diff projects/d-box/I2c_TouchKey.cpp @ 15:901d205d1a3c

Updated to latest PRU library; external PRU file no longer needed. Also catch SIGTERM as well as SIGINT to clean up gracefully.

--- a/projects/d-box/I2c_TouchKey.cpp	Fri Jan 23 15:35:10 2015 +0000
+++ b/projects/d-box/I2c_TouchKey.cpp	Sat Feb 07 16:41:56 2015 +0000
@@ -14,17 +14,20 @@
 I2c_TouchKey::I2c_TouchKey()
 {
 	isReady = false;
-	newSensor = false;
+	sensorType = kSensorTypeTouchKey;
 	touchCount = 0;
 	sliderSize[0] = sliderSize[1] = sliderSize[2] = -1;
 	sliderPosition[0] = sliderPosition[1] = sliderPosition[2] = -1;
 	sliderPositionH = -1;
 }
 
-int I2c_TouchKey::initTouchKey(bool useNewSensor)
+int I2c_TouchKey::initTouchKey(int sensorTypeToUse)
 {
-	newSensor = useNewSensor;
-	numBytesToRead = newSensor ? NUM_BYTES_NEW : NUM_BYTES_OLD;
+	sensorType = sensorTypeToUse;
+	if(sensorType > 2 || sensorType < 0)
+		sensorType = 2;
+
+	numBytesToRead = kSensorBytes[sensorType];
 
 	char buf[3] = { 0x00, 0x01, 0x00 }; // code for centroid mode
 	if(write(i2C_file, buf, 3) !=3)
@@ -44,7 +47,11 @@
 
 	usleep(5000); // need to give TouchKey enough time to process command
 
-	buf[0] = 0x06; // code for data collection
+	if(sensorType == kSensorTypeDBox2)
+		buf[0] = 0x04; // code for data collection
+	else
+		buf[0] = 0x06; // code for data collection
+
 	if(write(i2C_file, buf, 1) !=1)
 	{
 		cout << "Failed to prepare data collection " << endl;
@@ -75,39 +82,52 @@
 
 	touchCount = 0;
 
-	rawSliderPosition[0] = (((dataBuffer[0] & 0xF0) << 4) + dataBuffer[1]);
-	rawSliderPosition[1] = (((dataBuffer[0] & 0x0F) << 8) + dataBuffer[2]);
-	rawSliderPosition[2] = (((dataBuffer[3] & 0xF0) << 4) + dataBuffer[4]);
-
 	// Old TouchKeys sensors have 3 touch locations plus horizontal positions
 	// New D-Box sensors have 5 touch locations but no horizontal position
-	if(newSensor)
-	{
+	// Later D-Box sensors have same data in a different format
+	if(sensorType == kSensorTypeDBox1) {
+		rawSliderPosition[0] = (((dataBuffer[0] & 0xF0) << 4) + dataBuffer[1]);
+		rawSliderPosition[1] = (((dataBuffer[0] & 0x0F) << 8) + dataBuffer[2]);
+		rawSliderPosition[2] = (((dataBuffer[3] & 0xF0) << 4) + dataBuffer[4]);
 		rawSliderPosition[3] = (((dataBuffer[5] & 0xF0) << 4) + dataBuffer[6]);
 		rawSliderPosition[4] = (((dataBuffer[5] & 0x0F) << 8) + dataBuffer[7]);
 		rawSliderPositionH = 0x0FFF;
 	}
-	else
-	{
+	else if(sensorType == kSensorTypeDBox2) {
+		rawSliderPosition[0] = ((dataBuffer[0] << 8) + dataBuffer[1]) & 0x0FFF;
+		rawSliderPosition[1] = ((dataBuffer[2] << 8) + dataBuffer[3]) & 0x0FFF;
+		rawSliderPosition[2] = ((dataBuffer[4] << 8) + dataBuffer[5]) & 0x0FFF;
+		rawSliderPosition[3] = ((dataBuffer[6] << 8) + dataBuffer[7]) & 0x0FFF;
+		rawSliderPosition[4] = ((dataBuffer[8] << 8) + dataBuffer[9]) & 0x0FFF;
+		rawSliderPositionH = 0x0FFF;
+	}
+	else {
+		rawSliderPosition[0] = (((dataBuffer[0] & 0xF0) << 4) + dataBuffer[1]);
+		rawSliderPosition[1] = (((dataBuffer[0] & 0x0F) << 8) + dataBuffer[2]);
+		rawSliderPosition[2] = (((dataBuffer[3] & 0xF0) << 4) + dataBuffer[4]);
 		rawSliderPosition[3] = 0x0FFF;
 		rawSliderPosition[4] = 0x0FFF;
 		rawSliderPositionH   = (((dataBuffer[3] & 0x0F) << 8) + dataBuffer[5]);
 	}
 
-
 	for(int i = 0; i < 5; i++)
 	{
 		if(rawSliderPosition[i] != 0x0FFF) // 0x0FFF means no touch
 		{
-			//sliderPosition[i] = (float)rawSliderPosition[i] / 1536.0;	// Black keys, vertical (128 * 12)
-			//sliderPosition[i] = (float)rawSliderPosition[i] / 768.0;	// Cute white key, for simple instrument
-			if(newSensor)
+			if(sensorType != kSensorTypeTouchKey)
 				sliderPosition[i] = (float)rawSliderPosition[i] / 3200.0;   // New sensors; 26 pads (128 * 25)
 			else
 				sliderPosition[i] = (float)rawSliderPosition[i] / 2432.0;	// White keys, vertical (128 * 19)
-			if(sliderPosition[i]>1.0)
+
+			if(sliderPosition[i] > 1.0)
 				sliderPosition[i] = 1.0;
-			if(newSensor)
+
+			if(sensorType == kSensorTypeDBox2) {
+				sliderSize[i]     = (float)((dataBuffer[2*i + 10] << 8) + dataBuffer[2*i + 11]) / 5000.0;
+				if(sliderSize[i] > 1.0)
+					sliderSize[i] = 1.0;
+			}
+			else if(sensorType == kSensorTypeDBox1)
 				sliderSize[i]     = (float)dataBuffer[i + 8] / 255.0;
 			else {
 				if(i < 3)