Hal component for a matrix keyboard

gaston48
Topic Author
Offline
Premium Member

10 years 2 weeks ago #81691 by gaston48

Hal component for a matrix keyboard was created by gaston48

Hello,
Why in the real-time space, this component, containing 2 imbricated loops, does not work?
But It works in userspace with some usleep .
It is to decode a matrix of keyboard.
Thank you for help.

Code:

/* ********************************************************* */
component keyb2 ;

pin out bit    lin# [4]  ;  
pin in  bit  coltc# [4]   ;  
pin out bit  touch# [16]  ;  

function _;
license "GPL";
;;

unsigned  c = 0 ;
unsigned  l = 0 ;

FUNCTION(_) 
{
 for  (l = 0 ; l < 4 ; l++) 
  {
    lin(l) = 1 ;     
      for (c = 0 ; c < 4 ; c++)
      { 
      if ( coltc(c) ) touch( (l * 4) + c ) = 1;                     
      else            touch( (l * 4) + c ) = 0;
      }
    lin(l) = 0 ;
  }
}
/* ********************************************************* */

Code:

/* ********************************************************* */
component keyb3 ;
option userspace yes ;

pin out bit    lin# [4]  ;  
pin in  bit  coltc# [4]   ;  
pin out bit  touch# [16]  ;  

license "GPL";
;;

#include <unistd.h>

void user_mainloop(void) 
{

unsigned  c = 0 ;
unsigned  l = 0 ;

 while (1) 
 {
  FOR_ALL_INSTS()
  { 
  for  (l = 0 ; l < 4 ; l++) 
   {
    lin(l) = 1 ; 
    usleep(1000);    
      for (c = 0 ; c < 4 ; c++)
      { 
      if ( coltc(c) ) touch( (l * 4) + c ) = 1;                     
      else            touch( (l * 4) + c ) = 0;
      }
    lin(l) = 0 ;
    usleep(200);
   }
  }
 }
}
/* ********************************************************* */

Please Log in to join the conversation.

PCW
Offline
Platinum Member

10 years 2 weeks ago #81695 by PCW

Replied by PCW on topic Hal component for a matrix keyboard

The keyb2 real time component cannot work properly since the loop will run to completion (in nanoseconds) every thread invocation so the pins (as seen by other hal components) will only reflect the values at the end of the loop

For this to work it should advance one step in the loop per thread invocation, which means you need to maintain the state (loop variables) between invocations.

Please Log in to join the conversation.

cmorley
Offline
Platinum Member

10 years 2 weeks ago #81697 by cmorley

Replied by cmorley on topic Hal component for a matrix keyboard

Note there is already a matrix keyboard decoder in linuxcnc.
One could use it or use it as a starting point.

www.linuxcnc.org/docs/2.7/html/man/man9/matrix_kb.9.html

Chris M

Please Log in to join the conversation.

gaston48
Topic Author
Offline
Premium Member

10 years 1 week ago #81763 by gaston48

Replied by gaston48 on topic Hal component for a matrix keyboard

Thank you for your answers,
I imagine the constraints of real time and
I'm amazed by the performance applied to the servo with Mesa.
Andy component also uses loops "for" imbricated but requires
a slow servo thread. ?
A slow servo thread is not compatible with a control loop ?

git.linuxcnc.org/gitweb?p=linuxcnc.git;a...62b5d63242cd;hb=HEAD

git.linuxcnc.org/gitweb?p=linuxcnc.git;a...346e27306ba8;hb=HEAD

My keyboard also includes two gray switches and somme LEDs

Code:

/* ********************************************************* */
component keyb0 ;
option userspace yes ;

pin out bit    lin# [12]  ;  
pin in  bit  coltc# [8]   ;  
pin out bit  touch# [88]  ;  
pin out bit  colld# [3]   ;  
pin in  bit    led# [36]  ;  

pin out float out0 ;   // manivelle
pin out float out1 ;   // incrément de déplacement
pin out float out2 ;   // override

license "GPL";
;; 
#include <unistd.h>

unsigned   tab_gray[16] = {0,1,3,2,7,6,4,5,15,14,12,13,8,9,11,10};
float tab_manivelle[16] = {100,10,1,0,0,0,0,0,0,0,0,0,0,0,0,0};
float tab_increment[16] = {0,0,0,1,10,100,1000,10000,1e6,0,0,0,0,0,0,0};
float tab_override [16] = {0,0.02,0.04,0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1,1.1,1.20,0};

void user_mainloop(void) 
{  
unsigned  c = 0 ;
unsigned  l = 0 ;
unsigned  index_commut1 = 0 ;
unsigned  index_commut2 = 0 ;

 while (1) 
 {
  FOR_ALL_INSTS()
  { 
   for  (l = 0 ; l < 12 ; l++) 
   {
    lin(l) = 1 ; 
    usleep(1000);
    
    colld(0) = 1;
    colld(1) = 1;
    colld(2) = 1;

    for (c = 0 ; c < 3 ; c++)
    {
    if ( led ((l * 3) + c ))  { colld(c) = 0 ;  }
    }

    for (c = 0 ; c < 8 ; c++)
    {       
    if ( coltc(c) ) {touch( (l * 8) + c ) = 1;                                  
    else             touch( (l * 8) + c ) = 0;
    }
                
      if ( l == 11)    // ligne 12 on lit les commutateurs
      {
     // récupération de la position du commutateur 1
     index_commut1 = ((unsigned)coltc(0)) +  ((unsigned)coltc(1)<<1) + ((unsigned)coltc(2)<<2) + ((unsigned)coltc(3)<<3);
    
     // récupération de la position du commutateur 2
     index_commut2 = ((unsigned)coltc(4)) +  ((unsigned)coltc(5)<<1) + ((unsigned)coltc(6)<<2) + ((unsigned)coltc(7)<<3);
   
      out0 =  tab_manivelle[tab_gray[index_commut1]] ;
      out1 =  tab_increment[tab_gray[index_commut1]] ;
      out2 =  tab_override [tab_gray[index_commut2]] ;
      }   

     lin(l) = 0 ;
     usleep(200);
   }
  }    
 }
}  
/* ********************************************************* */             

Please Log in to join the conversation.

nkp
Offline
Premium Member

5 years 2 months ago #216987 by nkp

Replied by nkp on topic Hal component for a matrix keyboard

what's the point not_to_use a component matrix_kb?
what do we win?

Please Log in to join the conversation.

Time to create page: 0.087 seconds