1 files changed, 47 insertions, 41 deletions

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)
-                },
-                _ => {},
+                }
+                _ => {}
             }
         }
     }