diff --git a/code/Cargo.lock b/code/Cargo.lock
index 8499c420d19c9f991ea53b5c9d8dc44f1b143422..c3316ff5cbfc94e452634d6bb43ced38de8148ed 100644
--- a/code/Cargo.lock
+++ b/code/Cargo.lock
@@ -23,6 +23,7 @@ dependencies = [
"stm32f4 0.13.0",
"stm32f4xx-hal",
"usb-device",
+ "usbd-hid",
]
[[package]]
@@ -60,9 +61,9 @@ checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
[[package]]
name = "byteorder"
-version = "1.4.3"
+version = "1.3.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "08c48aae112d48ed9f069b33538ea9e3e90aa263cfa3d1c24309612b1f7472de"
[[package]]
name = "cast"
@@ -164,6 +165,12 @@ dependencies = [
"void",
]
+[[package]]
+name = "encode_unicode"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
+
[[package]]
name = "generic-array"
version = "0.12.4"
@@ -344,6 +351,22 @@ version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+[[package]]
+name = "serde"
+version = "1.0.124"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bd761ff957cb2a45fbb9ab3da6512de9de55872866160b23c25f1a841e99d29f"
+
+[[package]]
+name = "ssmarshal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f3e6ad23b128192ed337dfa4f1b8099ced0c2bf30d61e551b65fda5916dbb850"
+dependencies = [
+ "encode_unicode",
+ "serde",
+]
+
[[package]]
name = "stable_deref_trait"
version = "1.2.0"
@@ -449,6 +472,41 @@ version = "0.2.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6be90410d4772074ea49525e2e753b65920b94b57eee21a6ef7b6a6fe6296245"
+[[package]]
+name = "usbd-hid"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bab0c5efbec0d66d9fd77b64be7a186f7cfff99d9baaae3b7c312538c20ede02"
+dependencies = [
+ "serde",
+ "ssmarshal",
+ "usb-device",
+ "usbd-hid-macros",
+]
+
+[[package]]
+name = "usbd-hid-descriptors"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e00430c0b39caf3957aba6c2b2824f8e70e1ac0278941418bf1fe35f9566d64"
+dependencies = [
+ "bitfield",
+]
+
+[[package]]
+name = "usbd-hid-macros"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b854699aa737a7176d3a0019032350deab561da90a237b69efe3d5ded3732efe"
+dependencies = [
+ "byteorder",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn",
+ "usbd-hid-descriptors",
+]
+
[[package]]
name = "vcell"
version = "0.1.3"
diff --git a/code/Cargo.toml b/code/Cargo.toml
index fbede03661387d654bfdb89def8e34f34fc71617..af9967acdf8dd4f70aefcd40a79cdde7e17d8e02 100644
--- a/code/Cargo.toml
+++ b/code/Cargo.toml
@@ -12,6 +12,7 @@ cortex-m-semihosting = "0.3.7"
cortex-m-rtic = "0.5.5"
embedded-hal = "0.2.4"
usb-device = "0.2.7"
+usbd-hid = "0.5.0"
# Panic handlers, comment all but one to generate doc!
#panic-halt = "0.2.0"
diff --git a/code/examples/rtt_rtic_usb_mouse.rs b/code/examples/rtt_rtic_usb_mouse.rs
index ddd04db8b70e19938463f8bdb7a595f41df3ddf1..7d425ae907f94310e7276026d1985a753074dca0 100644
--- a/code/examples/rtt_rtic_usb_mouse.rs
+++ b/code/examples/rtt_rtic_usb_mouse.rs
@@ -28,8 +28,11 @@ use stm32f4xx_hal::{
otg_fs::{UsbBus, UsbBusType, USB},
prelude::*,
};
-use usb_device::bus;
-use usb_device::prelude::*;
+use usb_device::{bus::{self, UsbBusAllocator}, prelude::*};
+use usbd_hid::{
+ descriptor::{generator_prelude::*, MouseReport},
+ hid_class::HIDClass,
+};
#[allow(unused)]
pub mod hid {
@@ -211,8 +214,6 @@ pub mod hid {
}
}
-use hid::HIDClass;
-
// PMW3389
use app::{DwtDelay, pmw3389::{self, Register}, pmw3389e};
use rtt_target::{rprintln, rtt_init_print};
@@ -253,7 +254,7 @@ const APP: () = {
#[init(schedule = [poll, tick])]
fn init(mut cx: init::Context) -> init::LateResources {
- static mut USB_BUS: Option<bus::UsbBusAllocator<UsbBusType>> = None;
+ static mut USB_BUS: Option<UsbBusAllocator<UsbBusType>> = None;
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
cx.core.DCB.enable_trace();
DWT::unlock();
@@ -277,16 +278,6 @@ const APP: () = {
let gpioc = device.GPIOC.split();
let gpiob = device.GPIOB.split();
-<<<<<<< HEAD
- let mb2 = gpioc.pc6.into_pull_up_input();
- let mb1 = gpioc.pc7.into_pull_up_input();
-
- let mb5 = gpiob.pb15.into_pull_up_input();
- let mb4 = gpiob.pb14.into_pull_up_input();
-
- let dpib1 = gpiob.pb13.into_pull_up_input();
- let dpib2 = gpiob.pb12.into_pull_up_input();
-=======
// Buttons
let mb2 = gpioc.pc6.into_pull_up_input();
let mb1 = gpioc.pc7.into_pull_up_input();
@@ -316,7 +307,6 @@ const APP: () = {
// set in burst mode
pmw3389.write_register(Register::MotionBurst, 0x00);
->>>>>>> 3043b359af07960fb4472e373824f552897ee4aa
// Pull the D+ pin down to send a RESET condition to the USB bus.
let mut usb_dp = gpioa.pa12.into_push_pull_output();
@@ -336,7 +326,7 @@ const APP: () = {
*USB_BUS = Some(UsbBus::new(usb, EP_MEMORY));
- let hid = HIDClass::new(USB_BUS.as_ref().unwrap());
+ let hid = HIDClass::new(USB_BUS.as_ref().unwrap(), MouseReport::desc(), 1);
let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
.manufacturer("Albatraoz")
@@ -361,7 +351,7 @@ const APP: () = {
#[idle]
fn idle(_cx: idle::Context) -> ! {
- // rprintln!("idle");
+ rprintln!("idle");
loop {
continue;
}
@@ -385,6 +375,7 @@ const APP: () = {
#[task(resources = [hid, POS_X, POS_Y, OLD_POS_X, OLD_POS_Y, MB1, MB2], schedule = [tick])]
fn tick(mut cx: tick::Context) {
cx.schedule.tick(cx.scheduled + (84_000).cycles()).unwrap();
+ let res = cx.resources;
let pos_x = cx.resources.POS_X;
let pos_y = cx.resources.POS_Y;
let old_pos_x = cx.resources.OLD_POS_X;
@@ -396,8 +387,18 @@ const APP: () = {
let diff_x = *pos_x-*old_pos_x;
let diff_y = *pos_y-*old_pos_y;
- // Send to computer
- hid.write(&hid::report(0x01 as u8,(diff_x) as i8, (diff_y) as i8));
+ let report = MouseReport {
+ x: diff_x as i8,
+ y: diff_y as i8,
+ buttons: res.MB1.is_low().unwrap().into(), // (into takes a bool into an integer)
+ wheel: 0,
+ };
+
+ rprintln!("Report: x:{}, y:{}", *pos_x, *pos_y);
+
+ // push the report
+ hid.push_input(&report).ok();
+
*old_pos_x = *pos_x;
*old_pos_y = *pos_y;
diff --git a/code/src/main.rs b/code/src/main.rs
index 792259654a49249056b0368a6cc45d2f3959069e..e75c8637851bb721629ef5f975a0edd29367d5ba 100644
--- a/code/src/main.rs
+++ b/code/src/main.rs
@@ -1,20 +1,231 @@
-#![no_std]
+// > cargo run usb-mouse
+// or
+// > cargo run usb-mouse --release
+
#![no_main]
+#![no_std]
+
+
+use cortex_m::{asm::delay, peripheral::DWT};
+use embedded_hal::digital::v2::OutputPin;
+use embedded_hal::spi::MODE_3;
+use rtic::cyccnt::{Instant, U32Ext as _};
+use stm32f4xx_hal::{
+ dwt::Dwt,
+ gpio::{
+ Speed, Alternate, Input, Output, PullUp, PushPull,
+ gpioa::{PA15},
+ gpiob::{self,PB12, PB13, PB14, PB15},
+ gpioc::{self,PC6, PC7, PC10, PC11, PC12},
+ },
+ prelude::*,
+ rcc::Clocks,
+ spi::Spi,
+ stm32,
+ otg_fs::{UsbBus, UsbBusType, USB},
+ prelude::*,
+};
+use usb_device::{bus::UsbBusAllocator, prelude::*};
+use usbd_hid::{
+ descriptor::{generator_prelude::*, MouseReport},
+ hid_class::HIDClass,
+};
+
+use panic_rtt_target as _;
+use rtt_target::{rprintln, rtt_init_print};
+
+// PMW3389
+use app::{DwtDelay, pmw3389::{self, Register}, pmw3389e};
+
+type PMW3389T = pmw3389::Pmw3389<
+ Spi<
+ stm32f4xx_hal::stm32::SPI3,
+ (
+ PC10<Alternate<stm32f4xx_hal::gpio::AF6>>,
+ PC11<Alternate<stm32f4xx_hal::gpio::AF6>>,
+ PC12<Alternate<stm32f4xx_hal::gpio::AF6>>,
+ ),
+ >,
+ PA15<Output<PushPull>>,
+>;
+
+#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
+const APP: () = {
+ struct Resources {
+ usb_dev: UsbDevice<'static, UsbBusType>,
+ hid: HIDClass<'static, UsbBusType>,
+
+ pmw3389: PMW3389T,
+
+ POS_X: i8,
+ POS_Y: i8,
+ OLD_POS_X: i64,
+ OLD_POS_Y: i64,
+
+ MB2: gpioc::PC6<Input<PullUp>>,
+ MB1: gpioc::PC7<Input<PullUp>>,
+ DPIB1: gpiob::PB13<Input<PullUp>>,
+ DPIB2: gpiob::PB12<Input<PullUp>>,
+ MB5: gpiob::PB15<Input<PullUp>>,
+ MB4: gpiob::PB14<Input<PullUp>>,
+ }
+
+ #[init(schedule = [poll])]
+ fn init(mut cx: init::Context) -> init::LateResources {
+ static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+ static mut USB_BUS: Option<UsbBusAllocator<UsbBusType>> = None;
+
+ rtt_init_print!();
+ rprintln!("init");
+
+ cx.core.DCB.enable_trace();
+ DWT::unlock();
+ cx.core.DWT.enable_cycle_counter();
+
+ let mut core = cx.core;
+ let device = cx.device;
+
+ let rcc = device.RCC.constrain();
+
+ let clocks = rcc
+ .cfgr
+ .sysclk(84.mhz())
+ .pclk1(42.mhz())
+ .pclk2(64.mhz())
+ .freeze();
+
+ // assert!(clocks.usbclk_valid());
+
+ let gpioa = device.GPIOA.split();
+ let gpioc = device.GPIOC.split();
+ let gpiob = device.GPIOB.split();
+
+ // Buttons
+ let mb2 = gpioc.pc6.into_pull_up_input();
+ let mb1 = gpioc.pc7.into_pull_up_input();
+ let mb5 = gpiob.pb15.into_pull_up_input();
+ let mb4 = gpiob.pb14.into_pull_up_input();
+ let dpib1 = gpiob.pb13.into_pull_up_input();
+ let dpib2 = gpiob.pb12.into_pull_up_input();
-// pick a panicking behavior
-use panic_halt as _; // you can put a breakpoint on `rust_begin_unwind` to catch panics
-// use panic_abort as _; // requires nightly
-// use panic_itm as _; // logs messages over ITM; requires ITM support
-// use panic_semihosting as _; // logs messages to the host stderr; requires a debugger
+ // Sensor communcation
+ let sck = gpioc.pc10.into_alternate_af6();
+ let miso = gpioc.pc11.into_alternate_af6();
+ let mosi = gpioc.pc12.into_alternate_af6();
+ let cs = gpioa.pa15.into_push_pull_output().set_speed(Speed::High);
-use cortex_m::asm;
-use cortex_m_rt::entry;
+ let spi = Spi::spi3(
+ device.SPI3,
+ (sck, miso, mosi),
+ MODE_3,
+ stm32f4xx_hal::time::KiloHertz(2000).into(),
+ clocks,
+ );
-#[entry]
-fn main() -> ! {
- asm::nop(); // To not have main optimize to abort in release mode, remove when you add code
+ let mut delay_dwt = DwtDelay::new(&mut core.DWT, clocks);
+ let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay_dwt).unwrap();
+
+ // set in burst mode
+ pmw3389.write_register(Register::MotionBurst, 0x00);
+ //pmw3389.write_register(Register::ResolutionL, 255 as u8);
+ pmw3389.write_register(Register::ResolutionH, 0 as u8); // sets CPI 0 is lowest, don't know the number tho
+
+ let usb = USB {
+ usb_global: device.OTG_FS_GLOBAL,
+ usb_device: device.OTG_FS_DEVICE,
+ usb_pwrclk: device.OTG_FS_PWRCLK,
+ pin_dm: gpioa.pa11.into_alternate_af10(),
+ pin_dp: gpioa.pa12.into_alternate_af10(),
+ };
+
+
+ USB_BUS.replace(UsbBus::new(usb, EP_MEMORY));
+
+ let hid = HIDClass::new(USB_BUS.as_ref().unwrap(), MouseReport::desc(), 1);
+ let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
+ .manufacturer("")
+ .product("Vibora Rapido Muerta")
+ .serial_number("33-32-33")
+ .device_class(0)
+ .build();
+
+ cx.schedule.poll(cx.start + (48_000).cycles()).ok();
+
+ init::LateResources {
+ usb_dev,
+ hid,
+ MB1:mb1, MB2:mb2, MB4:mb4, MB5:mb5, DPIB1:dpib1, DPIB2:dpib2,
+ pmw3389,
+ POS_X: 0, POS_Y: 0, OLD_POS_X: 0, OLD_POS_Y: 0,
+
+ }
+ }
+
+ #[task(resources = [pmw3389, POS_X, POS_Y], schedule = [poll], priority = 2)]
+ fn poll(mut cx: poll::Context) {
+ let pos_x = cx.resources.POS_X;
+ let pos_y = cx.resources.POS_Y;
+
+ let (x, y) = cx.resources.pmw3389.read_status().unwrap();
+ *pos_x = x as i8;
+ *pos_y = y as i8;
+
+ // task should run each Sclck/N times each second. 84M/8400 = 10_000
+ cx.schedule
+ .poll(cx.scheduled + (84_00).cycles())
+ .unwrap();
+ }
+
+ #[task(binds=OTG_FS, resources = [hid, usb_dev, POS_X, POS_Y, OLD_POS_X, OLD_POS_Y, MB1, MB2], priority = 2)]
+ fn on_usb(cx: on_usb::Context) {
+ // destruct the context
+ let (
+ usb_dev,
+ hid,
+ mb1,
+ mb2,
+ pos_x,
+ pos_y,
+ ) = (
+ cx.resources.usb_dev,
+ cx.resources.hid,
+ cx.resources.MB1,
+ cx.resources.MB2,
+ cx.resources.POS_X,
+ cx.resources.POS_Y,
+ );
+
+
+ let report = MouseReport {
+ x: *pos_x,
+ y: *pos_y,
+ buttons: ((
+ mb2.is_low().unwrap() as u8) << 1
+ | mb1.is_low().unwrap() as u8), // buttons = 1 byte. MB1 = bit 1, MB2 = bit 2, etc etc
+ wheel: 0,
+ };
+
+ rprintln!("Report: x:{}, y:{}", *pos_x, *pos_y);
+
+ // push the report
+ hid.push_input(&report).ok();
+
+ // update the usb device state
+ if usb_dev.poll(&mut [hid]) {
+ return;
+ }
+ }
+
+ extern "C" {
+ fn EXTI0();
+ fn EXTI1();
+ }
- loop {
- // your code goes here
+ #[idle]
+ fn idle(_cx: idle::Context) -> ! {
+ rprintln!("idle");
+ loop {
+ continue;
+ }
}
-}
+};
diff --git a/code/src/pmw3389.rs b/code/src/pmw3389.rs
index a978c32dfeece778559228503d94d6cf1242b5cf..77c08e916c51eaccb4da1dbb0397394dec085a54 100644
--- a/code/src/pmw3389.rs
+++ b/code/src/pmw3389.rs
@@ -340,7 +340,7 @@ where
// // set initial CPI resolution
// // adns_write_reg(Config1, 0x15);
- let cpi: u16 = 16000;
+ let cpi: u16 = 800;
self.write_register(Register::ResolutionL, cpi as u8)?;
self.write_register(Register::ResolutionH, (cpi >> 8) as u8)?;