
uint8_t addr2 = 0x11;
uint8_t buf[80];
float dx2 = 0, dy2 = 0;
float dx3 = 0, dy3 = 0;
float dx4 = 0, dy4 = 0;
float dxx = 0, dyy = 0;
float dx = 0, dy = 0;
int16_t lastx = 0, lasty = 0;
int16_t lastx2 = 0, lasty2 = 0;
unsigned int cycle = 0;
int wheeling = 0;
int touched_time = 0;
int touched_time2 = 0;
int last_num_fingers = 0;
int start_num_fingers = 0;
int report_lift = 0;
bool g_want_bootloader = false;
#define PRESS_TIME 6
#define MOTION_CLIP 127
//#define READ_LEN 8
#define READ_LEN 20
/** HID class driver callback function for the creation of HID reports to the host.
*
* \param[in] HIDInterfaceInfo Pointer to the HID class interface configuration structure being referenced
......@@ -278,31 +212,23 @@ bool CALLBACK_HID_Device_CreateHIDReport(USB_ClassInfo_HID_Device_t* const HIDIn
return false;
}
i2c_start_wait(ADDR_SENSOR|I2C_WRITE);
i2c_write(addr1);
i2c_write(addr2);
i2c_rep_start(ADDR_SENSOR|I2C_READ);
for (int i=0; i<READ_LEN; i++) {
buf[i] = i2c_readAck();
}
buf[READ_LEN] = i2c_readNak();
i2c_stop();
int num_fingers = buf[0];
struct azoteq_data sensor = { 0 };
read_azoteq_data(&sensor);
// touched?
if (num_fingers) {
if (sensor.num_fingers) {
touched_time++;
touched_time2++;
wheeling = 0;
if (num_fingers != last_num_fingers) {
touched_time2 = 0;
if (sensor.num_fingers != last_num_fingers) {
lastx2 = 0;
lasty2 = 0;
lastx = 0;
lasty = 0;
}
if (start_num_fingers < num_fingers) {
start_num_fingers = num_fingers;
if (start_num_fingers < sensor.num_fingers) {
start_num_fingers = sensor.num_fingers;
}
if (start_num_fingers == 2) {
......@@ -315,45 +241,26 @@ bool CALLBACK_HID_Device_CreateHIDReport(USB_ClassInfo_HID_Device_t* const HIDIn
//MouseReport->Button |= 2;
}
// fingers are 7 bytes apart, up to 5 fingers
// absolute x and y coordinates are signed 16-bit integers
int16_t xpos = ((uint16_t)buf[5]<<8)|((uint16_t)buf[6]);
int16_t ypos = ((uint16_t)buf[7]<<8)|((uint16_t)buf[8]);
int16_t xpos2 = ((uint16_t)buf[12]<<8)|((uint16_t)buf[13]);
int16_t ypos2 = ((uint16_t)buf[14]<<8)|((uint16_t)buf[15]);
// skip the first motion reading(s) immediately after
// touchdown because they often have skips
if (touched_time2 > 4) {
if (num_fingers>=2) {
dx = ((float)xpos2+(float)xpos)/2-((float)lastx2+(float)lastx)/2;
dy = ((float)ypos2+(float)ypos)/2-((float)lasty2+(float)lasty)/2;
} else {
dx = (float)(xpos-lastx);
dy = (float)(ypos-lasty);
}
dxx = (dx+dx2+dx3+dx4)/4.0;
dyy = (dy+dy2+dy3+dy4)/4.0;
//if (dxx>MOTION_CLIP) dxx=MOTION_CLIP;
//if (dxx<=-MOTION_CLIP) dxx=-MOTION_CLIP;
//if (dyy>MOTION_CLIP) dyy=MOTION_CLIP;
//if (dyy<=-MOTION_CLIP) dyy=-MOTION_CLIP;
if (wheeling) {
// horizontal and vertical scrolling
MouseReport->Pan = dxx;
MouseReport->Wheel = -dyy;
} else {
// normal movement
MouseReport->X = dxx;
MouseReport->Y = dyy;
}
if (sensor.num_fingers >= 2) {
dx = lastx && lastx2 ? ((float)sensor.fingers[1].abs_x + (float)sensor.fingers[0].abs_x) / 2.0f - ((float)lastx2 + (float)lastx) / 2.0f : 0.0f;
dy = lasty && lasty2 ? ((float)sensor.fingers[1].abs_y + (float)sensor.fingers[0].abs_y) / 2.0f - ((float)lasty2 + (float)lasty) / 2.0f : 0.0f;
} else {
dx = (float)sensor.relative_x;
dy = (float)sensor.relative_y;
}
lastx = xpos; lasty = ypos;
lastx2 = xpos2; lasty2 = ypos2;
if (wheeling) {
// horizontal and vertical scrolling
MouseReport->Pan = dx / 4.0f;
MouseReport->Wheel = -dy / 4.0f;
} else {
// normal movement
MouseReport->X = dx;
MouseReport->Y = dy;
}
lastx = sensor.fingers[0].abs_x; lasty = sensor.fingers[0].abs_y;
if (sensor.num_fingers > 1) lastx2 = sensor.fingers[1].abs_x; lasty2 = sensor.fingers[1].abs_y;
} else {
// no (more) touches
......@@ -372,26 +279,26 @@ bool CALLBACK_HID_Device_CreateHIDReport(USB_ClassInfo_HID_Device_t* const HIDIn
report_lift = 1;
dx = 0;
dy = 0;
lastx = 0;
lasty = 0;
lastx2 = 0;
lasty2 = 0;
}
dx4 = dx3; dy4 = dy3;
dx3 = dx2; dy3 = dy2;
dx2 = dx; dy2 = dy;
last_num_fingers = num_fingers;
// end cycle
i2c_start_wait(ADDR_SENSOR|I2C_WRITE);
i2c_write(0xee);
i2c_write(0xee);
i2c_write(0xff);
i2c_stop();
last_num_fingers = sensor.num_fingers;
*ReportSize = sizeof(USB_WheelMouseReport_Data_t);
return true;
}
#define BOOTLOADER_START_ADDRESS ((0x8000 - 0x1000) >> 1)
void jump_to_bootloader(void) {
((void (*)(void))BOOTLOADER_START_ADDRESS)();
}
#define cmd(_s) (*(uint32_t *)(_s))
#define CMD_JUMP_TO_BOOTLOADER cmd("JTBL")
/** HID class driver callback function for the processing of HID reports from the host.
*
* \param[in] HIDInterfaceInfo Pointer to the HID class interface configuration structure being referenced
......@@ -406,18 +313,24 @@ void CALLBACK_HID_Device_ProcessHIDReport(USB_ClassInfo_HID_Device_t* const HIDI
const void* ReportData,
const uint16_t ReportSize)
{
// Unused (but mandatory for the HID class driver) in this demo, since there are no Host->Device reports
// Unused (but mandatory for the HID class driver) in this demo, since there are no Host->Device reports
// if (ReportSize < 4) return;
const uint32_t command = *(uint32_t *)ReportData;
if (command == CMD_JUMP_TO_BOOTLOADER) {
g_want_bootloader = true;
}
}
int main(void)
{
SetupHardware();
GlobalInterruptEnable();
for (;;)
{
HID_Device_USBTask(&Mouse_HID_Interface);
USB_USBTask();
}
SetupHardware();
GlobalInterruptEnable();
for (;;)
{
HID_Device_USBTask(&Mouse_HID_Interface);
USB_USBTask();
if (g_want_bootloader) jump_to_bootloader();
}
}
reform2-trackpad-fw/README.md 0 → 100644
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# MNT Reform 2.0 Touchpad Firmware
## Code Structure
- `Mouse.c`: Sensor gesture processing + USB HID report generation
- `azoteq.{c,h}`: Azoteq sensor registers in structs for easy access
- `Descriptors.c`: USB HID descriptors
### Debian/Ubuntu
`apt install gcc-avr avr-libc dfu-programmer`
### Mac
*TODO: is this correct?*
```
brew tap osx-cross/avr
brew install avr-gcc
brew install dfu-programmer
```
## Building
Build the firmware by running `make`. The firmware can then be found in
Mouse.hex.
# Analysis
After building, you can load `Mouse.elf` in `gdb`, and inspect the generated code.
Try `disas main`, for example.
To flash, run:
`sudo ./flash.sh`
The script sends the 'xJTBL' command to the trackpad to send it into bootloader mode, and then flashes the new firmware.
The trackpad should reset briefly after flashing, and start running the new firmware.
reform2-trackpad-fw/azoteq.c 0 → 100644
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− 0
View file @ bd6d5d88
/*
azoteq.c -- Azoteq IQS550 mappings
Copyright 2023 Valtteri Koskivuori <vkoskiv@gmail.com>
License: GPLv3
*/
#include "i2cmaster/i2cmaster.h"
#include "azoteq.h"
static void swap_u16(uint16_t *val) {
uint8_t hi = (*val & 0xff00) >> 8;
*val <<= 8;
*val |= hi;
}
static void swap_16(int16_t *val) {
uint8_t hi = (*val & 0xff00) >> 8;
*val <<= 8;
*val |= hi;
}
void read_azoteq_data(struct azoteq_data *data) {
i2c_start_wait(ADDR_SENSOR|I2C_WRITE);
i2c_write(0x00);
i2c_write(0x00);
i2c_rep_start(ADDR_SENSOR|I2C_READ);
for (int i = 0; i < sizeof(*data); ++i) {
((unsigned char *)data)[i] = i2c_readAck();
}
i2c_readNak();
i2c_stop();
// end cycle
i2c_start_wait(ADDR_SENSOR|I2C_WRITE);
i2c_write(0xee);
i2c_write(0xee);
i2c_write(0xff);
i2c_stop();
// Sad, we have to swap byte order for 16-bit quantities
for (int i = 0; i < 5; ++i) {
swap_u16(&data->fingers[i].abs_x);
swap_u16(&data->fingers[i].abs_y);
}
swap_16(&data->relative_x);
swap_16(&data->relative_y);
}
reform2-trackpad-fw/azoteq.h 0 → 100644
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− 0
View file @ bd6d5d88
/*
azoteq.h -- Azoteq IQS550 mappings
Copyright 2023 Valtteri Koskivuori <vkoskiv@gmail.com>
License: GPLv3
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
struct azoteq_gesture_events {
uint8_t ges_unused_0 : 2;
bool ges_swipe_y_minus : 1;
bool ges_swipe_y_plus : 1;
bool ges_swipe_x_plus : 1;
bool ges_swipe_x_minus : 1;
bool ges_press_and_hold : 1;
bool ges_single_tap : 1;
uint8_t ges_unused_1 : 5;
bool ges_zoom: 1;
bool ges_scroll: 1;
bool ges_2_finger_tap: 1;
};
struct azoteq_sysinfo {
bool sys_show_reset : 1;
bool sys_alp_reati_occurred : 1;
bool sys_alp_ati_error : 1;
bool sys_reati_occurred : 1;
bool sys_ati_error : 1;
uint8_t sys_charging_mode : 3;
uint8_t sys_unused: 2;
bool sys_switch_state : 1;
bool sys_snap_toggle : 1;
bool sys_rr_missed : 1;
bool sys_too_many_fingers : 1;
bool sys_palm_detect : 1;
bool sys_tp_movement : 1;
};
struct azoteq_header {
uint16_t product_number;
uint16_t project_number;
uint8_t major_version;
uint8_t minor_version;
uint8_t bootloader_status;
uint8_t unused_0[4];
uint8_t max_touch_column : 4;
uint8_t max_touch_row : 4;
uint8_t prev_cycle_time_ms;
struct azoteq_gesture_events ges_events;
struct azoteq_sysinfo sys;
};
struct azoteq_finger {
uint16_t abs_x;
uint16_t abs_y;
uint16_t touch_strength;
uint8_t touch_area;
};
// Starts at 0x0000, 57 bytes
struct azoteq_data {
struct azoteq_header header;
uint8_t num_fingers;
int16_t relative_x;
int16_t relative_y;
struct azoteq_finger fingers[5];
};
#define ADDR_SENSOR (0x74<<1)
void read_azoteq_data(struct azoteq_data *data);
reform2-trackpad-fw/flash.sh
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− 0
View file @ bd6d5d88
#!/bin/bash
# Kick trackpad into bootloader mode, and wait a bit
echo -ne 'xJTBL' > /dev/hidraw2
sleep 2
dfu-programmer atmega32u2 erase --suppress-bootloader-mem
......
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