├── .editorconfig ├── .gitattributes ├── .github ├── images │ └── platformio_buttons.png └── workflows │ └── pio-ci.yaml ├── .gitignore ├── .vscode ├── extensions.json └── settings.json ├── CHANGELOG.md ├── LICENSE ├── README.md ├── ci-util.py ├── include ├── config │ ├── configuration.hpp │ ├── configuration_controller.hpp │ └── keys │ │ ├── digital_key_config.hpp │ │ ├── he_key_config.hpp │ │ └── key_config.hpp ├── definitions.hpp ├── handlers │ ├── key_handler.hpp │ ├── keys │ │ ├── digital_key.hpp │ │ ├── he_key.hpp │ │ └── key.hpp │ └── serial_handler.hpp └── helpers │ ├── gauss_lut.hpp │ ├── sma_filter.hpp │ └── string_helper.hpp ├── platformio.ini └── src ├── config └── configuration_controller.cpp ├── handlers ├── key_handler.cpp └── serial_handler.cpp ├── helpers ├── gauss_lut.cpp ├── sma_filter.cpp └── string_helper.cpp └── main.cpp /.editorconfig: -------------------------------------------------------------------------------- 1 | root = true 2 | 3 | [*] 4 | indent_style = space 5 | indent_size = 4 6 | tab_width = 4 7 | end_of_line = lf 8 | charset = utf-8 9 | trim_trailing_whitespace = true 10 | insert_final_newline = true 11 | 12 | [*.md] 13 | trim_trailing_whitespace = false 14 | 15 | [*.c] 16 | max_line_length = 100 17 | brace_style = allman 18 | 19 | [*.cpp] 20 | max_line_length = 100 21 | brace_style = allman 22 | 23 | [*.h] 24 | max_line_length = 100 25 | brace_style = allman 26 | 27 | [*.hpp] 28 | max_line_length = 100 29 | brace_style = allman 30 | -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- 1 | * text=auto eol=lf 2 | *.c text 3 | *.cpp text 4 | *.h text 5 | *.hpp text 6 | -------------------------------------------------------------------------------- /.github/images/platformio_buttons.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/minipadKB/minipad-firmware/ba1b653c7f6ef656f70b7bfc32b03231da5a57e7/.github/images/platformio_buttons.png -------------------------------------------------------------------------------- /.github/workflows/pio-ci.yaml: -------------------------------------------------------------------------------- 1 | name: PlatformIO CI 2 | 3 | on: 4 | workflow_dispatch: 5 | push: 6 | branches: 7 | - release-ci 8 | 9 | jobs: 10 | ci: 11 | runs-on: ubuntu-latest 12 | permissions: 13 | contents: write 14 | 15 | steps: 16 | - uses: actions/checkout@v3 17 | - uses: actions/cache@v3 18 | with: 19 | path: | 20 | ~/.cache/pip 21 | ~/.platformio/.cache 22 | key: ${{ runner.os }}-pio 23 | - uses: actions/setup-python@v4 24 | with: 25 | python-version: '3.9' 26 | 27 | - name: Install CI-Util Dependencies 28 | run: pip install --upgrade requests 29 | 30 | - name: Set Firmware Version 31 | id: get_version 32 | run: python ci-util.py --set-version 33 | 34 | - name: Firmware Version Update Check 35 | run: python ci-util.py --fail-on-no-version-increment 36 | 37 | - name: Generate Changelog 38 | id: generate_changelog 39 | run: python ci-util.py --generate-changelog 40 | 41 | - name: Install PlatformIO Core 42 | run: pip install --upgrade platformio 43 | 44 | - name: Build 2K Firmware 45 | run: pio run --environment minipad-2k-prod --verbose 46 | 47 | - name: Build 3K Firmware 48 | run: pio run --environment minipad-3k-prod --verbose 49 | 50 | - name: Create Release 51 | uses: actions/create-release@v1 52 | id: create_release 53 | env: 54 | GITHUB_TOKEN: ${{ github.token }} 55 | with: 56 | draft: false 57 | prerelease: false 58 | release_name: ${{ steps.generate_changelog.outputs.changelog_title }} 59 | tag_name: ${{ steps.get_version.outputs.firmware_version }} 60 | body_path: CURRENT_CHANGELOG.md 61 | 62 | - name: Upload 2K Firmware Artifact 63 | uses: actions/upload-release-asset@v1 64 | env: 65 | GITHUB_TOKEN: ${{ github.token }} 66 | with: 67 | upload_url: ${{ steps.create_release.outputs.upload_url }} 68 | asset_path: ./.pio/build/minipad-2k-prod/firmware.uf2 69 | asset_name: minipad_firmware_2k_${{ steps.get_version.outputs.firmware_version }}.uf2 70 | asset_content_type: application/octet-stream 71 | 72 | - name: Upload 3K Firmware Artifact 73 | uses: actions/upload-release-asset@v1 74 | env: 75 | GITHUB_TOKEN: ${{ github.token }} 76 | with: 77 | upload_url: ${{ steps.create_release.outputs.upload_url }} 78 | asset_path: ./.pio/build/minipad-3k-prod/firmware.uf2 79 | asset_name: minipad_firmware_3k_${{ steps.get_version.outputs.firmware_version }}.uf2 80 | asset_content_type: application/octet-stream 81 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .pio 2 | .vscode/.browse.c_cpp.db* 3 | .vscode/c_cpp_properties.json 4 | .vscode/launch.json 5 | .vscode/ipch 6 | -------------------------------------------------------------------------------- /.vscode/extensions.json: -------------------------------------------------------------------------------- 1 | { 2 | // See http://go.microsoft.com/fwlink/?LinkId=827846 3 | // for the documentation about the extensions.json format 4 | "recommendations": [ 5 | "EditorConfig.EditorConfig", 6 | "platformio.platformio-ide" 7 | ], 8 | "unwantedRecommendations": [ 9 | "ms-vscode.cpptools-extension-pack" 10 | ] 11 | } 12 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "files.associations": { 3 | "memory": "cpp", 4 | "functional": "cpp", 5 | "cmath": "cpp", 6 | "new": "cpp", 7 | "optional": "cpp", 8 | "ostream": "cpp", 9 | "system_error": "cpp", 10 | "array": "cpp", 11 | "tuple": "cpp", 12 | "type_traits": "cpp", 13 | "utility": "cpp", 14 | "ranges": "cpp", 15 | "iosfwd": "cpp", 16 | "limits": "cpp", 17 | "streambuf": "cpp", 18 | "string_view": "cpp", 19 | "cstdint": "cpp", 20 | "random": "cpp" 21 | }, 22 | "cmake.configureOnOpen": false 23 | } 24 | -------------------------------------------------------------------------------- /CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # 2024.606.1 - Proper digital key support 2 | 3 | This release brings proper support for digital keys. Until now, the implementation of digital keys has been poorly as there was no INPUT_PULLUP on the pins by default, which is annoying to users of the firmware as in almost all cases this is required for mechanical switches or simple push buttons to work. 4 | 5 | This and more is changed now so that digital keys can easily be supported out-of-the-box. 6 | 7 | ## Changes 8 | - `pinMode(pin, INPUT_PULLUP)` is now invoked on every pin assigned to a digital key 9 | - Instead of `HIGH`, `LOW` is now considered as pressed down on digital keys 10 | 11 | # 2024.309.1 - Auto-calibration & Gauss correction 12 | 13 | This release was long overdue. Auto-calibration has been added, removing the need to manually calibrate the rest- and down positions via minitool. 14 | It also adds calculations to correct the slightly non-linear relation between magnetic field strength (what the sensor measures) and the actual distance of the magnet. 15 | 16 | ## Features 17 | 18 | - Calibration is now automatically performed, with a definition `AUTO_CALIBRATION_DEADZONE` to introduce a deadzone, considering for rare peaks towards the boundaries 19 | - Added correction of the relation between the magnetic field strength (the analog value) and the actual, physical distance of the magnet from the sensor. (Co-authored by @RephlexZero) 20 | 21 | ## Changes 22 | 23 | - Removed the `out ` command 24 | - The whole codebase went under huge re-structuring, improving code quality and maintainability. More can be found at https://github.com/minipadKB/minipad-firmware/pull/56 25 | 26 | # 2023.813.1 - QoL Update 27 | 28 | This release does a lot of QoL changes, as well as doing the final preparations of the firmware for compabitility with the upcoming configuration software, minitility!
29 | This update was supposed to include the new auto-calibration functionality but it was deemed to not be production-ready, therefore all current changes are pushed with this smaller update. 30 | 31 | ## Features 32 | 33 | - The `out` command now supports specifying no parameter at all, in which case it outputs the sensor values once 34 | - The fields `lastSensorValue` and `lastMappedValue` have been added to the `HEKeyState`, allowing to access them across the firmware 35 | - The key chars supported are no longer restricted to a-z, any character from 0-255 can now be chosen, including modifier keys 36 | - The `hkey/dkey.char` command now allows characters like `a` or `7` as the parameter, instead of their ASCII number equivalent 37 | 38 | ## Bug Fixes 39 | 40 | - Fixed rare cases in which command handling failed 41 | 42 | ## Changes 43 | 44 | - Serial input handling is now using Arduino's built-in `serialEvent` function 45 | - All includes of `stdint.h` have been replaced with C++'s `cstdint` 46 | - The default values of the configuration have been migrated from the `getDefaultConfig` function to their structs 47 | 48 | # 2023.516.1 - Digital key support, support for more keys! 49 | 50 | This release adds support for digital keys, which might not be useful for minipad owners *yet*, but is for people DIY-ing a keypad or messing around with the firmware, as well as the collaboratoring commercial products of the Minipad Project. 51 | 52 | This release also prepares the communication with minitility, our configuration software which is coming closer to be ready to use. 53 | 54 | ## Features 55 | 56 | - Added support for digital keys (push buttons, mechanical switches, ...) 57 | - Added debounce for digital keys with a default of 50ms 58 | - Made the amount of hall effect/digital keys fully dynamic, not limited to 2-3 but rather limited to the hardware specifications of the RP2040 micro controller 59 | 60 | ## Bug Fixes 61 | 62 | - Refactored `getArgumentAt` function 63 | - Fix `name` command not null-terminating 64 | 65 | ## Changes 66 | 67 | - Migrated info retrieved via the `ping` to the `get` command 68 | - Split the `key` identifier in the serial protocol into `hkey` (hall effect) and `dkey` (digital) 69 | - Changed the command for changing the key pressed from `key` to `char` 70 | - Removed config versions other than the main `Configuration` object, removed mutations 71 | - Switched from hardcoded pin arrays to a formula macro 72 | - Changed the default values for rest and down positions to 4095 and 0 respectively 73 | - Added definition for reversing the sensor values 74 | 75 | # 2023.410.1 - Initial release! 76 | 77 | Initial release. 78 | 79 | ## Features 80 | 81 | - Full serial communication for minitility 82 | - Support for a custom actuation point 83 | - Support for Rapid Trigger, Continuous Rapid Trigger and custom up/down sensitivity 84 | - Support for changing keys 85 | - Support for enabling/disabling keys 86 | - Support for 2-3 keys 87 | - Simple moving average implementation for analog stability 88 | - Config being saved in EEPROM 89 | 90 | ## Bug Fixes 91 | 92 | None in this release. 93 | 94 | ## Changes 95 | 96 | None in this release. 97 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 |
2 | 3 | # minipad-firmware 4 | 5 | [![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0) 6 | [![Discord](https://img.shields.io/discord/1056311828344483840?label=discord&color=7289da)](https://discord.gg/hQJ6dq7qBa) 7 | [![Downloads](https://img.shields.io/github/downloads/minipadkb/minipad-firmware/total)](https://github.com/minipadKB/minipad-firmware/releases/latest) 8 | [![Latest Release](https://img.shields.io/github/v/release/minipadkb/minipad-firmware?color=dd00dd)](https://github.com/minipadKB/minipad-firmware/releases/latest) 9 | 10 | The firmware for the minipad, an RP2040-based 2-3-key keypad for the rhythm game osu!. 11 | 12 | This firmware is designed specifically to work with our open-source PCB,
13 | which can be found in our GitHub repository [here](https://github.com/minipadkb/minipad). 14 | 15 | [Features](#features-%EF%B8%8F) • [Installation](#installation-) • [Development Setup](#setup-for-development-)
16 | [Serial Protocol](#minipad-serial-protocol-msp-) • [Licenses](#licenses-) 17 |
18 | 19 |
20 | Made with ❤️ by Project Minipad 21 |
22 | 23 | # Features ⌨️ 24 | 25 | Although this firmware is made for the aforementioned PCB, it can be used for different kinds of (hall effect or not) keypad/keyboard projects due to it's support of both digital and hall effect buttons, as well as no real limitation on how many keys to use. 26 | 27 | Here is a list of features that are both planned and available: 28 | - A fully dynamic amount of hall effect and digital keys (only limited by the RP2040) 29 | - Rapid Trigger (explained [here](https://github.com/minipadKB/minipad-firmware/blob/master/src/handlers/keypad_handler.cpp#L13)) with 0.01mm resolution 30 | - Flexible, configurable travel distance of switches 31 | - Adjustable actuation point (0.01mm resolution) 32 | - Software-based low pass filter for analog stability 33 | - Configurable keychar pressed upon key interaction 34 | - Serial communication protocol for configuration 35 | - A command-line tool for configuration, [minitool](https://github.com/minipadkb/minitool) 36 | 37 | Planned Features 🗒️ 38 | - 39 | - Support for RGB lights, including configurable colors and effects 40 | - Usage of multiplexers to allow for more keys to be used on the hardware 41 | 42 | # Installation ⚡ 43 | 44 | To flash this firmware on your minipad or other RP2040 board, please refer to our [firmware installation guide](https://minipadkb.github.io/minipad-wiki/docs/minipad/install-firmware). In there, you can find the instructions on how to initially load the firmware on the keypad, and how to update it later on. 45 | 46 | # Setup for development 💻 47 | 48 | Setting up this project is really simple. The repository is set up using PlatformIO, an IDE in form of an extension for Visual Studio Code. 49 | You can find a download link for Visual Studio Code [here](https://code.visualstudio.com/). In there, search and install the extension `PlatformIO`. 50 | 51 | After that is done, clone the repository with `git clone https://github.com/minipadkb/minipad-firmware` and open the cloned folder using Visual Studio Code. PlatformIO will perform an installation of all dependencies for this project (Arduino-Pico framework, various drivers, ...). This might take up some time, depending on your network connection. 52 | 53 | If you are not familiar with the usage of PlatformIO, a Quick Start guide can be found [here](https://docs.platformio.org/en/stable/integration/ide/vscode.html). 54 | 55 | Note: Uploading the firmware only works if the micro controller is set into bootloader mode. This can be done using the BOOTSEL button on development boards or setting the minipad into bootloader mode/flashing directly via minitool. Help on the latter can be found [here](https://github.com/minipadkb/minitool?tab=readme-ov-file#usage). 56 | 57 | # Minipad Serial Protocol (MSP) 🔗 58 | 59 | The firmware is being configured and accessed from the host device via Serial communication at a baud rate of 115200. 60 | There is a command-line utility tool called "minitool" for communicating with the firmware. You can find the git repository [here](https://github.com/minipadkb/minitool). 61 | 62 | All data sent via the serial interface is being interpreted as a command with the following syntax: 63 | `command arg0 arg1 arg2 ...`. The command and it's arguments are split by whitespaces, ending with a newline character. 64 | 65 | There is a differention between a global and key-related command. As for keys, namingly hall effect keys (identifier `hkey`) and digital keys (identifier `dkey`), the command syntax looks the following: `identifier.command arg0 arg1 arg2 ...`. 66 | 67 | Either a single key or all keys at one can be targetted. If you wish to target a single key, you can put the one-based index of the key after the identifier. (e.g. `hkey1`, `dkey3`) 68 | 69 | Here is a list of commands and examples for them: 70 | 71 |
72 | Global commands 73 | 74 | *Command*: `boot`
75 | *Syntax*: `boot`
76 | *Example*: `boot`
77 | *Description*: Sets the device into bootloader mode. 78 | 79 | *Command*: `save`
80 | *Syntax*: `save`
81 | *Example*: `save`
82 | *Description*: Writes the current configuration of the keypad to the EEPROM. 83 | 84 | *Command*: `get`
85 | *Syntax*: `get`
86 | *Example*: `get`
87 | *Description*: Returns the configuration of the keypad, in the `GET key=value` format. 88 | 89 | *Command*: `name`
90 | *Syntax*: `name `
91 | *Example*: `name mini's minipad`
92 | *Description*: Sets the name of the minipad, used to distinguish different devices visually. 93 | 94 | *Command*: `out`
95 | *Syntax*: `out`
96 | *Example*: `out`
97 | *Description*: Returns the sensor values and magnet distance of all Hall Effect keys. 98 | 99 | *Command*: `echo` (debug-exclusive)
100 | *Syntax*: `echo `
101 | *Example*: `echo I am a string.`
102 | *Description*: Echoes the specified string, used for development purposes. 103 | 104 |
105 | 106 |
107 | Key-related commands 108 | 109 | *Command*: `hkey.rt`
110 | *Syntax*: `hkey.rt `
111 | *Example*: `hkey.rt 1`
112 | *Description*: Enables/Disables Rapid Trigger functionality on the specified key. 113 | 114 | *Command*: `hkey.crt`
115 | *Syntax*: `hkey.crt `
116 | *Example*: `hkey.crt false`
117 | *Description*: Enables/Disables Continuous Rapid trigger functionality on the specified key. 118 | 119 | *Command*: `hkey.rtus`
120 | *Syntax*: `hkey.rtus `
121 | *Example*: `hkey.rtus 45`
122 | *Description*: Sets the sensitivity for an upwards movement of the Rapid Trigger feature on the key. The unit of the value is 0.01mm. 123 | 124 | *Command*: `hkey.rtds`
125 | *Syntax*: `hkey.rtds `
126 | *Example*: `hkey.rtds 10`
127 | *Description*: Sets the sensitivity for a downwards movement of the Rapid Trigger feature on the key. The unit of the value is 0.01mm. 128 | 129 | *Command*: `hkey.lh`
130 | *Syntax*: `hkey.lh `
131 | *Example*: `hkey.lh 250`
132 | *Description*: Sets the lower hysteresis for the actuation point below which the key is being pressed. The unit of the value is 0.01mm. 133 | 134 | *Command*: `hkey.uh`
135 | *Syntax*: `hkey.uh `
136 | *Example*: `hkey.uh 320`
137 | *Description*: Sets the upper hysteresis for the actuation point above which the key is no longer being pressed. The unit of the value is 0.01mm. 138 | 139 | *Command*: `hkey.char`, `dkey.char`
140 | *Syntax*: `?key.char `
141 | *Example*: `dkey.char 97` or `dkey.char a`
142 | *Description*: Sets the character pressed when the specified key is pressed down. The value is the ASCII number of the character. 143 | 144 | *Command*: `hkey.hid`, `dkey.hid`
145 | *Syntax*: `?key.hid `
146 | *Example*: `dkey.hid false`
147 | *Description*: Enables/Disables the HID output (meaning whether the key signal is sent to the host device) on the specified key. 148 | 149 |
150 | 151 | # Commercial usage 💵 152 | 153 | As the firmware is distributed under the GPL-3 license, commercial usage is allowed for anyone, given that your source code and any changes made are released to the public. 154 | 155 | Furthermore, we'd like every company or individuals using the firmware commercially to consider donating us a part of their profit made. This would help us funding the Minipad Project, as well as allowing us to spend more of our free-time to work and maintain this project. 156 | 157 | If you're considering financially supporting us, please send a DM to `@minisbett` on Discord, or reach out to them via [Twitter](https://twitter.com/minisbett). 158 | 159 | We're more than happy to help you get along with the firmware, as well as adjusting it to work on your hardware! 160 | 161 | # Licenses 🔑 162 | 163 | | Component | Original Repository | Forked Repository | License | 164 | |:-------:|:-------------------:|:-----------------:|:-------:| 165 | | Arduino Pico | [earlephilhower/arduino-pico](https://github.com/earlephilhower/arduino-pico) | [minipadkb/arduino-pico](https://github.com/minipadkb/arduino-pico) | [![LGPLv2.1](https://img.shields.io/badge/License-LGPL%20v2.1-blue.svg)](https://github.com/minipadKB/arduino-pico/blob/master/LICENSE) | 166 | | Keyboard | [earlephilhower/Keyboard](https://github.com/earlephilhower/Keyboard) | [minipadKB/Keyboard](https://github.com/minipadKB/Keyboard) | [![LGPLv3.0](https://img.shields.io/badge/License-LGPL%20v3.0-blue.svg)](https://github.com/minipadKB/Keyboard/blob/master/LICENSE) | 167 | | Pico SDK | [raspberrypi/pico-sdk](https://github.com/raspberrypi/pico-sdk) | [minipadKB/pico-sdk](https://github.com/minipadKB/pico-sdk) | [![BSD-3-Clause](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://github.com/minipadKB/pico-sdk/blob/master/LICENSE.TXT) | 168 | -------------------------------------------------------------------------------- /ci-util.py: -------------------------------------------------------------------------------- 1 | import os 2 | import os.path 3 | import sys 4 | import requests 5 | import itertools 6 | 7 | from typing import Optional 8 | 9 | # Get the firmware version from the definitions.hpp file 10 | def get_firmware_version() -> Optional[str]: 11 | with open("./include/definitions.hpp", encoding="utf8") as f: 12 | for line in f.readlines(): 13 | if line.startswith("#define FIRMWARE_VERSION"): 14 | version = line.split('"')[1] 15 | return version 16 | 17 | return None 18 | 19 | # Get the changelog from the CHANGELOG.md file via # headers 20 | def get_changelog(version: str) -> tuple[str, list[str]]: 21 | with open("./CHANGELOG.md", "r") as f: 22 | # Get all lines in the file 23 | full_changelog = f.readlines() 24 | 25 | # Check if a section for the version exists 26 | if not any(line.startswith(f"# {version}") for line in full_changelog): 27 | print(f"::error::Changelog for version '{version}' not found") 28 | sys.exit(1) 29 | 30 | # Skip the lines while it does not start with # 31 | from_version_start = list(itertools.dropwhile(lambda line: not line.startswith(f"# {version}"), full_changelog)) 32 | 33 | # Remember the version title and remove the line afterwards 34 | version_title = from_version_start[0][2:-1] 35 | without_version_header = itertools.islice(from_version_start, 1, None) 36 | 37 | # Get the body of the version section until another version header or the end of the file was reached 38 | changelog = itertools.takewhile(lambda x: not x.startswith("# "), without_version_header) 39 | 40 | # Remove all blank lines at the start of the changelog 41 | changelog = itertools.dropwhile(lambda x: x == "\n", changelog) 42 | 43 | return (version_title, list(changelog)) 44 | 45 | def main() -> None: 46 | # Check if exactly one argument was specified 47 | if len(sys.argv) != 2: 48 | print("::error::Invalid argument count") 49 | sys.exit(1) 50 | 51 | # Get firmware version 52 | version = get_firmware_version() 53 | 54 | # Check if getting the firmware version was successful 55 | if not version: 56 | print("::error::Cannot find FIRMWARE_VERSION definition in definitions.hpp") 57 | sys.exit(1) 58 | 59 | # Set the version of the firmware in the workflow environment variable $GITHUB_OUTPUT 60 | elif sys.argv[1] == "--set-version": 61 | print(f"::notice::Set firmware_version variable in $GITHUB_OUTPUT to '{version}'") 62 | os.system(f'echo "firmware_version={version}" >> $GITHUB_OUTPUT') 63 | 64 | # Get the newest version of the firmware from the releases on GitHub and compare the versions for changes 65 | # If no change was found, return an exit code > 0 in order to make the workflow ci fail 66 | elif sys.argv[1] == "--fail-on-no-version-increment": 67 | 68 | json = requests.get("https://api.github.com/repos/minipadkb/minipad-firmware/releases").json() 69 | 70 | # Check whether there is a release and the versions match 71 | if len(json) > 0 and json[0]["tag_name"] == version: 72 | print(f"::error::Firmware version of this build and the latest release are identical ('{version}')") 73 | sys.exit(1) 74 | elif len(json) == 0: 75 | print(f"::notice::No previous release found") 76 | else: 77 | print(f"::notice::Firmware versions are different (this: '{json[0]['tag_name']}', release: '{version}')") 78 | 79 | # Check if a changelog for the new version exists. If not, make the workflow ci fail. If it exists, return it 80 | elif sys.argv[1] == "--generate-changelog": 81 | 82 | changelog_title, changelog = get_changelog(version) 83 | 84 | # Check whether getting the changelog was successful 85 | if len(changelog) == 0: 86 | print(f"::error::Changelog for version '{version}' not found") 87 | sys.exit(1) 88 | 89 | # Write the version title (after the '# ') to $GITHUB_OUTPUT 90 | os.system(f'echo "changelog_title={changelog_title}" >> $GITHUB_OUTPUT') 91 | 92 | # Write the changelog to the file 93 | with open("CURRENT_CHANGELOG.md", "w") as f: 94 | f.writelines(changelog) 95 | 96 | print(f"::notice::Changelog for version '{version}' was saved in 'CURRENT_CHANGELOG.md'") 97 | 98 | if __name__ == "__main__": 99 | main() 100 | -------------------------------------------------------------------------------- /include/config/configuration.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "config/keys/he_key_config.hpp" 4 | #include "config/keys/digital_key_config.hpp" 5 | 6 | // Configuration for the whole firmware, containing the name of the keypad and it's configurations. 7 | struct Configuration 8 | { 9 | // Version of the configuration, used to check whether the struct layout in the EEPROM is up-to-date. 10 | uint32_t version = Configuration::getVersion(); 11 | 12 | // The name of the keypad, used to distinguish it from others. 13 | char name[128] = "minipad"; 14 | 15 | // A list of all hall effect key configurations. (rapid trigger, hysteresis, calibration, ...) 16 | HEKeyConfig heKeys[HE_KEYS]; 17 | 18 | // A list of all digital key configurations. (key char, hid state, ...) 19 | DigitalKeyConfig digitalKeys[DIGITAL_KEYS]; 20 | 21 | // Returns the version constant of the latest Configuration layout. 22 | static uint32_t getVersion() 23 | { 24 | // Version of the configuration in the format YYMMDDhhmm (e.g. 2301030040 for 12:44am on the 3rd january 2023) 25 | int64_t version = 2308161815; 26 | 27 | return version; 28 | } 29 | }; 30 | -------------------------------------------------------------------------------- /include/config/configuration_controller.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #pragma GCC diagnostic ignored "-Wtype-limits" 3 | 4 | #include "config/configuration.hpp" 5 | #include "definitions.hpp" 6 | 7 | inline class ConfigurationController 8 | { 9 | public: 10 | ConfigurationController() 11 | { 12 | defaultConfig = getDefaultConfig(); 13 | config = defaultConfig; 14 | } 15 | 16 | void loadConfig(); 17 | void saveConfig(); 18 | 19 | Configuration config; 20 | 21 | private: 22 | Configuration defaultConfig; 23 | 24 | // Default configuration loaded into the EEPROM if no configuration was saved yet. Also used to reset the keypad and calibration 25 | // structs that might get modified on a firmware update and have to be reset back to their default values then later on. 26 | Configuration getDefaultConfig() 27 | { 28 | Configuration config; 29 | 30 | // Populate the Hall Effect keys array with the correct amount of Hall Effect keys. 31 | // Assign the key char from z downwards (z, y, x, w, v, ...). After 26 keys, stick to an 'a' key to not overflow. 32 | for (uint8_t i = 0; i < HE_KEYS; i++) 33 | config.heKeys[i] = HEKeyConfig(i >= 26 ? 'a' : (char)('z' - i)); 34 | 35 | // Populate the digital keys array with the correct amount of digital keys. 36 | // Assign the key char from a forwards (a, b, c, d, e, ...). After 26 keys, stick to an 'z' key to not overflow. 37 | for (uint8_t i = 0; i < DIGITAL_KEYS; i++) 38 | config.digitalKeys[i] = DigitalKeyConfig(i >= 26 ? 'z' : (char)('a' + i)); 39 | 40 | return config; 41 | }; 42 | 43 | } ConfigController; 44 | -------------------------------------------------------------------------------- /include/config/keys/digital_key_config.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "config/keys/key_config.hpp" 5 | 6 | // Configuration for the digital keys of the keypad. 7 | struct DigitalKeyConfig : KeyConfig 8 | { 9 | // Default constructor for the DigitalKeyConfig struct for initializing the arrays in the Configuration struct. 10 | DigitalKeyConfig() : KeyConfig('\0') {} 11 | 12 | // Initialize with the specified key char. 13 | DigitalKeyConfig(char keyChar) : KeyConfig(keyChar) {} 14 | 15 | // This struct is empty on purpose. The only purpose it serves is explicitly having 16 | // a type for the digital keys, instead of differentiating between KeyConfig and DigitalKeyConfig. 17 | }; 18 | -------------------------------------------------------------------------------- /include/config/keys/he_key_config.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "config/keys/key_config.hpp" 5 | #include "definitions.hpp" 6 | 7 | // Configuration for the Hall Effect keys of the keypad, containing the actuation points, calibration, sensitivities etc. of the key. 8 | struct HEKeyConfig : KeyConfig 9 | { 10 | // Default constructor for the HEKeyConfig struct for initializing the arrays in the Configuration struct. 11 | HEKeyConfig() : KeyConfig('\0') {} 12 | 13 | // Initialize with the specified key char. 14 | HEKeyConfig(char keyChar) : KeyConfig(keyChar) {} 15 | 16 | // Bool whether rapid trigger is enabled or not. 17 | bool rapidTrigger = false; 18 | 19 | // Bool whether continuous rapid trigger is enabled or not. 20 | bool continuousRapidTrigger = false; 21 | 22 | // The sensitivity of the rapid trigger algorithm when pressing up. 23 | uint16_t rapidTriggerUpSensitivity = TRAVEL_DISTANCE_IN_0_01MM / 10; 24 | 25 | // The sensitivity of the rapid trigger algorithm when pressing down. 26 | uint16_t rapidTriggerDownSensitivity = TRAVEL_DISTANCE_IN_0_01MM / 10; 27 | 28 | // The value below which the key is pressed and rapid trigger is active in rapid trigger mode. 29 | uint16_t lowerHysteresis = (uint16_t)(TRAVEL_DISTANCE_IN_0_01MM * 0.55); 30 | 31 | // The value below which the key is no longer pressed and rapid trigger is no longer active in rapid trigger mode. 32 | uint16_t upperHysteresis = (uint16_t)(TRAVEL_DISTANCE_IN_0_01MM * 0.675); 33 | }; 34 | -------------------------------------------------------------------------------- /include/config/keys/key_config.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | // The base configuration struct for the DigitalKeyConfig and HEKeyConfig struct, containing the common fields. 6 | struct KeyConfig 7 | { 8 | // Require every key config to be initialized with a key char. 9 | KeyConfig(char keyChar) : keyChar(keyChar) {} 10 | 11 | // The corresponding key sent via HID interface. 12 | char keyChar; 13 | 14 | // Bools whether HID commands are sent on the key. 15 | bool hidEnabled = false; 16 | }; 17 | -------------------------------------------------------------------------------- /include/definitions.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | // The version of this firmware in the YYYY.MDD.PATCH format. (e.g. 2022.1219.2 for the 2nd release on the 19th december 2022) 4 | #define FIRMWARE_VERSION "2024.606.1" 5 | 6 | // ┌───────────────────────────────────────────────────────────────────────────────────────────────────┐ 7 | // │ │ 8 | // │ !!!WARNING!!! │ 9 | // │ │ 10 | // │ DO NOT CHANGE UNLESS ADVISED. MODIFIED VALUES MAY CAUSE AN INCONSISTENT KEYPAD BEHAVIOR │ 11 | // │ THAT VIOLATES OSU'S RULES. CHANGING THIS MAY LEAD TO INCORRECT KEY PRESSES AND A RESTRICTION. │ 12 | // │ │ 13 | // └───────────────────────────────────────────────────────────────────────────────────────────────────┘ 14 | 15 | // The minimum difference between the lower and upper hysteresis. This is important to not have the key continuously 16 | // actuate if you do very very slight movements or if the fluctuation is simply too high. It also defines the gap there 17 | // has to be between the defined TRAVEL_DISTANCE_IN_0_01MM and the upper hysteresis so the actuation logic cannot 18 | // possibly get stuck if you press the key down but happen to not be able to get back up enough. 19 | #define HYSTERESIS_TOLERANCE 10 20 | 21 | // The minimum value for the rapid trigger sensitivities. This is important to not have the key continuously 22 | // continuously actuate if you do very very slight movements or if the fluctuation is simply too high. 23 | #define RAPID_TRIGGER_TOLERANCE 10 24 | 25 | // The threshold when a key is considered fully released. 10 would mean if the key is <0.1mm pressed. 26 | // This value is important to reset the rapid trigger state properly with continuous rapid trigger. 27 | #define CONTINUOUS_RAPID_TRIGGER_THRESHOLD 10 28 | 29 | // This number will be added to the down position and substracted from the rest position on bounary update 30 | // to introduce a deadzone at the boundaries. This might be desired since values might fluctuate. 31 | // e.g. if the value fluctuates around 1970 in rest position but peaks at 1975, this would counteract it. 32 | // 10 may seem like much at first but when "smashing" the button a lot it'll be just right. 33 | #define SENSOR_BOUNDARY_DEADZONE 10 34 | 35 | // The minimum difference between the rest position and the deadzone-applied down position. 36 | // It is important to mantain a minimum analog range to prevent "crazy behavior". 37 | #define SENSOR_BOUNDARY_MIN_DISTANCE 200 38 | 39 | // Flag for enabling gauss correction. This improves the accuracy of the sensor readings by correcting the curve of 40 | // the relation between the magnetic field strength near the sensor and the distance of the magnet from the sensor. 41 | // If this firmware is used on a device with different magnets, the values below have to be adjusted or gauss correction has to be disabled. 42 | #define USE_GAUSS_CORRECTION_LUT 43 | 44 | // Variables for the equation to calculate the ADC reading into a physical distance. These numbers are chosen by trial-and-error, making the curve fit. 45 | // These values are only effective on magnets like the ones used in the Gateron-KS 20 or the Wooting Lekkers, which are based on them. 46 | // This gauss correction is also dependent on the hardware specifications. The switch should be as close to the Hall Effect sensor as possible. 47 | // The Hall Effect sensor used is the 49E sensor, therefore these values are highly tailored towards the hardware of the minipad. 48 | // If this firmware is used on a device with different magnets/hardware, these values have to be adjusted or gauss correction has to be disabled. 49 | // The equation for the gauss correction is based off the following Desmos sheet and can be used for adjustments: https://www.desmos.com/calculator/ps4wd127tu 50 | #define GAUSS_CORRECTION_PARAM_A 6647.8446648 51 | #define GAUSS_CORRECTION_PARAM_B -0.00609446727442 52 | #define GAUSS_CORRECTION_PARAM_C -721.743991123 53 | #define GAUSS_CORRECTION_PARAM_D 4525.58542876 54 | 55 | // The resolution for the ADCs on the RP2040. The theoretical maximum value on it is 16 bit (uint16_t). 56 | #define ANALOG_RESOLUTION 12 57 | 58 | // The buffer size of any serial input. Defined here for consistent use across the serial handler and avoiding of magic numbers. 59 | #define SERIAL_INPUT_BUFFER_SIZE 1024 60 | 61 | // The exponent for the amount of samples for the SMA filter. This filter reduces fluctuation of analog values. 62 | // A value too high may cause unresponsiveness. 1 = 1 sample, 2 = 4 samples, 3 = 8 samples, 4 = 16 samples, ... 63 | #define SMA_FILTER_SAMPLE_EXPONENT 4 64 | 65 | // The travel distance of the switches, where 1 unit equals 0.01mm. This is used to map the values properly to 66 | // guarantee that the unit for the numbers used across the firmware actually matches the milimeter metric. 67 | #define TRAVEL_DISTANCE_IN_0_01MM 400 68 | 69 | // Uncomment this line if the sensor readings go up when the key is being pressed down. 70 | // By default, the firmware is made to handle the readings going down and not up. 71 | // #define INVERT_SENSOR_READINGS 72 | 73 | // The delay for the debounce on digital keys. This is necessary because the contacts on digital buttons "bounce", 74 | // meaning instead of a steady HIGH signal you'll get a couple signal changes (e.g. HIGH LOW HIGH LOW HIGH) 75 | // This millisecond delay is the minimum time between button presses for the HID signal to send to the host device. 76 | #define DIGITAL_DEBOUNCE_DELAY 50 77 | 78 | // Macro for getting the hall effect sensor pin of the specified key index. The pin order is being swapped here, 79 | // meaning on a 3-key device the pins are 28, 27 and 26. This macro has to be adjusted, depending on how the PCB 80 | // and hardware of the device using this firmware has been designed. The A0 constant is 26 in the RP2040 environment. 81 | // NOTE: By the uint8 datatype, the amount of keys is limited to 255. 82 | // NOTE: By the RP2040, the amount of analog pins (and therefore keys) is limited o 4. 83 | #define HE_PIN(index) A0 + HE_KEYS - index - 1 84 | 85 | // Macro for getting the pin of the specified index of the digital key. The pin order is swapped here, meaning 86 | // the first digital key is on DIGITAL_KEYS - 1, the second on DIGITAL_KEYS - 2, and so on. 87 | // For 3 digital keys, this would mean that the keys 1, 2 and 3 are bound to the pins 2, 1 and 0 respectively. 88 | // NOTE: This way, the amount of keys is limited to 26 since the 27th key overlaps with the first analog port, 26. 89 | #define DIGITAL_PIN(index) 0 + DIGITAL_KEYS - index - 1 90 | 91 | // Add a compiler error if the firmware is being tried to built with more than the supported 4 keys. 92 | // (only 4 ADC pins available) 93 | #if HE_KEYS > 4 94 | #error As of right now, the firmware only supports up to 4 hall effect keys. 95 | #endif 96 | 97 | // Add a compiler error if the firmware is being tried to built with more than the supported 26 digital keys. 98 | // (limited amount of ports) 99 | #if DIGITAL_KEYS > 26 100 | #error As of right now, the firmware only supports up to 26 digital keys. 101 | #endif 102 | 103 | // If the debug flag is not set via compiler parameters, default it to 0 since it's required for if statements. 104 | #ifndef DEV 105 | #define DEV 0 106 | #endif 107 | -------------------------------------------------------------------------------- /include/handlers/key_handler.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #pragma GCC diagnostic ignored "-Wtype-limits" 3 | 4 | #include "config/configuration_controller.hpp" 5 | #include "handlers/keys/he_key.hpp" 6 | #include "handlers/keys/digital_key.hpp" 7 | #include "helpers/sma_filter.hpp" 8 | #include "helpers/gauss_lut.hpp" 9 | #include "definitions.hpp" 10 | 11 | inline class KeyHandler 12 | { 13 | public: 14 | KeyHandler() 15 | { 16 | // Assign indicies and their corresponding HEKeyConfig to all Hall Effect keys. 17 | for (uint8_t i = 0; i < HE_KEYS; i++) 18 | heKeys[i] = HEKey(i, &ConfigController.config.heKeys[i]); 19 | 20 | // Assign indicies and their corresponding DigitalKeyConfig to all digital keys. 21 | for (uint8_t i = 0; i < DIGITAL_KEYS; i++) 22 | digitalKeys[i] = DigitalKey(i, &ConfigController.config.digitalKeys[i]); 23 | } 24 | 25 | void handle(); 26 | bool outputMode; 27 | HEKey heKeys[HE_KEYS]; 28 | DigitalKey digitalKeys[DIGITAL_KEYS]; 29 | 30 | private: 31 | void updateSensorBoundaries(HEKey &key); 32 | void checkHEKey(HEKey &key); 33 | void checkDigitalKey(DigitalKey &key); 34 | void scanHEKey(HEKey &key); 35 | void scanDigitalKey(DigitalKey &key); 36 | void setPressedState(Key &key, bool pressed); 37 | 38 | #ifdef USE_GAUSS_CORRECTION_LUT 39 | GaussLUT gaussLUT = GaussLUT(GAUSS_CORRECTION_PARAM_A, GAUSS_CORRECTION_PARAM_B, GAUSS_CORRECTION_PARAM_C, GAUSS_CORRECTION_PARAM_D); 40 | #endif 41 | } KeyHandler; 42 | -------------------------------------------------------------------------------- /include/handlers/keys/digital_key.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "config/keys/digital_key_config.hpp" 5 | #include "handlers/keys/key.hpp" 6 | #include "helpers/sma_filter.hpp" 7 | #include "definitions.hpp" 8 | 9 | // A struct representing a digital key, including it's current runtime state and DigitalKeyConfig object. 10 | struct DigitalKey : Key 11 | { 12 | // Default constructor for the DigitalKey struct for initializing the arrays in the KeyHandler class. 13 | DigitalKey() : Key(0, nullptr) {} 14 | 15 | // Require every DigitalKey object to pass a KeyConfig object to the underlaying Key object. 16 | DigitalKey(uint8_t index, DigitalKeyConfig *config) : Key(index, config), config(config) {} 17 | 18 | // The HEKeyConfig object of this digital key. 19 | DigitalKeyConfig *config; 20 | 21 | // The last time a key press on the digital key was sent, in milliseconds since firmware bootup. 22 | unsigned long lastDebounce = 0; 23 | 24 | // Bool whether the key is currently considered pressed, ignoring any debouncing and only considering the current digital signal. 25 | bool pressed; 26 | }; 27 | -------------------------------------------------------------------------------- /include/handlers/keys/he_key.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "config/keys/he_key_config.hpp" 5 | #include "handlers/keys/key.hpp" 6 | #include "helpers/sma_filter.hpp" 7 | #include "definitions.hpp" 8 | 9 | // A struct representing a Hall Effect key, including it's current runtime state and HEKeyConfig object. 10 | struct HEKey : Key 11 | { 12 | // Default constructor for the HEKey struct for initializing the arrays in the KeyHandler class. 13 | HEKey() : Key(0, nullptr) {} 14 | 15 | // Require every HEKey object to pass a KeyConfig object to the underlaying Key object. 16 | HEKey(uint8_t index, HEKeyConfig *config) : Key(index, config), config(config) {} 17 | 18 | // The HEKeyConfig object of this Hall Effect key. 19 | HEKeyConfig *config; 20 | 21 | // State whether the hall effect key is currently inside the rapid trigger zone (below the lower hysteresis). 22 | bool inRapidTriggerZone = false; 23 | 24 | // The current peak value for the rapid trigger logic. 25 | uint16_t rapidTriggerPeak = UINT16_MAX; 26 | 27 | // The raw value with low-pass filter applied read from the Hall Effect sensor. 28 | uint16_t rawValue = 0; 29 | 30 | // The distance of the magnet from the sensor, calculated through the raw value. 31 | uint16_t distance = 0; 32 | 33 | // The highest and lowest values ever read on the sensor. Used for calibration purposes, 34 | // specifically mapping future values read from the sensors from this range to 0.01mm steps. 35 | // By default, set the range from (1< 4 | #include "config/keys/key_config.hpp" 5 | 6 | // The base struct containing info about the state of a key for the key handler. 7 | struct Key 8 | { 9 | // Require every Key object to get an index and a KeyConfig object passed from its inheritors. 10 | Key(uint8_t index, KeyConfig *config) : index(index), config(config) {} 11 | 12 | // The index of the key. This is used to link this Key object to the corresponding KeyConfig object. 13 | uint8_t index; 14 | 15 | // The KeyConfig object of this key. 16 | KeyConfig *config; 17 | 18 | // State whether the key is currently pressed down. 19 | bool pressed = false; 20 | }; 21 | -------------------------------------------------------------------------------- /include/handlers/serial_handler.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "config/configuration_controller.hpp" 4 | 5 | inline class SerialHandler 6 | { 7 | public: 8 | void handleSerialInput(char *input); 9 | 10 | private: 11 | void boot(); 12 | void save(); 13 | void get(); 14 | void name(char *name); 15 | void out(); 16 | void echo(char *input); 17 | void hkey_rt(HEKeyConfig &config, bool state); 18 | void hkey_crt(HEKeyConfig &config, bool state); 19 | void hkey_rtus(HEKeyConfig &config, uint16_t value); 20 | void hkey_rtds(HEKeyConfig &config, uint16_t value); 21 | void hkey_lh(HEKeyConfig &config, uint16_t value); 22 | void hkey_uh(HEKeyConfig &config, uint16_t value); 23 | void key_char(KeyConfig &config, uint8_t keyChar); 24 | void key_hid(KeyConfig &config, bool state); 25 | } SerialHandler; 26 | -------------------------------------------------------------------------------- /include/helpers/gauss_lut.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | #include "definitions.hpp" 5 | 6 | class GaussLUT 7 | { 8 | public: 9 | // Variables for the equation to calculate the ADC reading into a physical distance. 10 | // a = y-stretch, b = x-stretch, c = x-offset, d = y-offset, for more info: https://www.desmos.com/calculator/ps4wd127tu 11 | GaussLUT(double a, double b, double c, double d); 12 | 13 | uint16_t adcToDistance(const uint16_t adc, uint16_t const restPosition); 14 | 15 | private: 16 | // The calculated lookup table used by this GaussLUT instance. 17 | uint16_t lut[1 << ANALOG_RESOLUTION]; 18 | 19 | // The rest position of the keys according to the lookup table. 20 | uint16_t lutRestPosition; 21 | }; 22 | -------------------------------------------------------------------------------- /include/helpers/sma_filter.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | class SMAFilter 6 | { 7 | public: 8 | // Initialize the SMAFilter instance with the specified sample exponent. 9 | // (1 = 1 sample, 2 = 4 samples, 3 = 8 samples, ...) 10 | SMAFilter(uint8_t samplesExponent) 11 | : samplesExponent(samplesExponent) 12 | , samples(1 << samplesExponent) 13 | , buffer(new uint16_t[samples] {0}) 14 | {} 15 | 16 | // The call operator for passing values through the filter. 17 | uint16_t operator()(uint16_t value); 18 | 19 | // Bool whether the whole buffer has been written at least once. 20 | bool initialized = false; 21 | 22 | private: 23 | // The amount of samples and the exponent. 24 | uint8_t samplesExponent; 25 | uint8_t samples; 26 | 27 | // The buffer containing all values. 28 | uint16_t *buffer; 29 | 30 | // The index of the oldest and thus next element to overwrite. 31 | uint8_t index = 0; 32 | 33 | // The sum of all values in the buffer. 34 | uint32_t sum = 0; 35 | }; 36 | -------------------------------------------------------------------------------- /include/helpers/string_helper.hpp: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include 4 | 5 | namespace StringHelper 6 | { 7 | void getArgumentAt(const char *input, char delimiter, uint8_t index, char *output); 8 | void toLower(char *input); 9 | void replace(char *input, char target, char replacement); 10 | void makeSafename(char *str); 11 | }; 12 | -------------------------------------------------------------------------------- /platformio.ini: -------------------------------------------------------------------------------- 1 | ; PlatformIO Project Configuration File 2 | ; 3 | ; Build options: build flags, source filter 4 | ; Upload options: custom upload port, speed and extra flags 5 | ; Library options: dependencies, extra library storages 6 | ; Advanced options: extra scripting 7 | ; 8 | ; Please visit documentation for the other options and examples 9 | ; https://docs.platformio.org/page/projectconf.html 10 | 11 | [platformio] 12 | default_envs = minipad-3k-dev 13 | 14 | [env] 15 | platform = https://github.com/minipadKB/platform-raspberrypi.git 16 | board = pico 17 | framework = arduino 18 | check_tool = clangtidy 19 | board_build.core = earlephilhower 20 | board_build.arduino.earlephilhower.usb_manufacturer=Project Minipad 21 | build_flags = -DUSBD_VID=0x0727 -DUSBD_PID=0x0727 -DHID_POLLING_RATE=1000 -DIGNORE_MULTI_ENDPOINT_PID_MUTATION -Wall -Wextra 22 | 23 | [env:minipad-2k-dev] 24 | build_flags = ${env.build_flags} -DHE_KEYS=2 -DDIGITAL_KEYS=0 -DDEV=1 25 | board_build.arduino.earlephilhower.usb_product=minipad-2k-dev 26 | 27 | [env:minipad-3k-dev] 28 | build_flags = ${env.build_flags} -DHE_KEYS=3 -DDIGITAL_KEYS=0 -DDEV=1 29 | board_build.arduino.earlephilhower.usb_product=minipad-3k-dev 30 | 31 | [env:minipad-2k-prod] 32 | build_flags = ${env.build_flags} -DHE_KEYS=2 -DDIGITAL_KEYS=0 33 | board_build.arduino.earlephilhower.usb_product=minipad-2k 34 | 35 | [env:minipad-3k-prod] 36 | build_flags = ${env.build_flags} -DHE_KEYS=3 -DDIGITAL_KEYS=0 37 | board_build.arduino.earlephilhower.usb_product=minipad-3k 38 | -------------------------------------------------------------------------------- /src/config/configuration_controller.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "config/configuration_controller.hpp" 4 | 5 | void ConfigurationController::loadConfig() 6 | { 7 | // Load the configuration struct from the EEPROM. 8 | EEPROM.get(0, config); 9 | 10 | // Check if the version matches with the one read; If not, replace the config with it's default state. 11 | if (config.version != defaultConfig.version) 12 | { 13 | config = defaultConfig; 14 | saveConfig(); 15 | } 16 | } 17 | 18 | void ConfigurationController::saveConfig() 19 | { 20 | // Write the struct back into the EEPROM and commit the change. 21 | EEPROM.put(0, config); 22 | EEPROM.commit(); 23 | } 24 | -------------------------------------------------------------------------------- /src/handlers/key_handler.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "handlers/key_handler.hpp" 4 | #include "handlers/serial_handler.hpp" 5 | #include "helpers/string_helper.hpp" 6 | #include "definitions.hpp" 7 | 8 | /* 9 | Explanation of the Rapid Trigger Logic 10 | 11 | Rapid Trigger has 3 different settings: 12 | - (bool) continuous rapid trigger 13 | - (number) up sensitivity 14 | - (number) down sensitivity 15 | 16 | Rapid Trigger also has these 3 states: 17 | - (bool) whether key is pressed down 18 | - (bool) whether the key is inside the rapid trigger zone 19 | - (number) the current peak of the travel distance 20 | 21 | General Rapid Trigger description: 22 | 23 | Rapid Trigger allows the key to be dynamically pressed or released, depending on the distance travelled instead of 24 | being at a fixed actuation point. This is done by always remembering the lowest/highest peak the value reached 25 | and using it for reference. For example, if I press the key down by 3.5mm with my up sensitivity set to 0.2mm, the 26 | firmware will remember the 3.5mm as the peak, allowing me to move freely within 3.5-3.3mm without any changes and 27 | only releasing the key if I release the key by more than 0.2mm starting from the peak, meaning 3.3mm. The same logic 28 | applies to pressing the key down. If I move the key further up to 2.0mm with a down sensitivity of 0.5mm, the firmware 29 | will remember the peak of 2.0mm and not do anything between 2.0-2.5mm, since if I press the key back in beyond 2.5mm 30 | it will start pressing it again. If I do not push it beyong 2.5mm and instead decide to go further up than 2.0mm, 31 | the peak will of course updates as expected. This is the main logic that applies inside the so-called Rapid Trigger zone. 32 | 33 | Rapid Trigger Zone: 34 | 35 | Rapid Trigger is only active inside the Rapid Trigger Zone. The Rapid Trigger Zone is the zone below the actuation point, 36 | down to all the way pressed in. If the key enters that zone, a keypress is also performed, just like you're used to the 37 | traditional mode of how keyboards work. As long as the key is inside that zone, the logic described above applies. 38 | If the key leaves that zone, the key is always being released and the Rapid Trigger logic no longer applies. 39 | This is where the feature continuous rapid trigger (CRT) comes into play. Continuous rapid trigger causes the firmware to 40 | apply the Rapid Trigger logic over almost the full actuation range, to be specific everything >0.1mm travel distance. 41 | The only condition is that the key already entered the Rapid Trigger zone once. If CRT is enabled, once the key has 42 | entered the Rapid Trigger zone the logic described in the first paragraph applies until the key is *fully released*, meaning 43 | pressed in <0.1mm. 44 | 45 | Workflow of the Rapid Trigger code: 46 | 47 | The Rapid Trigger implementation in this firmware consists of 4 steps. 48 | Step 1: Check whether the key left the Rapid Trigger zone (normal) or was fully released (CRT mode) 49 | Step 2: Check whether the key has entered the Rapid Trigger zone, updating the inRapidTriggerZone state and pressing the key 50 | Step 3: Apply the dynamic travel distance checks, the core of the Rapid Trigger feature 51 | Step 4: Depending on whether the key is pressed or not, remember the lowest/highest peak achieved 52 | */ 53 | 54 | void KeyHandler::handle() 55 | { 56 | // Go through all Hall Effect keys and run the checks. 57 | for (HEKey &key : heKeys) 58 | { 59 | // Scan the Hall Effect key to update the sensor and distance value. 60 | scanHEKey(key); 61 | 62 | // Run the checks on the HE key. 63 | checkHEKey(key); 64 | } 65 | 66 | // Go through all digital keys and run the checks. 67 | for (DigitalKey &key : digitalKeys) 68 | { 69 | // Scan the digital key to update the pin status. 70 | scanDigitalKey(key); 71 | 72 | // Run the checks on the digital key. 73 | checkDigitalKey(key); 74 | } 75 | 76 | // Send the key report via the HID interface after updating the report. 77 | Keyboard.sendReport(); 78 | } 79 | 80 | void KeyHandler::updateSensorBoundaries(HEKey &key) 81 | { 82 | // Calculate the value with the deadzone in the positive and negative direction applied. 83 | uint16_t upperValue = key.rawValue - SENSOR_BOUNDARY_DEADZONE; 84 | uint16_t lowerValue = key.rawValue + SENSOR_BOUNDARY_DEADZONE; 85 | 86 | // If the read value with deadzone applied is bigger than the current rest position, update it. 87 | if (key.restPosition < upperValue) 88 | key.restPosition = upperValue; 89 | 90 | // If the read value with deadzone applied is lower than the current down position, update it. Make sure that the distance to the rest position 91 | // is at least SENSOR_BOUNDARY_MIN_DISTANCE (scaled with travel distance @ 4.00mm) to prevent poor calibration/analog range resulting in "crazy behaviour". 92 | else if (key.downPosition > lowerValue && 93 | key.restPosition - lowerValue >= SENSOR_BOUNDARY_MIN_DISTANCE * TRAVEL_DISTANCE_IN_0_01MM / 400) 94 | { 95 | // From here on, the down position has been set < rest position, therefore the key can be considered calibrated, allowing distance calculation. 96 | key.calibrated = true; 97 | 98 | key.downPosition = lowerValue; 99 | } 100 | } 101 | 102 | void KeyHandler::scanHEKey(HEKey &key) 103 | { 104 | // Read the value from the port of the specified key and run it through the SMA filter. 105 | key.rawValue = key.filter(analogRead(HE_PIN(key.index))); 106 | 107 | // Invert the value if the definition is set since in rare fields of application the sensor 108 | // is mounted the other way around, resulting in a different polarity and inverted sensor readings. 109 | // Since this firmware expects the value to go down when the button is pressed down, this is needed. 110 | #ifdef INVERT_SENSOR_READINGS 111 | key.rawValue = (1 << ANALOG_RESOLUTION) - 1 - key.rawValue; 112 | #endif 113 | 114 | // If the SMA filter is fully initalized (at least one full circular buffering has been performed), calibration can be performed. 115 | // This keeps track of the lowest and highest value reached on each key, giving us boundaries to map to an actual milimeter distance. 116 | if (key.filter.initialized) 117 | updateSensorBoundaries(key); 118 | 119 | // Make sure that the key is calibrated, which means that the down position (default 4095) was updated to be smaller than the rest position. 120 | // If that's not the case, we go with the total switch travel distance representing a key that is fully up, effectively disabling any value processing. 121 | // This if-branch is inheritly triggered if the SMA filter is not initialized yet, as the default down position of 4095 was not updated yet. 122 | if(!key.calibrated) 123 | { 124 | key.distance = TRAVEL_DISTANCE_IN_0_01MM; 125 | return; 126 | } 127 | 128 | #ifdef USE_GAUSS_CORRECTION_LUT 129 | 130 | // If gauss correction is enabled, use the GaussLUT instance to get the distance based on the adc value and the rest position 131 | // of the key, which is used to determine the offset from the "ideal" rest position set by the lookup table calculations. 132 | uint16_t distance = gaussLUT.adcToDistance(key.rawValue, key.restPosition); 133 | 134 | // Stretch the value to the full travel distance using our down position since the LUT is rest-position based. Then invert and constrain it. 135 | distance = distance * TRAVEL_DISTANCE_IN_0_01MM / gaussLUT.adcToDistance(key.downPosition, key.restPosition); 136 | key.distance = constrain(TRAVEL_DISTANCE_IN_0_01MM - distance, 0, TRAVEL_DISTANCE_IN_0_01MM); 137 | 138 | #else 139 | 140 | // Map the value with the down and rest position values to a range between 0 and TRAVEL_DISTANCE_IN_0_01MM and constrain it. 141 | // This is done to guarantee that the unit for the numbers used across the firmware actually matches the milimeter metric. 142 | // NOTE: This calcuation disregards the non-linear nature of the relation between a magnet's distance and it's magnetic field strength. 143 | // This firmware has a gauss correction, which can be enabled and adjusted to match the hardware specifications of the device. 144 | return constrain(map(value, key.downPosition, key.restPosition, 0, TRAVEL_DISTANCE_IN_0_01MM), 0, TRAVEL_DISTANCE_IN_0_01MM); 145 | 146 | #endif 147 | } 148 | 149 | void KeyHandler::scanDigitalKey(DigitalKey &key) 150 | { 151 | // Read the digital key and consider it pressed if the pin status is LOW (because of PULLUP). 152 | key.pressed = digitalRead(DIGITAL_PIN(key.index)) == PinStatus::LOW; 153 | } 154 | 155 | void KeyHandler::checkHEKey(HEKey &key) 156 | { 157 | // If the key is in traditional mode, do the usual hysteresis checks. 158 | if (!key.config->rapidTrigger) 159 | { 160 | // Check whether the value passes the lower or upper hysteresis. 161 | // If the value drops <= the lower hysteresis, the key is pressed down. 162 | // If the value rises >= the upper hysteresis, the key is released. 163 | if (key.distance <= key.config->lowerHysteresis) 164 | setPressedState(key, true); 165 | else if (key.distance >= key.config->upperHysteresis) 166 | setPressedState(key, false); 167 | 168 | // Return here to not run into the rapid trigger code. 169 | return; 170 | } 171 | 172 | // RT STEP 1: Reset the rapid trigger state if the value left the rapid trigger zone (normal) or was fully released (CRT). 173 | // If the value is above the upper hysteresis the value is not (anymore) inside the rapid trigger zone 174 | // meaning the rapid trigger state for the key has to be set to false in order to be processed by further checks. 175 | // This only applies if continuous rapid trigger is not enabled as it only resets the state when the key is fully released. 176 | if (key.distance >= key.config->upperHysteresis && !key.config->continuousRapidTrigger) 177 | key.inRapidTriggerZone = false; 178 | // If continuous rapid trigger is enabled, the state is only reset to false when the key is fully released (<0.1mm). 179 | else if (key.distance >= TRAVEL_DISTANCE_IN_0_01MM - CONTINUOUS_RAPID_TRIGGER_THRESHOLD && key.config->continuousRapidTrigger) 180 | key.inRapidTriggerZone = false; 181 | 182 | // RT STEP 2: If the value entered the rapid trigger zone, perform a press and set the rapid trigger state to true. 183 | // If the value is below the lower hysteresis and the rapid trigger state is false on the key, press the key because the action of entering 184 | // the rapid trigger zone is already counted as a trigger. From there on, the actuation point moves dynamically in that zone. 185 | // Also the rapid trigger state for the key has to be set to true in order to be processed by furture loops. 186 | if (key.distance <= key.config->lowerHysteresis && !key.inRapidTriggerZone) 187 | { 188 | setPressedState(key, true); 189 | key.inRapidTriggerZone = true; 190 | } 191 | 192 | // RT STEP 3: If the key *already is* in the rapid trigger zone (hence the 'else if'), check whether the key has travelled the sufficient amount. 193 | // Check whether the key should be pressed. This is the case if the key is currently not pressed, 194 | // the rapid trigger state is true and the value drops more than (down sensitivity) below the highest recorded value. 195 | else if (!key.pressed && key.inRapidTriggerZone && key.distance + key.config->rapidTriggerDownSensitivity <= key.rapidTriggerPeak) 196 | setPressedState(key, true); 197 | // Check whether the key should be released. This is the case if the key is currently pressed down and either the 198 | // rapid trigger state is no longer true or the value rises more than (up sensitivity) above the lowest recorded value. 199 | else if (key.pressed && (!key.inRapidTriggerZone || key.distance >= key.rapidTriggerPeak + key.config->rapidTriggerUpSensitivity)) 200 | setPressedState(key, false); 201 | 202 | // RT STEP 4: Always remember the peaks of the values, depending on the current pressed state. 203 | // If the key is pressed and at an all-time low or not pressed and at an all-time high, save the value. 204 | if ((key.pressed && key.distance < key.rapidTriggerPeak) || (!key.pressed && key.distance > key.rapidTriggerPeak)) 205 | key.rapidTriggerPeak = key.distance; 206 | } 207 | 208 | void KeyHandler::checkDigitalKey(DigitalKey &key) 209 | { 210 | // Check whether the key is pressed and debounced. 211 | if (key.pressed && millis() - key.lastDebounce >= DIGITAL_DEBOUNCE_DELAY) 212 | { 213 | // Set the key to pressed and update the last debounce time. 214 | setPressedState(key, true); 215 | key.lastDebounce = millis(); 216 | } 217 | // If the key is not pressed, just set it to unpressed. 218 | else if (!key.pressed) 219 | setPressedState(key, false); 220 | } 221 | 222 | void KeyHandler::setPressedState(Key &key, bool pressed) 223 | { 224 | // Check whether either the pressed state changes or HID is not enabled and a press is performed. 225 | // HID may not be blocked on releases in case it is being deactivated while a key is still held down. 226 | if (key.pressed == pressed || (!key.config->hidEnabled && pressed)) 227 | return; 228 | 229 | // Send the HID instruction to the computer. 230 | if (pressed) 231 | Keyboard.press(key.config->keyChar); 232 | else 233 | Keyboard.release(key.config->keyChar); 234 | 235 | // Update the pressed value state. 236 | key.pressed = pressed; 237 | } 238 | -------------------------------------------------------------------------------- /src/handlers/serial_handler.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "handlers/keys/he_key.hpp" 3 | #include "handlers/serial_handler.hpp" 4 | #include "handlers/key_handler.hpp" 5 | #include "helpers/string_helper.hpp" 6 | #include "definitions.hpp" 7 | extern "C" 8 | { 9 | #include "pico/bootrom.h" 10 | } 11 | 12 | // Define a handy macro for printing with a newline character at the end. 13 | #define print(fmt, ...) Serial.printf(fmt "\n", __VA_ARGS__) 14 | 15 | // Define two more handy macros for interpreting the serial input. 16 | #define isEqual(str1, str2) strcmp(str1, str2) == 0 17 | #define isTrue(str) isEqual(str, "1") || isEqual(str, "true") 18 | 19 | void SerialHandler::handleSerialInput(char *input) 20 | { 21 | // Make the input buffer lowercase for further parsing. 22 | StringHelper::toLower(input); 23 | 24 | // Parse the command as the first argument, separated by whitespaces. 25 | char command[SERIAL_INPUT_BUFFER_SIZE]; 26 | StringHelper::getArgumentAt(input, ' ', 0, command); 27 | 28 | // Get a pointer pointing to the start of all parameters for the command. 29 | char *parameters = input + strlen(command); 30 | 31 | // If the parameters start with a " " it means parameters have been specified. 32 | // It's needed because if there are no parameters there's a zero-terminator instead. 33 | // Skipping that zero-terminator would lead to arguments filled with memory garbage. 34 | if (strstr(parameters, " ") == parameters) 35 | parameters += 1; 36 | 37 | // Parse all arguments. 38 | char arg0[SERIAL_INPUT_BUFFER_SIZE]; 39 | StringHelper::getArgumentAt(parameters, ' ', 0, arg0); 40 | 41 | // Handle the global commands and pass their expected required parameters. 42 | if (isEqual(command, "boot")) 43 | boot(); 44 | else if (isEqual(command, "save")) 45 | save(); 46 | else if (isEqual(command, "get")) 47 | get(); 48 | else if (isEqual(command, "name")) 49 | name(parameters); 50 | else if (isEqual(command, "out")) 51 | out(); 52 | #ifdef DEV 53 | else if (isEqual(command, "echo")) 54 | echo(parameters); 55 | #endif 56 | 57 | // Handle hall effect key specific commands by checking if the command starts with "hkey". 58 | if (strstr(command, "hkey") == command) 59 | { 60 | // Split the command into the key string and the setting name. 61 | char keyStr[SERIAL_INPUT_BUFFER_SIZE]; 62 | char setting[SERIAL_INPUT_BUFFER_SIZE]; 63 | StringHelper::getArgumentAt(command, '.', 0, keyStr); 64 | StringHelper::getArgumentAt(command, '.', 1, setting); 65 | 66 | // By default, apply this command to all hall effect keys. 67 | HEKeyConfig *keys = ConfigController.config.heKeys; 68 | 69 | // If an index is specified ("hkeyX"), replace that keys array with just that key. 70 | // This is checked by looking whether the key string has > 4 characters. 71 | if (strlen(keyStr) > 4) 72 | { 73 | // Get the index and check if it's in the valid range. 74 | uint8_t keyIndex = atoi(keyStr + 4) - 1; 75 | if (keyIndex >= HE_KEYS) 76 | return; 77 | 78 | // Replace the array with that single key. 79 | keys = &ConfigController.config.heKeys[keyIndex]; 80 | } 81 | 82 | // Apply the command to all targetted hall effect keys. 83 | for (uint8_t i = 0; i < (strlen(keyStr) > 4 ? 1 : HE_KEYS); i++) 84 | { 85 | // Get the key from the pointer array. 86 | HEKeyConfig &key = keys[i]; 87 | 88 | // Handle the settings. 89 | if (isEqual(setting, "rt")) 90 | hkey_rt(key, isTrue(arg0)); 91 | else if (isEqual(setting, "crt")) 92 | hkey_crt(key, isTrue(arg0)); 93 | else if (isEqual(setting, "rtus")) 94 | hkey_rtus(key, atoi(arg0)); 95 | else if (isEqual(setting, "rtds")) 96 | hkey_rtds(key, atoi(arg0)); 97 | else if (isEqual(setting, "lh")) 98 | hkey_lh(key, atoi(arg0)); 99 | else if (isEqual(setting, "uh")) 100 | hkey_uh(key, atoi(arg0)); 101 | else if (isEqual(setting, "char")) 102 | key_char(key, strlen(arg0) == 1 ? (int)arg0[0] : atoi(arg0) /* Allow for either the ASCII character or integer */); 103 | else if (isEqual(setting, "hid")) 104 | key_hid(key, isTrue(arg0)); 105 | } 106 | } 107 | 108 | // Handle digital key specific commands by checking if the command starts with "dkey". 109 | if (strstr(command, "dkey") == command) 110 | { 111 | // Split the command into the key string and the setting name. 112 | char keyStr[SERIAL_INPUT_BUFFER_SIZE]; 113 | char setting[SERIAL_INPUT_BUFFER_SIZE]; 114 | StringHelper::getArgumentAt(command, '.', 0, keyStr); 115 | StringHelper::getArgumentAt(command, '.', 1, setting); 116 | 117 | // By default, apply this command to all digital keys. 118 | DigitalKeyConfig *keys = ConfigController.config.digitalKeys; 119 | 120 | // If an index is specified ("dkeyX"), replace that keys array with just that key. 121 | // This is checked by looking whether the key string has > 4 characters. 122 | if (strlen(keyStr) > 4) 123 | { 124 | // Get the index and check if it's in the valid range. 125 | uint8_t keyIndex = atoi(keyStr + 4) - 1; 126 | #pragma GCC diagnostic ignored "-Wtype-limits" 127 | if (keyIndex >= DIGITAL_KEYS) 128 | #pragma GCC diagnostic pop 129 | return; 130 | 131 | // Replace the array with that single digital key. 132 | keys = &ConfigController.config.digitalKeys[keyIndex]; 133 | } 134 | 135 | // Apply the command to all targetted digital keys. 136 | for (uint8_t i = 0; i < (strlen(keyStr) > 4 ? 1 : DIGITAL_KEYS); i++) 137 | { 138 | // Get the key from the pointer array. 139 | DigitalKeyConfig &key = keys[i]; 140 | 141 | // Handle the settings. 142 | if (isEqual(setting, "char")) 143 | key_char(key, strlen(arg0) == 1 ? (int)arg0[0] : atoi(arg0) /* Allow for either the ASCII character or integer */); 144 | else if (isEqual(setting, "hid")) 145 | key_hid(key, isTrue(arg0)); 146 | } 147 | } 148 | } 149 | 150 | void SerialHandler::boot() 151 | { 152 | // Set the RP2040 into bootloader mode. 153 | reset_usb_boot(0, 0); 154 | } 155 | 156 | void SerialHandler::save() 157 | { 158 | // Save the configuration managed by the config controller. 159 | ConfigController.saveConfig(); 160 | } 161 | 162 | void SerialHandler::get() 163 | { 164 | // Output all global settings. 165 | print("GET version=%s%s", FIRMWARE_VERSION, DEV ? "-dev" : ""); 166 | print("GET hkeys=%d", HE_KEYS); 167 | print("GET dkeys=%d", DIGITAL_KEYS); 168 | print("GET name=%s", ConfigController.config.name); 169 | print("GET htol=%d", HYSTERESIS_TOLERANCE); 170 | print("GET rtol=%d", RAPID_TRIGGER_TOLERANCE); 171 | print("GET trdt=%d", TRAVEL_DISTANCE_IN_0_01MM); 172 | print("GET ares=%d", ANALOG_RESOLUTION); 173 | 174 | // Output all hall effect key-specific settings. 175 | for (const HEKey &key : KeyHandler.heKeys) 176 | { 177 | // Format the base for all lines being written. 178 | print("GET hkey%d.rt=%d", key.index + 1, key.config->rapidTrigger); 179 | print("GET hkey%d.crt=%d", key.index + 1, key.config->continuousRapidTrigger); 180 | print("GET hkey%d.rtus=%d", key.index + 1, key.config->rapidTriggerUpSensitivity); 181 | print("GET hkey%d.rtds=%d", key.index + 1, key.config->rapidTriggerDownSensitivity); 182 | print("GET hkey%d.lh=%d", key.index + 1, key.config->lowerHysteresis); 183 | print("GET hkey%d.uh=%d", key.index + 1, key.config->upperHysteresis); 184 | print("GET hkey%d.char=%d", key.index + 1, key.config->keyChar); 185 | print("GET hkey%d.hid=%d", key.index + 1, key.config->hidEnabled); 186 | print("GET hkey%d.rest=%d", key.index + 1, key.restPosition); 187 | print("GET hkey%d.down=%d", key.index + 1, key.downPosition); 188 | } 189 | 190 | // Output all digital key-specific settings. 191 | for (const DigitalKey &key : KeyHandler.digitalKeys) 192 | { 193 | print("GET dkey%d.char=%d", key.index + 1, key.config->keyChar); 194 | print("GET dkey%d.hid=%d", key.index + 1, key.config->hidEnabled); 195 | } 196 | 197 | // Print this line to signalize the end of printing the settings to the listener. 198 | Serial.println("GET END"); 199 | } 200 | 201 | void SerialHandler::name(char *name) 202 | { 203 | // Get the length of the name and check if it's within the 1-128 characters boundary. 204 | size_t length = strlen(name); 205 | if (length >= 1 && length <= 128) 206 | memcpy(ConfigController.config.name, name + '\0', length + 1); 207 | } 208 | 209 | void SerialHandler::out() 210 | { 211 | // Output the raw sensor value and magnet distance of every Hall Effect key once. 212 | for (const HEKey &key : KeyHandler.heKeys) 213 | print("OUT hkey%d=%d %d", key.index + 1, key.rawValue, key.distance); 214 | } 215 | 216 | void SerialHandler::echo(char *input) 217 | { 218 | // Output the same input. This command is used for debugging purposes and only available in said environemnts. 219 | Serial.println(input); 220 | } 221 | 222 | void SerialHandler::hkey_rt(HEKeyConfig &config, bool state) 223 | { 224 | // Set the rapid trigger config value to the specified state. 225 | config.rapidTrigger = state; 226 | } 227 | 228 | void SerialHandler::hkey_crt(HEKeyConfig &config, bool state) 229 | { 230 | // Set the continuous rapid trigger config value to the specified state. 231 | config.continuousRapidTrigger = state; 232 | } 233 | 234 | void SerialHandler::hkey_rtus(HEKeyConfig &config, uint16_t value) 235 | { 236 | // Check if the specified value is within the tolerance-TRAVEL_DISTANCE_IN_0_01MM boundary. 237 | if (value >= RAPID_TRIGGER_TOLERANCE && value <= TRAVEL_DISTANCE_IN_0_01MM) 238 | // Set the rapid trigger up sensitivity config value to the specified state. 239 | config.rapidTriggerUpSensitivity = value; 240 | } 241 | 242 | void SerialHandler::hkey_rtds(HEKeyConfig &config, uint16_t value) 243 | { 244 | // Check if the specified value is within the tolerance-TRAVEL_DISTANCE_IN_0_01MM boundary. 245 | if (value >= RAPID_TRIGGER_TOLERANCE && value <= TRAVEL_DISTANCE_IN_0_01MM) 246 | // Set the rapid trigger down sensitivity config value to the specified state. 247 | config.rapidTriggerDownSensitivity = value; 248 | } 249 | 250 | void SerialHandler::hkey_lh(HEKeyConfig &config, uint16_t value) 251 | { 252 | // Check if the specified value is at least the hysteresis tolerance away from the upper hysteresis. 253 | if (config.upperHysteresis - value >= HYSTERESIS_TOLERANCE) 254 | // Set the lower hysteresis config value to the specified state. 255 | config.lowerHysteresis = value; 256 | } 257 | 258 | void SerialHandler::hkey_uh(HEKeyConfig &config, uint16_t value) 259 | { 260 | // Check if the specified value is at least the hysteresis tolerance away from the lower hysteresis. 261 | // Also make sure the upper hysteresis is at least said tolerance away from TRAVEL_DISTANCE_IN_0_01MM 262 | // to make sure the value can be reached and the key does not get stuck in an eternal pressed state. 263 | if (value - config.lowerHysteresis >= HYSTERESIS_TOLERANCE && TRAVEL_DISTANCE_IN_0_01MM - value >= HYSTERESIS_TOLERANCE) 264 | // Set the upper hysteresis config value to the specified state. 265 | config.upperHysteresis = value; 266 | } 267 | 268 | void SerialHandler::key_char(KeyConfig &config, uint8_t keyChar) 269 | { 270 | // Set the key config value of the specified key to the specified state. 271 | config.keyChar = keyChar; 272 | } 273 | 274 | void SerialHandler::key_hid(KeyConfig &config, bool state) 275 | { 276 | // Set the hid config value of the specified key to the specified state. 277 | config.hidEnabled = state; 278 | } 279 | -------------------------------------------------------------------------------- /src/helpers/gauss_lut.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "helpers/gauss_lut.hpp" 3 | #include "definitions.hpp" 4 | 5 | GaussLUT::GaussLUT(double a, double b, double c, double d) 6 | { 7 | // Fill the range from a to d in the LUT based on the parameters and the equation. (See:https://www.desmos.com/calculator/ps4wd127tu) 8 | // This calculates the "ideal" distance based on the relevant ADC range, being from a to d, since everything above a - d will equal to 0, anyways. 9 | for (uint16_t i = 0; i < a - d; i++) 10 | lut[i] = constrain(((log(1 - ((i + d) / a)) / -b) - c), 0, TRAVEL_DISTANCE_IN_0_01MM); 11 | 12 | // Calculate the "ideal" rest position of the LUT to calculate offsets on real-based rest positions later on. 13 | lutRestPosition = a * (1 - exp(-b * c)) - d; 14 | } 15 | 16 | uint16_t GaussLUT::adcToDistance(const uint16_t adc, const uint16_t restPosition) 17 | { 18 | // Get the offset by the difference between the "ideal" rest position of the LUT and the one of the sensor. 19 | int16_t offset = lutRestPosition - restPosition; 20 | 21 | // Return the value at the index of the adc value, shifted by the offset determined above. 22 | return lut[adc + offset]; 23 | } 24 | -------------------------------------------------------------------------------- /src/helpers/sma_filter.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "helpers/sma_filter.hpp" 3 | 4 | // On the call operator the next value is given into the filter, with the new average being returned. 5 | uint16_t SMAFilter::operator()(uint16_t value) 6 | { 7 | // Calculate the new sum by removing the oldest element and adding the new one. 8 | sum = sum - buffer[index] + value; 9 | 10 | // Overwrite the oldest element in the circular buffer with the new one. 11 | buffer[index] = value; 12 | 13 | // Move the index by 1 or restart at 0 if the end is reached. 14 | index = (index + 1) % samples; 15 | 16 | // If the index is 0 here (meaning the circular index just reset), set the fully initialized state to true. 17 | if(index == 0) 18 | initialized = true; 19 | 20 | // Divide the number by the amount of samples using bitshifting and return it. 21 | return sum >> samplesExponent; 22 | } 23 | -------------------------------------------------------------------------------- /src/helpers/string_helper.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "helpers/string_helper.hpp" 3 | 4 | void StringHelper::getArgumentAt(const char* input, char delimiter, uint8_t index, char* output) 5 | { 6 | // Remember the amount of found elements, start and end index of the current one and the total length. 7 | uint8_t found = 0; 8 | size_t start = 0; 9 | size_t length = strlen(input); 10 | 11 | // Go through all characters and count the delimiters until the desired index was reached. 12 | for (size_t i = 0; i <= length; i++) 13 | { 14 | // Check if a delimiter was found. 15 | if (i == length || input[i] == delimiter) 16 | { 17 | // If we found the desired index, fill the specified output buffer with the argument 18 | // as the substring of the input if the element was found. 19 | if (found == index) { 20 | memcpy(output, input + start, i - start); 21 | output[i - start] = '\0'; 22 | return; 23 | } 24 | 25 | // Otherwise, increment the found count and update the start index. 26 | found++; 27 | start = i + 1; 28 | } 29 | } 30 | 31 | // If not enough elements for the desired index were found, set the output buffer to an empty string. 32 | output[0] = '\0'; 33 | } 34 | 35 | void StringHelper::toLower(char *input) 36 | { 37 | // Go through all characters and replace them with their lowercase version. 38 | for (size_t i = 0; i < strlen(input); i++) 39 | input[i] = tolower(input[i]); 40 | } 41 | 42 | void StringHelper::replace(char *input, char target, char replacement) 43 | { 44 | // Go through all characters and replace it if it matches the target character. 45 | for (size_t i = 0; i < strlen(input); i++) 46 | if (input[i] == target) 47 | input[i] = replacement; 48 | } 49 | 50 | void StringHelper::makeSafename(char *str) 51 | { 52 | // Get a separate pointer for the char array that iterates over the whole character array. 53 | // Our two pointers src and str will progress differently, src is used to iterate over 54 | // the input char array while str points to the next character to be written for our output. 55 | const char *src = str; 56 | 57 | // Skip all characters by moving the src pointer forward until the character array reached the end or 58 | // a non-whitespace character is encountered. This ignores all leading whitespaces of the character array. 59 | while (*src && isspace(*src)) 60 | src++; 61 | 62 | // Go through the input char array with our separate pointer until it reached the zero terminator. 63 | while (*src) 64 | { 65 | // If the current character is not a whitespace or a whitespace and different from the previous character, 66 | // put the character into the position our str pointer is currently pointing at, replacing the character array on the fly. 67 | if (!isspace(*src) || *src != *(src - 1)) 68 | { 69 | *str = *src; 70 | 71 | // Move the input character array pointer forward so it writes to the next position on the next iteration. 72 | str++; 73 | } 74 | 75 | // Move the separate pointer used to iterate over the input string forward. 76 | src++; 77 | } 78 | 79 | // Remove a whitespace at the end if one exists. Only one at most can exist there as we compacted consecutive whitespaces before. 80 | if (isspace(*(str - 1))) 81 | str--; 82 | 83 | // Append the null terminator that finishes the string at that position. This is important since we are modifying the input 84 | // character array on the fly and not doing this would cause the char array to have old letters from the input at the end. 85 | // e.g. " hello world " turns "hello worldrld " so we place a zero terminator after the "world" word. 86 | *str = '\0'; 87 | } 88 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include "config/configuration_controller.hpp" 5 | #include "handlers/serial_handler.hpp" 6 | #include "handlers/key_handler.hpp" 7 | #include "definitions.hpp" 8 | 9 | void setup() 10 | { 11 | // Initialize the EEPROM with 1024 bytes and load the configuration from it. 12 | EEPROM.begin(1024); 13 | ConfigController.loadConfig(); 14 | 15 | // Initialize the serial and HID interface. 16 | Serial.begin(115200); 17 | Keyboard.begin(); 18 | Keyboard.setAutoReport(false); 19 | 20 | // Set the amount of bits for the ADC to the defined one for a better resolution on the analog readings. 21 | analogReadResolution(ANALOG_RESOLUTION); 22 | 23 | // Set the pinmode for all pins with digital buttons connected to PULLUP, as that's the standard for working with digital buttons. 24 | for(int i = 0; i < DIGITAL_KEYS; i++) 25 | pinMode(DIGITAL_PIN(i), INPUT_PULLUP); 26 | 27 | // Allows to boot into UF2 bootloader mode by pressing the reset button twice. 28 | rp2040.enableDoubleResetBootloader(); 29 | } 30 | 31 | void loop() 32 | { 33 | // Run the keypad handler checks to handle the actual keypad functionality. 34 | KeyHandler.handle(); 35 | } 36 | 37 | void serialEvent() 38 | { 39 | // Handle incoming serial data. 40 | while(Serial.available() > 0) 41 | { 42 | // Read the incoming serial data until a newline into a buffer and terminate it with a null terminator. 43 | char input[SERIAL_INPUT_BUFFER_SIZE]; 44 | const size_t length = Serial.readBytesUntil('\n', input, SERIAL_INPUT_BUFFER_SIZE); 45 | input[length] = '\0'; 46 | 47 | // Pass the read input to the serial handler to handle it. 48 | SerialHandler.handleSerialInput(input); 49 | } 50 | } 51 | --------------------------------------------------------------------------------