PSOC™ 4: MSCLP CAPSENSE™ Hover Touch

This code example demonstrates an implementation of a Hover Touch sensor application using CAPSENSE™ middleware. A Hover Touch sensor is a type of capacitive touch button with an overlay elevated from the PCB. This implementation eliminates the need for bridging the gap with a conductive material, such as a spring or conductive foam. Additionally, this code example also explains how to manually tune the Hover Touch sensor for optimal performance, taking into account parameters like overlay elevation distance, button separation, and response time.

View this README on GitHub.

Provide feedback on this code example.

Requirements

ModusToolbox™ v3.4 or later (tested with v3.4)

Note: This code example requires ModusToolbox™ v3.4 and is not backward compatible with v3.3 or older.
Board support package (BSP) minimum required version: 3.2.0
Programming language: C
Associated parts: PSOC™ 4000T

Supported toolchains (make variable 'TOOLCHAIN')

GNU Arm® Embedded Compiler v11.3.1 (GCC_ARM) – Default value of TOOLCHAIN
Arm® Compiler v6.22 (ARM)
IAR C/C++ Compiler v9.50.2 (IAR)

Supported kits (make variable 'TARGET')

PSOC™ 4000T Multi-Sense Prototyping Kit (CY8CPROTO-040T-MS) – Default value of TARGET

Hardware setup

This example uses the Hover Touch Expansion Board with the PSOC™ 4000T Multi-Sense Control Board, in default configuration. See the kit user guide to ensure that the board is configured and connected correctly.

Note: Some PSOC™ 4 kits ship with KitProg2 installed. ModusToolbox™ requires KitProg3. Before using this code example, make sure that the board is upgraded to KitProg3. The tool and instructions are available in the Firmware Loader GitHub repository. If you do not upgrade, you will see an error like "unable to find CMSIS-DAP device" or "KitProg firmware is out of date".

Software setup

See the ModusToolbox™ tools package installation guide for information about installing and configuring the tools package.

This example requires ModusToolbox™ CAPSENSE™ and Multi-Sense Pack to be installed.

Using the code example

Create the project

The ModusToolbox™ tools package provides the Project Creator as both a GUI tool and a command line tool.

Use Project Creator GUI

Open the Project Creator GUI tool

There are several ways to do this, including launching it from the dashboard or from inside the Eclipse IDE. For more details, see the Project Creator user guide (locally available at {ModusToolbox™ install directory}/tools_{version}/project-creator/docs/project-creator.pdf).
On the Choose Board Support Package (BSP) page, select a kit supported by this code example. See Supported kits

Note: To use this code example for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.
On the Select Application page:

a. Select the Applications(s) Root Path and the Target IDE

Note: Depending on how you open the Project Creator tool, these fields may be pre-selected for you.

b. Select this code example from the list by enabling its check box

Note: You can narrow the list of displayed examples by typing in the filter box.

c. (Optional) Change the suggested New Application Name and New BSP Name

d. Click Create to complete the application creation process

Use Project Creator CLI

The 'project-creator-cli' tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the 'project-creator-cli' tool. On Windows, use the command-line 'modus-shell' program provided in the ModusToolbox™ installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ tools. You can access it by typing "modus-shell" in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

The following example clones the "PSOC™ 4: MSCLP CAPSENSE™ Hover Touch 4" application with the desired name "MyHoverTouch" configured for the CY8CPROTO-040T-MS BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id CY8CPROTO-040T-MS --app-id mtb-example-psoc4-msclp-hover-touch-4 --user-app-name MyHoverTouch --target-dir "C:/mtb_projects"

The 'project-creator-cli' tool has the following arguments:

Argument	Description	Required/optional
`--board-id`	Defined in the field of the BSP manifest	Required
`--app-id`	Defined in the field of the CE manifest	Required
`--target-dir`	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
`--user-app-name`	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Open the project

After the project has been created, you can open it in your preferred development environment.

Eclipse IDE

If you opened the Project Creator tool from the included Eclipse IDE, the project will open in Eclipse automatically.

For more details, see the Eclipse IDE for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_ide_user_guide.pdf).

Visual Studio (VS) Code

Launch VS Code manually, and then open the generated {project-name}.code-workspace file located in the project directory.

For more details, see the Visual Studio Code for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_vscode_user_guide.pdf).

Keil µVision

Double-click the generated {project-name}.cprj file to launch the Keil µVision IDE.

For more details, see the Keil µVision for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_uvision_user_guide.pdf).

IAR Embedded Workbench

Open IAR Embedded Workbench manually, and create a new project. Then select the generated {project-name}.ipcf file located in the project directory.

For more details, see the IAR Embedded Workbench for ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mt_iar_user_guide.pdf).

Command line

If you prefer to use the CLI, open the appropriate terminal, and navigate to the project directory. On Windows, use the command-line 'modus-shell' program; on Linux and macOS, you can use any terminal application. From there, you can run various make commands.

For more details, see the ModusToolbox™ tools package user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

Connect the board to your PC using the provided USB cable through the KitProg3 USB connector

Figure 1. Connecting the kit with the PC
Program the board using one of the following:
Using Eclipse IDE
1. Select the application project in the Project Explorer
2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4)
In other IDEs

Follow the instructions in your preferred IDE.
Using CLI

From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:
```
make program TOOLCHAIN=<toolchain>
```
Example:
```
make program TOOLCHAIN=GCC_ARM
```
After programming, the application starts automatically

Note: After programming, you might see the following error message if debug mode is disabled. This can be ignored or enabling the debug mode will solve this error.
```
"Error: Error connecting Dp: Cannot read IDR"
```

Monitor data using tuner

Open CAPSENSE™ Tuner from the Tools section in the IDE Quick Panel

You can also run the CAPSENSE™ Tuner application in standalone mode from {ModusToolbox™ install directory}/ModusToolbox/tools_{version}/capsense-configurator/capsense-tuner. In this case, after opening the application, select File > Open and open the design.cycapsense file of the respective application, which is present in the {Application root directory}/bsps/TARGET_APP_<BSP-NAME>/config folder.

See the ModusToolbox™ user guide (locally available at {ModusToolbox™ install directory}/docs_{version}/mtb_user_guide.pdf) for options to open the CAPSENSE™ Tuner application using the CLI.
Ensure that the status LED is on and not blinking. This indicates that the onboard KitProg3 is in CMSIS-DAP bulk mode. See Firmware-loader to learn how to update the firmware and switch modes in KitProg3
In the Tuner application, click on the Tuner Communication Setup icon or select Tools > Tuner Communication setup

In the window that appears, select I2C under KitProg3 and configure it as follows:
- I2C address: 8
- Sub-address: 2-Bytes
- Speed (kHz): 400
These are the same values set in the EZI2C resource.

Figure 2. Tuner Communication Setup parameters
Click Connect or select Communication > Connect to establish a connection

Figure 3. Establish connection
Click Start or select Communication > Start to start data streaming from the device

Figure 4. Start tuner communication

The Widget/Sensor Parameters tab is updated with the parameters configured in the CAPSENSE™ Configurator window. The tuner displays the data from the sensor in Widget View and Graph View tabs.
Set the Read mode to Synchronized. Navigate to the Widget View tab and observe that the sensor widget is highlighted in blue color when the corresponding button is touched. Also notice that, upon touching each button, the corresponding LED above the button lights up

Button pressed LED indication

BTN1 LED D1 turns ON

BTN2 LED D2 turns ON

BTN3 LED D3 turns ON

BTN4 LED D4 turns ON

Button pressed	LED indication
BTN1	LED D1 turns ON
BTN2	LED D2 turns ON
BTN3	LED D3 turns ON
BTN4	LED D4 turns ON

View the raw counts of each of the buttons through the Graph View tab. The status of each of the buttons can be observed in the status window

Figure 5. Hover Touch button Rawcounts and Status
Switch to the SNR Measurement tab and verify that the SNR is above 5:1 by performing the following steps
1. Select the button sensor Button1_Sns0 sensor under the Button1 widget and click Acquire Noise, as shown in Figure 6
  
  Figure 6. CAPSENSE™ Tuner - SNR measurement: Acquire noise
2. Touch the same button again and click Acquire Signal, as shown in Figure 7 and wait for the SNR measurement to complete. Repeat above steps 1 and 2 for all the button sensors to measure SNR
  
  Figure 7. CAPSENSE™ Tuner - SNR measurement: Acquire signal
  
  Ensure that the SNR is above 5:1.

Tuning Procedure

Create custom BSP for your board

Create a custom BSP for your board with any device by following the steps given in ModusToolbox™ BSP Assistant user guide. This code example is created for the CY8C4046LQI-T452 device
Open the design.modus file from the {Application root directory}/bsps/TARGET_APP_<BSP-NAME>/config/ folder obtained in the previous step and enable CAPSENSE™ to get the design.cycapsense file. CAPSENSE™ configuration can be started from scratch as follows:

Note: See the section Selecting CAPSENSE™ hardware parameters in AN85951 PSOC™ 4 and PSOC™ 6 MCU CAPSENSE™ design guide to learn the considerations for selecting each parameter value.

The tuning flow of the Hover Touch Sensing Widget is shown in Figure 8.

Figure 8. Tuning Flow of Hover Touch Sensor

Perform the following to tune the Hover Touch Sensing Widget:

Stage 1: Set the initial hardware parameters
Stage 2: Set sense clock frequency
Stage 3: Fine-tune sensitivity for required SNR and refresh rate
Stage 4: Tune threshold parameters

Stage 1: Set the initial hardware parameters

Connect the board to your PC using the provided USB cable through the KitProg3 USB connector
Launch the Device Configurator tool

You can launch the Device Configurator in Eclipse IDE for ModusToolbox™ from the Tools section in the IDE Quick Panel or in standalone mode from {ModusToolbox™ install directory}/ModusToolbox/tools_{version}/device-configurator/device-configurator. In this case, after opening the application, select File > Open and open the design.modus file of the respective application located in the {Application root directory}/bsps/TARGET_APP_<BSP-NAME>/config folder.
Enable the CAPSENSE™ channel in the Device Configurator as shown in Figure 9:

Figure 9. Enable CAPSENSE™ in Device Configurator

Save the changes and close the window.
Launch the CAPSENSE™ Configurator tool

You can launch the CAPSENSE™ Configurator tool in Eclipse IDE for ModusToolbox™ from the "CAPSENSE™" peripheral setting in the Device Configurator or directly from the Tools section in the IDE Quick Panel.

You can also launch it in standalone mode through {ModusToolbox™ install directory}/ModusToolbox/tools_{version}/capsense-configurator/capsense-configurator. In this case, after opening the application, select File > Open and open the design.cycapsense file of the respective application present in the {Application root directory}/bsps/TARGET_APP_<BSP-NAME>/config folder.

See the ModusToolbox™ CAPSENSE™ Configurator user guide for step-by-step instructions on how to configure and launch CAPSENSE™ in ModusToolbox™.
In the Basic tab, add four Button widgets as a CSD RM (self-cap)

Figure 10. CAPSENSE™ Configurator - Basic tab

Do the following in the General tab under the Advanced tab:

Table 1. Widget details

Parameter	Setting	Comment
CAPSENSE™ IMO Clock frequency	46	IMO clock Frequency
Modulator clock divider	1	Set to obtain the optimum modulator clock frequency
Number of init sub-conversions	3	Set to ensure proper initialization of CAPSENSE™

Figure 11. CAPSENSE™ Configurator - General settings

Go to the CSD Settings tab and make the following changes:

Table 2. Scan settings

Parameter	CY8CPROTO-040T-MS	Comment
Inactive sensor connection	Shield	Connects the inactive sensors (configured sensors which have not been scanned in a given scan-slot) to the driven shield.
Shield mode	Active	The driven shield is a signal that replicates the sensor-switching signal. It helps reduce the sensor parasitic capacitance.
Total shield count	1	Selects the number of shield electrodes used in the design.
Raw count calibration level (%)	85	If the sensor raw count saturates (equals max raw count) upon the finger touching the surface, reduce the raw count calibration level (%). This will prevent raw count saturation.

Figure 12. CAPSENSE™ Configurator - Advanced CSD settings

Go to the Widget Details tab

Select the ButtonX from the left pane and set the following:

Table 3. Initial widget parameter setting for Button Widgets

Parameter	Button1 Setting	Button2 Setting	Button3 Setting	Button4 Setting	Comment
Sense clock divider	Default	Default	Default	Default	Value will be set in Stage 2: Set sense clock frequency
Clock source	Direct	Direct	Direct	Direct	Direct clock is a constant frequency sense clock source. When you choose this option, the sensor pin switches with a constant frequency.
Number of sub-conversions	256	560	560	512	Good starting point for sufficient signal for the hover touch application. This value has to be adjusted as required in Stage 3: Fine-tune for required SNR, power, and refresh rate.
Reference CDAC Mode	Auto	Auto	Auto	Auto	Setting it to Auto for initial Auto Calibration
Reference CDAC Boost	Disabled	Disabled	Disabled	Disabled	This boosts the Signal for a better sensitivity. Usually required if increasing the Number of sub-conversion is not sufficient for the sensitivity
Fine CDAC Mode	Auto	Auto	Auto	Auto	Setting it to Auto for initial Auto Calibration
Compensation CDAC Mode	Auto	Auto	Auto	Auto	Setting it to Auto for initial Auto Calibration
Compensation CDAC divider Mode	Auto	Auto	Auto	Auto	Setting it to Auto for initial Auto Calibration
CDAC dither mode	Disabled	Disabled	Disabled	Disabled	Not required

Figure 13. CAPSENSE™ Configurator - Widget Details tab

Note: Variations in trace length and coupling to ground can cause the buttons to have different Cp. Therefore the buttons might need different N_subs so that they have similar sensitivity to a touch.

Go to the Scan Configuration tab to select the pins and scan slots. Configure the pins for electrodes using the drop-down menu

Figure 14. CAPSENSE™ Configurator - Scan Configuration tab

Stage 2: Set sense clock frequency

The sense clock is derived from the modulator clock using a sense clock divider and is used to scan the sensor by driving the CAPSENSE™ switched capacitor circuits. Both the clock source and clock divider are configurable. The sense clock divider should be configured so that the pulse width of the sense clock is long enough to allow the sensor capacitance charge and discharge completely. This is verified by observing the charging and discharging waveforms of the sensor using an oscilloscope and an active probe. The sensors should be probed close to the electrode, and not at the sense pins or the series resistor.

See Figure 15 and Figure 16 for the waveforms observed on the sensors. Figure 15 shows proper charging when the sense clock frequency is correctly tuned. Adjust the sense clock divider so that the voltage reaches at least 99.3 percent of VDDD in Phase 1, or VDDD/2 in Phase 0, as shown in Figure 15.

Figure 15. Proper charge cycle of a sensor

Figure 16. Improper charge cycle of a sensor

To set the proper sense clock frequency, follow these steps:

Program the board and launch CAPSENSE™ Tuner
Observe the charging waveform of the sensor and shield as described earlier
If the charging is incomplete, increase the sense clock divider. Do this in CAPSENSE™ Tuner by selecting the widget and editing the sense clock divider parameter in the Widget/Sensor Parameters panel

Note:
- The sense clock divider should be divisible by 4. This ensures that all four scan phases have equal durations
- After editing the value, click the Apply to Device button and observe the waveform again. Repeat this until you observe complete settling
- Using a passive probe will add an additional parasitic capacitance of around 15 pF; therefore, it should be considered while tuning
Click Apply to Project to save the configuration to your project

Figure 17. Sense clock divider setting
Repeat this process for all the widgets and the shield. Each sensor may require a different sense clock divider value to charge or discharge completely. But all the sensors under the same widget need to have the same sense clock source, sense clock divider, and number of sub-conversions. Therefore, consider the largest sense clock divider required by the sensor for that widget

Table 4. Sense clock divider settings obtained for supported kits

Parameter CY8CPROTO-040T-MS

Sense clock divider 48

Parameter	CY8CPROTO-040T-MS
Sense clock divider	48

Stage 3: Fine tune for required SNR

The sensor should be tuned to have a minimum signal-to-noise ratio (SNR) of 5:1 and a minimum signal of 50 to ensure reliable operation. The sensitivity can be increased by increasing the number of sub-conversions, and noise can be decreased by enabling filters.

Note: If sensor raw count saturates (equals Max Raw count) on touch, reduce Raw count calibration level (%), which helps avoid saturation.

Follow these steps for optimizing these parameters:

Measure the SNR as mentioned in Step 8 of the Monitor data using tuner section
If the SNR is less than 5:1, increase the number of sub-conversions. Edit the number of sub-conversions (N_sub) directly in the Widget/Sensor parameters tab of the CAPSENSE™ Tuner and click on Apply to Device

Note: Number of sub-conversion should be greater than or equal to 8.
Repeat steps 1 and 2 until the Measured SNR is greater than 5:1 and the signal count is greater than 50
If the system is noisy (>40% of signal), enable filters

Enable the IIR filter for noise reduction.

To enable and configure filters available in the system:

a. Open CAPSENSE™ Configurator from ModusToolbox™ Quick Panel and select the appropriate filter

Figure 18. Filter settings in CAPSENSE™ Configurator

Note : Add the filter based on the type of noise in your measurements. See ModusToolbox™ CAPSENSE™ Configurator user guide for details.

b. Click Save and close CAPSENSE™ Configurator. Program the device to update the filter settings

Note : Increasing the number of sub-conversions and enabling filters increases the scan time, which in turn reduces sensor responsiveness and increases power consumption. Therefore, the number of sub-conversions and filter configuration must be optimized to achieve a balance between SNR, power, and refresh rate.

Stage 4: Tune threshold parameters

Various thresholds, relative to the signal, need to be set for each sensor. Do the following in CAPSENSE™ Tuner to set up the thresholds for a widget:

Switch to the Graph View tab and select Button1
Touch the Hover Touch button and monitor the signal in the Sensor signal graph, as shown in Figure 19

Figure 19. Sensor signal when the sensor is touched

Note the signal measured for touch for each buttons

Table 5. Measured Signal

Parameter	Button1	Button2	Button3	Button4
Touch signal	219	250	214	160

Set the thresholds accordingly

Parameter	Button1	Button2	Button3	Button4	Remarks
Finger threshold	150	170	140	120	80% of the touch signal
Noise threshold	40	40	30	30	40% of the touch signal
Negative noise threshold	40	40	30	30	40% of the touch signal
Low baseline reset	30	30	30	30	30 (by default)
Hysteresis	14	16	12	11	10% of the touch signal
ON debounce	3	3	3	3	3 (by default)

Note: The above numbers are fine tuned for the best performance of the buttons, which might not adhere to the recommended calculation mentioned in the remarks tabs. Use the recommended numbers as starting point and fine tune the thresholds. The thresholds need to be increased such that the button does not get triggered by a touch on a neighbouring button.

Figure 20. Widget threshold parameters

Click Apply to Device. After applying the configuration test the performance by touching the Hover Touch button. If your sensor is tuned correctly, you will observe the touch status of the corresponding button go from 0 to 1 in the Status panel of the Graph View tab, as shown in Figure 21. The status of the button is also indicated by the LED in the kit; the LED turns ON when the finger touches the Hover Touch button and turns OFF when the finger is removed

Figure 21. Apply settings to the device

Debugging

You can debug the example to step through the code.

In Eclipse IDE

Use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ user guide.

In other IDEs

Follow the instructions in your preferred IDE.

Design and implementation

The project contains four buttons configured as a regular button widget in CSD-RM sensing mode. See the Tuning procedure section for step-by-step instructions to configure other settings of the CAPSENSE™ Configurator.

There are four user LEDs used in this project. The LEDs show the corresponding button touch status: it turns ON when touched and turns OFF when the finger is lifted.

The project uses CAPSENSE™ middleware; see the ModusToolbox™ user guide for more details on selecting a middleware.

This project also has an EZI2C peripheral. The EZI2C slave peripheral is used to monitor the information of a sensor's raw and processed data on a PC using the CAPSENSE™ Tuner available in the Eclipse IDE for ModusToolbox™ via I2C communication.

The Firmware scans all the buttons and turns the corresponding LEDs ON or OFF based on the status of the buttons.

Set up the VDDA supply voltage and debug mode in Device Configurator

Open Device Configurator from the Quick Panel
Go to the System tab. Select the Power resource, and set the VDDA value under Operating conditions as shown in Figure 22

Figure 22. Setting the VDDA supply in the System tab of Device Configurator
Enable debug mode to enable SWD pins, as shown in Figure 23

Figure 23. Enable debug mode in the System tab of Device Configurator

Resources and settings

Figure 24. EZI2C settings

Table 6. Application resources

Resource	Alias/object	Purpose
SCB (EZI2C) (PDL)	CYBSP_EZI2C	EZI2C slave driver to communicate with CAPSENSE™ Tuner
CAPSENSE™ (MSCLP0)	CYBSP_MSCLP0	CAPSENSE™ driver to interact with the MSCLP hardware and interface the CAPSENSE™ sensors

Firmware flow

Figure 25. Firmware flowchart

Related resources

Resources	Links
Application notes	AN79953 – Getting started with PSOC™ 4 AN85951 – PSOC™ 4 and PSOC™ 6 MCU CAPSENSE™ design guide AN241091 – Hover Touch sensing with PSOC™ 4 CAPSENSE™ AN234231 – Achieving lowest-power capacitive sensing with PSOC™ 4000T AN92239 – Proximity sensing with CAPSENSE™
Code examples	Using ModusToolbox™ on GitHub
Device documentation	PSOC™ 4 datasheets PSOC™ 4 technical reference manuals
Development kits	Select your kits from the Evaluation board finder page.
Libraries on GitHub	mtb-pdl-cat2 – PSOC™ 4 Peripheral Driver Library (PDL)
Middleware on GitHub	CAPSENSE™ – CAPSENSE™ library and documents psoc4-middleware – Links to all PSOC™ 4 middleware
Tools	ModusToolbox™ – ModusToolbox™ software is a collection of easy-to-use libraries and tools enabling rapid development with Infineon MCUs for applications ranging from wireless and cloud-connected systems, edge AI/ML, embedded sense and control, to wired USB connectivity using PSOC™ Industrial/IoT MCUs, AIROC™ Wi-Fi and Bluetooth® connectivity devices, XMC™ Industrial MCUs, and EZ-USB™/EZ-PD™ wired connectivity controllers. ModusToolbox™ incorporates a comprehensive set of BSPs, HAL, libraries, configuration tools, and provides support for industry-standard IDEs to fast-track your embedded application development.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

Document history

Document title: CE241068 – PSOC™ 4: MSCLP CAPSENSE™ Hover Touch

Version	Description of change
1.0.0	New code example

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mtb-example-psoc4-msclp-hover-touch/README.md