f946dc6893
Switched the GPIO matrix driver to debouncing using a simple integrator algorithm. Whenever a key is pressed, we now scan at a rate controlled by debounce-scan-period-ms (default 1 ms) until all keys are released, then return to either waiting for an interrupt or polling more slowly. The timers for key press and release can now be controlled separately, so debounce-period is deprecated in favor of debounce-press-ms and debounce-release-ms. Global Kconfig options ZMK_KSCAN_DEBOUNCE_PRESS_MS and ZMK_KSCAN_DEBOUNCE_RELEASE_MS are also added to make these easier to set. Added documentation for debouncing options.
492 lines
18 KiB
C
492 lines
18 KiB
C
/*
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* Copyright (c) 2020-2021 The ZMK Contributors
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*
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* SPDX-License-Identifier: MIT
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*/
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#include "debounce.h"
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#include <device.h>
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#include <devicetree.h>
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#include <drivers/gpio.h>
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#include <drivers/kscan.h>
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#include <kernel.h>
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#include <logging/log.h>
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#include <sys/__assert.h>
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#include <sys/util.h>
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LOG_MODULE_DECLARE(zmk, CONFIG_ZMK_LOG_LEVEL);
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#define DT_DRV_COMPAT zmk_kscan_gpio_matrix
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#if DT_HAS_COMPAT_STATUS_OKAY(DT_DRV_COMPAT)
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#define INST_DIODE_DIR(n) DT_ENUM_IDX(DT_DRV_INST(n), diode_direction)
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#define COND_DIODE_DIR(n, row2col_code, col2row_code) \
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COND_CODE_0(INST_DIODE_DIR(n), row2col_code, col2row_code)
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#define INST_ROWS_LEN(n) DT_INST_PROP_LEN(n, row_gpios)
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#define INST_COLS_LEN(n) DT_INST_PROP_LEN(n, col_gpios)
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#define INST_MATRIX_LEN(n) (INST_ROWS_LEN(n) * INST_COLS_LEN(n))
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#define INST_INPUTS_LEN(n) COND_DIODE_DIR(n, (INST_COLS_LEN(n)), (INST_ROWS_LEN(n)))
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#if CONFIG_ZMK_KSCAN_DEBOUNCE_PRESS_MS >= 0
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#define INST_DEBOUNCE_PRESS_MS(n) CONFIG_ZMK_KSCAN_DEBOUNCE_PRESS_MS
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#else
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#define INST_DEBOUNCE_PRESS_MS(n) \
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DT_INST_PROP_OR(n, debounce_period, DT_INST_PROP(n, debounce_press_ms))
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#endif
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#if CONFIG_ZMK_KSCAN_DEBOUNCE_RELEASE_MS >= 0
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#define INST_DEBOUNCE_RELEASE_MS(n) CONFIG_ZMK_KSCAN_DEBOUNCE_RELEASE_MS
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#else
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#define INST_DEBOUNCE_RELEASE_MS(n) \
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DT_INST_PROP_OR(n, debounce_period, DT_INST_PROP(n, debounce_release_ms))
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#endif
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#define USE_POLLING IS_ENABLED(CONFIG_ZMK_KSCAN_MATRIX_POLLING)
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#define USE_INTERRUPTS (!USE_POLLING)
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#define COND_INTERRUPTS(code) COND_CODE_1(CONFIG_ZMK_KSCAN_MATRIX_POLLING, (), code)
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#define COND_POLL_OR_INTERRUPTS(pollcode, intcode) \
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COND_CODE_1(CONFIG_ZMK_KSCAN_MATRIX_POLLING, pollcode, intcode)
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// TODO (Zephr 2.6): replace the following
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// kscan_gpio_dt_spec -> gpio_dt_spec
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// KSCAN_GPIO_DT_SPEC_GET_BY_IDX -> GPIO_DT_SPEC_GET_BY_IDX
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// gpio_pin_get -> gpio_pin_get_dt
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// gpio_pin_set -> gpio_pin_set_dt
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// gpio_pin_interrupt_configure -> gpio_pin_interrupt_configure_dt
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struct kscan_gpio_dt_spec {
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const struct device *port;
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gpio_pin_t pin;
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gpio_dt_flags_t dt_flags;
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};
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#define KSCAN_GPIO_DT_SPEC_GET_BY_IDX(node_id, prop, idx) \
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{ \
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.port = DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(node_id, prop, idx)), \
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.pin = DT_GPIO_PIN_BY_IDX(node_id, prop, idx), \
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.dt_flags = DT_GPIO_FLAGS_BY_IDX(node_id, prop, idx), \
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}
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#define KSCAN_GPIO_ROW_CFG_INIT(idx, inst_idx) \
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KSCAN_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst_idx), row_gpios, idx),
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#define KSCAN_GPIO_COL_CFG_INIT(idx, inst_idx) \
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KSCAN_GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst_idx), col_gpios, idx),
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enum kscan_diode_direction {
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KSCAN_ROW2COL,
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KSCAN_COL2ROW,
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};
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struct kscan_matrix_irq_callback {
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const struct device *dev;
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struct gpio_callback callback;
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};
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struct kscan_matrix_data {
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const struct device *dev;
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kscan_callback_t callback;
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struct k_delayed_work work;
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#if USE_INTERRUPTS
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/** Array of length config->inputs.len */
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struct kscan_matrix_irq_callback *irqs;
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#endif
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/** Timestamp of the current or scheduled scan. */
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int64_t scan_time;
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/**
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* Current state of the matrix as a flattened 2D array of length
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* (config->rows.len * config->cols.len)
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*/
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struct debounce_state *matrix_state;
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};
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struct kscan_gpio_list {
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const struct kscan_gpio_dt_spec *gpios;
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size_t len;
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};
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/** Define a kscan_gpio_list from a compile-time GPIO array. */
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#define KSCAN_GPIO_LIST(gpio_array) \
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((struct kscan_gpio_list){.gpios = gpio_array, .len = ARRAY_SIZE(gpio_array)})
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struct kscan_matrix_config {
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struct kscan_gpio_list rows;
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struct kscan_gpio_list cols;
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struct kscan_gpio_list inputs;
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struct kscan_gpio_list outputs;
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struct debounce_config debounce_config;
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int32_t debounce_scan_period_ms;
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int32_t poll_period_ms;
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enum kscan_diode_direction diode_direction;
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};
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/**
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* Get the index into a matrix state array from a row and column.
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*/
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static int state_index_rc(const struct kscan_matrix_config *config, const int row, const int col) {
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__ASSERT(row < config->rows.len, "Invalid row %i", row);
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__ASSERT(col < config->cols.len, "Invalid column %i", col);
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return (col * config->rows.len) + row;
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}
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/**
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* Get the index into a matrix state array from input/output pin indices.
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*/
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static int state_index_io(const struct kscan_matrix_config *config, const int input_idx,
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const int output_idx) {
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return (config->diode_direction == KSCAN_ROW2COL)
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? state_index_rc(config, output_idx, input_idx)
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: state_index_rc(config, input_idx, output_idx);
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}
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static int kscan_matrix_set_all_outputs(const struct device *dev, const int value) {
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const struct kscan_matrix_config *config = dev->config;
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for (int i = 0; i < config->outputs.len; i++) {
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const struct kscan_gpio_dt_spec *gpio = &config->outputs.gpios[i];
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int err = gpio_pin_set(gpio->port, gpio->pin, value);
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if (err) {
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LOG_ERR("Failed to set output %i to %i: %i", i, value, err);
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return err;
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}
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}
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return 0;
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}
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#if USE_INTERRUPTS
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static int kscan_matrix_interrupt_configure(const struct device *dev, const gpio_flags_t flags) {
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const struct kscan_matrix_config *config = dev->config;
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for (int i = 0; i < config->inputs.len; i++) {
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const struct kscan_gpio_dt_spec *gpio = &config->inputs.gpios[i];
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int err = gpio_pin_interrupt_configure(gpio->port, gpio->pin, flags);
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if (err) {
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LOG_ERR("Unable to configure interrupt for pin %u on %s", gpio->pin, gpio->port->name);
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return err;
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}
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}
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return 0;
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}
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#endif
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#if USE_INTERRUPTS
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static int kscan_matrix_interrupt_enable(const struct device *dev) {
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int err = kscan_matrix_interrupt_configure(dev, GPIO_INT_LEVEL_ACTIVE);
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if (err) {
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return err;
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}
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// While interrupts are enabled, set all outputs active so a pressed key
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// will trigger an interrupt.
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return kscan_matrix_set_all_outputs(dev, 1);
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}
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#endif
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#if USE_INTERRUPTS
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static int kscan_matrix_interrupt_disable(const struct device *dev) {
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int err = kscan_matrix_interrupt_configure(dev, GPIO_INT_DISABLE);
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if (err) {
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return err;
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}
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// While interrupts are disabled, set all outputs inactive so
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// kscan_matrix_read() can scan them one by one.
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return kscan_matrix_set_all_outputs(dev, 0);
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}
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#endif
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#if USE_INTERRUPTS
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static void kscan_matrix_irq_callback_handler(const struct device *port, struct gpio_callback *cb,
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const gpio_port_pins_t pin) {
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struct kscan_matrix_irq_callback *irq_data =
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CONTAINER_OF(cb, struct kscan_matrix_irq_callback, callback);
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struct kscan_matrix_data *data = irq_data->dev->data;
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// Disable our interrupts temporarily to avoid re-entry while we scan.
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kscan_matrix_interrupt_disable(data->dev);
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data->scan_time = k_uptime_get();
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// TODO (Zephyr 2.6): use k_work_reschedule()
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k_delayed_work_cancel(&data->work);
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k_delayed_work_submit(&data->work, K_NO_WAIT);
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}
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#endif
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static void kscan_matrix_read_continue(const struct device *dev) {
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const struct kscan_matrix_config *config = dev->config;
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struct kscan_matrix_data *data = dev->data;
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data->scan_time += config->debounce_scan_period_ms;
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// TODO (Zephyr 2.6): use k_work_reschedule()
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k_delayed_work_cancel(&data->work);
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k_delayed_work_submit(&data->work, K_TIMEOUT_ABS_MS(data->scan_time));
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}
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static void kscan_matrix_read_end(const struct device *dev) {
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#if USE_INTERRUPTS
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// Return to waiting for an interrupt.
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kscan_matrix_interrupt_enable(dev);
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#else
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struct kscan_matrix_data *data = dev->data;
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const struct kscan_matrix_config *config = dev->config;
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data->scan_time += config->poll_period_ms;
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// Return to polling slowly.
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// TODO (Zephyr 2.6): use k_work_reschedule()
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k_delayed_work_cancel(&data->work);
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k_delayed_work_submit(&data->work, K_TIMEOUT_ABS_MS(data->scan_time));
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#endif
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}
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static int kscan_matrix_read(const struct device *dev) {
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struct kscan_matrix_data *data = dev->data;
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const struct kscan_matrix_config *config = dev->config;
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// Scan the matrix.
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for (int o = 0; o < config->outputs.len; o++) {
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const struct kscan_gpio_dt_spec *out_gpio = &config->outputs.gpios[o];
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int err = gpio_pin_set(out_gpio->port, out_gpio->pin, 1);
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if (err) {
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LOG_ERR("Failed to set output %i active: %i", o, err);
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return err;
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}
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for (int i = 0; i < config->inputs.len; i++) {
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const struct kscan_gpio_dt_spec *in_gpio = &config->inputs.gpios[i];
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const int index = state_index_io(config, i, o);
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const bool active = gpio_pin_get(in_gpio->port, in_gpio->pin);
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debounce_update(&data->matrix_state[index], active, config->debounce_scan_period_ms,
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&config->debounce_config);
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}
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err = gpio_pin_set(out_gpio->port, out_gpio->pin, 0);
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if (err) {
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LOG_ERR("Failed to set output %i inactive: %i", o, err);
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return err;
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}
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}
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// Process the new state.
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bool continue_scan = false;
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for (int r = 0; r < config->rows.len; r++) {
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for (int c = 0; c < config->cols.len; c++) {
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const int index = state_index_rc(config, r, c);
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struct debounce_state *state = &data->matrix_state[index];
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if (debounce_get_changed(state)) {
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const bool pressed = debounce_is_pressed(state);
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LOG_DBG("Sending event at %i,%i state %s", r, c, pressed ? "on" : "off");
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data->callback(dev, r, c, pressed);
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}
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continue_scan = continue_scan || debounce_is_active(state);
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}
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}
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if (continue_scan) {
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// At least one key is pressed or the debouncer has not yet decided if
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// it is pressed. Poll quickly until everything is released.
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kscan_matrix_read_continue(dev);
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} else {
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// All keys are released. Return to normal.
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kscan_matrix_read_end(dev);
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}
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return 0;
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}
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static void kscan_matrix_work_handler(struct k_work *work) {
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struct k_delayed_work *dwork = CONTAINER_OF(work, struct k_delayed_work, work);
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struct kscan_matrix_data *data = CONTAINER_OF(dwork, struct kscan_matrix_data, work);
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kscan_matrix_read(data->dev);
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}
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static int kscan_matrix_configure(const struct device *dev, const kscan_callback_t callback) {
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struct kscan_matrix_data *data = dev->data;
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if (!callback) {
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return -EINVAL;
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}
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data->callback = callback;
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return 0;
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}
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static int kscan_matrix_enable(const struct device *dev) {
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struct kscan_matrix_data *data = dev->data;
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data->scan_time = k_uptime_get();
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// Read will automatically start interrupts/polling once done.
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return kscan_matrix_read(dev);
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}
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static int kscan_matrix_disable(const struct device *dev) {
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struct kscan_matrix_data *data = dev->data;
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k_delayed_work_cancel(&data->work);
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#if USE_INTERRUPTS
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return kscan_matrix_interrupt_disable(dev);
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#else
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return 0;
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#endif
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}
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static int kscan_matrix_init_input_inst(const struct device *dev,
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const struct kscan_gpio_dt_spec *gpio, const int index) {
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if (!device_is_ready(gpio->port)) {
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LOG_ERR("GPIO is not ready: %s", gpio->port->name);
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return -ENODEV;
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}
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int err = gpio_pin_configure(gpio->port, gpio->pin, GPIO_INPUT | gpio->dt_flags);
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if (err) {
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LOG_ERR("Unable to configure pin %u on %s for input", gpio->pin, gpio->port->name);
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return err;
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}
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LOG_DBG("Configured pin %u on %s for input", gpio->pin, gpio->port->name);
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#if USE_INTERRUPTS
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struct kscan_matrix_data *data = dev->data;
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struct kscan_matrix_irq_callback *irq = &data->irqs[index];
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irq->dev = dev;
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gpio_init_callback(&irq->callback, kscan_matrix_irq_callback_handler, BIT(gpio->pin));
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err = gpio_add_callback(gpio->port, &irq->callback);
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if (err) {
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LOG_ERR("Error adding the callback to the input device: %i", err);
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return err;
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}
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#endif
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return 0;
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}
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static int kscan_matrix_init_inputs(const struct device *dev) {
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const struct kscan_matrix_config *config = dev->config;
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for (int i = 0; i < config->inputs.len; i++) {
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const struct kscan_gpio_dt_spec *gpio = &config->inputs.gpios[i];
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int err = kscan_matrix_init_input_inst(dev, gpio, i);
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if (err) {
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return err;
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}
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}
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return 0;
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}
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static int kscan_matrix_init_output_inst(const struct device *dev,
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const struct kscan_gpio_dt_spec *gpio) {
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if (!device_is_ready(gpio->port)) {
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LOG_ERR("GPIO is not ready: %s", gpio->port->name);
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return -ENODEV;
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}
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int err = gpio_pin_configure(gpio->port, gpio->pin, GPIO_OUTPUT | gpio->dt_flags);
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if (err) {
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LOG_ERR("Unable to configure pin %u on %s for output", gpio->pin, gpio->port->name);
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return err;
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}
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LOG_DBG("Configured pin %u on %s for output", gpio->pin, gpio->port->name);
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return 0;
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}
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static int kscan_matrix_init_outputs(const struct device *dev) {
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const struct kscan_matrix_config *config = dev->config;
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for (int i = 0; i < config->outputs.len; i++) {
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const struct kscan_gpio_dt_spec *gpio = &config->outputs.gpios[i];
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int err = kscan_matrix_init_output_inst(dev, gpio);
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if (err) {
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return err;
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}
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}
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return 0;
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}
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static int kscan_matrix_init(const struct device *dev) {
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struct kscan_matrix_data *data = dev->data;
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data->dev = dev;
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kscan_matrix_init_inputs(dev);
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kscan_matrix_init_outputs(dev);
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kscan_matrix_set_all_outputs(dev, 0);
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k_delayed_work_init(&data->work, kscan_matrix_work_handler);
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return 0;
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}
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static const struct kscan_driver_api kscan_matrix_api = {
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.config = kscan_matrix_configure,
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.enable_callback = kscan_matrix_enable,
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.disable_callback = kscan_matrix_disable,
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};
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#define KSCAN_MATRIX_INIT(index) \
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BUILD_ASSERT(INST_DEBOUNCE_PRESS_MS(index) <= DEBOUNCE_COUNTER_MAX, \
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"ZMK_KSCAN_DEBOUNCE_PRESS_MS or debounce-press-ms is too large"); \
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BUILD_ASSERT(INST_DEBOUNCE_RELEASE_MS(index) <= DEBOUNCE_COUNTER_MAX, \
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"ZMK_KSCAN_DEBOUNCE_RELEASE_MS or debounce-release-ms is too large"); \
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\
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static const struct kscan_gpio_dt_spec kscan_matrix_rows_##index[] = { \
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UTIL_LISTIFY(INST_ROWS_LEN(index), KSCAN_GPIO_ROW_CFG_INIT, index)}; \
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\
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static const struct kscan_gpio_dt_spec kscan_matrix_cols_##index[] = { \
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UTIL_LISTIFY(INST_COLS_LEN(index), KSCAN_GPIO_COL_CFG_INIT, index)}; \
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\
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static struct debounce_state kscan_matrix_state_##index[INST_MATRIX_LEN(index)]; \
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\
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COND_INTERRUPTS((static struct kscan_matrix_irq_callback \
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kscan_matrix_irqs_##index[INST_INPUTS_LEN(index)];)) \
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\
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static struct kscan_matrix_data kscan_matrix_data_##index = { \
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.matrix_state = kscan_matrix_state_##index, \
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COND_INTERRUPTS((.irqs = kscan_matrix_irqs_##index, ))}; \
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\
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static struct kscan_matrix_config kscan_matrix_config_##index = { \
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.rows = KSCAN_GPIO_LIST(kscan_matrix_rows_##index), \
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.cols = KSCAN_GPIO_LIST(kscan_matrix_cols_##index), \
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.inputs = KSCAN_GPIO_LIST( \
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COND_DIODE_DIR(index, (kscan_matrix_cols_##index), (kscan_matrix_rows_##index))), \
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.outputs = KSCAN_GPIO_LIST( \
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COND_DIODE_DIR(index, (kscan_matrix_rows_##index), (kscan_matrix_cols_##index))), \
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.debounce_config = \
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{ \
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.debounce_press_ms = INST_DEBOUNCE_PRESS_MS(index), \
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.debounce_release_ms = INST_DEBOUNCE_RELEASE_MS(index), \
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}, \
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.debounce_scan_period_ms = DT_INST_PROP(index, debounce_scan_period_ms), \
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.poll_period_ms = DT_INST_PROP(index, poll_period_ms), \
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.diode_direction = INST_DIODE_DIR(index), \
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}; \
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\
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DEVICE_DT_INST_DEFINE(index, &kscan_matrix_init, device_pm_control_nop, \
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&kscan_matrix_data_##index, &kscan_matrix_config_##index, APPLICATION, \
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CONFIG_APPLICATION_INIT_PRIORITY, &kscan_matrix_api);
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|
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DT_INST_FOREACH_STATUS_OKAY(KSCAN_MATRIX_INIT);
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|
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#endif // DT_HAS_COMPAT_STATUS_OKAY(DT_DRV_COMPAT)
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