Add and enable Multiplex kscan code
Multiplex handler (all->all) with single pin for interrupt handling. For wired boards/shields, the interrupt can be ignored to simplify the electronics greatly.
This commit is contained in:
Hooky
Peter Johanson
parent
b35a5e83c0
commit
3ea866791a
4 changed files with 478 additions and 0 deletions
412
app/drivers/kscan/kscan_gpio_multiplex.c
Normal file
412
app/drivers/kscan/kscan_gpio_multiplex.c
Normal file
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@ -0,0 +1,412 @@
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/*
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* Copyright (c) 2020-2022 The ZMK Contributors
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*
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* SPDX-License-Identifier: MIT
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*/
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#include "debounce.h"
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#include <device.h>
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#include <devicetree.h>
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#include <drivers/gpio.h>
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#include <drivers/kscan.h>
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#include <kernel.h>
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#include <logging/log.h>
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#include <sys/__assert.h>
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#include <sys/util.h>
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LOG_MODULE_DECLARE(zmk, CONFIG_ZMK_LOG_LEVEL);
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#define DT_DRV_COMPAT zmk_kscan_gpio_multiplex
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#define INST_LEN(n) DT_INST_PROP_LEN(n, gpios)
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#define INST_MULTIPLEX_LEN(n) (INST_LEN(n) * (INST_LEN(n) - 1))
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#if CONFIG_ZMK_KSCAN_DEBOUNCE_PRESS_MS >= 0
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#define INST_DEBOUNCE_PRESS_MS(n) CONFIG_ZMK_KSCAN_DEBOUNCE_PRESS_MS
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#else
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#define INST_DEBOUNCE_PRESS_MS(n) \
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DT_INST_PROP_OR(n, debounce_period, DT_INST_PROP(n, debounce_press_ms))
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#endif
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#if CONFIG_ZMK_KSCAN_DEBOUNCE_RELEASE_MS >= 0
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#define INST_DEBOUNCE_RELEASE_MS(n) CONFIG_ZMK_KSCAN_DEBOUNCE_RELEASE_MS
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#else
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#define INST_DEBOUNCE_RELEASE_MS(n) \
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DT_INST_PROP_OR(n, debounce_period, DT_INST_PROP(n, debounce_release_ms))
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#endif
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#define USE_POLLING IS_ENABLED(CONFIG_ZMK_KSCAN_MULTIPLEX_POLLING)
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#define USE_INTERRUPT (!USE_POLLING)
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#define COND_INTERRUPT(code) COND_CODE_1(CONFIG_ZMK_KSCAN_MULTIPLEX_POLLING, (), code)
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#define KSCAN_GPIO_CFG_INIT(idx, inst_idx) \
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GPIO_DT_SPEC_GET_BY_IDX(DT_DRV_INST(inst_idx), gpios, idx),
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#define KSCAN_INTR_CFG_INIT(inst_idx) GPIO_DT_SPEC_GET(DT_DRV_INST(inst_idx), interrupt_gpios)
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struct kscan_multiplex_data {
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const struct device *dev;
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kscan_callback_t callback;
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struct k_work_delayable work;
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int64_t scan_time; /* Timestamp of the current or scheduled scan. */
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#if USE_INTERRUPT
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struct gpio_callback irq_callback;
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#endif
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/**
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* Current state of the matrix as a flattened 2D array of length
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* (config->cells.length ^2)
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*/
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struct debounce_state *multiplex_state;
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};
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struct kscan_gpio_list {
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const struct gpio_dt_spec *gpios;
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size_t len;
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};
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/** Define a kscan_gpio_list from a compile-time GPIO array. */
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#define KSCAN_GPIO_LIST(gpio_array) \
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((struct kscan_gpio_list){.gpios = gpio_array, .len = ARRAY_SIZE(gpio_array)})
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struct kscan_multiplex_config {
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struct kscan_gpio_list cells;
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struct debounce_config debounce_config;
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int32_t debounce_scan_period_ms;
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int32_t poll_period_ms;
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#if USE_INTERRUPT
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const struct gpio_dt_spec interrupt;
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#endif
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};
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/**
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* Get the index into a matrix state array from a row and column.
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* There are effectively (n) cols and (n-1) rows, but we use the full col x row space
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* as a safety measure against someone accidentally defining a transform RC at (p,p)
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*/
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static int state_index(const struct kscan_multiplex_config *config, const int row, const int col) {
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__ASSERT(row < config->cells.len, "Invalid row %i", row);
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__ASSERT(col < config->cells.len, "Invalid column %i", col);
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__ASSERT(col != row, "Invalid column row pair %i, %i", col, row);
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return (col * config->cells.len) + row;
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}
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static int kscan_multiplex_set_as_input(const struct gpio_dt_spec *gpio) {
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if (!device_is_ready(gpio->port)) {
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LOG_ERR("GPIO is not ready: %s", gpio->port->name);
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return -ENODEV;
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}
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int err = gpio_pin_configure_dt(gpio, GPIO_INPUT);
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if (err) {
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LOG_ERR("Unable to configure pin %u on %s for input", gpio->pin, gpio->port->name);
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return err;
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}
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return 0;
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}
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static int kscan_multiplex_set_as_output(const struct gpio_dt_spec *gpio) {
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if (!device_is_ready(gpio->port)) {
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LOG_ERR("GPIO is not ready: %s", gpio->port->name);
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return -ENODEV;
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}
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int err = gpio_pin_configure_dt(gpio, GPIO_OUTPUT);
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if (err) {
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LOG_ERR("Unable to configure pin %u on %s for output", gpio->pin, gpio->port->name);
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return err;
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}
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#if CONFIG_ZMK_KSCAN_MATRIX_WAIT_BEFORE_INPUTS > 0
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k_busy_wait(CONFIG_ZMK_KSCAN_MATRIX_WAIT_BEFORE_INPUTS);
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#endif
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err = gpio_pin_set_dt(gpio, 1);
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if (err) {
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LOG_ERR("Failed to set output pin %u active: %i", gpio->pin, err);
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}
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return err;
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}
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static int kscan_multiplex_set_all_as_input(const struct device *dev) {
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const struct kscan_multiplex_config *config = dev->config;
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int err = 0;
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for (int i = 0; i < config->cells.len; i++) {
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err = kscan_multiplex_set_as_input(&config->cells.gpios[i]);
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if (err) {
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return err;
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}
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}
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return 0;
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}
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static int kscan_multiplex_set_all_outputs(const struct device *dev, const int value) {
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const struct kscan_multiplex_config *config = dev->config;
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for (int i = 0; i < config->cells.len; i++) {
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const struct gpio_dt_spec *gpio = &config->cells.gpios[i];
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int err = gpio_pin_configure_dt(gpio, GPIO_OUTPUT);
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if (err) {
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LOG_ERR("Unable to configure pin %u on %s for input", gpio->pin, gpio->port->name);
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return err;
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}
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err = gpio_pin_set_dt(gpio, value);
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if (err) {
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LOG_ERR("Failed to set output %i to %i: %i", i, value, err);
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return err;
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}
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}
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return 0;
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}
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#if USE_INTERRUPT
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static int kscan_multiplex_interrupt_configure(const struct device *dev, const gpio_flags_t flags) {
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const struct kscan_multiplex_config *config = dev->config;
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const struct gpio_dt_spec *gpio = &config->interrupt;
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int err = gpio_pin_interrupt_configure_dt(gpio, flags);
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if (err) {
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LOG_ERR("Unable to configure interrupt for pin %u on %s", gpio->pin, gpio->port->name);
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return err;
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}
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return 0;
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}
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#endif
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#if USE_INTERRUPT
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static int kscan_multiplex_interrupt_enable(const struct device *dev) {
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int err = kscan_multiplex_interrupt_configure(dev, GPIO_INT_LEVEL_ACTIVE);
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if (err) {
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return err;
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}
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// While interrupts are enabled, set all outputs active so an pressed key will trigger
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return kscan_multiplex_set_all_outputs(dev, 1);
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}
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#endif
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#if USE_INTERRUPT
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static void kscan_multiplex_irq_callback(const struct device *port, struct gpio_callback *cb,
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const gpio_port_pins_t _pin) {
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struct kscan_multiplex_data *data = CONTAINER_OF(cb, struct kscan_multiplex_data, irq_callback);
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// Disable our interrupt to avoid re-entry while we scan.
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kscan_multiplex_interrupt_configure(data->dev, GPIO_INT_DISABLE);
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data->scan_time = k_uptime_get();
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k_work_reschedule(&data->work, K_NO_WAIT);
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}
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#endif
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static void kscan_multiplex_read_continue(const struct device *dev) {
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const struct kscan_multiplex_config *config = dev->config;
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struct kscan_multiplex_data *data = dev->data;
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data->scan_time += config->debounce_scan_period_ms;
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k_work_reschedule(&data->work, K_TIMEOUT_ABS_MS(data->scan_time));
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}
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static void kscan_multiplex_read_end(const struct device *dev) {
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#if USE_INTERRUPT
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// Return to waiting for an interrupt.
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kscan_multiplex_interrupt_enable(dev);
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#else
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struct kscan_multiplex_data *data = dev->data;
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const struct kscan_multiplex_config *config = dev->config;
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data->scan_time += config->poll_period_ms;
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// Return to polling slowly.
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k_work_reschedule(&data->work, K_TIMEOUT_ABS_MS(data->scan_time));
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#endif
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}
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static int kscan_multiplex_read(const struct device *dev) {
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struct kscan_multiplex_data *data = dev->data;
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const struct kscan_multiplex_config *config = dev->config;
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bool continue_scan = false;
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// NOTE: MULTI vs MATRIX: set all pins as input, in case there was a failure on a
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// previous scan, and one of the pins is still set as output
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int err = kscan_multiplex_set_all_as_input(dev);
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if (err) {
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return err;
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}
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// Scan the matrix.
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for (int row = 0; row < config->cells.len; row++) {
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const struct gpio_dt_spec *out_gpio = &config->cells.gpios[row];
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err = kscan_multiplex_set_as_output(out_gpio);
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if (err) {
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return err;
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}
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#if CONFIG_ZMK_KSCAN_MULTIPLEX_WAIT_BEFORE_INPUTS > 0
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k_busy_wait(CONFIG_ZMK_KSCAN_MULTIPLEX_WAIT_BEFORE_INPUTS);
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#endif
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for (int col = 0; col < config->cells.len; col++) {
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if (col == row) {
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continue; // pin can't drive itself
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}
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const struct gpio_dt_spec *in_gpio = &config->cells.gpios[col];
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const int index = state_index(config, row, col);
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struct debounce_state *state = &data->multiplex_state[index];
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debounce_update(state, gpio_pin_get_dt(in_gpio), config->debounce_scan_period_ms,
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&config->debounce_config);
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// NOTE: MULTI vs MATRIX: because we don't need an input/output => row/column
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// setup, we can update in the same loop.
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if (debounce_get_changed(state)) {
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const bool pressed = debounce_is_pressed(state);
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LOG_DBG("Sending event at %i,%i state %s", row, col, pressed ? "on" : "off");
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data->callback(dev, row, col, pressed);
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}
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continue_scan = continue_scan || debounce_is_active(state);
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}
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err = kscan_multiplex_set_as_input(out_gpio);
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if (err) {
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return err;
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}
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#if CONFIG_ZMK_KSCAN_MULTIPLEX_WAIT_BETWEEN_OUTPUTS > 0
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k_busy_wait(CONFIG_ZMK_KSCAN_MULTIPLEX_WAIT_BETWEEN_OUTPUTS);
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#endif
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}
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if (continue_scan) {
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// At least one key is pressed or the debouncer has not yet decided if
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// it is pressed. Poll quickly until everything is released.
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kscan_multiplex_read_continue(dev);
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} else {
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// All keys are released. Return to normal.
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kscan_multiplex_read_end(dev);
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}
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return 0;
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}
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static void kscan_multiplex_work_handler(struct k_work *work) {
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struct k_work_delayable *dwork = CONTAINER_OF(work, struct k_work_delayable, work);
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struct kscan_multiplex_data *data = CONTAINER_OF(dwork, struct kscan_multiplex_data, work);
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kscan_multiplex_read(data->dev);
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}
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static int kscan_multiplex_configure(const struct device *dev, const kscan_callback_t callback) {
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if (!callback) {
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return -EINVAL;
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}
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struct kscan_multiplex_data *data = dev->data;
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data->callback = callback;
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return 0;
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}
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static int kscan_multiplex_enable(const struct device *dev) {
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struct kscan_multiplex_data *data = dev->data;
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data->scan_time = k_uptime_get();
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// Read will automatically start interrupts/polling once done.
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return kscan_multiplex_read(dev);
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}
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static int kscan_multiplex_disable(const struct device *dev) {
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struct kscan_multiplex_data *data = dev->data;
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k_work_cancel_delayable(&data->work);
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#if USE_INTERRUPT
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return kscan_multiplex_interrupt_configure(dev, GPIO_INT_DISABLE);
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#else
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return 0;
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#endif
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}
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static int kscan_multiplex_init_inputs(const struct device *dev) {
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const struct kscan_multiplex_config *config = dev->config;
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for (int i = 0; i < config->cells.len; i++) {
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int err = kscan_multiplex_set_as_input(&config->cells.gpios[i]);
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if (err) {
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return err;
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}
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}
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return 0;
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}
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#if USE_INTERRUPT
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static int kscan_multiplex_init_interrupt(const struct device *dev) {
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struct kscan_multiplex_data *data = dev->data;
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const struct kscan_multiplex_config *config = dev->config;
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const struct gpio_dt_spec *gpio = &config->interrupt;
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int err = kscan_multiplex_set_as_input(gpio);
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if (err) {
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return err;
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}
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gpio_init_callback(&data->irq_callback, kscan_multiplex_irq_callback, BIT(gpio->pin));
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err = gpio_add_callback(gpio->port, &data->irq_callback);
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if (err) {
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LOG_ERR("Error adding the callback to the input device: %i", err);
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}
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return err;
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}
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|
#endif
|
||||||
|
|
||||||
|
static int kscan_multiplex_init(const struct device *dev) {
|
||||||
|
struct kscan_multiplex_data *data = dev->data;
|
||||||
|
|
||||||
|
data->dev = dev;
|
||||||
|
|
||||||
|
kscan_multiplex_init_inputs(dev);
|
||||||
|
kscan_multiplex_set_all_outputs(dev, 0);
|
||||||
|
#if USE_INTERRUPT
|
||||||
|
kscan_multiplex_init_interrupt(dev);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
k_work_init_delayable(&data->work, kscan_multiplex_work_handler);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static const struct kscan_driver_api kscan_multiplex_api = {
|
||||||
|
.config = kscan_multiplex_configure,
|
||||||
|
.enable_callback = kscan_multiplex_enable,
|
||||||
|
.disable_callback = kscan_multiplex_disable,
|
||||||
|
};
|
||||||
|
|
||||||
|
#define KSCAN_MULTIPLEX_INIT(n) \
|
||||||
|
BUILD_ASSERT(INST_DEBOUNCE_PRESS_MS(n) <= DEBOUNCE_COUNTER_MAX, \
|
||||||
|
"ZMK_KSCAN_DEBOUNCE_PRESS_MS or debounce-press-ms is too large"); \
|
||||||
|
BUILD_ASSERT(INST_DEBOUNCE_RELEASE_MS(n) <= DEBOUNCE_COUNTER_MAX, \
|
||||||
|
"ZMK_KSCAN_DEBOUNCE_RELEASE_MS or debounce-release-ms is too large"); \
|
||||||
|
\
|
||||||
|
static struct debounce_state kscan_multiplex_state_##n[INST_MULTIPLEX_LEN(n)]; \
|
||||||
|
static const struct gpio_dt_spec kscan_multiplex_cells_##n[] = { \
|
||||||
|
UTIL_LISTIFY(INST_LEN(n), KSCAN_GPIO_CFG_INIT, n)}; \
|
||||||
|
static struct kscan_multiplex_data kscan_multiplex_data_##n = { \
|
||||||
|
.multiplex_state = kscan_multiplex_state_##n, \
|
||||||
|
}; \
|
||||||
|
\
|
||||||
|
static struct kscan_multiplex_config kscan_multiplex_config_##n = { \
|
||||||
|
.cells = KSCAN_GPIO_LIST(kscan_multiplex_cells_##n), \
|
||||||
|
.debounce_config = \
|
||||||
|
{ \
|
||||||
|
.debounce_press_ms = INST_DEBOUNCE_PRESS_MS(n), \
|
||||||
|
.debounce_release_ms = INST_DEBOUNCE_RELEASE_MS(n), \
|
||||||
|
}, \
|
||||||
|
.debounce_scan_period_ms = DT_INST_PROP(n, debounce_scan_period_ms), \
|
||||||
|
.poll_period_ms = DT_INST_PROP(n, poll_period_ms), \
|
||||||
|
COND_INTERRUPT((.interrupt = KSCAN_INTR_CFG_INIT(n), ))}; \
|
||||||
|
\
|
||||||
|
DEVICE_DT_INST_DEFINE(n, &kscan_multiplex_init, NULL, &kscan_multiplex_data_##n, \
|
||||||
|
&kscan_multiplex_config_##n, APPLICATION, \
|
||||||
|
CONFIG_APPLICATION_INIT_PRIORITY, &kscan_multiplex_api);
|
||||||
|
|
||||||
|
DT_INST_FOREACH_STATUS_OKAY(KSCAN_MULTIPLEX_INIT);
|
||||||
|
|
@ -0,0 +1,32 @@
|
||||||
|
# Copyright (c) 2022 The ZMK Contributors
|
||||||
|
# SPDX-License-Identifier: MIT
|
||||||
|
|
||||||
|
description: GPIO keyboard full multiplexed matrix controller
|
||||||
|
|
||||||
|
compatible: "zmk,kscan-gpio-multiplex"
|
||||||
|
|
||||||
|
include: kscan.yaml
|
||||||
|
|
||||||
|
properties:
|
||||||
|
gpios:
|
||||||
|
type: phandle-array
|
||||||
|
required: true
|
||||||
|
interrupt-gpios:
|
||||||
|
type: phandle-array
|
||||||
|
required: true
|
||||||
|
debounce-press-ms:
|
||||||
|
type: int
|
||||||
|
default: 5
|
||||||
|
description: Debounce time for key press in milliseconds. Use 0 for eager debouncing.
|
||||||
|
debounce-release-ms:
|
||||||
|
type: int
|
||||||
|
default: 5
|
||||||
|
description: Debounce time for key release in milliseconds.
|
||||||
|
debounce-scan-period-ms:
|
||||||
|
type: int
|
||||||
|
default: 1
|
||||||
|
description: Time between reads in milliseconds when any key is pressed.
|
||||||
|
poll-period-ms:
|
||||||
|
type: int
|
||||||
|
default: 1
|
||||||
|
description: Time between reads in milliseconds
|
||||||
|
|
@ -9,3 +9,4 @@ zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_GPIO_DIRECT kscan_gpio_direct.c)
|
||||||
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_GPIO_DEMUX kscan_gpio_demux.c)
|
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_GPIO_DEMUX kscan_gpio_demux.c)
|
||||||
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_MOCK_DRIVER kscan_mock.c)
|
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_MOCK_DRIVER kscan_mock.c)
|
||||||
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_COMPOSITE_DRIVER kscan_composite.c)
|
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_COMPOSITE_DRIVER kscan_composite.c)
|
||||||
|
zephyr_library_sources_ifdef(CONFIG_ZMK_KSCAN_GPIO_MULTIPLEX kscan_gpio_multiplex.c)
|
||||||
|
|
|
||||||
|
|
@ -5,6 +5,7 @@ DT_COMPAT_ZMK_KSCAN_COMPOSITE := zmk,kscan-composite
|
||||||
DT_COMPAT_ZMK_KSCAN_GPIO_DEMUX := zmk,kscan-gpio-demux
|
DT_COMPAT_ZMK_KSCAN_GPIO_DEMUX := zmk,kscan-gpio-demux
|
||||||
DT_COMPAT_ZMK_KSCAN_GPIO_DIRECT := zmk,kscan-gpio-direct
|
DT_COMPAT_ZMK_KSCAN_GPIO_DIRECT := zmk,kscan-gpio-direct
|
||||||
DT_COMPAT_ZMK_KSCAN_GPIO_MATRIX := zmk,kscan-gpio-matrix
|
DT_COMPAT_ZMK_KSCAN_GPIO_MATRIX := zmk,kscan-gpio-matrix
|
||||||
|
DT_COMPAT_ZMK_KSCAN_GPIO_MULTIPLEX := zmk,kscan-gpio-multiplex
|
||||||
DT_COMPAT_ZMK_KSCAN_MOCK := zmk,kscan-mock
|
DT_COMPAT_ZMK_KSCAN_MOCK := zmk,kscan-mock
|
||||||
|
|
||||||
if KSCAN
|
if KSCAN
|
||||||
|
|
@ -33,6 +34,11 @@ config ZMK_KSCAN_GPIO_MATRIX
|
||||||
default $(dt_compat_enabled,$(DT_COMPAT_ZMK_KSCAN_GPIO_MATRIX))
|
default $(dt_compat_enabled,$(DT_COMPAT_ZMK_KSCAN_GPIO_MATRIX))
|
||||||
select ZMK_KSCAN_GPIO_DRIVER
|
select ZMK_KSCAN_GPIO_DRIVER
|
||||||
|
|
||||||
|
config ZMK_KSCAN_GPIO_MULTIPLEX
|
||||||
|
bool
|
||||||
|
default $(dt_compat_enabled,$(DT_COMPAT_ZMK_KSCAN_GPIO_MULTIPLEX))
|
||||||
|
select ZMK_KSCAN_GPIO_DRIVER
|
||||||
|
|
||||||
if ZMK_KSCAN_GPIO_MATRIX
|
if ZMK_KSCAN_GPIO_MATRIX
|
||||||
|
|
||||||
config ZMK_KSCAN_MATRIX_WAIT_BEFORE_INPUTS
|
config ZMK_KSCAN_MATRIX_WAIT_BEFORE_INPUTS
|
||||||
|
|
@ -58,6 +64,30 @@ config ZMK_KSCAN_MATRIX_WAIT_BETWEEN_OUTPUTS
|
||||||
|
|
||||||
endif # ZMK_KSCAN_GPIO_MATRIX
|
endif # ZMK_KSCAN_GPIO_MATRIX
|
||||||
|
|
||||||
|
if ZMK_KSCAN_GPIO_MULTIPLEX
|
||||||
|
|
||||||
|
config ZMK_KSCAN_MATRIX_WAIT_BEFORE_INPUTS
|
||||||
|
int "Ticks to wait before reading inputs after an output set active"
|
||||||
|
default 0
|
||||||
|
help
|
||||||
|
When iterating over each output to drive it active, read inputs, then set
|
||||||
|
inactive again, some boards may take time for output to propagate to the
|
||||||
|
inputs. In that scenario, set this value to a positive value to configure
|
||||||
|
the number of ticks to wait after setting an output active before reading
|
||||||
|
the inputs for their active state.
|
||||||
|
|
||||||
|
config ZMK_KSCAN_MULTIPLEX_WAIT_BETWEEN_OUTPUTS
|
||||||
|
int "Ticks to wait between each output when scanning round robin matrix"
|
||||||
|
default 0
|
||||||
|
help
|
||||||
|
When iterating over each output to drive it active, read inputs, then set
|
||||||
|
inactive again, some boards may take time for the previous output to
|
||||||
|
"settle" before reading inputs for the next active output column. In that
|
||||||
|
scenario, set this value to a positive value to configure the number of
|
||||||
|
usecs to wait after reading each column of keys.
|
||||||
|
|
||||||
|
endif # ZMK_KSCAN_GPIO_MULTIPLEX
|
||||||
|
|
||||||
config ZMK_KSCAN_MOCK_DRIVER
|
config ZMK_KSCAN_MOCK_DRIVER
|
||||||
bool
|
bool
|
||||||
default $(dt_compat_enabled,$(DT_COMPAT_ZMK_KSCAN_MOCK))
|
default $(dt_compat_enabled,$(DT_COMPAT_ZMK_KSCAN_MOCK))
|
||||||
|
|
@ -67,6 +97,9 @@ if ZMK_KSCAN_GPIO_DRIVER
|
||||||
config ZMK_KSCAN_MATRIX_POLLING
|
config ZMK_KSCAN_MATRIX_POLLING
|
||||||
bool "Poll for key event triggers instead of using interrupts on matrix boards."
|
bool "Poll for key event triggers instead of using interrupts on matrix boards."
|
||||||
|
|
||||||
|
config ZMK_KSCAN_MULTIPLEX_POLLING
|
||||||
|
bool "Poll for key event triggers instead of using interrupts on multiplex boards."
|
||||||
|
|
||||||
config ZMK_KSCAN_DIRECT_POLLING
|
config ZMK_KSCAN_DIRECT_POLLING
|
||||||
bool "Poll for key event triggers instead of using interrupts on direct wired boards."
|
bool "Poll for key event triggers instead of using interrupts on direct wired boards."
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Add table
Reference in a new issue