2 CapacitiveSense.h v.04 - Capacitive Sensing Library for 'duino / Wiring
3 https://github.com/PaulStoffregen/CapacitiveSensor
4 http://www.pjrc.com/teensy/td_libs_CapacitiveSensor.html
5 http://playground.arduino.cc/Main/CapacitiveSensor
6 Copyright (c) 2008 Paul Bagder All rights reserved.
7 Version 05 by Paul Stoffregen - Support non-AVR board: Teensy 3.x, Arduino Due
8 Version 04 by Paul Stoffregen - Arduino 1.0 compatibility, issue 146 fix
12 // ensure this library description is only included once
13 #ifndef CapacitiveSensor_h
14 #define CapacitiveSensor_h
22 // Direct I/O through registers and bitmask (from OneWire library)
25 #define PIN_TO_BASEREG(pin) (portInputRegister(digitalPinToPort(pin)))
26 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
27 #define IO_REG_TYPE uint8_t
28 #define DIRECT_READ(base, mask) (((*(base)) & (mask)) ? 1 : 0)
29 #define DIRECT_MODE_INPUT(base, mask) ((*((base)+1)) &= ~(mask), (*((base)+2)) &= ~(mask))
30 #define DIRECT_MODE_OUTPUT(base, mask) ((*((base)+1)) |= (mask))
31 #define DIRECT_WRITE_LOW(base, mask) ((*((base)+2)) &= ~(mask))
32 #define DIRECT_WRITE_HIGH(base, mask) ((*((base)+2)) |= (mask))
34 #elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK66FX1M0__) || defined(__MK64FX512__)
35 #define PIN_TO_BASEREG(pin) (portOutputRegister(pin))
36 #define PIN_TO_BITMASK(pin) (1)
37 #define IO_REG_TYPE uint8_t
39 #define DIRECT_READ(base, mask) (*((base)+512))
40 #define DIRECT_MODE_INPUT(base, mask) (*((base)+640) = 0)
41 #define DIRECT_MODE_OUTPUT(base, mask) (*((base)+640) = 1)
42 #define DIRECT_WRITE_LOW(base, mask) (*((base)+256) = 1)
43 #define DIRECT_WRITE_HIGH(base, mask) (*((base)+128) = 1)
45 #elif defined(__MKL26Z64__)
46 #define PIN_TO_BASEREG(pin) (portOutputRegister(pin))
47 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
48 #define IO_REG_TYPE uint8_t
50 #define DIRECT_READ(base, mask) ((*((base)+16) & (mask)) ? 1 : 0)
51 #define DIRECT_MODE_INPUT(base, mask) (*((base)+20) &= ~(mask))
52 #define DIRECT_MODE_OUTPUT(base, mask) (*((base)+20) |= (mask))
53 #define DIRECT_WRITE_LOW(base, mask) (*((base)+8) = (mask))
54 #define DIRECT_WRITE_HIGH(base, mask) (*((base)+4) = (mask))
56 #elif defined(__SAM3X8E__)
57 #define PIN_TO_BASEREG(pin) (&(digitalPinToPort(pin)->PIO_PER))
58 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
59 #define IO_REG_TYPE uint32_t
61 #define DIRECT_READ(base, mask) (((*((base)+15)) & (mask)) ? 1 : 0)
62 #define DIRECT_MODE_INPUT(base, mask) ((*((base)+5)) = (mask))
63 #define DIRECT_MODE_OUTPUT(base, mask) ((*((base)+4)) = (mask))
64 #define DIRECT_WRITE_LOW(base, mask) ((*((base)+13)) = (mask))
65 #define DIRECT_WRITE_HIGH(base, mask) ((*((base)+12)) = (mask))
67 #elif defined(__PIC32MX__)
68 #define PIN_TO_BASEREG(pin) (portModeRegister(digitalPinToPort(pin)))
69 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
70 #define IO_REG_TYPE uint32_t
72 #define DIRECT_READ(base, mask) (((*(base+4)) & (mask)) ? 1 : 0) //PORTX + 0x10
73 #define DIRECT_MODE_INPUT(base, mask) ((*(base+2)) = (mask)) //TRISXSET + 0x08
74 #define DIRECT_MODE_OUTPUT(base, mask) ((*(base+1)) = (mask)) //TRISXCLR + 0x04
75 #define DIRECT_WRITE_LOW(base, mask) ((*(base+8+1)) = (mask)) //LATXCLR + 0x24
76 #define DIRECT_WRITE_HIGH(base, mask) ((*(base+8+2)) = (mask)) //LATXSET + 0x28
78 #elif defined(ARDUINO_ARCH_ESP8266)
79 #define PIN_TO_BASEREG(pin) (portOutputRegister(digitalPinToPort(pin)))
80 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
81 #define IO_REG_TYPE uint32_t
83 #define DIRECT_READ(base, mask) (((*(base+6)) & (mask)) ? 1 : 0) //GPIO_IN_ADDRESS
84 #define DIRECT_MODE_INPUT(base, mask) ((*(base+5)) = (mask)) //GPIO_ENABLE_W1TC_ADDRESS
85 #define DIRECT_MODE_OUTPUT(base, mask) ((*(base+4)) = (mask)) //GPIO_ENABLE_W1TS_ADDRESS
86 #define DIRECT_WRITE_LOW(base, mask) ((*(base+2)) = (mask)) //GPIO_OUT_W1TC_ADDRESS
87 #define DIRECT_WRITE_HIGH(base, mask) ((*(base+1)) = (mask)) //GPIO_OUT_W1TS_ADDRESS
89 #elif defined(__SAMD21G18A__)
90 // runs extremely slow/unreliable on Arduino Zero - help wanted....
91 #define PIN_TO_BASEREG(pin) portModeRegister(digitalPinToPort(pin))
92 #define PIN_TO_BITMASK(pin) (digitalPinToBitMask(pin))
93 #define IO_REG_TYPE uint32_t
95 #define DIRECT_READ(base, mask) (((*((base)+8)) & (mask)) ? 1 : 0)
96 #define DIRECT_MODE_INPUT(base, mask) ((*((base)+1)) = (mask))
97 #define DIRECT_MODE_OUTPUT(base, mask) ((*((base)+2)) = (mask))
98 #define DIRECT_WRITE_LOW(base, mask) ((*((base)+5)) = (mask))
99 #define DIRECT_WRITE_HIGH(base, mask) ((*((base)+6)) = (mask))
101 #elif defined(RBL_NRF51822)
102 #define PIN_TO_BASEREG(pin) (0)
103 #define PIN_TO_BITMASK(pin) (pin)
104 #define IO_REG_TYPE uint32_t
106 #define DIRECT_READ(base, pin) nrf_gpio_pin_read(pin)
107 #define DIRECT_WRITE_LOW(base, pin) nrf_gpio_pin_clear(pin)
108 #define DIRECT_WRITE_HIGH(base, pin) nrf_gpio_pin_set(pin)
109 #define DIRECT_MODE_INPUT(base, pin) nrf_gpio_cfg_input(pin, NRF_GPIO_PIN_NOPULL)
110 #define DIRECT_MODE_OUTPUT(base, pin) nrf_gpio_cfg_output(pin)
112 #elif defined(__arc__)
114 #include "scss_registers.h"
115 #include "portable.h"
116 #include "avr/pgmspace.h"
118 #define GPIO_ID(pin) (g_APinDescription[pin].ulGPIOId)
119 #define GPIO_TYPE(pin) (g_APinDescription[pin].ulGPIOType)
120 #define GPIO_BASE(pin) (g_APinDescription[pin].ulGPIOBase)
121 #define DIR_OFFSET_SS 0x01
122 #define DIR_OFFSET_SOC 0x04
123 #define EXT_PORT_OFFSET_SS 0x0A
124 #define EXT_PORT_OFFSET_SOC 0x50
126 /* GPIO registers base address */
127 #define PIN_TO_BASEREG(pin) ((volatile uint32_t *)g_APinDescription[pin].ulGPIOBase)
128 #define PIN_TO_BITMASK(pin) pin
129 #define IO_REG_TYPE uint32_t
132 static inline __attribute__((always_inline))
133 IO_REG_TYPE directRead(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
136 if (SS_GPIO == GPIO_TYPE(pin)) {
137 ret = READ_ARC_REG(((IO_REG_TYPE)base + EXT_PORT_OFFSET_SS));
139 ret = MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, EXT_PORT_OFFSET_SOC);
141 return ((ret >> GPIO_ID(pin)) & 0x01);
144 static inline __attribute__((always_inline))
145 void directModeInput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
147 if (SS_GPIO == GPIO_TYPE(pin)) {
148 WRITE_ARC_REG(READ_ARC_REG((((IO_REG_TYPE)base) + DIR_OFFSET_SS)) & ~(0x01 << GPIO_ID(pin)),
149 ((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
151 MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) &= ~(0x01 << GPIO_ID(pin));
155 static inline __attribute__((always_inline))
156 void directModeOutput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
158 if (SS_GPIO == GPIO_TYPE(pin)) {
159 WRITE_ARC_REG(READ_ARC_REG(((IO_REG_TYPE)(base) + DIR_OFFSET_SS)) | (0x01 << GPIO_ID(pin)),
160 ((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
162 MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) |= (0x01 << GPIO_ID(pin));
166 static inline __attribute__((always_inline))
167 void directWriteLow(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
169 if (SS_GPIO == GPIO_TYPE(pin)) {
170 WRITE_ARC_REG(READ_ARC_REG(base) & ~(0x01 << GPIO_ID(pin)), base);
172 MMIO_REG_VAL(base) &= ~(0x01 << GPIO_ID(pin));
176 static inline __attribute__((always_inline))
177 void directWriteHigh(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
179 if (SS_GPIO == GPIO_TYPE(pin)) {
180 WRITE_ARC_REG(READ_ARC_REG(base) | (0x01 << GPIO_ID(pin)), base);
182 MMIO_REG_VAL(base) |= (0x01 << GPIO_ID(pin));
186 #define DIRECT_READ(base, pin) directRead(base, pin)
187 #define DIRECT_MODE_INPUT(base, pin) directModeInput(base, pin)
188 #define DIRECT_MODE_OUTPUT(base, pin) directModeOutput(base, pin)
189 #define DIRECT_WRITE_LOW(base, pin) directWriteLow(base, pin)
190 #define DIRECT_WRITE_HIGH(base, pin) directWriteHigh(base, pin)
194 // some 3.3V chips with 5V tolerant pins need this workaround
196 #if defined(__MK20DX256__)
197 #define FIVE_VOLT_TOLERANCE_WORKAROUND
200 // library interface description
201 class CapacitiveSensor
203 // user-accessible "public" interface
206 CapacitiveSensor(uint8_t sendPin, uint8_t receivePin);
207 long capacitiveSensorRaw(uint8_t samples);
208 long capacitiveSensor(uint8_t samples);
209 void set_CS_Timeout_Millis(unsigned long timeout_millis);
210 void reset_CS_AutoCal();
211 void set_CS_AutocaL_Millis(unsigned long autoCal_millis);
212 // library-accessible "private" interface
216 unsigned long leastTotal;
217 unsigned int loopTimingFactor;
218 unsigned long CS_Timeout_Millis;
219 unsigned long CS_AutocaL_Millis;
220 unsigned long lastCal;
222 IO_REG_TYPE sBit; // send pin's ports and bitmask
223 volatile IO_REG_TYPE *sReg;
224 IO_REG_TYPE rBit; // receive pin's ports and bitmask
225 volatile IO_REG_TYPE *rReg;
227 int SenseOneCycle(void);