util: added keyboard defs for at wcass and original xwhatsit controller variants

[jackhill/qmk/firmware.git] / keyboards / xwhatsit / matrix.c

/* Copyright 2020 Purdea Andrei
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "quantum.h"
#include "matrix_manipulate.h"
#include <string.h>

/* Notes on Expansion Header:

Pinout:
--1--O   O--2--
--3--O   O--4--
--5--O   O--6--

Pin 1 is always VCC
Pin 6 in always GND

When using xwhatsit's solenoid controller board,
pin 2 is connected to the ENABLE input of the current
limiter, and pin 4 drives the solenoid.

On original xwhatsit controllers:
pin 2 = PB7
pin 3 = PB4
pin 4 = PB6
pin 5 = PB5

On the TH xwhatsit controller:
pin 2 = HEADER3 = TXO        = PD3
pin 3 = HEADER1 = D(igital)6 = PD7
pin 4 = HEADER4 = RXI        = PD2
pin 5 = HEADER2 = D(igital)7 = PE6
*/

// USING_SOLENOID_ENABLE_PIN must be defined in config.h if you are using and xwhatsit type solenoid

static inline uint8_t read_rows(void)
{
    CAPSENSE_READ_ROWS_LOCAL_VARS;
    asm volatile (CAPSENSE_READ_ROWS_ASM_INSTRUCTIONS : CAPSENSE_READ_ROWS_OUTPUT_CONSTRAINTS : CAPSENSE_READ_ROWS_INPUT_CONSTRAINTS);
    return CAPSENSE_READ_ROWS_VALUE;
}

#if defined(CAPSENSE_DAC_MCP4921)

void dac_init(void)
{
    writePin(CAPSENSE_DAC_NCS, 1);
    setPinOutput(CAPSENSE_DAC_NCS);
    setPinOutput(CAPSENSE_DAC_SCK);
    setPinOutput(CAPSENSE_DAC_SDI);
    writePin(CAPSENSE_DAC_NCS, 1);
    writePin(CAPSENSE_DAC_SCK, 0);
    writePin(CAPSENSE_DAC_SDI, 0);
}

void dac_write_threshold(uint16_t value)
{
    const uint16_t buffered = 0;
    #define nSHDN_BIT 12
    value |= 1 << nSHDN_BIT; // nSHDN = 0 -- make sure output is not floating.
    #define MCP_DAC_GAIN_2X 0
    #define MCP_DAC_GAIN_1X 1
    #define nGA_BIT 13
    value |= MCP_DAC_GAIN_1X << nGA_BIT;
    #define BUF_BIT 14;
    value |= buffered << BUF_BIT;

    writePin(CAPSENSE_DAC_NCS, 0);
    int i;
    for (i=0;i<16;i++)
    {
        writePin(CAPSENSE_DAC_SDI, (value >> 15) & 1);
        value <<= 1;
        writePin(CAPSENSE_DAC_SCK, 1);
        writePin(CAPSENSE_DAC_SCK, 0);
    }
    writePin(CAPSENSE_DAC_NCS, 1);
    wait_us(CAPSENSE_DAC_SETTLE_TIME_US);
}

#else

void dac_init(void)
{
    setPinOutput(CAPSENSE_DAC_SCLK);
    setPinOutput(CAPSENSE_DAC_DIN);
    setPinOutput(CAPSENSE_DAC_SYNC_N);
    writePin(CAPSENSE_DAC_SYNC_N, 1);
    writePin(CAPSENSE_DAC_SCLK, 0);
    writePin(CAPSENSE_DAC_SCLK, 1);
    writePin(CAPSENSE_DAC_SCLK, 0);
}

void dac_write_threshold(uint16_t value)
{
    value <<= 2; // The two LSB bits of this DAC are don't care.
    writePin(CAPSENSE_DAC_SYNC_N, 0);
    int i;
    for (i=0;i<16;i++)
    {
        writePin(CAPSENSE_DAC_DIN, (value >> 15) & 1);
        value <<= 1;
        writePin(CAPSENSE_DAC_SCLK, 1);
        writePin(CAPSENSE_DAC_SCLK, 0);
    }
    writePin(CAPSENSE_DAC_SYNC_N, 1);
    writePin(CAPSENSE_DAC_SCLK, 1);
    writePin(CAPSENSE_DAC_SCLK, 0);
    wait_us(CAPSENSE_DAC_SETTLE_TIME_US);
}

#endif

#define SHIFT_BITS (((CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(MATRIX_COLS - 1) >= 16) || \
                     (CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(0) >= 16)) ? 24 : 16)

void shift_select_nothing(void)
{
    writePin(CAPSENSE_SHIFT_DIN, 0);
    int i;
    for (i=0;i<SHIFT_BITS;i++)
    {
        writePin(CAPSENSE_SHIFT_SHCP, 1);
        writePin(CAPSENSE_SHIFT_SHCP, 0);
    }
    writePin(CAPSENSE_SHIFT_STCP, 1);
    writePin(CAPSENSE_SHIFT_STCP, 0);
}

void shift_data(uint32_t data)
{
    int i;
    for (i=SHIFT_BITS-1; i>=0; i--)
    {
        writePin(CAPSENSE_SHIFT_DIN, (data >> (SHIFT_BITS - 1)) & 1);
        writePin(CAPSENSE_SHIFT_SHCP, 1);
        writePin(CAPSENSE_SHIFT_SHCP, 0);
        data <<= 1;
    }
    writePin(CAPSENSE_SHIFT_STCP, 1);
    writePin(CAPSENSE_SHIFT_STCP, 0);
}

void shift_select_col_no_strobe(uint8_t col)
{
    int i;
    for (i=SHIFT_BITS-1; i>=0; i--)
    {
        writePin(CAPSENSE_SHIFT_DIN, !!(col == i));
        writePin(CAPSENSE_SHIFT_SHCP, 1);
        writePin(CAPSENSE_SHIFT_SHCP, 0);
    }
}

static inline void shift_select_col(uint8_t col)
{
    shift_select_col_no_strobe(col);
    writePin(CAPSENSE_SHIFT_STCP, 1);
    writePin(CAPSENSE_SHIFT_STCP, 0);
}

void shift_init(void)
{
    setPinOutput(CAPSENSE_SHIFT_DIN);
    setPinOutput(CAPSENSE_SHIFT_OE);
    setPinOutput(CAPSENSE_SHIFT_STCP);
    setPinOutput(CAPSENSE_SHIFT_SHCP);
    writePin(CAPSENSE_SHIFT_STCP, 0);
    writePin(CAPSENSE_SHIFT_SHCP, 0);
    shift_select_nothing();
    wait_us(CAPSENSE_KEYBOARD_SETTLE_TIME_US);
}

// Timing:
// IN instructions (1 * CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE)
// Store to array instructions (2 * number of bytes)
// adiw: 1 cycle
// cp: 1 cycle
// cpc: 1 cycle
// brlo: 2 cycles (when jumping)
// --- Total loop length:
// 3 * CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE + 5 cycles
// first sample elements will be taken after [1..CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE-1] cycles
// second sample elements will be taken after
//       [3 * CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE + 5 + 1..
//        3 * CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE + 5 + CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE-1] cycles

// the following function requires storage for CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE * (time + 1) bytes
// but returns valid data only in the first (time + 1) bytes
void test_multiple(uint8_t col, uint16_t time, uint8_t *array)
{
    shift_select_col_no_strobe(col);
    uint16_t index;
    CAPSENSE_READ_ROWS_LOCAL_VARS;
    uint8_t *arrayp = array;
    asm volatile (
             "ldi %A[index], 0"                 "\n\t"
             "ldi %B[index], 0"                 "\n\t"
             "cli"                              "\n\t"
             "sbi %[stcp_regaddr], %[stcp_bit]" "\n\t"
        "1:" CAPSENSE_READ_ROWS_ASM_INSTRUCTIONS            "\n\t"
             CAPSENSE_READ_ROWS_STORE_TO_ARRAY_INSTRUCTIONS "\n\t"
             "adiw %A[index], 0x01"             "\n\t"
             "cp %A[index], %A[time]"           "\n\t"
             "cpc %B[index], %B[time]"          "\n\t"
             "brlo 1b"                          "\n\t"
             "sei"                              "\n\t"
             "cbi %[stcp_regaddr], %[stcp_bit]" "\n\t"
      : [arr] "=e" (arrayp),
        [index] "=&w" (index),
        CAPSENSE_READ_ROWS_OUTPUT_CONSTRAINTS
      : [time] "r" (time + 1),
        [stcp_regaddr] "I" (CAPSENSE_SHIFT_STCP_IO),
        [stcp_bit] "I" (CAPSENSE_SHIFT_STCP_BIT),
        CAPSENSE_READ_ROWS_INPUT_CONSTRAINTS,
        "0" (arrayp)
      : "memory" );
    uint16_t i, p0, p1;
    p0 = p1 = 0;
    for (i=0; i<=time; i++)
    {
        CAPSENSE_READ_ROWS_EXTRACT_FROM_ARRAY;
        array[p1++] = CAPSENSE_READ_ROWS_VALUE;
    }
    shift_select_nothing();
    wait_us(CAPSENSE_KEYBOARD_SETTLE_TIME_US);
}

uint8_t test_single(uint8_t col, uint16_t time, uint8_t *interference_ptr)
{
    shift_select_col_no_strobe(col);
    uint16_t index;
    CAPSENSE_READ_ROWS_LOCAL_VARS;
    uint8_t array[CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE + 1]; // one sample before triggering, and one dummy byte
    uint8_t *arrayp = array;
    asm volatile (
             "ldi %A[index], 0"                 "\n\t"
             "ldi %B[index], 0"                 "\n\t"
             "cli"                              "\n\t"
             CAPSENSE_READ_ROWS_ASM_INSTRUCTIONS                 "\n\t"
             CAPSENSE_READ_ROWS_STORE_TO_ARRAY_INSTRUCTIONS      "\n\t"
             "sbi %[stcp_regaddr], %[stcp_bit]" "\n\t"
        "1:" CAPSENSE_READ_ROWS_ASM_INSTRUCTIONS                 "\n\t"
             CAPSENSE_READ_ROWS_STORE_TO_ARRAY_INSTRUCTIONS_FAKE "\n\t"
             "adiw %A[index], 0x01"             "\n\t"
             "cp %A[index], %A[time]"           "\n\t"
             "cpc %B[index], %B[time]"          "\n\t"
             "brlo 1b"                          "\n\t"
             "sei"                              "\n\t"
             "cbi %[stcp_regaddr], %[stcp_bit]" "\n\t"
      : [arr] "=e" (arrayp),
        [index] "=&w" (index),
        CAPSENSE_READ_ROWS_OUTPUT_CONSTRAINTS
      : [time] "r" (time + 1),
        [stcp_regaddr] "I" (CAPSENSE_SHIFT_STCP_IO),
        [stcp_bit] "I" (CAPSENSE_SHIFT_STCP_BIT),
        CAPSENSE_READ_ROWS_INPUT_CONSTRAINTS,
        "0" (arrayp)
      : "memory" );
    shift_select_nothing();
    wait_us(CAPSENSE_KEYBOARD_SETTLE_TIME_US);
    uint8_t value_at_time = CAPSENSE_READ_ROWS_VALUE;
    if (interference_ptr)
    {
        uint16_t p0 = 0;
        CAPSENSE_READ_ROWS_EXTRACT_FROM_ARRAY;
        uint8_t interference = CAPSENSE_READ_ROWS_VALUE;
        *interference_ptr = interference;
    }
    return value_at_time;
}

#ifndef NO_PRINT
#define NRTIMES 64
#define TESTATONCE 8
#define REPS_V2 15
void test_col_print_data_v2(uint8_t col)
{
    uprintf("%d: ", col);
    static uint8_t data[NRTIMES*CAPSENSE_READ_ROWS_NUMBER_OF_BYTES_PER_SAMPLE];
    static uint8_t sums[(TESTATONCE+1) * MATRIX_ROWS];
    uint8_t to_time = NRTIMES-1;
    uint8_t from_time = 0;
    while (from_time<NRTIMES-1)
    {
        if (to_time - from_time + 1 > TESTATONCE)
        {
            to_time = from_time + TESTATONCE - 1;
        }
        uint8_t curr_TESTATONCE = to_time - from_time + 1;
        uint8_t i;
        for (i=0;i<(sizeof(sums)/sizeof(sums[0]));i++)
        {
            sums[i] = 0;
        }
        for (i=0;i<REPS_V2;i++)
        {
            uint8_t st = read_rows();
            test_multiple(col, to_time, data);
            uint8_t j;
            uint8_t ii = 0;
            uint8_t k;
            for (j=0;j<curr_TESTATONCE;j++)
            {
                uint8_t dataj = data[j + from_time];
                for (k=0; k<MATRIX_ROWS;k++)
                {
                    sums[ii] += (dataj & 1);
                    dataj >>= 1;
                    ii += 1;
                }
            }
            if (from_time == 0) {
                ii = TESTATONCE * MATRIX_ROWS;
                for (k=0; k<MATRIX_ROWS;k++)
                {
                    sums[ii] += (st & 1);
                    st >>= 1;
                    ii += 1;
                }
            }
        }
        if (from_time == 0) {
            for (i=TESTATONCE*MATRIX_ROWS;i<(TESTATONCE+1)*MATRIX_ROWS;i++) {
                if (sums[i] > 0xf) {
                    print("?");
                } else {
                    uprintf("%X", sums[i]);
                }
            }
            print(":");
        }
        for (i=0;i<curr_TESTATONCE*MATRIX_ROWS;i++)
        {
            if (sums[i] > 0xf) {
                print("?");
            } else {
                uprintf("%X", sums[i]);
            }
        }
        from_time = to_time + 1;
        to_time = NRTIMES - 1;
    }
    print("\n");
}
#endif

#ifndef NO_PRINT
void test_v2(void) {
    int i;
    for (i=7;i>0;i--) {
        uprintf("Starting test in %d\n", i);
        wait_ms(1000);
    }
    uprintf("shift_init()");
    shift_init();
    uprintf(" DONE\n");
    uprintf("dac_init()");
    dac_init();
    uprintf(" DONE\n");
    int d;
    for (d=90;d<=260;d++)
    {
        uprintf("Testing threshold: %d\n", d);
        dac_write_threshold(d);
        #if 1
            int c;
            for (c=0; c<MATRIX_COLS;c++)
            {
                test_col_print_data_v2(CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(c));
            }
        #else
            test_col_print_data_v2(0);
            test_col_print_data_v2(2);
            test_col_print_data_v2(6);
            test_col_print_data_v2(7);
            test_col_print_data_v2(15);
        #endif
    }
    uprintf("TEST DONE\n");
    while(1);
}
#endif

#define TRACKING_TEST_TIME 4
// Key 1 is the always non-pressed key under the space bar to the right.
#define TRACKING_KEY_1_COL 6
#define TRACKING_KEY_1_ROW 4
// Key 2 is the always-pressed calibration pad to the far right-bottom of the keyboard. (both on F62 and F77)
#define TRACKING_KEY_2_COL 15
#define TRACKING_KEY_2_ROW 6
// Key 3 is the F key
#define TRACKING_KEY_3_COL 2
#define TRACKING_KEY_3_ROW 5
// Key 4 is the half of the split backspace that is unused if the user has a normal backspace.
#define TRACKING_KEY_4_COL 7
#define TRACKING_KEY_4_ROW 3
// Key 5 is hidden key next to the left shift, which is only used in ISO layouts.
#define TRACKING_KEY_5_COL 0
#define TRACKING_KEY_5_ROW 7

#define TRACKING_REPS 16

uint16_t measure_middle(uint8_t col, uint8_t row, uint8_t time, uint8_t reps)
{
    uint8_t reps_div2 = reps / 2;
    uint16_t min = 0, max = CAPSENSE_DAC_MAX;
    while (min < max)
    {
        uint16_t mid = (min + max) / 2;
        dac_write_threshold(mid);
        uint8_t sum = 0;
        uint8_t i;
        for (i=0;i<reps;i++)
        {
            sum += (test_single(col, time, NULL) >> row) & 1;
        }
        if (sum < reps_div2)
        {
            max = mid - 1;
        } else if (sum > reps_div2) {
            min = mid + 1;
        } else return mid;
    }
    return min;
}

uint16_t measure_middle_keymap_coords(uint8_t col, uint8_t row, uint8_t time, uint8_t reps)
{
    return measure_middle(CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(col), CAPSENSE_KEYMAP_ROW_TO_PHYSICAL_ROW(row), time, reps);
}

uint16_t measure_middle_settled(uint8_t col, uint8_t row, uint8_t reps)
{
    uint8_t reps_div2 = reps / 2;
    uint16_t min = 0, max = CAPSENSE_DAC_MAX;
    while (min < max)
    {
        uint16_t mid = (min + max) / 2;
        dac_write_threshold(mid);
        uint8_t sum = 0;
        uint8_t i;
        for (i=0;i<reps;i++)
        {
            sum += (read_rows() >> row) & 1;
        }
        if (sum < reps_div2)
        {
            max = mid - 1;
        } else if (sum > reps_div2) {
            min = mid + 1;
        } else return mid;
    }
    return min;
}

#ifndef NO_PRINT
void tracking_test(void)
{
    int i;
    for (i=7;i>0;i--) {
        uprintf("Starting test in %d\n", i);
        wait_ms(1000);
    }
    uprintf("shift_init()");
    shift_init();
    uprintf(" DONE\n");
    uprintf("dac_init()");
    dac_init();
    uprintf(" DONE\n");
    while (1) {
        uint32_t tt = timer_read32();
        uint16_t key1 = measure_middle(TRACKING_KEY_1_COL, TRACKING_KEY_1_ROW, TRACKING_TEST_TIME, TRACKING_REPS);
        uint16_t key2 = measure_middle(TRACKING_KEY_2_COL, TRACKING_KEY_2_ROW, TRACKING_TEST_TIME, TRACKING_REPS);
        uint16_t key3 = measure_middle(TRACKING_KEY_3_COL, TRACKING_KEY_3_ROW, TRACKING_TEST_TIME, TRACKING_REPS);
        uint16_t key4 = measure_middle(TRACKING_KEY_4_COL, TRACKING_KEY_4_ROW, TRACKING_TEST_TIME, TRACKING_REPS);
        uint16_t key5 = measure_middle(TRACKING_KEY_5_COL, TRACKING_KEY_5_ROW, TRACKING_TEST_TIME, TRACKING_REPS);
        uint16_t sett = measure_middle_settled(TRACKING_KEY_2_COL, TRACKING_KEY_2_ROW, TRACKING_REPS);
        uint16_t key1l = measure_middle(TRACKING_KEY_1_COL, TRACKING_KEY_1_ROW, TRACKING_TEST_TIME*2, TRACKING_REPS);
        uint16_t key2l = measure_middle(TRACKING_KEY_2_COL, TRACKING_KEY_2_ROW, TRACKING_TEST_TIME*2, TRACKING_REPS);
        uprintf("%5lu.%03u, %u, %u, %u, %u, %u, %u, %u, %u\n", tt/1000, (uint16_t)(tt%1000), key1, key2, key3, key4, key5, sett, key1l, key2l);
    }
}
#endif

uint16_t calibration_measure_all_valid_keys(uint8_t time, uint8_t reps, bool looking_for_all_zero)
{
    uint16_t min = 0, max = CAPSENSE_DAC_MAX;
    while (min < max)
    {
        uint16_t mid = (min + max) / 2;
        if (!looking_for_all_zero) {
            mid = (min + max + 1) / 2;
        }
        dac_write_threshold(mid);
        uint8_t col;
        for (col = 0; col < MATRIX_COLS; col++)
        {
            uint8_t valid_physical_rows = 0;
            uint8_t row;
            for (row=0; row < MATRIX_ROWS; row++)
            {
                if (pgm_read_word(&keymaps[0][row][col]) != KC_NO)
                {
                    valid_physical_rows |= (((matrix_row_t)1) << CAPSENSE_KEYMAP_ROW_TO_PHYSICAL_ROW(row)); // convert keymap row to physical row
                }
            }
            uint8_t physical_col = CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(col);
            uint8_t i;
            for (i=0;i<reps;i++) {
                if (looking_for_all_zero)
                {
                    uint8_t all_zero = (test_single(physical_col, time, NULL) & valid_physical_rows) == 0;
                    if (!all_zero) {
                        min = mid + 1;
                        goto next_binary_search;
                    }
                } else {
                    uint8_t all_ones = (test_single(physical_col, time, NULL) & valid_physical_rows) == valid_physical_rows;
                    if (!all_ones) {
                        max = mid - 1;
                        goto next_binary_search;
                    }
                }
            }
        }
        if (looking_for_all_zero) {
            max = mid;
        } else {
            min = mid;
        }
        next_binary_search:;
    }
    return min;
}

#if CAPSENSE_CAL_ENABLED
#if defined(BOOTMAGIC_ENABLE) || defined(BOOTMAGIC_LITE)
#error "Calibration is not supported in conjunction with BOOTMAGIC, because calibration requires that no keys are pressed while the keyboard is plugged in"
#endif
#endif

uint16_t cal_thresholds[CAPSENSE_CAL_BINS];
matrix_row_t assigned_to_threshold[CAPSENSE_CAL_BINS][MATRIX_ROWS];
uint16_t cal_tr_allzero;
uint16_t cal_tr_allone;
void calibration(void)
{
    uint16_t cal_thresholds_max[CAPSENSE_CAL_BINS];
    uint16_t cal_thresholds_min[CAPSENSE_CAL_BINS];
    memset(cal_thresholds_max, 0xff, sizeof(cal_thresholds_max));
    memset(cal_thresholds_min, 0xff, sizeof(cal_thresholds_min));
    cal_tr_allzero = calibration_measure_all_valid_keys(CAPSENSE_HARDCODED_SAMPLE_TIME, CAPSENSE_CAL_INIT_REPS, true);
    cal_tr_allone = calibration_measure_all_valid_keys(CAPSENSE_HARDCODED_SAMPLE_TIME, CAPSENSE_CAL_INIT_REPS, false);
    uint16_t max = (cal_tr_allzero == 0) ? 0 : (cal_tr_allzero - 1);
    uint16_t min = cal_tr_allone + 1;
    if (max < min) max = min;
    uint16_t d = max - min;
    uint8_t i;
    for (i=0;i<CAPSENSE_CAL_BINS;i++) {
        cal_thresholds[i] = min + (d * (2 * i + 1)) / 2 / CAPSENSE_CAL_BINS;
    }
    uint8_t col;
    for (col = 0; col < MATRIX_COLS; col++) {
        uint8_t physical_col = CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(col);
        uint8_t row;
        for (row = 0; row < MATRIX_ROWS; row++) {
            if (pgm_read_word(&keymaps[0][row][col]) != KC_NO) {
                uint16_t threshold = measure_middle(physical_col, CAPSENSE_KEYMAP_ROW_TO_PHYSICAL_ROW(row), CAPSENSE_HARDCODED_SAMPLE_TIME, CAPSENSE_CAL_EACHKEY_REPS);
                uint8_t besti = 0;
                uint16_t best_diff = (uint16_t)abs(threshold - cal_thresholds[besti]);
                for (i=1;i<CAPSENSE_CAL_BINS;i++) {
                    uint16_t this_diff = (uint16_t)abs(threshold - cal_thresholds[i]);
                    if (this_diff < best_diff)
                    {
                        best_diff = this_diff;
                        besti = i;
                    }
                }
                assigned_to_threshold[besti][row] |= (((matrix_row_t)1) << col);
                if ((cal_thresholds_max[besti] == 0xFFFFU) || (cal_thresholds_max[besti] < threshold)) cal_thresholds_max[besti] = threshold;
                if ((cal_thresholds_min[besti] == 0xFFFFU) || (cal_thresholds_min[besti] > threshold)) cal_thresholds_min[besti] = threshold;
            }
        }
    }
    for (i=0;i<CAPSENSE_CAL_BINS;i++) {
        uint16_t bin_signal_level;
        if ((cal_thresholds_max[i] == 0xFFFFU) || (cal_thresholds_min[i] == 0xFFFFU)) {
            bin_signal_level = cal_thresholds[i];
        } else {
            bin_signal_level = (cal_thresholds_max[i] + cal_thresholds_min[i]) / 2;
        }
        #ifdef CAPSENSE_CONDUCTIVE_PLASTIC_IS_PUSHED_DOWN_ON_KEYPRESS
        if ((bin_signal_level + CAPSENSE_CAL_THRESHOLD_OFFSET) > CAPSENSE_DAC_MAX)
        {
            cal_thresholds[i] = CAPSENSE_DAC_MAX;
        } else {
            cal_thresholds[i] = bin_signal_level + CAPSENSE_CAL_THRESHOLD_OFFSET;
        }
        #else
        if (bin_signal_level < CAPSENSE_CAL_THRESHOLD_OFFSET)
        {
            cal_thresholds[i] = 0;
        } else {
            cal_thresholds[i] = bin_signal_level - CAPSENSE_CAL_THRESHOLD_OFFSET;
        }
        #endif
    }
}

void real_keyboard_init_basic(void)
{
    #ifndef NO_PRINT
    uprintf("shift_init()");
    #endif
    shift_init();
    #ifndef NO_PRINT
    uprintf(" DONE\n");
    uprintf("dac_init()");
    #endif
    dac_init();
    #ifndef NO_PRINT
    uprintf(" DONE\n");
    #endif
    #if CAPSENSE_CAL_ENABLED
    calibration();
    #else
    dac_write_threshold(CAPSENSE_HARDCODED_THRESHOLD);
    dac_write_threshold(CAPSENSE_HARDCODED_THRESHOLD);
    dac_write_threshold(CAPSENSE_HARDCODED_THRESHOLD);
    #endif
    #if defined(CONTROLLER_IS_THROUGH_HOLE_BEAMSPRING) || defined(CONTROLLER_IS_THROUGH_HOLE_MODEL_F)
        // Disable on-board leds.
        setPinOutput(D5);
        writePin(D5, 1);
        setPinOutput(B0);
        writePin(B0, 1);
    #endif
    #ifdef USING_SOLENOID_ENABLE_PIN
        // ^^ this must be defined in config.h if you are using and xwhatsit type solenoid
        setPinOutput(USING_SOLENOID_ENABLE_PIN);
        writePin(USING_SOLENOID_ENABLE_PIN, 1);
    #endif
}

void matrix_init_custom(void) {
    //test_v2();
    //tracking_test();
    real_keyboard_init_basic();
}

matrix_row_t previous_matrix[MATRIX_ROWS];

bool matrix_has_it_changed(const matrix_row_t current_matrix[]) {
    uint8_t row;
    bool changed = false;
    for (row=0;row<MATRIX_ROWS;row++)
    {
        if (previous_matrix[row] != current_matrix[row]) changed = true;
        previous_matrix[row] = current_matrix[row];
    }
    return changed;
}

#if CAPSENSE_CAL_ENABLED && CAPSENSE_CAL_DEBUG
bool cal_stats_printed = false;
#endif

bool keyboard_scan_enabled = 1;

#ifndef NO_PRINT
void matrix_print_stats(void)
{
    uint8_t row, cal;
    #if CAPSENSE_CAL_ENABLED && CAPSENSE_CAL_DEBUG
    if (!cal_stats_printed)
    {
        uint32_t time = timer_read32();
        if (time >= 10 * 1000UL) { // after 10 seconds
            uprintf("Cal All Zero = %u, Cal All Ones = %u\n", cal_tr_allzero, cal_tr_allone);
            for (cal=0;cal<CAPSENSE_CAL_BINS;cal++)
            {
                uprintf("Cal bin %u, Threshold=%u Assignments:\n", cal, cal_thresholds[cal]);
                for (row=0;row<MATRIX_ROWS;row++)
                {
                    uprintf("0x%02X\n", assigned_to_threshold[cal][row]);
                }
            }
            cal_stats_printed = true;
        }
    }
    #endif
}
#endif

void matrix_scan_raw(matrix_row_t current_matrix[]) {
    uint8_t col, row;
    memset(current_matrix, 0, sizeof(matrix_row_t) * MATRIX_ROWS);
    #if CAPSENSE_CAL_ENABLED
    uint8_t cal;
    for (cal=0;cal<CAPSENSE_CAL_BINS;cal++) {
        dac_write_threshold(cal_thresholds[cal]);
        for (col=0;col<MATRIX_COLS;col++) {
            uint8_t real_col = CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(col);
            uint8_t d, interference;
            uint8_t d_tested = 0;
            for (row=0;row<MATRIX_ROWS;row++) {
                if (assigned_to_threshold[cal][row] & (((matrix_row_t)1) << col))
                {
                    if (!d_tested)
                    {
                        d = test_single(real_col, CAPSENSE_HARDCODED_SAMPLE_TIME, &interference);
                        #ifdef CAPSENSE_CONDUCTIVE_PLASTIC_IS_PULLED_UP_ON_KEYPRESS
                            d = ~d;
                        #endif
                        d_tested = 1;
                    }
                    uint8_t physical_row = CAPSENSE_KEYMAP_ROW_TO_PHYSICAL_ROW(row);
                    if (!((interference >> physical_row) & 1))
                    {
                        current_matrix[row] |= ((matrix_row_t)((d >> physical_row) & 1)) << col;
                    }
                }
            }
        }
    }
    #else
    for (col=0;col<MATRIX_COLS;col++)
    {
        uint8_t real_col = CAPSENSE_KEYMAP_COL_TO_PHYSICAL_COL(col);
        uint8_t interference;
        uint8_t d = test_single(real_col, CAPSENSE_HARDCODED_SAMPLE_TIME, &interference);
        #ifdef CAPSENSE_CONDUCTIVE_PLASTIC_IS_PULLED_UP_ON_KEYPRESS
            d = ~d;
        #endif
        for (row=0;row<MATRIX_ROWS;row++)
        {
            current_matrix[CAPSENSE_PHYSICAL_ROW_TO_KEYMAP_ROW(row)] |= (((matrix_row_t)(d & 1)) << col);
            d >>= 1;
        }
    }
    #endif
}

bool matrix_scan_custom(matrix_row_t current_matrix[]) {
#ifndef NO_PRINT
    matrix_print_stats();
#endif
    if (keyboard_scan_enabled) {
        matrix_scan_raw(current_matrix);
    } else {
        memset(current_matrix, 0, sizeof(matrix_row_t) * MATRIX_ROWS);
    }
    return matrix_has_it_changed(current_matrix);
}