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Tactiliest/Drivers/FT6x36/Source/ft6x36/FT6X36.cpp
Ken Van Hoeylandt 933bc5fb97
Driver improvements (#226) 
- Created driver subprojects: `FT5x06`, `FT6x36`, `CST816S`.
- Refactored existing projects to use new drivers.
- Improve `PwmBacklight` driver: expose frequency, channel id and timer id
- Update `build-and-release-all.sh` for recent board addition
2025-02-20 22:41:56 +01:00

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#include "FT6X36.h"
#include "freertos/FreeRTOS.h"
#define CONFIG_FT6X36_DEBUG false
FT6X36 *FT6X36::_instance = nullptr;
static const char *TAG = "i2c-touch";
//Handle indicating I2C is ready to read the touch
SemaphoreHandle_t TouchSemaphore = xSemaphoreCreateBinary();
FT6X36::FT6X36(i2c_port_t port, gpio_num_t interruptPin)
{
_instance = this;
_port = port;
_intPin = interruptPin;
}
// Destructor should detach interrupt to the pin
FT6X36::~FT6X36()
{
if (_intPin >= 0)
gpio_isr_handler_remove((gpio_num_t)_intPin);
}
bool FT6X36::begin(uint8_t threshold, uint16_t width, uint16_t height)
{
_touch_width = width;
_touch_height = height;
if (width == 0 || height ==0) {
ESP_LOGE(TAG,"begin(uint8_t threshold, uint16_t width, uint16_t height) did not receive the width / height so touch cannot be rotation aware");
}
uint8_t data_panel_id;
readRegister8(FT6X36_REG_PANEL_ID, &data_panel_id);
if (data_panel_id != FT6X36_VENDID) {
ESP_LOGE(TAG,"FT6X36_VENDID does not match. Received:0x%x Expected:0x%x\n",data_panel_id,FT6X36_VENDID);
return false;
}
ESP_LOGI(TAG, "\tDevice ID: 0x%02x", data_panel_id);
uint8_t chip_id;
readRegister8(FT6X36_REG_CHIPID, &chip_id);
if (chip_id != FT6206_CHIPID && chip_id != FT6236_CHIPID && chip_id != FT6336_CHIPID) {
ESP_LOGE(TAG,"FT6206_CHIPID does not match. Received:0x%x\n",chip_id);
return false;
}
ESP_LOGI(TAG, "\tFound touch controller with Chip ID: 0x%02x", chip_id);
if (_intPin >= 0)
{
// INT pin triggers the callback function on the Falling edge of the GPIO
gpio_config_t io_conf;
io_conf.intr_type = GPIO_INTR_NEGEDGE; // GPIO_INTR_NEGEDGE repeats always interrupt
io_conf.pin_bit_mask = 1ULL<<_intPin;
io_conf.mode = GPIO_MODE_INPUT;
io_conf.pull_down_en = (gpio_pulldown_t) 0; // disable pull-down mode
io_conf.pull_up_en = (gpio_pullup_t) 1; // pull-up mode
gpio_config(&io_conf);
esp_err_t isr_service = gpio_install_isr_service(0);
printf("ISR trigger install response: 0x%x %s\n", isr_service, (isr_service==0)?"ESP_OK":"");
gpio_isr_handler_add((gpio_num_t)_intPin, isr, (void*) 1);
}
writeRegister8(FT6X36_REG_DEVICE_MODE, 0x00);
writeRegister8(FT6X36_REG_THRESHHOLD, threshold);
writeRegister8(FT6X36_REG_TOUCHRATE_ACTIVE, 0x0E);
return true;
}
void FT6X36::registerTouchHandler(void (*fn)(TPoint point, TEvent e))
{
_touchHandler = fn;
if (CONFIG_FT6X36_DEBUG) printf("Touch handler function registered\n");
}
uint8_t FT6X36::touched()
{
uint8_t data_buf;
esp_err_t ret = readRegister8(FT6X36_REG_NUM_TOUCHES, &data_buf);
if (ret != ESP_OK) {
ESP_LOGE(TAG, "Error reading from device: %s", esp_err_to_name(ret));
}
if (data_buf > 2)
{
data_buf = 0;
}
return data_buf;
}
void FT6X36::loop()
{
processTouch();
}
void IRAM_ATTR FT6X36::isr(void* arg)
{
/* Un-block the interrupt processing task now */
xSemaphoreGive(TouchSemaphore);
//xQueueSendFromISR(gpio_evt_queue, &gpio_num, NULL);
}
void FT6X36::processTouch()
{
/* Task move to Block state to wait for interrupt event */
if (_intPin >= 0)
{
if (xSemaphoreTake(TouchSemaphore, portMAX_DELAY) == false) return;
}
readData();
uint8_t n = 0;
TRawEvent event = (TRawEvent)_touchEvent[n];
TPoint point{_touchX[n], _touchY[n]};
switch (event) {
case TRawEvent::PressDown:
_points[0] = point;
_dragMode = false;
// Note: Is in microseconds. Ref https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/system/esp_timer.html
_touchStartTime = esp_timer_get_time()/1000;
fireEvent(point, TEvent::TouchStart);
break;
case TRawEvent::Contact:
// Dragging makes no sense IMHO. Since the X & Y are not getting updated while dragging
// Dragging && _points[0].aboutEqual(point) - Not used IDEA 2: && (lastEvent == 2)
if (!_dragMode &&
(abs(lastX-_touchX[n]) <= maxDeviation || abs(lastY-_touchY[n])<=maxDeviation) &&
esp_timer_get_time()/1000 - _touchStartTime > 300) {
_dragMode = true;
fireEvent(point, TEvent::DragStart);
#if defined(CONFIG_FT6X36_DEBUG_EVENTS) && CONFIG_FT6X36_DEBUG_EVENTS==1
printf("EV: DragStart\n");
#endif
} else if (_dragMode) {
fireEvent(point, TEvent::DragMove);
#if defined(CONFIG_FT6X36_DEBUG_EVENTS) && CONFIG_FT6X36_DEBUG_EVENTS==1
printf("EV: DragMove\n");
#endif
}
fireEvent(point, TEvent::TouchMove);
// For me the _touchStartTime shouold be set in both PressDown & Contact events, but after Drag detection
_touchStartTime = esp_timer_get_time()/1000;
break;
case TRawEvent::LiftUp:
_points[9] = point;
_touchEndTime = esp_timer_get_time()/1000;
//printf("TIMEDIFF: %lu End: %lu\n", _touchEndTime - _touchStartTime, _touchEndTime);
fireEvent(point, TEvent::TouchEnd);
if (_dragMode) {
fireEvent(point, TEvent::DragEnd);
#if defined(CONFIG_FT6X36_DEBUG_EVENTS) && CONFIG_FT6X36_DEBUG_EVENTS==1
printf("EV: DragEnd\n");
#endif
_dragMode = false;
}
if ( _touchEndTime - _touchStartTime <= 900) {
// Do not get why this: _points[0].aboutEqual(point) (Original library)
fireEvent(point, TEvent::Tap);
_points[0] = {0, 0};
_touchStartTime = 0;
#if defined(CONFIG_FT6X36_DEBUG_EVENTS) && CONFIG_FT6X36_DEBUG_EVENTS==1
printf("EV: Tap\n");
#endif
_dragMode = false;
}
break;
case TRawEvent::NoEvent:
#if defined(CONFIG_FT6X36_DEBUG_EVENTS) && CONFIG_FT6X36_DEBUG_EVENTS==1
printf("EV: NoEvent\n");
#endif
break;
}
// Store lastEvent
lastEvent = (int) event;
lastX = _touchX[0];
lastY = _touchY[0];
}
void FT6X36::poll(TPoint * point, TEvent * e)
{
readData();
// TPoint point{_touchX[0], _touchY[0]};
TRawEvent event = (TRawEvent)_touchEvent[0];
if (point != NULL)
{
point->x = _touchX[0];
point->y = _touchY[0];
}
if (e != NULL)
{
switch (event)
{
case TRawEvent::PressDown:
*e = TEvent::TouchStart;
break;
case TRawEvent::Contact:
*e = TEvent::TouchMove;
break;
case TRawEvent::LiftUp:
default:
*e = TEvent::TouchEnd;
break;
}
}
}
uint8_t FT6X36::read8(uint8_t regName) {
uint8_t buf;
readRegister8(regName, &buf);
return buf;
}
#define data_size 16 // Discarding last 2: 0x0E & 0x0F as not relevant
bool FT6X36::readData(void)
{
esp_err_t ret;
uint8_t data[data_size];
uint8_t touch_pnt_cnt; // Number of detected touch points
readRegister8(FT6X36_REG_NUM_TOUCHES, &touch_pnt_cnt);
// Read data
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (FT6X36_ADDR<<1), ACK_CHECK_EN);
i2c_master_write_byte(cmd, 0, ACK_CHECK_EN);
i2c_master_stop(cmd);
ret = i2c_master_cmd_begin(_port, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
if (ret != ESP_OK) {
return ret;
}
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (FT6X36_ADDR<<1)|1, ACK_CHECK_EN);
i2c_master_read(cmd, data, data_size, I2C_MASTER_LAST_NACK);
i2c_master_stop(cmd);
ret = i2c_master_cmd_begin(_port, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
if (CONFIG_FT6X36_DEBUG) {
//printf("REGISTERS:\n");
for (int16_t i = 0; i < data_size; i++)
{
printf("%x:%x ", i, data[i]);
}
printf("\n");
}
const uint8_t addrShift = 6;
// READ X, Y and Touch events (X 2)
for (uint8_t i = 0; i < 2; i++)
{
_touchX[i] = data[FT6X36_REG_P1_XH + i * addrShift] & 0x0F;
_touchX[i] <<= 8;
_touchX[i] |= data[FT6X36_REG_P1_XL + i * addrShift];
_touchY[i] = data[FT6X36_REG_P1_YH + i * addrShift] & 0x0F;
_touchY[i] <<= 8;
_touchY[i] |= data[FT6X36_REG_P1_YL + i * addrShift];
_touchEvent[i] = data[FT6X36_REG_P1_XH + i * addrShift] >> 6;
}
// Make _touchX[idx] and _touchY[idx] rotation aware
switch (_rotation)
{
case 1:
swap(_touchX[0], _touchY[0]);
swap(_touchX[1], _touchY[1]);
_touchY[0] = _touch_width - _touchY[0] -1;
_touchY[1] = _touch_width - _touchY[1] -1;
break;
case 2:
_touchX[0] = _touch_width - _touchX[0] - 1;
_touchX[1] = _touch_width - _touchX[1] - 1;
_touchY[0] = _touch_height - _touchY[0] - 1;
_touchY[1] = _touch_height - _touchY[1] - 1;
break;
case 3:
swap(_touchX[0], _touchY[0]);
swap(_touchX[1], _touchY[1]);
_touchX[0] = _touch_height - _touchX[0] - 1;
_touchX[1] = _touch_height - _touchX[1] - 1;
break;
}
if (CONFIG_FT6X36_DEBUG) {
printf("X0:%d Y0:%d EVENT:%d\n", _touchX[0], _touchY[0], _touchEvent[0]);
//printf("X1:%d Y1:%d EVENT:%d\n", _touchX[1], _touchY[1], _touchEvent[1]);
}
return true;
}
void FT6X36::writeRegister8(uint8_t reg, uint8_t value)
{
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, FT6X36_ADDR << 1 | I2C_MASTER_WRITE, ACK_CHECK_EN);
i2c_master_write_byte(cmd, reg , ACK_CHECK_EN);
i2c_master_write_byte(cmd, value , ACK_CHECK_EN);
i2c_master_stop(cmd);
i2c_master_cmd_begin(_port, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
}
uint8_t FT6X36::readRegister8(uint8_t reg, uint8_t *data_buf)
{
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, FT6X36_ADDR << 1 | I2C_MASTER_WRITE, ACK_CHECK_EN);
i2c_master_write_byte(cmd, reg, I2C_MASTER_ACK);
// Research: Why it's started a 2nd time here
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (FT6X36_ADDR << 1) | I2C_MASTER_READ, true);
i2c_master_read_byte(cmd, data_buf, I2C_MASTER_NACK);
i2c_master_stop(cmd);
esp_err_t ret = i2c_master_cmd_begin(_port, cmd, 1000 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//FT6X36_REG_GESTURE_ID. Check if it can be read!
#if defined(FT6X36_DEBUG) && FT6X36_DEBUG==1
printf("REG 0x%x: 0x%x\n",reg,ret);
#endif
return ret;
}
void FT6X36::fireEvent(TPoint point, TEvent e)
{
if (_touchHandler)
_touchHandler(point, e);
}
void FT6X36::debugInfo()
{
printf(" TH_DIFF: %d CTRL: %d\n", read8(FT6X36_REG_FILTER_COEF), read8(FT6X36_REG_CTRL));
printf(" TIMEENTERMONITOR: %d PERIODACTIVE: %d\n", read8(FT6X36_REG_TIME_ENTER_MONITOR), read8(FT6X36_REG_TOUCHRATE_ACTIVE));
printf(" PERIODMONITOR: %d RADIAN_VALUE: %d\n", read8(FT6X36_REG_TOUCHRATE_MONITOR), read8(FT6X36_REG_RADIAN_VALUE));
printf(" OFFSET_LEFT_RIGHT: %d OFFSET_UP_DOWN: %d\n", read8(FT6X36_REG_OFFSET_LEFT_RIGHT), read8(FT6X36_REG_OFFSET_UP_DOWN));
printf("DISTANCE_LEFT_RIGHT: %d DISTANCE_UP_DOWN: %d\n", read8(FT6X36_REG_DISTANCE_LEFT_RIGHT), read8(FT6X36_REG_DISTANCE_UP_DOWN));
printf(" DISTANCE_ZOOM: %d CIPHER: %d\n", read8(FT6X36_REG_DISTANCE_ZOOM), read8(FT6X36_REG_CHIPID));
printf(" G_MODE: %d PWR_MODE: %d\n", read8(FT6X36_REG_INTERRUPT_MODE), read8(FT6X36_REG_POWER_MODE));
printf(" FIRMID: %d FOCALTECH_ID: %d STATE: %d\n", read8(FT6X36_REG_FIRMWARE_VERSION), read8(FT6X36_REG_PANEL_ID), read8(FT6X36_REG_STATE));
}
void FT6X36::setRotation(uint8_t rotation) {
_rotation = rotation;
}
void FT6X36::setTouchWidth(uint16_t width) {
printf("touch w:%d\n",width);
_touch_width = width;
}
void FT6X36::setTouchHeight(uint16_t height) {
printf("touch h:%d\n",height);
_touch_height = height;
}
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