Command line functional but not completed

firmware/src/CMakeLists.txt

@@ -4,7 +4,7 @@ set(LWIP_ROOT ${PICO_SDK_PATH}/lib/lwip)
 function(make_firmware board board_def)
     pico_sdk_init()
     add_executable(${board}
-                   main.c slider.c air.c rgb.c save.c lzfx.c usb_descriptors.c)
+        main.c slider.c air.c rgb.c save.c config.c cmd.c lzfx.c usb_descriptors.c)
     target_compile_definitions(${board} PUBLIC ${board_def})
     pico_enable_stdio_usb(${board} 1)
     pico_enable_stdio_uart(${board} 0)

firmware/src/cmd.c

@@ -0,0 +1,183 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <fcntl.h>
+
+#include "pico/stdio.h"
+#include "pico/stdlib.h"
+
+#include "config.h"
+
+#define MAX_COMMANDS 10
+#define MAX_COMMAND_LENGTH 20
+#define MAX_PARAMETERS 5
+#define MAX_PARAMETER_LENGTH 20
+
+const char *chu_prompt = "chu_pico>";
+
+typedef void (*cmd_handler_t)(int argc, char *argv[]);
+
+typedef struct {
+    char name[MAX_COMMAND_LENGTH];
+    cmd_handler_t handler;
+} command_t;
+
+command_t commands[MAX_COMMANDS];
+int num_commands = 0;
+
+void register_command(char *name, cmd_handler_t handler)
+{
+    if (num_commands < MAX_COMMANDS) {
+        strcpy(commands[num_commands].name, name);
+        commands[num_commands].handler = handler;
+        num_commands++;
+    }
+}
+
+void handle_help(int argc, char *argv[])
+{
+    printf("Available commands:\n");
+    for (int i = 0; i < num_commands; i++) {
+        printf("%s\n", commands[i].name);
+    }
+}
+
+void handle_list(int argc, char *argv[])
+{
+    printf("[Colors]\n");
+    printf("  Key upper: %6x, lower: %6x, both: %6x, off: %6x\n", 
+           chu_cfg->colors.key_on_upper, chu_cfg->colors.key_on_lower,
+           chu_cfg->colors.key_on_both, chu_cfg->colors.key_off);
+    printf("  Gap: %6x\n", chu_cfg->colors.gap);
+    printf("[Style]\n");
+    printf("  Key: %d, Gap: %d, ToF: %d, Level: %d\n", 
+           chu_cfg->style.key, chu_cfg->style.gap,
+           chu_cfg->style.tof, chu_cfg->style.level);
+    printf("[ToF]\n");
+    printf("  Offset: %d, Pitch: %d\n", chu_cfg->tof.offset, chu_cfg->tof.pitch);
+    printf("[Sense]\n");
+    printf("  Global: %d, debounce: %d\n", chu_cfg->sense.global, chu_cfg->sense.debounce);
+    printf("    | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | A | B | C | D | E | F |\n");
+    printf("    -----------------------------------------------------------------\n");
+    printf("  A |");
+    for (int i = 0; i < 16; i++) {
+        printf("%3d|", chu_cfg->sense.keys[i * 2]);
+    }
+    printf("\n  B |");
+    for (int i = 0; i < 16; i++) {
+        printf("%3d|", chu_cfg->sense.keys[i * 2 + 1]);
+    }
+    printf("\n");
+
+    printf("[HID]\n");
+    printf("  Joy: %s, NKRO: %s.\n", 
+           chu_cfg->hid.joy ? "on" : "off",
+           chu_cfg->hid.nkro ? "on" : "off" );
+}
+
+static int fps[2];
+
+void fps_count(int core)
+{
+    static uint32_t last[2] = {0};
+    static int counter[2] = {0};
+
+    counter[core]++;
+
+    uint32_t now = time_us_32();
+    if (now - last[core] < 1000000) {
+        return;
+    }
+    last[core] = now;
+    fps[core] = counter[core];
+    counter[core] = 0;
+}
+
+void handle_fps(int argc, char *argv[])
+{
+    printf("FPS: core 0: %d, core 1: %d\n", fps[0], fps[1]);
+}
+
+void handle_hid(int argc, char *argv[])
+{
+    const char *usage = "Usage: hid <joy|nkro>\n";
+    if (argc != 1) {
+        printf(usage);
+        return;
+    }
+
+    if (strcmp(argv[0], "joy") == 0) {
+        chu_cfg->hid.joy = 1;
+        chu_cfg->hid.nkro = 0;
+    } else if (strcmp(argv[0], "nkro") == 0) {
+        chu_cfg->hid.joy = 0;
+        chu_cfg->hid.nkro = 1;
+    } else if (strcmp(argv[0], "both") == 0) {
+        chu_cfg->hid.joy = 1;
+        chu_cfg->hid.nkro = 1;
+    } else {
+        printf(usage);
+        return;
+    }
+    config_changed();
+}
+
+void cmd_init()
+{
+    fcntl(0, F_SETFL, O_NONBLOCK);
+    register_command("?", handle_help);
+    register_command("list", handle_list);
+    register_command("fps", handle_fps);
+    register_command("hid", handle_hid);
+}
+
+static char cmd_buf[256];
+static int cmd_len = 0;
+
+static void process_cmd()
+{
+    char *command;
+    char *argv[MAX_PARAMETERS];
+    int argc;
+
+    command = strtok(cmd_buf, " \n");
+    argc = 0;
+    while ((argc < MAX_PARAMETERS) &&
+           (argv[argc] = strtok(NULL, " \n")) != NULL) {
+        argc++;
+    }
+
+    for (int i = 0; i < num_commands; i++) {
+        if (strcmp(commands[i].name, command) == 0) {
+            commands[i].handler(argc, argv);
+            printf("\n");
+            break;
+        }
+    }
+}
+
+void cmd_run()
+{
+    int c = getchar_timeout_us(0);
+    if (c == EOF) {
+        return;
+    }
+
+    if ((c != '\n') && (c != '\r')) {
+        if (cmd_len < sizeof(cmd_buf) - 2) {
+            cmd_buf[cmd_len] = c;
+            printf("%c", c);
+            cmd_len++;
+        }
+        return;
+    }
+
+    cmd_buf[cmd_len] = '\0';
+    cmd_len = 0;
+
+    printf("\n");
+
+    process_cmd();
+
+    printf(chu_prompt);
+}

firmware/src/cmd.h

@@ -0,0 +1,13 @@
+/*
+ * Chu Controller Command Line
+ * WHowe <github.com/whowechina>
+ */
+
+#ifndef CMD_H
+#define CMD_H
+
+void cmd_init();
+void cmd_run();
+void fps_count(int core);
+
+#endif

firmware/src/config.c

@@ -1,69 +1,59 @@
 /*
- * Controller Config Data
+ * Controller Config and Runtime Data
  * WHowe <github.com/whowechina>
  * 
  * Config is a global data structure that stores all the configuration
+ * Runtime is something to share between files.
  */
 
 #include "config.h"
 #include "save.h"
 
-iidx_cfg_t *iidx_cfg;
+chu_cfg_t *chu_cfg;
 
-static iidx_cfg_t default_cfg = {
-    .key_off = { {0}, {0}, {0}, {0}, {0}, {0}, {0}, {0}, {0}, {0}, {0}},
-    .key_on = { {40,40,40}, {40,40,40}, {40,40,40}, {40,40,40}, {40,40,40}, {40,40,40},
-                {40,40,40}, {40,40,40}, {40,40,40}, {40,40,40}, {40,40,40},
+static chu_cfg_t default_cfg = {
+    .colors = {
+        .key_on_upper = 0x00FF00,
+        .key_on_lower = 0xff0000,
+        .key_on_both = 0xff0000,
+        .key_off = 0x000000,
+        .gap = 0x000000,
     },
-    .tt_led = {
-        .start = 0,
-        .num = 24,
-        .effect = 0,
-        .param = 0,
-        .mode = 0,
+    .style = {
+        .key = 0,
+        .gap = 0,
+        .tof = 0,
+        .level = 7,
     },
-    .tt_sensor = {
-        .mode = 2,
-        .deadzone = 1,
-        .ppr = 1,
+    .tof = {
+        .offset = 64,
+        .pitch = 16,
     },
-    .effects = {
-        .e1 = 255,
-        .e2 = 128,
-        .e3 = 128,
-        .e4 = 128,
+    .sense = {
+        .debounce = 4,
+     },
+    .hid = {
+        .joy = 0x0f,
+        .nkro = 0,
     },
-    .level = 128,
-    .konami = false,
 };
 
+chu_runtime_t *chu_runtime;
+
 static void config_loaded()
 {
-    if (iidx_cfg->tt_led.num == 0) {
-        iidx_cfg->tt_led.num = 24;
+    if (chu_cfg->style.level > 10) {
+        chu_cfg->style.level = default_cfg.style.level;
         config_changed();
     }
-    if ((iidx_cfg->tt_led.start > 8) ||
-        (iidx_cfg->tt_led.start + iidx_cfg->tt_led.num > 128)) {
-        iidx_cfg->tt_led.start = 0;
-        iidx_cfg->tt_led.num = 24;
+    if ((chu_cfg->tof.offset < 400) || (chu_cfg->tof.offset > 2000) ||
+        (chu_cfg->tof.pitch < 50) || (chu_cfg->tof.pitch > 500)) {
+        chu_cfg->tof = default_cfg.tof;
         config_changed();
     }
-    if (iidx_cfg->tt_sensor.deadzone > 2) {
-        iidx_cfg->tt_sensor.deadzone = 0;
-        config_changed();
-    }
-    if (iidx_cfg->tt_led.mode > 2) {
-        iidx_cfg->tt_led.mode = 0;
-        config_changed();
-    }
-    if (iidx_cfg->tt_sensor.mode > 3) {
-        iidx_cfg->tt_sensor.mode = 2;
-        config_changed();
-    }
-    if (iidx_cfg->tt_sensor.ppr > 3) {
-        iidx_cfg->tt_sensor.ppr = 1;
-        config_changed();
+
+    if (chu_cfg->sense.debounce > 32) {
+        chu_cfg->sense.debounce = default_cfg.sense.debounce;
     }
 }
 
@@ -74,11 +64,11 @@ void config_changed()
 
 void config_factory_reset()
 {
-    *iidx_cfg = default_cfg;
+    *chu_cfg = default_cfg;
     save_request(true);
 }
 
 void config_init()
 {
-    iidx_cfg = (iidx_cfg_t *)save_alloc(sizeof(iidx_cfg), &default_cfg, config_loaded);
+    chu_cfg = (chu_cfg_t *)save_alloc(sizeof(*chu_cfg), &default_cfg, config_loaded);
 }

firmware/src/config.h

@@ -9,38 +9,41 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-typedef struct __attribute ((packed)) {
-    uint8_t h; // hue;
-    uint8_t s; // saturation;
-    uint8_t v; // value;
-} hsv_t;
+typedef struct __attribute__((packed)) {
+    struct {
+        uint32_t key_on_upper;
+        uint32_t key_on_lower;
+        uint32_t key_on_both;
+        uint32_t key_off;
+        uint32_t gap;
+    } colors;
+    struct {
+        uint8_t key;
+        uint8_t gap;
+        uint8_t tof;
+        uint8_t level;
+    } style;
+    struct {
+        uint8_t offset;
+        uint8_t pitch;
+    } tof;
+    struct {
+        int8_t global;
+        uint8_t debounce;
+        int8_t keys[32];
+    } sense;
+    struct {
+        uint8_t joy : 4;
+        uint8_t nkro : 4;
+    } hid;
+} chu_cfg_t;
 
-typedef struct __attribute ((packed)) {
-    hsv_t key_off[11];
-    hsv_t key_on[11];
-    struct {
-        uint8_t start;
-        uint8_t num;
-        uint8_t effect;
-        uint8_t param;
-        uint8_t mode; /* 0: on, 1: reversed, 2: off */
-    } tt_led;
-    struct {
-        uint8_t mode; /* 0: analog, 1: analog reversed, 2: i2c, 3: i2c reversed */
-        uint8_t deadzone; /* only for analog */
-        uint8_t ppr; /* 0: 256, 1: 128, 2: 96, 3: 64, other: 256 */
-    } tt_sensor;
-    struct {
-        uint8_t e1;
-        uint8_t e2;
-        uint8_t e3;
-        uint8_t e4;
-    } effects;
-    uint8_t level; /* led brightness limit */
-    bool konami; /* konami spoof */
-} iidx_cfg_t;
+typedef struct {
+    uint16_t fps[2];
+} chu_runtime_t;
 
-extern iidx_cfg_t *iidx_cfg;
+extern chu_cfg_t *chu_cfg;
+extern chu_runtime_t *chu_runtime;
 
 void config_init();
 void config_changed(); // Notify the config has changed

firmware/src/main.c

@@ -22,16 +22,16 @@
 #include "usb_descriptors.h"
 
 #include "board_defs.h"
+
+#include "save.h"
+#include "config.h"
+#include "cmd.h"
+
 #include "slider.h"
 #include "air.h"
 #include "rgb.h"
 #include "lzfx.h"
 
-/* Measure the time of a function call */
-#define RUN_TIME(func) \
-   { uint64_t _t = time_us_64(); func; \
-     printf(#func ":%lld\n", time_us_64() - _t); }
-
 struct __attribute__((packed)) {
     uint16_t buttons; // 16 buttons; see JoystickButtons_t for bit mapping
     uint8_t  HAT;    // HAT switch; one nibble w/ unused nibble
@@ -49,10 +49,13 @@ void report_usb_hid()
     if (tud_hid_ready()) {
         hid_joy.HAT = 0;
         hid_joy.VendorSpec = 0;
+        if (chu_cfg->hid.joy) {
             tud_hid_n_report(0x00, REPORT_ID_JOYSTICK, &hid_joy, sizeof(hid_joy));
-        if (memcmp(&hid_nkro, &sent_hid_nkro, sizeof(hid_nkro)) != 0) {
+        }
+        if (chu_cfg->hid.nkro &&
+            (memcmp(&hid_nkro, &sent_hid_nkro, sizeof(hid_nkro)) != 0)) {
             sent_hid_nkro = hid_nkro;
-            //tud_hid_n_report(0x02, 0, &sent_hid_nkro, sizeof(sent_hid_nkro));
+            tud_hid_n_report(0x02, 0, &sent_hid_nkro, sizeof(sent_hid_nkro));
         }
     }
 }
@@ -66,41 +69,6 @@ static void pause_core1(bool pause)
         sleep_ms(5); /* wait for any IO ops to finish */
     }
 }
-
-static int fps[2] = {0};
-
-static int get_fps(int core)
-{
-    return fps[core];
-}
-
-static void fps_count(int core)
-{
-    static uint32_t last[2] = {0};
-    static int counter[2] = {0};
-
-    counter[core]++;
-
-    uint32_t now = time_us_32();
-    if (now - last[core] < 1000000) {
-        return;
-    }
-    last[core] = now;
-    fps[core] = counter[core];
-    counter[core] = 0;
-}
-
-static void print_fps()
-{
-    static uint32_t last = 0;
-    uint32_t now = time_us_32();
-    if (now - last < 5000000) {
-        return;
-    }
-    last = now;
-    printf("FPS: %d %d\n", get_fps(0), get_fps(1));
-}
-
 static void gen_joy_report()
 {
     hid_joy.axis = 0;
@@ -182,7 +150,6 @@ static void core1_loop()
 
         slider_update_baseline();
         fps_count(1);
-        print_fps();
         sleep_ms(1);
     }
 }
@@ -190,6 +157,8 @@ static void core1_loop()
 static void core0_loop()
 {
     while(1) {
+        cmd_run();
+        save_loop();
         fps_count(0);
 
         slider_update();
@@ -209,9 +178,15 @@ void init()
     board_init();
     tusb_init();
     stdio_init_all();
+
+    config_init();
+    save_init(0xca34cafe, pause_core1);
+
     slider_init();
     air_init();
     rgb_init();
+
+    cmd_init();
 }
 
 int main(void)

firmware/src/save.c

@@ -1,8 +1,8 @@
 /*
- * Controller Save Save and Load
+ * Controller Config Save and Load
  * WHowe <github.com/whowechina>
  * 
- * Save is stored in last sector of flash
+ * Config is stored in last sector of flash
  */
 
 #include "save.h"
@@ -27,7 +27,8 @@ static struct {
 } modules[8] = {0};
 static int module_num = 0;
 
-#define SAVE_PAGE_MAGIC 0x13424321
+static uint32_t my_magic = 0xcafecafe;
+
 #define SAVE_SECTOR_OFFSET (PICO_FLASH_SIZE_BYTES - FLASH_SECTOR_SIZE)
 
 typedef struct __attribute ((packed)) {
@@ -66,7 +67,7 @@ static void load_default()
 {
     printf("Load Default\n");
     new_data = default_data;
-    new_data.magic = SAVE_PAGE_MAGIC;
+    new_data.magic = my_magic;
 }
 
 static const page_t *get_page(int id)
@@ -78,7 +79,7 @@ static const page_t *get_page(int id)
 static void save_load()
 {
     for (int i = 0; i < FLASH_SECTOR_SIZE / FLASH_PAGE_SIZE; i++) {
-        if (get_page(i)->magic != SAVE_PAGE_MAGIC) {
+        if (get_page(i)->magic != my_magic) {
             break;
         }
         data_page = i;
@@ -102,8 +103,9 @@ static void save_loaded()
     }
 }
 
-void save_init(io_locker_func locker)
+void save_init(uint32_t magic, io_locker_func locker)
 {
+    my_magic = magic;
     io_lock = locker;
     save_load();
     save_loop();
@@ -142,7 +144,7 @@ void save_request(bool immediately)
     if (!requesting_save) {
         printf("Save marked.\n");
         requesting_save = true;
-        new_data.magic = SAVE_PAGE_MAGIC;
+        new_data.magic = my_magic;
         requesting_time = time_us_64();
     }
     if (immediately) {

firmware/src/save.h

@@ -7,11 +7,12 @@
 #define SAVE_H
 
 #include <stdlib.h>
+#include <stdint.h>
 #include <stdbool.h>
 
 /* It's safer to lock other I/O ops during saving, so we need a locker */
 typedef void (*io_locker_func)(bool pause);
-void save_init(io_locker_func locker);
+void save_init(uint32_t magic, io_locker_func locker);
 
 void save_loop();
 

firmware/src/slider.c

@@ -15,9 +15,10 @@
 #include "hardware/gpio.h"
 
 #include "board_defs.h"
-
 #include "mpr121.h"
 
+#include "config.h"
+
 #define TOUCH_THRESHOLD 17
 #define RELEASE_THRESHOLD 8
 
@@ -145,19 +146,23 @@ bool slider_touched(unsigned key)
     }
     int delta =  baseline[key] - readout[key];
 
+    int bias = chu_cfg->sense.global + chu_cfg->sense.keys[key];
+    int touch_thre = TOUCH_THRESHOLD + bias;
+    int release_thre = RELEASE_THRESHOLD + bias / 2;
+
     if (touched[key]) {
-        if (delta > TOUCH_THRESHOLD) {
+        if (delta > touch_thre) {
             debounce[key] = 0;
         }
-        if (debounce[key] > 4) {
-            if (delta < RELEASE_THRESHOLD) {
+        if (debounce[key] > chu_cfg->sense.debounce) {
+            if (delta < release_thre) {
                 touched[key] = false;
             }
         } else {
             debounce[key]++;
         }
     } else if (!touched[key]) {
-        if (delta > TOUCH_THRESHOLD) {
+        if (delta > touch_thre) {
             touched[key] = true;
         }
     }