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improve touch with pooling

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This commit is contained in:
Adolfo Reyna
2026-01-29 14:16:19 -05:00
parent d19a2ca639
commit 3a08cb5119
3 changed files with 398 additions and 75 deletions
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157
basic1.cpp
View File

@@ -8,6 +8,7 @@
#include "pico/stdlib.h"
#include "pico/binary_info.h"
#include "hardware/sync.h"
#include "board_config.h" // Board-specific pin configuration
#include "sd_card.h"
#include <stdlib.h>
@@ -24,6 +25,67 @@ bi_decl(bi_program_description("4.0\" TFT ST7796 with Touch and SD Card Demo"));
bi_decl(bi_program_version_string("0.1"));
bi_decl(bi_program_build_date_string(__DATE__));
// Touch interrupt handling
volatile bool touch_interrupt_flag = false;
volatile bool touch_event_down = false;
LowLevelTouch* touch = nullptr;
/**
* @brief Touch interrupt callback handler
*
* Called automatically by hardware when INT pin changes state:
* - Falling edge: Touch detected (INT goes LOW)
* - Rising edge: Touch released (INT goes HIGH)
*
* This runs in interrupt context, so keep it fast - just set a flag
*
* @param gpio GPIO pin number that triggered the interrupt
* @param events Event mask (GPIO_IRQ_EDGE_FALL and/or GPIO_IRQ_EDGE_RISE)
*/
void touch_interrupt_handler(uint gpio, uint32_t events) {
// Set flag to indicate touch event occurred
// Main loop will handle the actual touch reading
touch_interrupt_flag = true;
// Optional: track which edge triggered (for debugging)
if (events & GPIO_IRQ_EDGE_FALL) {
touch_event_down = true;
printf("Touch DOWN event detected\n");
}
if (events & GPIO_IRQ_EDGE_RISE) {
touch_event_down = false;
printf("Touch UP event detected\n");
}
TouchData touch_data;
touch->read_touch(&touch_data);
int16_t x = touch_data.points[0].x;
int16_t y = touch_data.points[0].y;
uint8_t event = touch_data.points[0].event;
uint8_t id = touch_data.points[0].id;
uint8_t weight = touch_data.points[0].pressure;
uint8_t gesture = touch_data.gesture;
// Display detailed touch information including weight and gesture
printf("Touch: X=%d Y=%d Event=%d ID=%d Weight=%d\n",
x, y, event, id, weight);
// Display gesture if detected (non-zero)
if (gesture != 0) {
const char* gesture_name = "Unknown";
switch(gesture) {
case 0x10: gesture_name = "Move Up"; break;
case 0x14: gesture_name = "Move Right"; break;
case 0x18: gesture_name = "Move Down"; break;
case 0x1C: gesture_name = "Move Left"; break;
case 0x48: gesture_name = "Zoom In"; break;
case 0x49: gesture_name = "Zoom Out"; break;
}
printf(" Gesture=0x%02X (%s)\n", gesture, gesture_name);
}
}
// Screen dimensions and configuration from board_config.h
const int V_WIDTH = DISPLAY_WIDTH;
const int V_HEIGHT = DISPLAY_HEIGHT;
@@ -91,12 +153,17 @@ int main()
refresh_screen(bit_buffer, display);
// Initialize touch screen using abstraction
LowLevelTouch* touch = LowLevelTouch::create((TouchType)TOUCH_TYPE_SELECTED, V_WIDTH, V_HEIGHT,
touch = LowLevelTouch::create((TouchType)TOUCH_TYPE_SELECTED, V_WIDTH, V_HEIGHT,
TOUCH_SWAP_XY, TOUCH_INVERT_X, TOUCH_INVERT_Y);
if (touch) {
printf("Touch initialized successfully\n");
// Set up interrupt-driven touch detection
printf("Setting up touch interrupt callback...\n");
touch->set_interrupt_callback(touch_interrupt_handler);
printf("Touch interrupt enabled on INT pin (falling and rising edges)\n");
// Run communication test if available
// Note: Commented out as it may hang on some hardware configurations
printf("\nRunning touch reliability test...\n");
@@ -107,11 +174,11 @@ int main()
}
// Test SD card and FatFS
if (sd_card_init_with_board_config()) {
sd_card_test_fatfs();
} else {
printf("SD Card initialization failed or no card present\n");
}
// if (sd_card_init_with_board_config()) {
// sd_card_test_fatfs();
// } else {
// printf("SD Card initialization failed or no card present\n");
// }
// Main loop - handle touch events
int last_x = -1, last_y = -1;
@@ -124,32 +191,47 @@ int main()
int touch_success_count = 0;
printf("Entering main touch loop...\n");
printf("Touch system uses interrupt-driven detection:\n");
printf(" - Hardware interrupt triggers on INT pin state changes\n");
printf(" - Falling edge (HIGH->LOW) = Touch detected\n");
printf(" - Rising edge (LOW->HIGH) = Touch released\n");
printf(" - No CPU polling needed - interrupt wakes us up!\n");
printf(" - Gesture support enabled in trigger mode\n");
while (1) {
// Always sleep to prevent tight loop and allow other operations
sleep_us(100);
// Sleep until interrupt wakes us up (very power efficient!)
// Te(); // Wait For Event - CPU sleeps until interrupt or evenurs
__wfi(); // Wait For Interrupt - CPU sleeps until any interrupt
// Check INT pin directly (LOW = touch detected, no I2C transaction needed!)
// Much faster than I2C read and doesn't interfere with other operations
bool int_pin_low = !gpio_get(TOUCH_INT_PIN);
// Check if our touch interrupt flag was set
if (!touch_interrupt_flag) {
continue; // Woken by different interrupt, go back to sleep
}
// Only process if INT pin indicates touch data available
if (int_pin_low) {
// Clear the flag
touch_interrupt_flag = false;
while(touch_event_down){
uint32_t now = to_ms_since_boot(get_absolute_time());
// Check if enough time has passed since last touch check (debounce)
if (now - last_touch_time < debounce_ms) {
//continue;
}
// Now read full touch data via I2C
//printf("Touch interrupt event detected (event_down=%d)\n", touch_event_down);
// Touch interrupt occurred - read the data
// is_touched() will check INT pin and confirm via I2C if needed
//if (touch && touch->is_touched()) {
// Now read full touch data via I2C (already confirmed by INT pin)
TouchData touch_data;
if (!touch->read_touch(&touch_data) || touch_data.touch_count == 0) {
if (!touch->read_touch(&touch_data)) {
// Read failed or no actual touch data
touch_fail_count++;
was_touched = false;
last_x = -1;
last_y = -1;
last_touch_time = now;
//was_touched = false;
//last_x = -1;
//last_y = -1;
//last_touch_time = now;
continue;
}
@@ -162,9 +244,25 @@ int main()
uint8_t weight = touch_data.points[0].pressure;
uint8_t gesture = touch_data.gesture;
printf("Touch: X=%d Y=%d Event=%d ID=%d Weight=%d Gesture=0x%02X [S:%d F:%d]\n",
x, y, event, id, weight, gesture,
touch_success_count, touch_fail_count);
// Display detailed touch information including weight and gesture
// printf("Touch: X=%d Y=%d Event=%d ID=%d Weight=%d",
// x, y, event, id, weight);
// Display gesture if detected (non-zero)
if (gesture != 0) {
const char* gesture_name = "Unknown";
switch(gesture) {
case 0x10: gesture_name = "Move Up"; break;
case 0x14: gesture_name = "Move Right"; break;
case 0x18: gesture_name = "Move Down"; break;
case 0x1C: gesture_name = "Move Left"; break;
case 0x48: gesture_name = "Zoom In"; break;
case 0x49: gesture_name = "Zoom Out"; break;
}
printf(" Gesture=0x%02X (%s)", gesture, gesture_name);
}
// printf(" [Success:%d Fail:%d]\n", touch_success_count, touch_fail_count);
// Check if touch is in title area to clear screen
@@ -174,10 +272,10 @@ int main()
int dx = abs(x - last_x);
int dy = abs(y - last_y);
// Only draw line if movement is reasonable (filter noise)
if (dx < 50 && dy < 50) {
//if (dx < 50 && dy < 50) {
renderer.draw_line(last_x, last_y, x, y, true);
refresh_screen(bit_buffer, display);
}
//}
}
last_x = x;
@@ -185,13 +283,16 @@ int main()
was_touched = true;
last_touch_time = now;
} else {
// Reset last position when not touching
//} else {
// INT pin triggered but no touch data (likely release event)
//}
}
if (was_touched) {
last_x = -1;
last_y = -1;
was_touched = false;
}
refresh_screen(bit_buffer, display);
}
}

170
lib/ft6336u/ft6336u.c
View File

@@ -137,17 +137,54 @@ bool ft6336u_init(const ft6336u_config_t *config) {
printf("[FT6336U] WARNING: Failed to set device mode\n");
}
// Enable trigger mode for better gesture and interrupt support
printf("[FT6336U] Enabling trigger mode...\n");
if (!ft6336u_write_reg(FT6336U_REG_G_MODE, FT6336U_G_MODE_TRIGGER)) {
// Set CTRL mode to keep active (better interrupt responsiveness)
printf("[FT6336U] Setting CTRL mode to keep active...\n");
if (!ft6336u_write_reg(FT6336U_REG_CTRL, FT6336U_CTRL_KEEP_ACTIVE_MODE)) {
printf("[FT6336U] WARNING: Failed to set CTRL mode\n");
}
// Enable polling mode - INT pin stays LOW while touched, goes HIGH when released
printf("[FT6336U] Enabling polling mode...\n");
if (!ft6336u_write_reg(FT6336U_REG_G_MODE, FT6336U_G_MODE_POLLING)) {
printf("[FT6336U] WARNING: Failed to set G_MODE\n");
}
// Verify gesture mode was set
// Configure gesture parameters for better detection
printf("[FT6336U] Configuring gesture detection parameters...\n");
// Radian value: smaller = stricter angles (default ~16, using 10 for easier detection)
ft6336u_set_radian_value(10);
// Offset values: starting point for gesture detection (using 20 pixels)
ft6336u_set_offset_left_right(20);
ft6336u_set_offset_up_down(20);
// Distance thresholds: minimum movement for gesture (using 40 pixels for easier detection)
ft6336u_set_distance_left_right(40);
ft6336u_set_distance_up_down(40);
// Zoom distance: minimum pinch/spread distance (using 80)
ft6336u_set_distance_zoom(80);
// Verify modes and gesture parameters were set
uint8_t ctrl_mode = ft6336u_get_ctrl_mode();
uint8_t g_mode = ft6336u_get_g_mode();
printf("[FT6336U] CTRL_MODE: 0x%02X (%s)\n",
ctrl_mode, ctrl_mode == FT6336U_CTRL_KEEP_ACTIVE_MODE ? "keep active" : "monitor");
printf("[FT6336U] G_MODE: 0x%02X (%s mode)\n",
g_mode, g_mode == FT6336U_G_MODE_TRIGGER ? "trigger" : "polling");
// Display gesture parameter values
printf("[FT6336U] Gesture Parameters:\n");
printf(" Radian: %d, Offset LR: %d, Offset UD: %d\n",
ft6336u_get_radian_value(),
ft6336u_get_offset_left_right(),
ft6336u_get_offset_up_down());
printf(" Distance LR: %d, Distance UD: %d, Zoom: %d\n",
ft6336u_get_distance_left_right(),
ft6336u_get_distance_up_down(),
ft6336u_get_distance_zoom());
printf("[FT6336U] Initialization complete!\n");
return true;
}
@@ -226,15 +263,21 @@ bool ft6336u_read_touch(ft6336u_touch_data_t *data) {
bool ft6336u_is_touched(void) {
if (g_config == NULL) return false;
// More reliable: Read TD_STATUS register directly
// INT pin can be unreliable due to timing/noise
// In trigger mode, INT pin goes LOW when touched
// This is faster than reading via I2C
if (!gpio_get(g_config->gpio_int)) {
return true;
//INT pin is LOW, likely touched - confirm with I2C read
uint8_t td_status;
if (!ft6336u_read_reg(FT6336U_REG_TD_STATUS, &td_status)) {
return false; // I2C error, assume not touched
}
uint8_t touch_count = td_status & 0x0F;
return touch_count > 0;
}
// INT pin is HIGH, no touch
return false;
}
uint8_t ft6336u_get_chip_id(void) {
@@ -260,9 +303,12 @@ uint8_t ft6336u_get_firmware_version(void) {
void ft6336u_set_interrupt_callback(void (*callback)(uint gpio, uint32_t events)) {
if (g_config == NULL || callback == NULL) return;
// Enable interrupt on falling edge (touch detected)
// In trigger mode:
// - INT pin goes LOW (falling edge) when touch is detected
// - INT pin goes HIGH (rising edge) when touch is released
// Enable interrupts on both edges for full touch lifecycle tracking
gpio_set_irq_enabled_with_callback(g_config->gpio_int,
GPIO_IRQ_EDGE_FALL,
GPIO_IRQ_EDGE_FALL | GPIO_IRQ_EDGE_RISE,
true,
callback);
}
@@ -329,3 +375,109 @@ uint8_t ft6336u_get_power_mode(void) {
}
return pwr_mode;
}
bool ft6336u_set_ctrl_mode(uint8_t mode) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_CTRL, mode);
}
uint8_t ft6336u_get_ctrl_mode(void) {
if (g_config == NULL) return 0xFF;
uint8_t ctrl_mode;
if (!ft6336u_read_reg(FT6336U_REG_CTRL, &ctrl_mode)) {
return 0xFF;
}
return ctrl_mode;
}
bool ft6336u_get_int_pin_state(void) {
if (g_config == NULL) return true; // Default to HIGH (no interrupt)
// In trigger mode: LOW = touch active, HIGH = no touch
return gpio_get(g_config->gpio_int);
}
// Gesture parameter configuration functions
uint8_t ft6336u_get_radian_value(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_RADIAN_VALUE, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_radian_value(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_RADIAN_VALUE, value);
}
uint8_t ft6336u_get_offset_left_right(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_OFFSET_LEFT_RIGHT, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_offset_left_right(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_OFFSET_LEFT_RIGHT, value);
}
uint8_t ft6336u_get_offset_up_down(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_OFFSET_UP_DOWN, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_offset_up_down(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_OFFSET_UP_DOWN, value);
}
uint8_t ft6336u_get_distance_left_right(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_DISTANCE_LEFT_RIGHT, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_distance_left_right(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_DISTANCE_LEFT_RIGHT, value);
}
uint8_t ft6336u_get_distance_up_down(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_DISTANCE_UP_DOWN, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_distance_up_down(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_DISTANCE_UP_DOWN, value);
}
uint8_t ft6336u_get_distance_zoom(void) {
if (g_config == NULL) return 0xFF;
uint8_t value;
if (!ft6336u_read_reg(FT6336U_REG_DISTANCE_ZOOM, &value)) {
return 0xFF;
}
return value;
}
bool ft6336u_set_distance_zoom(uint8_t value) {
if (g_config == NULL) return false;
return ft6336u_write_reg(FT6336U_REG_DISTANCE_ZOOM, value);
}

70
lib/ft6336u/ft6336u.h
View File

@@ -37,12 +37,25 @@ extern "C" {
#define FT6336U_REG_P2_WEIGHT 0x0D
#define FT6336U_REG_P2_MISC 0x0E
// Gesture parameter registers (for tuning gesture detection)
#define FT6336U_REG_RADIAN_VALUE 0x91 // Gesture angle threshold
#define FT6336U_REG_OFFSET_LEFT_RIGHT 0x92 // Horizontal gesture offset
#define FT6336U_REG_OFFSET_UP_DOWN 0x93 // Vertical gesture offset
#define FT6336U_REG_DISTANCE_LEFT_RIGHT 0x94 // Horizontal distance threshold
#define FT6336U_REG_DISTANCE_UP_DOWN 0x95 // Vertical distance threshold
#define FT6336U_REG_DISTANCE_ZOOM 0x96 // Zoom gesture distance
#define FT6336U_REG_CTRL 0x86 // Control mode register
#define FT6336U_REG_CHIPID 0xA3 // Chip ID (should read 0x64)
#define FT6336U_REG_G_MODE 0xA4 // Interrupt mode (polling or trigger)
#define FT6336U_REG_POWER_MODE 0xA5 // Power mode
#define FT6336U_REG_FIRMID 0xA6
#define FT6336U_REG_VENDID 0xA8
// CTRL_MODE values
#define FT6336U_CTRL_KEEP_ACTIVE_MODE 0x00 // Stay in active mode (better for interrupts)
#define FT6336U_CTRL_SWITCH_TO_MONITOR 0x01 // Auto-enter monitor mode (lower power)
// G_MODE values
#define FT6336U_G_MODE_POLLING 0x00
#define FT6336U_G_MODE_TRIGGER 0x01
@@ -150,6 +163,63 @@ uint8_t ft6336u_get_g_mode(void);
*/
uint8_t ft6336u_get_power_mode(void);
/**
* Set CTRL mode (active vs monitor mode)
* @param mode FT6336U_CTRL_KEEP_ACTIVE_MODE or FT6336U_CTRL_SWITCH_TO_MONITOR
* @return true if successful
*/
bool ft6336u_set_ctrl_mode(uint8_t mode);
/**
* Get current CTRL mode
* @return Current CTRL mode or 0xFF on error
*/
uint8_t ft6336u_get_ctrl_mode(void);
/**
* Read the INT pin state directly
* @return true if HIGH (no touch), false if LOW (touch active)
* Note: In trigger mode, INT pin is active LOW
*/
bool ft6336u_get_int_pin_state(void);
// Gesture parameter configuration (for tuning gesture detection)
/**
* Get/Set radian value (gesture angle threshold)
*/
uint8_t ft6336u_get_radian_value(void);
bool ft6336u_set_radian_value(uint8_t value);
/**
* Get/Set horizontal gesture offset
*/
uint8_t ft6336u_get_offset_left_right(void);
bool ft6336u_set_offset_left_right(uint8_t value);
/**
* Get/Set vertical gesture offset
*/
uint8_t ft6336u_get_offset_up_down(void);
bool ft6336u_set_offset_up_down(uint8_t value);
/**
* Get/Set horizontal distance threshold for gestures
*/
uint8_t ft6336u_get_distance_left_right(void);
bool ft6336u_set_distance_left_right(uint8_t value);
/**
* Get/Set vertical distance threshold for gestures
*/
uint8_t ft6336u_get_distance_up_down(void);
bool ft6336u_set_distance_up_down(uint8_t value);
/**
* Get/Set zoom gesture distance threshold
*/
uint8_t ft6336u_get_distance_zoom(void);
bool ft6336u_set_distance_zoom(uint8_t value);
#ifdef __cplusplus
}
#endif