cirque touchpad esp32 ble mouse

// Copyright (c) 2018 Cirque Corp. Restrictions apply. See: www.cirque.com/sw-license

#include <SPI.h>
#include <BleMouse.h>

// ___ Using a Cirque TM0XX0XX w/ Curved Overlay and Arduino ___
// This demonstration application is built to work with a Teensy 3.1/3.2 but it can easily be adapted to
// work with Arduino-based systems.
// When using with DK000013 development kit, connect sensor to the FFC connector
// labeled 'Sensor0'.
// This application connects to a TM0XX0XX circular touch pad via SPI. To verify that your touch pad is configured
// for SPI-mode, make sure that R1 is populated with a 470k resistor (or whichever resistor connects pins 24 & 25 of the 1CA027 IC).
// The pad is configured for Absolute mode tracking.  Touch data is sent in text format over USB CDC to
// the host PC.  You can open a terminal window on the PC to the USB CDC port and see X, Y, and Z data
// fill the window when you touch the sensor. Tools->Serial Monitor can be used to view touch data.
// NOTE: all config values applied in this sample are meant for a module using REXT = 976kOhm

//  Pinnacle TM0XX0XX with Arduino
//  Hardware Interface
//  GND
//  +3.3V
//  SCK = Pin 13
//  MISO = Pin 12
//  MOSI = Pin 11
//  SS = Pin 8
//  DR = Pin 7

// Hardware pin-number labels
#define SCK_PIN   18
#define DIN_PIN   19 //miso
#define DOUT_PIN  23 //mosi
#define CS_PIN    2
#define DR_PIN    5

#define SDA_PIN   4
#define SCL_PIN   15

#define LED_0     21
#define LED_1     20

// Masks for Cirque Register Access Protocol (RAP)
#define WRITE_MASK  0x80
#define READ_MASK   0xA0

// Register config values for this demo
#define SYSCONFIG_1   0x00
//#define FEEDCONFIG_1  0x03 //absolute
#define FEEDCONFIG_1  0x41 //relative, x-inverted
#define FEEDCONFIG_2  0x1F
#define Z_IDLE_COUNT  0x05

// Coordinate scaling values
#define PINNACLE_XMAX     2047    // max value Pinnacle can report for X
#define PINNACLE_YMAX     1535    // max value Pinnacle can report for Y
#define PINNACLE_X_LOWER  127     // min "reachable" X value
#define PINNACLE_X_UPPER  1919    // max "reachable" X value
#define PINNACLE_Y_LOWER  63      // min "reachable" Y value
#define PINNACLE_Y_UPPER  1471    // max "reachable" Y value
#define PINNACLE_X_RANGE  (PINNACLE_X_UPPER-PINNACLE_X_LOWER)
#define PINNACLE_Y_RANGE  (PINNACLE_Y_UPPER-PINNACLE_Y_LOWER)
#define ZONESCALE 256   // divisor for reducing x,y values to an array index for the LUT
#define ROWS_Y ((PINNACLE_YMAX + 1) / ZONESCALE)
#define COLS_X ((PINNACLE_XMAX + 1) / ZONESCALE)

// ADC-attenuation settings (held in BIT_7 and BIT_6)
// 1X = most sensitive, 4X = least sensitive
#define ADC_ATTENUATE_1X   0x00
#define ADC_ATTENUATE_2X   0x40
#define ADC_ATTENUATE_3X   0x80
#define ADC_ATTENUATE_4X   0xC0

// Convenient way to store and access measurements
typedef struct _absData
{
  uint16_t xValue;
  uint16_t yValue;
  uint16_t zValue;
  uint8_t buttonFlags;
  bool touchDown;
  bool hovering;
} absData_t;

typedef struct _relData
{
  uint8_t buttons;
  int8_t xDelta;
  int8_t yDelta;
  int8_t wheelCount;
} relData_t;

absData_t touchData;
relData_t relativeData;

//const uint16_t ZONESCALE = 256;
//const uint16_t ROWS_Y = 6;
//const uint16_t COLS_X = 8;

// These values require tuning for optimal touch-response
// Each element represents the Z-value below which is considered "hovering" in that XY region of the sensor.
// The values present are not guaranteed to work for all HW configurations.
const uint8_t ZVALUE_MAP[ROWS_Y][COLS_X] =
{
  {0, 0,  0,  0,  0,  0, 0, 0},
  {0, 2,  3,  5,  5,  3, 2, 0},
  {0, 3,  5, 15, 15,  5, 2, 0},
  {0, 3,  5, 15, 15,  5, 3, 0},
  {0, 2,  3,  5,  5,  3, 2, 0},
  {0, 0,  0,  0,  0,  0, 0, 0},
};


BleMouse bleMouse;


// setup() gets called once at power-up, sets up serial debug output and Cirque's Pinnacle ASIC.
void setup()
{
  Serial.begin(115200);
  while(!Serial); // needed for USB
  bleMouse.begin();

  pinMode(LED_0, OUTPUT);

  Pinnacle_Init();

  // These functions are required for use with thick overlays (curved)
  setAdcAttenuation(ADC_ATTENUATE_1X);
  tuneEdgeSensitivity();

  Serial.println();
  Serial.println("X\tY\tZ\tBtn\tData");
  Pinnacle_EnableFeed(true);
}

// loop() continuously checks to see if data-ready (DR) is high. If so, reads and reports touch data to terminal.
void loop()
{
  if(DR_Asserted())
  {
    //Pinnacle_GetAbsolute(&touchData);
    //Pinnacle_CheckValidTouch(&touchData);     // Checks for "hover" caused by curved overlays
    Pinnacle_getRelative(&relativeData);
//    ScaleData(&touchData, 1024, 1024);      // Scale coordinates to arbitrary X, Y resolution

    bleMouse.move(relativeData.xDelta,relativeData.yDelta);
    Serial.print("X ");
    Serial.print(relativeData.xDelta);
    Serial.print('\t');
    Serial.print("Y ");
    Serial.print(relativeData.yDelta);
    Serial.print('\t');
    Serial.println("valid");
//    Serial.print(touchData.xValue);
//    Serial.print('\t');
//    Serial.print(touchData.yValue);
//    Serial.print('\t');
//    Serial.print(touchData.zValue);
//    Serial.print('\t');
//    Serial.print(touchData.buttonFlags);
//    Serial.print('\t');
//    if(Pinnacle_zIdlePacket(&touchData))
//    {
//      Serial.println("liftoff");
//    }
//    else if(touchData.hovering)
//    {
//      Serial.println("hovering");
//    }
//    else
//    {
//      Serial.println("valid");
//    }
  }
  AssertSensorLED(touchData.touchDown);
}

/*  Pinnacle-based TM0XX0XX Functions  */
void Pinnacle_Init()
{
  RAP_Init();
  DeAssert_CS();
  pinMode(DR_PIN, INPUT);

  // Host clears SW_CC flag
  Pinnacle_ClearFlags();

  // Host configures bits of registers 0x03 and 0x05
  RAP_Write(0x03, SYSCONFIG_1);
  RAP_Write(0x05, FEEDCONFIG_2);

  // Host enables preferred output mode (absolute)
  RAP_Write(0x04, FEEDCONFIG_1);

  // Host sets z-idle packet count to 5 (default is 30)
  RAP_Write(0x0A, Z_IDLE_COUNT);
  Serial.println("Pinnacle Initialized...");
}

// Reads XYZ data from Pinnacle registers 0x14 through 0x17
// Stores result in absData_t struct with xValue, yValue, and zValue members
void Pinnacle_GetAbsolute(absData_t * result)
{
  uint8_t data[6] = { 0,0,0,0,0,0 };
  RAP_ReadBytes(0x12, data, 6);

  Pinnacle_ClearFlags();

  result->buttonFlags = data[0] & 0x3F;
  result->xValue = data[2] | ((data[4] & 0x0F) << 8);
  result->yValue = data[3] | ((data[4] & 0xF0) << 4);
  result->zValue = data[5] & 0x3F;

  result->touchDown = result->xValue != 0;
}

// Reads X, Y, and Scroll-Wheel deltas from Pinnacle, as well as button states
// NOTE: this function should be called immediately after DR is asserted (HIGH)
void Pinnacle_getRelative(relData_t * result)
{
  uint8_t data[4] = { 0,0,0,0 };
  RAP_ReadBytes(0x12, data, 4);

  Pinnacle_ClearFlags();

  result->buttons = data[0] & 0x07;
  result->xDelta = (int8_t)data[1];
  result->yDelta = (int8_t)data[2];
  result->wheelCount = (int8_t)data[3];
}

// Checks touch data to see if it is a z-idle packet (all zeros)
bool Pinnacle_zIdlePacket(absData_t * data)
{
  return data->xValue == 0 && data->yValue == 0 && data->zValue == 0;
}

// Clears Status1 register flags (SW_CC and SW_DR)
void Pinnacle_ClearFlags()
{
  RAP_Write(0x02, 0x00);
  delayMicroseconds(50);
}

// Enables/Disables the feed
void Pinnacle_EnableFeed(bool feedEnable)
{
  uint8_t temp;

  RAP_ReadBytes(0x04, &temp, 1);  // Store contents of FeedConfig1 register

  if(feedEnable)
  {
    temp |= 0x01;                 // Set Feed Enable bit
    RAP_Write(0x04, temp);
  }
  else
  {
    temp &= ~0x01;                // Clear Feed Enable bit
    RAP_Write(0x04, temp);
  }
}


/*  Curved Overlay Functions  */
// Adjusts the feedback in the ADC, effectively attenuating the finger signal
// By default, the the signal is maximally attenuated (ADC_ATTENUATE_4X for use with thin, flat overlays
void setAdcAttenuation(uint8_t adcGain)
{
  uint8_t temp = 0x00;

  Serial.println();
  Serial.println("Setting ADC gain...");
  ERA_ReadBytes(0x0187, &temp, 1);
  temp &= 0x3F; // clear top two bits
  temp |= adcGain;
  ERA_WriteByte(0x0187, temp);
  ERA_ReadBytes(0x0187, &temp, 1);
  Serial.print("ADC gain set to:\t");
  Serial.print(temp &= 0xC0, HEX);
  switch(temp)
  {
    case ADC_ATTENUATE_1X:
      Serial.println(" (X/1)");
      break;
    case ADC_ATTENUATE_2X:
      Serial.println(" (X/2)");
      break;
    case ADC_ATTENUATE_3X:
      Serial.println(" (X/3)");
      break;
    case ADC_ATTENUATE_4X:
      Serial.println(" (X/4)");
      break;
    default:
      break;
  }
}

// Changes thresholds to improve detection of fingers
void tuneEdgeSensitivity()
{
  uint8_t temp = 0x00;

  Serial.println();
  Serial.println("Setting xAxis.WideZMin...");
  ERA_ReadBytes(0x0149, &temp, 1);
  Serial.print("Current value:\t");
  Serial.println(temp, HEX);
  ERA_WriteByte(0x0149,  0x04);
  ERA_ReadBytes(0x0149, &temp, 1);
  Serial.print("New value:\t");
  Serial.println(temp, HEX);

  Serial.println();
  Serial.println("Setting yAxis.WideZMin...");
  ERA_ReadBytes(0x0168, &temp, 1);
  Serial.print("Current value:\t");
  Serial.println(temp, HEX);
  ERA_WriteByte(0x0168,  0x03);
  ERA_ReadBytes(0x0168, &temp, 1);
  Serial.print("New value:\t");
  Serial.println(temp, HEX);
}

// This function identifies when a finger is "hovering" so your system can choose to ignore them.
// Explanation: Consider the response of the sensor to be flat across it's area. The Z-sensitivity of the sensor projects this area
// a short distance upwards above the surface of the sensor. Imagine it is a solid cylinder (wider than it is tall)
// in which a finger can be detected and tracked. Adding a curved overlay will cause a user's finger to dip deeper in the middle, and higher
// on the perimeter. If the sensitivity is tuned such that the sensing area projects to the highest part of the overlay, the lowest
// point will likely have excessive sensitivity. This means the sensor can detect a finger that isn't actually contacting the overlay in the shallower area.
// ZVALUE_MAP[][] stores a lookup table in which you can define the Z-value and XY position that is considered "hovering". Experimentation/tuning is required.
// NOTE: Z-value output decreases to 0 as you move your finger away from the sensor, and it's maximum value is 0x63 (6-bits).
void Pinnacle_CheckValidTouch(absData_t * touchData)
{
  uint32_t zone_x, zone_y;
  //eliminate hovering
  zone_x = touchData->xValue / ZONESCALE;
  zone_y = touchData->yValue / ZONESCALE;
  touchData->hovering = !(touchData->zValue > ZVALUE_MAP[zone_y][zone_x]);
}

/*  ERA (Extended Register Access) Functions  */
// Reads <count> bytes from an extended register at <address> (16-bit address),
// stores values in <*data>
void ERA_ReadBytes(uint16_t address, uint8_t * data, uint16_t count)
{
  uint8_t ERAControlValue = 0xFF;

  Pinnacle_EnableFeed(false); // Disable feed

  RAP_Write(0x1C, (uint8_t)(address >> 8));     // Send upper byte of ERA address
  RAP_Write(0x1D, (uint8_t)(address & 0x00FF)); // Send lower byte of ERA address

  for(uint16_t i = 0; i < count; i++)
  {
    RAP_Write(0x1E, 0x05);  // Signal ERA-read (auto-increment) to Pinnacle

    // Wait for status register 0x1E to clear
    do
    {
      RAP_ReadBytes(0x1E, &ERAControlValue, 1);
    } while(ERAControlValue != 0x00);

    RAP_ReadBytes(0x1B, data + i, 1);

    Pinnacle_ClearFlags();
  }
}

// Writes a byte, <data>, to an extended register at <address> (16-bit address)
void ERA_WriteByte(uint16_t address, uint8_t data)
{
  uint8_t ERAControlValue = 0xFF;

  Pinnacle_EnableFeed(false); // Disable feed

  RAP_Write(0x1B, data);      // Send data byte to be written

  RAP_Write(0x1C, (uint8_t)(address >> 8));     // Upper byte of ERA address
  RAP_Write(0x1D, (uint8_t)(address & 0x00FF)); // Lower byte of ERA address

  RAP_Write(0x1E, 0x02);  // Signal an ERA-write to Pinnacle

  // Wait for status register 0x1E to clear
  do
  {
    RAP_ReadBytes(0x1E, &ERAControlValue, 1);
  } while(ERAControlValue != 0x00);

  Pinnacle_ClearFlags();
}

/*  RAP Functions */

void RAP_Init()
{
  pinMode(CS_PIN, OUTPUT);
  SPI.begin();
}

// Reads <count> Pinnacle registers starting at <address>
void RAP_ReadBytes(byte address, byte * data, byte count)
{
  byte cmdByte = READ_MASK | address;   // Form the READ command byte

  SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE1));

  Assert_CS();
  SPI.transfer(cmdByte);  // Signal a RAP-read operation starting at <address>
  SPI.transfer(0xFC);     // Filler byte
  SPI.transfer(0xFC);     // Filler byte
  for(byte i = 0; i < count; i++)
  {
    data[i] =  SPI.transfer(0xFC);  // Each subsequent SPI transfer gets another register's contents
  }
  DeAssert_CS();

  SPI.endTransaction();
}

// Writes single-byte <data> to <address>
void RAP_Write(byte address, byte data)
{
  byte cmdByte = WRITE_MASK | address;  // Form the WRITE command byte

  SPI.beginTransaction(SPISettings(10000000, MSBFIRST, SPI_MODE1));

  Assert_CS();
  SPI.transfer(cmdByte);  // Signal a write to register at <address>
  SPI.transfer(data);    // Send <value> to be written to register
  DeAssert_CS();

  SPI.endTransaction();
}

/*  Logical Scaling Functions */
// Clips raw coordinates to "reachable" window of sensor
// NOTE: values outside this window can only appear as a result of noise
void ClipCoordinates(absData_t * coordinates)
{
  if(coordinates->xValue < PINNACLE_X_LOWER)
  {
    coordinates->xValue = PINNACLE_X_LOWER;
  }
  else if(coordinates->xValue > PINNACLE_X_UPPER)
  {
    coordinates->xValue = PINNACLE_X_UPPER;
  }
  if(coordinates->yValue < PINNACLE_Y_LOWER)
  {
    coordinates->yValue = PINNACLE_Y_LOWER;
  }
  else if(coordinates->yValue > PINNACLE_Y_UPPER)
  {
    coordinates->yValue = PINNACLE_Y_UPPER;
  }
}

// Scales data to desired X & Y resolution
void ScaleData(absData_t * coordinates, uint16_t xResolution, uint16_t yResolution)
{
  uint32_t xTemp = 0;
  uint32_t yTemp = 0;

  ClipCoordinates(coordinates);

  xTemp = coordinates->xValue;
  yTemp = coordinates->yValue;

  // translate coordinates to (0, 0) reference by subtracting edge-offset
  xTemp -= PINNACLE_X_LOWER;
  yTemp -= PINNACLE_Y_LOWER;

  // scale coordinates to (xResolution, yResolution) range
  coordinates->xValue = (uint16_t)(xTemp * xResolution / PINNACLE_X_RANGE);
  coordinates->yValue = (uint16_t)(yTemp * yResolution / PINNACLE_Y_RANGE);
}

/*  I/O Functions */
void Assert_CS()
{
  digitalWrite(CS_PIN, LOW);
}

void DeAssert_CS()
{
  digitalWrite(CS_PIN, HIGH);
}

void AssertSensorLED(bool state)
{
  digitalWrite(LED_0, !state);
}

bool DR_Asserted()
{
  return digitalRead(DR_PIN);
}