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Detect and report errors, maintain consistent motor speed across all gear ratios #50

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f7d4061
Detect and report errors
cjsha Apr 3, 2026
056b01f
minor edits
cjsha Apr 5, 2026
52b8cb5
Remove gear_ratio from speed/accel calculations
cjsha Apr 6, 2026
70e8c04
Code review and refactor
jonnew Apr 10, 2026
80609ba
lower rpm for noise concerns
cjsha May 4, 2026
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42 changes: 26 additions & 16 deletions firmware/cap1296.cpp
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Original file line number Diff line number Diff line change
@@ -1,43 +1,53 @@
#include "cap1296.h"

#define CAP1296_ADDR 0x28

#define REG_SENSITIVITY 0x1F // Sensitivity Control
#define REG_INPUTEN 0x21 // Sensor Input Enable
#define REG_CAL 0x26 // Calibration Activate and Status
#define REG_INTEN 0x27 // Interrupt Enable
#define REG_REPEAERATEEN 0x28 // Repeat Rate Enable
#define REG_CONF2 0x44 // Configuration 2
#define REG_MAINCONTROL 0x00 // Main Control
#define REG_INPUTSTATUS 0x03 // Sensor Input Status

void cap1296_init()
{
// Sensitivity Control Register
// Set sensitivity multiplier to x4 and data scaling factor to x256
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x1F, 0x5F}, 2, false);
// Sensor Input Enable Register
// Do monitor touch inputs CS1, CS2, CS3, CS4 and don't monitor touch inputs CS5, CS6 in the active state
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x21, 0x0F}, 2, false);
// Calibration Activate and Status Register
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_SENSITIVITY, 0x5F}, 2, false);

// Monitor touch inputs CS1, CS2, CS3, CS4 and don't monitor touch inputs CS5, CS6 in the active state
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_INPUTEN, 0x0F}, 2, false);

// Force recalibration of the touch inputs CS1, CS2, CS3, CS4
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x26, 0x0F}, 2, false);
// Interrupt Enable Register
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_CAL, 0x0F}, 2, false);

// Enable interrupts for touch inputs CS1, CS2, CS3, CS4 and disable interrupts for touch inputs CS5, CS6
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x27, 0x0F}, 2, false);
// Repeat Rate Enable Register
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_INTEN, 0x0F}, 2, false);

// Disable repeat interrupts during button holds for all touch inputs
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x28, 0x00}, 2, false);
// Configuration 2 Register
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_REPEAERATEEN, 0x00}, 2, false);

// Set interrupts to trigger when a button is released and recalibrate a touch input if its base count is out of limit
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){0x44, 0x40}, 2, false);
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[2]){REG_CONF2, 0x40}, 2, false);
}

void cap1296_clear_int_bit_in_main_control_register()
{
uint8_t main_control_register_value;
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[1]){0}, 1, true);
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[1]){REG_MAINCONTROL}, 1, true);
i2c_read_blocking(I2C_PORT, CAP1296_ADDR, &main_control_register_value, 1, false);

// Main Control Register
// Clear the int bit while maintaining previous values of other bits
const uint8_t main_control_register[2] = {0x00, (uint8_t)(main_control_register_value & 0b11111110)};
const uint8_t main_control_register[2] = {REG_MAINCONTROL, (uint8_t)(main_control_register_value & 0b11111110)};
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, main_control_register, 2, false);
}

uint8_t cap1296_read_sensor_input_status_register()
{
uint8_t touch_status_buffer;
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[1]){0x03}, 1, true);
i2c_write_blocking(I2C_PORT, CAP1296_ADDR, (const uint8_t[1]){REG_INPUTSTATUS}, 1, true);
i2c_read_blocking(I2C_PORT, CAP1296_ADDR, &touch_status_buffer, 1, false);
return touch_status_buffer;
}
6 changes: 1 addition & 5 deletions firmware/cap1296.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,6 @@
#include "hardware/i2c.h"
#include "pindefs.h"

// CAP1296 datasheet:
// https://ww1.microchip.com/downloads/aemDocuments/documents/OTH/ProductDocuments/DataSheets/00001569B.pdf

#define CAP1296_ADDR 0x28
#define BUTTON_RELEASE 0
#define CW_BUTTON_PRESS (1 << 0)
#define ENABLE_BUTTON_PRESS (1 << 1)
Expand All @@ -15,4 +11,4 @@

void cap1296_init();
void cap1296_clear_int_bit_in_main_control_register();
uint8_t cap1296_read_sensor_input_status_register();
uint8_t cap1296_read_sensor_input_status_register();
27 changes: 18 additions & 9 deletions firmware/is32fl3193.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,33 +3,42 @@
#include "hardware/i2c.h"
#include "is32fl3193.h"

#define IS31_ADDR 0x68

#define REG_SHDN 0x00
#define REG_LEDMODE 0x01 // NB: Switched on datasheet
#define REG_BREATHCTRL 0x02 // NB: Switched on datasheet
#define REG_CURRSET 0x03
#define REG_PWM0 0x04
#define REG_PWM1 0x05
#define REG_PWM2 0x06
#define REG_DATAUPDATE 0x07

void rgb_set_rgb(uint8_t r, uint8_t g, uint8_t b)
{
uint8_t rgb[4] = {0x04, r, g, b};
uint8_t rgb[4] = {REG_PWM0, r, g, b};
i2c_write_blocking(I2C_PORT, IS31_ADDR, rgb, 4, false);
i2c_write_blocking(I2C_PORT, IS31_ADDR, (const uint8_t[]){0x07, 0x00}, 2, false); // pwm data
i2c_write_blocking(I2C_PORT, IS31_ADDR, (const uint8_t[]){REG_DATAUPDATE, 0x00}, 2, false); // pwm data
}

void rgb_set_auto(bool enable, bool led)
{
const uint8_t current_driver_settings[2] = {0x00, 0x20}; // {disable current driver, enable current driver}
const uint8_t current_driver_address_value[2] = {0x00, current_driver_settings[led]}; // {enable current register address, enable current register value}
i2c_write_blocking(I2C_PORT, IS31_ADDR, current_driver_address_value, 2, false);
const uint8_t cmd[2] = {REG_SHDN, led ? (uint8_t)0x20 : (uint8_t)0x00};
i2c_write_blocking(I2C_PORT, IS31_ADDR, cmd, 2, false);

const uint8_t rgb_colors[3][3] = {{255, 0, 0}, {1, 20, 7}, {0, 0, 255}}; // r, g, b
rgb_set_rgb(rgb_colors[enable][0], rgb_colors[enable][1], rgb_colors[enable][2]);
}

void rgb_set_breathing(bool breathing)
{
const uint8_t breathing_settings[2] = {0x00, 0x20}; // {no breathing, yes breathing}
const uint8_t breathing_address_value[2] = {0x02, breathing_settings[breathing]}; // {breathing register address, breathing register value}
i2c_write_blocking(I2C_PORT, IS31_ADDR, breathing_address_value, 2, false);
const uint8_t cmd[2] = {REG_BREATHCTRL, breathing ? (uint8_t)0x20 : (uint8_t)0x00};
i2c_write_blocking(I2C_PORT, IS31_ADDR, cmd, 2, false);
}

void rgb_init()
{
gpio_put(IS31_POW_EN, 1);
i2c_write_blocking(I2C_PORT, IS31_ADDR, (const uint8_t[2]){0x03, 0x08}, 2, false); // Set max current to 5 mA
i2c_write_blocking(I2C_PORT, IS31_ADDR, (const uint8_t[2]){REG_CURRSET, 0x08}, 2, false); // Set max current to 5 mA
}

4 changes: 1 addition & 3 deletions firmware/is32fl3193.h
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Original file line number Diff line number Diff line change
@@ -1,7 +1,5 @@
#pragma once

#define IS31_ADDR 0x68

void rgb_init();
void rgb_set_breathing(bool breathing);
void rgb_set_breathing(bool breathing);
void rgb_set_auto(bool enable, bool led);
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