diff --git a/code/8 b/code/8
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/code/examples/pmw3389.rs b/code/examples/pmw3389.rs
index ae9d5d499a70434085b3f8d718f560ba631774eb..50ecc2ce08af3dc14a5848b8938a63913b63e355 100644
--- a/code/examples/pmw3389.rs
+++ b/code/examples/pmw3389.rs
@@ -59,7 +59,12 @@ const APP: () = {
// setup clocks
let rcc = device.RCC.constrain();
- let clocks = rcc.cfgr.freeze();
+ let clocks = rcc
+ .cfgr
+ .sysclk(84.mhz())
+ .pclk1(42.mhz())
+ .pclk2(64.mhz())
+ .freeze();
rprintln!("clocks:");
rprintln!("hclk {}", clocks.hclk().0);
@@ -111,17 +116,18 @@ const APP: () = {
static mut POS_X: i64 = 0;
*COUNTER += 1;
- if *COUNTER == 1000 / RATIO {
+ if *COUNTER == 10000 {
cx.spawn.trace(*POS_X).unwrap();
*COUNTER = 0;
}
+
let (x, _y) = cx.resources.pmw3389.read_status().unwrap();
*POS_X += x as i64;
- // task should run each second N ms (16_000 cycles at 16MHz)
+ // task should run each Sclck/N times each second.
cx.schedule
- .poll(cx.scheduled + (RATIO * 16_000).cycles())
+ .poll(cx.scheduled + (84_00).cycles())
.unwrap();
}
diff --git a/code/examples/rtt_rtic_usb_mouse.rs b/code/examples/rtt_rtic_usb_mouse.rs
index 9323c253d14b9b0c64023bc508f6c928175c9133..cb9ab38b6a70d86a45f755c53953adb39584709c 100644
--- a/code/examples/rtt_rtic_usb_mouse.rs
+++ b/code/examples/rtt_rtic_usb_mouse.rs
@@ -82,9 +82,9 @@ pub mod hid {
0xc0, // END_COLLECTION
];
- pub fn report(x: i8, y: i8) -> [u8; 3] {
+ pub fn report(b: u8,x: i8, y: i8) -> [u8; 3] {
[
- 0x00, // button: none
+ b as u8, // button
x as u8, // x-axis
y as u8, // y-axis
]
@@ -188,7 +188,7 @@ pub mod hid {
REQ_GET_REPORT => {
// USB host requests for report
// I'm not sure what should we do here, so just send empty report
- xfer.accept_with(&report(0, 0)).ok();
+ xfer.accept_with(&report(0,0, 0)).ok();
}
_ => {
xfer.reject().ok();
@@ -214,10 +214,7 @@ pub mod hid {
use hid::HIDClass;
// PMW3389
-use app::{
- pmw3389::{self, Register},
- DwtDelay,
-};
+use app::{DwtDelay, pmw3389::{self, Register}, pmw3389e};
use rtt_target::{rprintln, rtt_init_print};
type PMW3389T = pmw3389::Pmw3389<
@@ -232,8 +229,6 @@ type PMW3389T = pmw3389::Pmw3389<
PA15<Output<PushPull>>,
>;
-const PERIOD: u32 = 8_000_000;
-
#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
const APP: () = {
struct Resources {
@@ -243,6 +238,11 @@ const APP: () = {
pmw3389: PMW3389T,
+ POS_X: i64,
+ POS_Y: i64,
+ OLD_POS_X: i64,
+ OLD_POS_Y: i64,
+
MB2: gpioc::PC6<Input<PullUp>>,
MB1: gpioc::PC7<Input<PullUp>>,
DPIB1: gpiob::PB13<Input<PullUp>>,
@@ -251,7 +251,7 @@ const APP: () = {
MB4: gpiob::PB14<Input<PullUp>>,
}
- #[init(schedule = [on_tick])]
+ #[init(schedule = [poll, tick])]
fn init(mut cx: init::Context) -> init::LateResources {
static mut USB_BUS: Option<bus::UsbBusAllocator<UsbBusType>> = None;
static mut EP_MEMORY: [u32; 1024] = [0; 1024];
@@ -262,20 +262,20 @@ const APP: () = {
let mut core = cx.core;
let device = cx.device;
- let rcc = cx.device.RCC.constrain();
+ let rcc = device.RCC.constrain();
let clocks = rcc
.cfgr
- // .use_hse(8.mhz())
- .sysclk(48.mhz())
- .pclk1(24.mhz())
+ .sysclk(84.mhz())
+ .pclk1(42.mhz())
+ .pclk2(64.mhz())
.freeze();
// assert!(clocks.usbclk_valid());
- let gpioa = cx.device.GPIOA.split();
- let gpioc = cx.device.GPIOC.split();
- let gpiob = cx.device.GPIOB.split();
+ let gpioa = device.GPIOA.split();
+ let gpioc = device.GPIOC.split();
+ let gpiob = device.GPIOB.split();
// Buttons
let mb2 = gpioc.pc6.into_pull_up_input();
@@ -299,11 +299,11 @@ const APP: () = {
clocks,
);
- static mut OLD_POS_X: i64 = 0;
- static mut OLD_POS_Y: i64 = 0;
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);
@@ -316,9 +316,9 @@ const APP: () = {
let usb_dm = gpioa.pa11;
let usb = USB {
- usb_global: cx.device.OTG_FS_GLOBAL,
- usb_device: cx.device.OTG_FS_DEVICE,
- usb_pwrclk: cx.device.OTG_FS_PWRCLK,
+ usb_global: device.OTG_FS_GLOBAL,
+ usb_device: device.OTG_FS_DEVICE,
+ usb_pwrclk: device.OTG_FS_PWRCLK,
pin_dm: usb_dm.into_alternate_af10(),
pin_dp: usb_dp.into_alternate_af10(),
};
@@ -334,7 +334,8 @@ const APP: () = {
.device_class(0)
.build();
- cx.schedule.on_tick(cx.start + PERIOD.cycles()).ok();
+ cx.schedule.poll(cx.start + (48_000).cycles()).ok();
+ cx.schedule.tick(cx.start + (48_000).cycles()).ok();
init::LateResources {
//counter: 0,
@@ -342,6 +343,8 @@ const APP: () = {
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,
+
}
}
@@ -353,28 +356,45 @@ const APP: () = {
}
}
- #[task(schedule = [on_tick], resources = [hid, pmw3389])]
- fn on_tick(mut cx: on_tick::Context) {
- cx.schedule.on_tick(Instant::now() + PERIOD.cycles()).ok();
+ #[task(resources = [pmw3389, POS_X, POS_Y], schedule = [poll])]
+ fn poll(mut cx: poll::Context) {
+ let pos_x = cx.resources.POS_X;
+ let pos_y = cx.resources.POS_Y;
- //let counter: &mut u8 = &mut cx.resources.counter;
- let hid = &mut cx.resources.hid;
+ let (x, y) = cx.resources.pmw3389.read_status().unwrap();
+ *pos_x += x as i64;
+ *pos_y += y as i64;
+
+ // task should run each Sclck/N times each second. 84M/8400 = 10_000
+ cx.schedule
+ .poll(cx.scheduled + (84_00).cycles())
+ .unwrap();
+ }
- const P: u8 = 2;
- let x:i8;
- let y:i8;
- //*counter = (*counter + 1) % P;
- (x, y) = cx.resources.pmw3389.read_status().unwrap();
+ #[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 pos_x = cx.resources.POS_X;
+ let pos_y = cx.resources.POS_Y;
+ let old_pos_x = cx.resources.OLD_POS_X;
+ let old_pos_y = cx.resources.OLD_POS_Y;
+
+ let hid = &mut cx.resources.hid;
+
+ // Calc movement
+ let diff_x = *pos_x-*old_pos_x;
+ let diff_y = *pos_y-*old_pos_y;
- // move mouse cursor horizontally (x-axis)
- hid.write(&hid::report(x, y));
+ // Send to computer
+ hid.write(&hid::report(0x01 as u8,(diff_x) as i8, (diff_y) as i8));
+ *old_pos_x = *pos_x;
+ *old_pos_y = *pos_y;
}
#[task(binds=OTG_FS, resources = [usb_dev, hid])]
fn usb_fs(mut cx: usb_fs::Context) {
usb_poll(
- //&mut cx.resources.counter,
&mut cx.resources.usb_dev,
&mut cx.resources.hid,
);
@@ -382,11 +402,11 @@ const APP: () = {
extern "C" {
fn EXTI0();
+ fn EXTI1();
}
};
fn usb_poll<B: bus::UsbBus>(
- //_counter: &mut u8,
usb_dev: &mut UsbDevice<'static, B>,
hid: &mut HIDClass<'static, B>,
) {