update Linux examples to use interrupts when applicable

2bndy5 · Apr 5, 2024 · 492ddb8 · 492ddb8
1 parent 0daec6f
commit 492ddb8
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Showing 3 changed files with 87 additions and 13 deletions.
diff --git a/examples/linux/absolute_mode.cpp b/examples/linux/absolute_mode.cpp
@@ -6,7 +6,7 @@
 #include <cmath>                           // sqrt(), pow(), atan2(), M_PI
 #include <iostream>                        // cout, endl, cin
 #include <iomanip>                         // setprecision()
-#include <CirquePinnacle/CirquePinnacle.h> // trackpad object, absoluteClampAxis()
+#include <CirquePinnacle/CirquePinnacle.h> // trackpad object
 
 #ifdef USE_SW_DR // if using PINNACLE_SW_DR
     #define DR_PIN PINNACLE_SW_DR
@@ -27,6 +27,15 @@ PinnacleTouchI2C trackpad(DR_PIN);
 // an object to hold data reported by the Cirque trackpad
 AbsoluteReport data;
 
+#ifndef USE_SW_DR
+// track the interrupts with our own IRQ flag
+volatile bool isDataReady = false;
+void interruptHandler()
+{
+    isDataReady = true;
+}
+#endif // !defined(USE_SW_DR)
+
 /*
 Showing all the printed output below will slow down the board's ability to
 read() data from the trackpad in a timely manner (resulting in data loss).
@@ -45,8 +54,13 @@ bool setup()
               << std::endl;
     trackpad.setDataMode(PINNACLE_ABSOLUTE);
     trackpad.absoluteModeConfig(1); // set count of z-idle packets to 1
-#ifndef USE_SW_DR                   // if using PINNACLE_SW_DR
+#ifndef USE_SW_DR                   // if not using PINNACLE_SW_DR
     std::cout << "-- Using HW DataReady pin." << std::endl;
+
+    // pull in arduino-like namespace
+    namespace arduino = cirque_pinnacle_arduino_wrappers;
+    // setup the interrupt handler
+    arduino::attachInterrupt(DR_PIN, arduino::FALLING, &interruptHandler);
 #endif
 #ifndef USE_I2C
     std::cout << "-- Using SPI interface." << std::endl;
@@ -68,7 +82,12 @@ bool setup()
 
 void loop()
 {
+#ifdef USE_SW_DR
     if (trackpad.available()) {
+#else // using interruptHandler()
+    if (isDataReady) {
+        isDataReady = false; // reset our IRQ flag
+#endif
         trackpad.read(&data);
 
         // datasheet recommends clamping the axes value to reliable range

diff --git a/examples/linux/anymeas_mode.cpp b/examples/linux/anymeas_mode.cpp
@@ -45,7 +45,9 @@ void compensate()
         accumulatedValue = 0;
         while (sweep < 5) // take 5 measurements and average them for a bit lower noise compensation value
         {
-            int16_t value = trackpad.measureAdc(vectorDeterminants[i].toggle, vectorDeterminants[i].polarity);
+            int16_t value = trackpad.measureAdc(
+                vectorDeterminants[i].toggle,
+                vectorDeterminants[i].polarity);
             sweep++;
             accumulatedValue += value;
         }
@@ -54,6 +56,19 @@ void compensate()
     }
 }
 
+// track the interrupts with our own IRQ flag
+volatile bool isDataReady = false;
+
+// a flag to control iteration of our loop()
+bool waitingForInterrupt = false;
+// the index number used to iterate through our vectorDeterminants array used in loop()
+unsigned int vectorIndex = 0;
+
+void interruptHandler()
+{
+    isDataReady = true;
+}
+
 bool setup()
 {
     if (!trackpad.begin()) {
@@ -63,16 +78,21 @@ bool setup()
     std::cout << "CirquePinnacle/examples/linux/anymeas_mode" << std::endl;
     trackpad.setDataMode(PINNACLE_ANYMEAS);
     trackpad.anymeasModeConfig();
-#ifndef USE_SW_DR // if using PINNACLE_SW_DR
+
     std::cout << "-- Using HW DataReady pin." << std::endl;
-#endif
+
 #ifndef USE_I2C
     std::cout << "-- Using SPI interface." << std::endl;
 #else
     std::cout << "-- Using I2C interface." << std::endl;
 #endif
     compensate();
 
+    // pull in arduino-like namespace
+    namespace arduino = cirque_pinnacle_arduino_wrappers;
+    // setup the interrupt handler
+    arduino::attachInterrupt(DR_PIN, arduino::FALLING, &interruptHandler);
+
     for (uint8_t i = 5; i; --i) {
         std::cout << "starting in " << (unsigned int)i << "second" << (i < 1 ? 's' : ' ') << '\r';
         sleep(1);
@@ -83,14 +103,29 @@ bool setup()
 
 void loop()
 {
-    for (unsigned int i = 0; i < variousVectors_size; i++) {
-        int16_t measurement = trackpad.measureAdc(
-            vectorDeterminants[i].toggle,
-            vectorDeterminants[i].polarity);
-        measurement -= compensations[i];
-        std::cout << "meas" << i << ": " << measurement << "\t";
+    if (!isDataReady && !waitingForInterrupt) {
+        trackpad.startMeasureAdc(
+            vectorDeterminants[vectorIndex].toggle,
+            vectorDeterminants[vectorIndex].polarity);
+        waitingForInterrupt = true;
+    }
+    else if (isDataReady) {
+        isDataReady = false;         // reset our IRQ flag
+        waitingForInterrupt = false; // allow iteration to continue
+
+        int16_t measurement = trackpad.getMeasureAdc();
+        measurement -= compensations[vectorIndex];
+        std::cout << "meas" << vectorIndex << ": " << measurement << "\t";
+
+        // increment our loop iterator
+        if (vectorIndex < (variousVectors_size - 1)) {
+            vectorIndex++;
+        }
+        else {
+            vectorIndex = 0;
+            std::cout << std::endl;
+        }
     }
-    std::cout << std::endl;
 }
 
 int main()

diff --git a/examples/linux/relative_mode.cpp b/examples/linux/relative_mode.cpp
@@ -25,6 +25,16 @@ PinnacleTouchI2C trackpad(DR_PIN);
 // an object to hold data reported by the Cirque trackpad
 RelativeReport data;
 
+#ifndef USE_SW_DR
+// track the interrupts with our own IRQ flag
+volatile bool isDataReady = false;
+
+void interruptHandler()
+{
+    isDataReady = true;
+}
+#endif // !defined(USE_SW_DR)
+
 bool setup()
 {
     if (!trackpad.begin()) {
@@ -33,8 +43,13 @@ bool setup()
     }
     std::cout << "CirquePinnacle/examples/linux/relative_mode\n"
               << std::endl;
-#ifndef USE_SW_DR // if using PINNACLE_SW_DR
+#ifndef USE_SW_DR // if not using PINNACLE_SW_DR
     std::cout << "-- Using HW DataReady pin." << std::endl;
+
+    // pull in arduino-like namespace
+    namespace arduino = cirque_pinnacle_arduino_wrappers;
+    // setup the interrupt handler
+    arduino::attachInterrupt(DR_PIN, arduino::FALLING, &interruptHandler);
 #endif
 #ifndef USE_I2C
     std::cout << "-- Using SPI interface." << std::endl;
@@ -47,7 +62,12 @@ bool setup()
 
 void loop()
 {
+#ifdef USE_SW_DR
     if (trackpad.available()) {
+#else // using interruptHandler()
+    if (isDataReady) {
+        isDataReady = false; // reset our IRQ flag
+#endif
         trackpad.read(&data);
         std::cout << "Left:" << (unsigned int)(data.buttons & 1)
                   << " Right:" << (unsigned int)(data.buttons & 2)