knob: Make profiles configurable via DTS

xingrz · Oct 20, 2023 · ac52685 · ac52685
1 parent 0da16bd
commit ac52685
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Showing 7 changed files with 51 additions and 22 deletions.
diff --git a/config/boards/arm/hw75_dynamic/hw75_dynamic.dts b/config/boards/arm/hw75_dynamic/hw75_dynamic.dts
@@ -104,6 +104,7 @@
 			torque-limit-mv = <1500>;
 			velocity-pid = <50 0 0>;
 			angle-pid = <100000 0 3500>;
+			minimal-movement-deg = <20>;
 		};
 
 		profile_damped: damped@4 {
@@ -135,6 +136,7 @@
 			torque-limit-mv = <1500>;
 			velocity-pid = <50 0 0>;
 			angle-pid = <100000 0 3500>;
+			on-off-distance-deg = <80>;
 		};
 	};
 

diff --git a/config/drivers/sensor/knob/include/knob/drivers/profile.h b/config/drivers/sensor/knob/include/knob/drivers/profile.h
@@ -25,10 +25,10 @@
 		((float)DT_INST_PROP_BY_IDX(0, prop, 2) / 1000.0f)
 
 #define KNOB_PROFILE_HAS_VELOCITY_PID DT_INST_NODE_HAS_PROP(0, velocity_pid)
-#define KNOB_PROFILE_VELOCITY_PID Z_KNOB_PROFILE_PID(velocity_pid)
+#define KNOB_PROFILE_VELOCITY_PID     Z_KNOB_PROFILE_PID(velocity_pid)
 
 #define KNOB_PROFILE_HAS_ANGLE_PID DT_INST_NODE_HAS_PROP(0, angle_pid)
-#define KNOB_PROFILE_ANGLE_PID Z_KNOB_PROFILE_PID(angle_pid)
+#define KNOB_PROFILE_ANGLE_PID     Z_KNOB_PROFILE_PID(angle_pid)
 
 #ifdef __cplusplus
 extern "C" {

diff --git a/config/drivers/sensor/knob/lib/include/knob/math.h b/config/drivers/sensor/knob/lib/include/knob/math.h
@@ -67,4 +67,4 @@ static inline float norm_rad(float radian)
 /**
  * @brief Degree to radian
  */
-#define deg_to_rad(deg) (deg / 360.0f * PI2)
+#define deg_to_rad(deg) ((float)deg / 360.0f * PI2)
diff --git a/config/drivers/sensor/knob/profile/spring.c b/config/drivers/sensor/knob/profile/spring.c
@@ -16,22 +16,23 @@
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(knob_spring, CONFIG_ZMK_LOG_LEVEL);
 
-#define CENTER (deg_to_rad(180.0f))
-#define UP (deg_to_rad(160.0f))
-#define DN (deg_to_rad(200.0f))
-
 struct knob_spring_config {
 	KNOB_PROFILE_CFG_ROM;
+	uint32_t minimal_movement_deg;
 };
 
 struct knob_spring_data {
+	float center;
+	float up;
+	float down;
 	int32_t value;
 	int32_t last_report;
 };
 
 static int knob_spring_enable(const struct device *dev)
 {
 	const struct knob_spring_config *cfg = dev->config;
+	struct knob_spring_data *data = dev->data;
 
 	motor_set_torque_limit(cfg->motor, KNOB_PROFILE_TORQUE_LIMIT);
 
@@ -43,6 +44,10 @@ static int knob_spring_enable(const struct device *dev)
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
+	data->center = deg_to_rad(180);
+	data->up = data->center - deg_to_rad(cfg->minimal_movement_deg);
+	data->down = data->center + deg_to_rad(cfg->minimal_movement_deg);
+
 	return 0;
 }
 
@@ -61,16 +66,16 @@ static int knob_spring_tick(const struct device *dev, struct motor_control *mc)
 	ARG_UNUSED(mc);
 
 	float p = knob_get_position(cfg->knob);
-	if (p < UP) {
+	if (p < data->up) {
 		data->value = 1;
-	} else if (p > DN) {
+	} else if (p > data->down) {
 		data->value = -1;
 	} else {
 		data->value = 0;
 	}
 
 	mc->mode = ANGLE;
-	mc->target = CENTER;
+	mc->target = data->center;
 
 	return 0;
 }
@@ -106,7 +111,8 @@ static const struct knob_profile_api knob_spring_api = {
 
 static struct knob_spring_data knob_spring_data;
 
-static const struct knob_spring_config knob_spring_cfg = { KNOB_PROFILE_CFG_INIT };
+static const struct knob_spring_config knob_spring_cfg = {
+	.minimal_movement_deg = DT_INST_PROP(0, minimal_movement_deg), KNOB_PROFILE_CFG_INIT};
 
 DEVICE_DT_INST_DEFINE(0, knob_spring_init, NULL, &knob_spring_data, &knob_spring_cfg, POST_KERNEL,
 		      CONFIG_SENSOR_INIT_PRIORITY, &knob_spring_api);
diff --git a/config/drivers/sensor/knob/profile/switch.c b/config/drivers/sensor/knob/profile/switch.c
@@ -16,15 +16,17 @@
 #include <zephyr/logging/log.h>
 LOG_MODULE_REGISTER(knob_switch, CONFIG_ZMK_LOG_LEVEL);
 
-#define CENTER (deg_to_rad(180.0f))
-#define ON (deg_to_rad(140.0f))
-#define OFF (deg_to_rad(220.0f))
-
 struct knob_switch_config {
 	KNOB_PROFILE_CFG_ROM;
+	uint32_t on_off_distance_deg;
 };
 
 struct knob_switch_data {
+	float center;
+	float on;
+	float on_2;
+	float off;
+	float off_2;
 	bool state;
 	bool last_report;
 };
@@ -44,6 +46,12 @@ static int knob_switch_enable(const struct device *dev)
 	motor_set_angle_pid(cfg->motor, KNOB_PROFILE_ANGLE_PID);
 #endif /* KNOB_PROFILE_HAS_ANGLE_PID */
 
+	data->center = deg_to_rad(180);
+	data->off = data->center + deg_to_rad(cfg->on_off_distance_deg) * 0.5f;
+	data->off_2 = data->center + deg_to_rad(cfg->on_off_distance_deg) * 0.25f;
+	data->on = data->center - deg_to_rad(cfg->on_off_distance_deg) * 0.5f;
+	data->on_2 = data->center - deg_to_rad(cfg->on_off_distance_deg) * 0.25f;
+
 	data->state = false;
 
 	return 0;
@@ -65,14 +73,14 @@ static int knob_switch_tick(const struct device *dev, struct motor_control *mc)
 	mc->mode = ANGLE;
 
 	float p = knob_get_position(cfg->knob);
-	if (p < ON + (CENTER - ON) / 2.0f) {
-		mc->target = ON;
+	if (p < data->on_2) {
+		mc->target = data->on;
 		data->state = true;
-	} else if (p < OFF - (OFF - CENTER) / 2.0f) {
-		mc->target = CENTER + (p - CENTER) * 2.0f;
-	} else {
-		mc->target = OFF;
+	} else if (p > data->off_2) {
+		mc->target = data->off;
 		data->state = false;
+	} else {
+		mc->target = data->center + (p - data->center) * 2.0f;
 	}
 
 	return 0;
@@ -109,7 +117,8 @@ static const struct knob_profile_api knob_switch_api = {
 
 static struct knob_switch_data knob_switch_data;
 
-static const struct knob_switch_config knob_switch_cfg = { KNOB_PROFILE_CFG_INIT };
+static const struct knob_switch_config knob_switch_cfg = {
+	.on_off_distance_deg = DT_INST_PROP(0, on_off_distance_deg), KNOB_PROFILE_CFG_INIT};
 
 DEVICE_DT_INST_DEFINE(0, knob_switch_init, NULL, &knob_switch_data, &knob_switch_cfg, POST_KERNEL,
 		      CONFIG_SENSOR_INIT_PRIORITY, &knob_switch_api);
diff --git a/config/dts/bindings/sensor/knob/profile/zmk,knob-profile-spring.yaml b/config/dts/bindings/sensor/knob/profile/zmk,knob-profile-spring.yaml
@@ -6,3 +6,9 @@ description: Knob spring profile
 compatible: "zmk,knob-profile-spring"
 
 include: knob-profile.yaml
+
+properties:
+  minimal-movement-deg:
+    type: int
+    required: false
+    default: 20
diff --git a/config/dts/bindings/sensor/knob/profile/zmk,knob-profile-switch.yaml b/config/dts/bindings/sensor/knob/profile/zmk,knob-profile-switch.yaml
@@ -6,3 +6,9 @@ description: Knob switch profile
 compatible: "zmk,knob-profile-switch"
 
 include: knob-profile.yaml
+
+properties:
+  on-off-distance-deg:
+    type: int
+    required: false
+    default: 80