diff options
| -rw-r--r-- | Cargo.lock | 1 | ||||
| -rw-r--r-- | Cargo.toml | 1 | ||||
| -rwxr-xr-x | src/bin/luchie.rs | 88 | ||||
| -rw-r--r-- | src/cirque.rs | 57 | ||||
| -rw-r--r-- | src/event_filter.rs | 107 | ||||
| -rwxr-xr-x | src/lib.rs | 1 |
6 files changed, 199 insertions, 56 deletions
@@ -304,6 +304,7 @@ dependencies = [ "cortex-m", "cortex-m-rt", "embedded-hal", + "fugit", "nb 1.0.0", "stm32f1xx-hal", "usb-device", @@ -19,6 +19,7 @@ codegen-units = 1 [dependencies] cortex-m = "0.7.6" cortex-m-rt = "0.7.1" +fugit = "0.3.5" nb = "1.0.0" #panic-semihosting = "0.6.0" usb-device = "0.2.9" diff --git a/src/bin/luchie.rs b/src/bin/luchie.rs index 2799609..be89fa7 100755 --- a/src/bin/luchie.rs +++ b/src/bin/luchie.rs @@ -3,10 +3,9 @@ //extern crate panic_semihosting; -use core::cmp; - use luchie::{ cirque::Cirque, + event_filter::{AbsToRel, TrackBall}, log, logger, logln, }; @@ -25,13 +24,14 @@ use stm32f1xx_hal::{ }; use usb_device::prelude::*; use usbd_human_interface_device::{ - prelude::*, device::mouse::{WheelMouseInterface, WheelMouseReport}, + prelude::*, }; use usbd_serial::{SerialPort, USB_CLASS_CDC}; #[entry] fn main() -> ! { + let cp = cortex_m::Peripherals::take().unwrap(); let dp = pac::Peripherals::take().unwrap(); let mut flash = dp.FLASH.constrain(); @@ -68,6 +68,14 @@ fn main() -> ! { logln!("🐁 luchie starting…"); + logln!("⏲️ init timer"); + let mut syst = cp.SYST; + syst.set_clock_source(cortex_m::peripheral::syst::SystClkSource::Core); + let syst_reload = 0xffffff; + syst.set_reload(syst_reload); + syst.clear_current(); + syst.enable_counter(); + // cirque spi connections to spi1: // // pb0 - dr @@ -106,8 +114,6 @@ fn main() -> ! { // will not reset your device when you upload new firmware. let mut usb_dp = gpioa.pa12.into_push_pull_output(&mut gpioa.crh); usb_dp.set_low(); - // let mut delay = dp.TIM2.delay_us(&clocks); - // delay.delay_ms(10u8); cortex_m::asm::delay(clocks.sysclk().raw() / 100); let usb = usb::Peripheral { @@ -131,9 +137,9 @@ fn main() -> ! { .device_class(USB_CLASS_CDC) .build(); - while usb_dev.state() != UsbDeviceState::Configured { - usb_dev.poll(&mut [&mut serial, &mut mouse]); - } + // while usb_dev.state() != UsbDeviceState::Configured { + // usb_dev.poll(&mut [&mut serial, &mut mouse]); + // } logln!("💡 init led"); let mut gpiob = dp.GPIOB.split(); @@ -142,11 +148,20 @@ fn main() -> ! { logln!("🎉 luchie started!"); - let mut is_pressed = false; - let mut last_x = 0u16; - let mut last_y = 0u16; + let mut abs_to_rel = AbsToRel::new(); + let mut trackball = TrackBall::new(1); + let ticks_per_microsec = clocks.sysclk().to_MHz(); + let mut last_time = 0; + let mut time_error = 0; loop { - // logln!("."); + let mut time = syst_reload - cortex_m::peripheral::SYST::get_current(); + if syst.has_wrapped() { + time += syst_reload + 1; + } + let elapsed = time.wrapping_sub(last_time) + time_error; + time_error = elapsed % ticks_per_microsec; + let elapsed = elapsed / ticks_per_microsec; + last_time = time & syst_reload; usb_dev.poll(&mut [&mut serial, &mut mouse]); let mut buf = [0u8; 64]; @@ -176,38 +191,29 @@ fn main() -> ! { _ => {} } - if let Ok(td) = cirque.poll(&mut spi) { - logln!("td: {:?}", td); - if td.is_pressed { - if is_pressed { - /* - * The trackpad's actual valid return values are - * only about 2^11, so overflow isn't possible - * when converting to signed 16 bit integers. - */ - let s_x: i16 = td.x as i16 - last_x as i16; - let s_y: i16 = td.y as i16 - last_y as i16; - - // Clamp to i8 range. - let raw_x = cmp::max(i8::MIN as i16, cmp::min(i8::MAX as i16, s_x)); - let raw_y = cmp::max(i8::MIN as i16, cmp::min(i8::MAX as i16, s_y)); - mouse_report.x = raw_x as i8; - mouse_report.y = raw_y as i8; - } - is_pressed = true; - last_x = td.x; - last_y = td.y; - } else { - mouse_report.x = 0; - mouse_report.y = 0; - is_pressed = false; - } + // TODO: get current µs for passing in to event filters. + let rel_p = cirque + .poll(&mut spi) + .ok() + .map(|td| { + //logln!("td: {:?}", td); + abs_to_rel.update(&td) + }) + .flatten(); + if let Some(p) = rel_p { + logln!("rel_p: {:?}", p); + } + let p = trackball.update(rel_p, elapsed); + if p.0 != 0 || p.1 != 0 { + mouse_report.x = p.0; + mouse_report.y = p.1; + logln!("p: {:?}", p); match mouse.interface().write_report(&mouse_report) { - Err(UsbHidError::WouldBlock) => {}, + Err(UsbHidError::WouldBlock) => {} Err(e) => { panic!("couldn't write mouse report: {:?}", e) - }, - _ => {}, + } + _ => {} } } } diff --git a/src/cirque.rs b/src/cirque.rs index 0f40c51..b4a2255 100644 --- a/src/cirque.rs +++ b/src/cirque.rs @@ -140,7 +140,7 @@ impl<C> Cirque<C> where C: OutputPin, { - pub fn new<S>(cs_pin: C, spi: &mut S, sysclk_speed: u32) -> nb::Result<Self, S::Error> + pub fn new<S>(cs_pin: C, spi: &mut S, sysclk_speed: u32) -> Result<Self, S::Error> where S: spi::FullDuplex<u8>, { @@ -152,24 +152,46 @@ where Ok(res) } - fn init<S>(&mut self, spi: &mut S) -> nb::Result<(), S::Error> + fn init<S>(&mut self, spi: &mut S) -> Result<(), S::Error> where S: spi::FullDuplex<u8>, { self.cs_pin.set_high().ok(); - // spin until power on reset is flagged. - // while self.read_flags(spi)? & 0x8 != 0x8 {} - self.clear_flags(spi)?; + // let mut b = [0xfbu8]; + // nb::block!(self.rd(spi, RAPAddress::SysConfig1, &mut b))?; + // logln!("b-reset: {:?}", b); + + // self.reset(spi)?; + + // let mut b = [0xfbu8]; + // nb::block!(self.rd(spi, RAPAddress::SysConfig1, &mut b))?; + // logln!("a-reset: {:?}", b); + + // nb::block!(self.wr(spi, RAPAddress::SysConfig1, 0x00))?; + nb::block!(self.clear_flags(spi))?; - self.wr(spi, RAPAddress::SysConfig1, 0x00)?; - self.wr(spi, RAPAddress::FeedConfig2, 0x1e)?; - self.wr(spi, RAPAddress::FeedConfig1, 0x03)?; - self.wr(spi, RAPAddress::ZIdle, 0x05)?; + // let mut b = [0xfbu8]; + // nb::block!(self.rd(spi, RAPAddress::SysConfig1, &mut b))?; + // logln!("a-reset: {:?}", b); + + nb::block!(self.wr(spi, RAPAddress::FeedConfig2, 0x1e))?; + nb::block!(self.wr(spi, RAPAddress::FeedConfig1, 0x03))?; + nb::block!(self.wr(spi, RAPAddress::ZIdle, 0x05))?; Ok(()) } + // fn reset<S>(&mut self, spi: &mut S) -> Result<(), S::Error> + // where + // S: spi::FullDuplex<u8> + // { + // nb::block!(self.wr(spi, RAPAddress::SysConfig1, 0x01))?; + // while nb::block!(self.read_flags(spi))? & 0x8 != 0x8 {} + // nb::block!(self.clear_flags(spi))?; + // Ok(()) + // } + // clears the hardware data ready flag fn clear_flags<S>(&mut self, spi: &mut S) -> nb::Result<(), S::Error> where @@ -210,14 +232,19 @@ where self.rd(spi, RAPAddress::PacketByte0, &mut buf)?; self.clear_flags(spi)?; - let x = buf[2] as u16 | ((buf[4] as u16 & 0x0f) << 8); - let y = buf[3] as u16 | ((buf[4] as u16 & 0xf0) << 4); - let z = buf[5] & 0x3f; + let mut x = buf[2] as u16 | ((buf[4] as u16 & 0x0f) << 8); + let mut y = buf[3] as u16 | ((buf[4] as u16 & 0xf0) << 4); + let mut z = buf[5] & 0x3f; let buttons = 0; - let is_pressed = x != 0; - assert!(x < MAX_X); - assert!(y < MAX_Y); + // assert!(x < MAX_X); + // assert!(y < MAX_Y); + if x >= MAX_X || y >= MAX_Y { + x = 0; + y = 0; + z = 0; + } + let is_pressed = z != 0; Ok(TouchData { x, diff --git a/src/event_filter.rs b/src/event_filter.rs new file mode 100644 index 0000000..9eb4620 --- /dev/null +++ b/src/event_filter.rs @@ -0,0 +1,107 @@ +use crate::cirque::TouchData; + +use core::{ + cmp, + ops::Sub, +}; + +#[derive(Copy, Clone, Debug)] +pub struct Point<T>(pub T, pub T); + +impl<T> Point<T> +where + T: Sub<Output = T>, +{ + pub fn delta(self, p: Point<T>) -> Point<T> { + Point(p.0 - self.0, p.1 - self.1) + } +} + +impl Point<isize> { + pub fn scale(self) -> Self { + Point(self.0 >> 2, self.1 >> 2) + } +} + +impl From<&TouchData> for Point<isize> { + fn from(td: &TouchData) -> Self { + Self(td.x as _, td.y as _) + } +} + +impl From<Point<isize>> for Point<i8> { + fn from(p: Point<isize>) -> Self { + Point( + cmp::min(i8::MAX as isize, cmp::max(p.0, i8::MIN as isize)) as i8, + cmp::min(i8::MAX as isize, cmp::max(p.1, i8::MIN as isize)) as i8, + ) + } +} + +pub struct AbsToRel { + last_touch: Point<isize>, + is_collecting: bool, +} + +impl AbsToRel { + pub fn new() -> Self { + Self { + last_touch: Point(0, 0), + is_collecting: false, + } + } + + pub fn update(&mut self, td: &TouchData) -> Option<Point<i8>> { + let p: Point<isize> = td.into(); + let p = p.scale(); + + let res = self.last_touch.delta(p); + self.last_touch = p; + if self.is_collecting && td.is_pressed { + Some(res.into()) + } else { + self.is_collecting = td.is_pressed; + None + } + } +} + +pub struct TrackBall(Point<i8>, i8, u32); + +impl TrackBall +where +{ + pub fn new(friction: i8) -> Self { + Self(Point(i8::default(), i8::default()), friction, 0) + } + + pub fn update(&mut self, point: Option<Point<i8>>, elapsed: u32) -> Point<i8> { + if let Some(p) = point { + self.0 = p; + self.2 = 0; + } else { + let elapsed = elapsed + self.2; + // TODO: configure time divisor + let decel: i8 = self.1.saturating_mul((elapsed >> 15).try_into().unwrap_or(i8::MAX)); + let rem = elapsed & (1 << 15) - 1; + self.2 = rem; + + if decel > 0 { + let x = Self::abs_add(self.0.0, decel); + let y = Self::abs_add(self.0.1, decel); + self.0 = Point(x, y); + } + } + self.0 + } + + fn abs_add(speed: i8, decel: i8) -> i8 { + if speed > decel { + speed - decel + } else if speed < -decel { + speed + decel + } else { + 0 + } + } +} @@ -1,6 +1,7 @@ #![no_std] pub mod cirque; +pub mod event_filter; pub mod logger; #[cfg(test)] |