From 6cb1a5439a99dc59d56313788a3f8bed30575609 Mon Sep 17 00:00:00 2001
From: Edward <edward.kallstedt@gmail.com>
Date: Wed, 28 Apr 2021 15:48:50 +0200
Subject: [PATCH] add sensor + scroll wheel support
---
code/Project_Mouse.rs | 530 ++++++++++++++++++++++++++++++++++++++++++
1 file changed, 530 insertions(+)
create mode 100644 code/Project_Mouse.rs
diff --git a/code/Project_Mouse.rs b/code/Project_Mouse.rs
new file mode 100644
index 0000000..0b5c49d
--- /dev/null
+++ b/code/Project_Mouse.rs
@@ -0,0 +1,530 @@
+//! rtic_bare7.rs
+//!
+//! HAL OutputPin abstractions
+//!
+//! What it covers:
+//! - using embedded hal, and the OutputPin abstraction
+
+#![no_main]
+#![no_std]
+use embedded_hal::spi::MODE_3;
+use panic_rtt_target as _;
+use rtt_target as _;
+use cortex_m::{asm::delay, peripheral::DWT};
+use embedded_hal::digital::v2::{OutputPin, ToggleableOutputPin};
+use stm32f4xx_hal::{
+ gpio,
+ otg_fs::{UsbBus, UsbBusType, USB},
+ prelude::*,
+};
+use usb_device::{bus::UsbBusAllocator, prelude::*};
+use usbd_hid::{
+ descriptor::{generator_prelude::*, MouseReport},
+ hid_class::HIDClass
+};
+use app::{DwtDelay, pmw3389::{self, Register}, pmw3389e};
+use usbd_hid::descriptor::SerializedDescriptor;
+use usbd_hid::descriptor::AsInputReport;
+use usbd_hid::descriptor::gen_hid_descriptor;
+#[gen_hid_descriptor(
+ (collection = APPLICATION, usage_page = GENERIC_DESKTOP, usage = MOUSE) = {
+ (collection = PHYSICAL, usage = POINTER) = {
+ (usage_page = BUTTON, usage_min = 0x01, usage_max = 0x05) = {
+ #[packed_bits 5] #[item_settings data,variable,absolute] buttons=input;
+ };
+ (usage_page = GENERIC_DESKTOP,) = {
+ (usage = X,) = {
+ #[item_settings data,variable,relative] x=input;
+ };
+ (usage = Y,) = {
+ #[item_settings data,variable,relative] y=input;
+ };
+ (usage = WHEEL,) = {
+ #[item_settings data,variable,relative] wheel=input;
+ };
+ };
+ };
+ }
+)]
+pub struct PMouseReport {
+ pub buttons: u8,
+ pub x: i8,
+ pub y: i8,
+ pub wheel: i8, // Scroll down (negative) or up (positive) this many units
+}
+
+use rtic::cyccnt::{Instant, U32Ext as _};
+use stm32f4xx_hal::{
+ dwt::Dwt,
+ gpio::Speed,
+ gpio::{
+ gpiob::{PB10, PB12},
+ gpioc::{PC2, PC3},
+ Alternate, Output, PushPull,
+ },
+ prelude::*,
+ rcc::Clocks,
+ spi::Spi,
+ stm32,
+};
+
+type PMW3389T = pmw3389::Pmw3389<
+ Spi<
+ stm32f4xx_hal::stm32::SPI2,
+ (
+ PB10<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ PC2<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ PC3<Alternate<stm32f4xx_hal::gpio::AF5>>,
+ ),
+ >,
+ PB12<Output<PushPull>>,
+>;
+use rtt_target::{rprintln, rtt_init_print};
+use stm32f4xx_hal::nb::block;
+//use rtic_core::Mutex;
+
+use stm32f4xx_hal::{
+ gpio::{gpioa::PA9},
+ gpio::{gpioa::PA0, gpioa::PA1, gpioa::PA2, gpioa::PA3, gpioa::PA4, gpioa::PA5, gpioa::PA6, gpioa::PA10, gpioa::PA15, Input, PullUp},
+ //gpio::{gpioc::PC10},
+ //gpio::{gpioc::PC12},
+ prelude::*,
+};
+
+const OFFSET: u32 = 1_000_000;
+
+#[rtic::app(device = stm32f4xx_hal::stm32, monotonic = rtic::cyccnt::CYCCNT, peripherals = true)]
+const APP: () = {
+ struct Resources {
+ // late resources
+ hid: HIDClass<'static, UsbBusType>,
+ usb_dev: UsbDevice<'static, UsbBusType>,
+ pmw3389: PMW3389T,
+ led: PA9<Output<PushPull>>,
+ r_click: PA1<Input<PullUp>>,
+ l_click: PA0<Input<PullUp>>,
+ w_click: PA6<Input<PullUp>>,
+ M1_click: PA4<Input<PullUp>>,
+ M2_click: PA5<Input<PullUp>>,
+ scl_plus: PA2<Input<PullUp>>,
+ scl_minus: PA3<Input<PullUp>>,
+ scroll_up: PA10<Input<PullUp>>,
+ scroll_down: PA15<Input<PullUp>>,
+ Scaler: f32, //rtic::Mutex,
+ Counter: u8,
+ Scale_modify: bool,
+ }
+
+ #[init(schedule = [toggle_speed])]
+ fn init(cx: init::Context) -> init::LateResources {
+ static mut USB_BUS: Option<UsbBusAllocator<UsbBusType>> = None;
+ static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+ rtt_init_print!();
+ rprintln!("init");
+ let mut core = cx.core;
+ core.DCB.enable_trace();
+ DWT::unlock();
+ core.DWT.enable_cycle_counter();
+
+ let rcc = cx.device.RCC.constrain();
+
+ let clocks = rcc
+ .cfgr
+ // .use_hse(8.mhz())
+ .sysclk(48.mhz())
+ .pclk1(24.mhz())
+ .freeze();
+
+ // assert!(clocks.usbclk_valid());
+
+ let gpioa = cx.device.GPIOA.split();
+
+ // Pull the D+ pin down to send a RESET condition to the USB bus.
+ //let mut usb_dp = gpioa.pa12.into_push_pull_output();
+ //usb_dp.set_low().ok();
+ //delay(clocks.sysclk().0 / 100);
+ //let usb_dp = usb_dp.into_floating_input();
+ //cortex_m::asm::delay(100);
+
+ //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,
+ 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(), PMouseReport::desc(), 1);
+
+
+ let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
+ .manufacturer("Mouse company")
+ .product("Mouse")
+ .serial_number("Serial_Number")
+ .device_class(0)
+ .build();
+
+ let gpiob = cx.device.GPIOB.split();
+ let gpioc = cx.device.GPIOC.split();
+
+ let sck = gpiob.pb10.into_alternate_af5();
+ let miso = gpioc.pc2.into_alternate_af5();
+ let mosi = gpioc.pc3.into_alternate_af5();
+ let cs = gpiob.pb12.into_push_pull_output().set_speed(Speed::High);
+
+ let spi = Spi::spi2(
+ cx.device.SPI2,
+ (sck, miso, mosi),
+ MODE_3,
+ stm32f4xx_hal::time::KiloHertz(2000).into(),
+ clocks,
+ );
+
+ let delay = DwtDelay::new(&mut core.DWT, clocks);
+ let mut pmw3389 = pmw3389::Pmw3389::new(spi, cs, delay).unwrap();
+ // set in burst mode
+ pmw3389.write_register(Register::MotionBurst, 0x00);
+ let scaler = 1.0;
+ let scale_modify = false;
+
+ let now = cx.start;
+
+ cx.schedule.toggle_speed(now + ((OFFSET)).cycles()).unwrap();
+ //cx.schedule.toggle(now + ((OFFSET)).cycles()).unwrap();
+ //let mut led = ;
+ //led.set_low().ok();
+ // pass on late resources
+ init::LateResources {
+ //GPIOA: device.GPIOA,
+ hid,
+ usb_dev,
+ led: gpioa.pa9.into_push_pull_output(), //split the GPIOA into pins, choose pa5 and convert into push/pull output (this took a while to figure out)
+ r_click: gpioa.pa1.into_pull_up_input(),
+ l_click: gpioa.pa0.into_pull_up_input(),
+ w_click: gpioa.pa6.into_pull_up_input(),
+ M1_click: gpioa.pa4.into_pull_up_input(),
+ M2_click: gpioa.pa5.into_pull_up_input(),
+ scl_plus: gpioa.pa2.into_pull_up_input(),
+ scl_minus: gpioa.pa3.into_pull_up_input(),
+ scroll_up: gpioa.pa10.into_pull_up_input(),
+ scroll_down: gpioa.pa15.into_pull_up_input(),
+ Scaler: scaler,
+ Counter: 0,
+ Scale_modify: scale_modify,
+ pmw3389,
+ }
+ }
+
+ #[idle]
+ fn idle(_cx: idle::Context) -> ! {
+ rprintln!("idle");
+ loop {
+ continue;
+ }
+ }
+
+ //Increase or lower frequency
+ #[task(resources = [scl_minus, scl_plus, Scaler, Scale_modify], priority = 1, schedule = [toggle_speed])]
+ fn toggle_speed(mut cx: toggle_speed::Context) {
+ let Scale_modify = *cx.resources.Scale_modify;
+ if (cx.resources.scl_plus.is_high().unwrap() && !*cx.resources.Scale_modify){
+ *cx.resources.Scale_modify = true;
+ cx.resources.Scaler.lock(|Scaler| {
+ *Scaler += 0.1;
+ });
+ }
+ else{
+ if cx.resources.scl_plus.is_low().unwrap() && cx.resources.scl_minus.is_low().unwrap(){
+ *cx.resources.Scale_modify = false;
+ }
+ }
+ if (cx.resources.scl_minus.is_high().unwrap() && !*cx.resources.Scale_modify){
+ *cx.resources.Scale_modify = true;
+ cx.resources.Scaler.lock(|Scaler| {
+ if *Scaler != 1.0 && !(*Scaler < 1.0){
+ *Scaler -= 0.1;
+ }
+ else{
+ *Scaler = 1.0;
+ }
+ });
+ }
+ else{
+ if cx.resources.scl_plus.is_high().unwrap() && cx.resources.scl_minus.is_high().unwrap(){
+ *cx.resources.Scale_modify = false;
+ }
+ }
+ cx.schedule.toggle_speed(cx.scheduled + ((OFFSET)).cycles()).unwrap();
+ }
+
+ extern "C" {
+ fn EXTI0();
+ }
+
+ #[task(binds=OTG_FS, resources = [led, r_click, l_click, w_click, M1_click, M2_click, scroll_up, scroll_down, Scaler, hid, pmw3389, usb_dev], priority = 2)]
+ fn toggle(cx: toggle::Context) {
+ static mut PREV_UP: bool = false;
+ static mut PREV_DOWN: bool = false;
+
+ let myScaler = cx.resources.Scaler;
+ let hid = cx.resources.hid;
+ let r_click = cx.resources.r_click;
+ let l_click = cx.resources.l_click;
+ let w_click = cx.resources.w_click;
+ let M1_click = cx.resources.M1_click;
+ let M2_click = cx.resources.M2_click;
+ let usb_dev = cx.resources.usb_dev;
+ let scroll_up = cx.resources.scroll_up;
+ let scroll_down = cx.resources.scroll_down;
+ let up = scroll_up.is_high().unwrap();
+ let down = scroll_down.is_high().unwrap();
+ let wheel_count = calculate_scroll(up, down, *PREV_UP, *PREV_DOWN);
+ *PREV_UP = up;
+ *PREV_DOWN = down;
+ let mut POS_X: i64 = 0;
+ let mut POS_Y: i64 = 0;
+ if M1_click.is_high().unwrap() {
+ //if cx.resources.led.is_low().unwrap(){
+ // _toggleable_generic(cx.resources.led); //Utilize the generic toggle function, toggle variable no longer needed
+ //}
+ }
+ if M2_click.is_high().unwrap() {
+ //if cx.resources.led.is_low().unwrap(){
+ // _toggleable_generic(cx.resources.led); //Utilize the generic toggle function, toggle variable no longer needed
+ //}
+ }
+ else{
+ if cx.resources.led.is_low().unwrap() && r_click.is_low().unwrap() && l_click.is_low().unwrap() {
+ //_toggleable_generic(cx.resources.led);
+ }
+ }
+
+ let (x, y) = cx.resources.pmw3389.read_status().unwrap();
+ //rprintln!("{} {}", x as i64, y as i64);
+ POS_X += x as i64;
+ POS_Y += y as i64;
+ let report = PMouseReport {
+ buttons: ((M1_click.is_high().unwrap() as u8) << 4
+ | (M2_click.is_high().unwrap() as u8) << 3
+ | (w_click.is_high().unwrap() as u8) << 2
+ | (r_click.is_high().unwrap() as u8) << 1
+ | (l_click.is_high().unwrap() as u8)),
+ x: (-x as i8)>>1,
+ y: (-y as i8)>>1,
+ wheel: wheel_count,
+ };
+ hid.push_input(&report).ok();
+
+ if usb_dev.poll(&mut [hid]) {
+ return;
+ }
+
+
+ //cx.schedule.toggle(cx.scheduled + ((*myScaler as u32 * OFFSET)).cycles()).unwrap();
+ }
+
+ extern "C" {
+ fn EXTI1();
+ }
+
+ extern "C" {
+ fn EXTI2();
+ }
+};
+
+fn _toggle_generic<E>(led: &mut dyn OutputPin<Error = E>, toggle: &mut bool) {
+ if *toggle {
+ led.set_high().ok();
+ } else {
+ led.set_low().ok();
+ }
+
+ *toggle = !*toggle;
+}
+
+fn _toggleable_generic<E>(led: &mut dyn ToggleableOutputPin<Error = E>) {
+ led.toggle().ok();
+}
+
+fn calculate_scroll(up: bool, down: bool, prev_up: bool, prev_down: bool) -> i8 {
+ let mut wheel_count: i8 = 0;
+
+ //only update count if values have changed
+ if up != prev_up || down != prev_down {
+
+ //check datasheet of encoder for pattern
+ if prev_up == prev_down {
+ if down == prev_down {
+ wheel_count += 1;
+ } else {
+ wheel_count -= 1;
+ }
+ } else {
+ if up == prev_up {
+ wheel_count += 1;
+ } else {
+ wheel_count -= 1;
+ }
+ }
+ }
+ return wheel_count;
+}
+
+// 1. In this example you will use RTT.
+//
+// > cargo run --example rtic_bare7
+//
+// Look in the generated documentation for `set_high`/`set_low`.
+// (You created documentation for your dependencies in previous exercise
+// so you can just search (press `S`) for `OutputPin`).
+// You will find that these methods are implemented for `Output` pins.
+//
+// Now change your code to use these functions instead of the low-level GPIO API.
+//
+// HINTS:
+// - A GPIOx peripheral can be `split` into individual PINs Px0..Px15).
+// - A Pxy, can be turned into an `Output` by `into_push_pull_output`.
+// - You may optionally set other pin properties as well (such as `speed`).
+// - An `Output` pin provides `set_low`/`set_high`
+// - Instead of passing `GPIO` resource to the `toggle` task pass the
+// `led: PA5<Output<PushPull>>` resource instead.
+//
+// Comment your code to explain the steps taken.
+//
+// ** My answer here **
+// 1. We had to change around in the resources, as the GPIO is no longer needed
+// this means that we have to uncomment the led variable in the resources struct
+// and insert the correct struct into lateresources.
+// 2. Now we have our resources set up, so I changed the GPIO into led under the
+// toggle function.
+//
+// Confirm that your implementation correctly toggles the LED as in
+// previous exercise.
+//
+// Commit your code (bare7_1)
+//
+// 2. Further generalizations:
+//
+// Now look at the documentation for `embedded_hal::digital::v2::OutputPin`.
+//
+// You see that the OutputPin trait defines `set_low`/`set_high` functions.
+// Your task is to alter the code to use the `set_low`/`set_high` API.
+//
+// The function `_toggle_generic` is generic to any object that
+// implements the `OutputPin<Error = E>` trait.
+//
+// Digging deeper we find the type parameter `E`, which in this case
+// is left generic (unbound).
+//
+// It will be instantiated with a concrete type argument when called.
+//
+// Our `PA5<Output<PushPull>>` implements `OutputPin` trait, thus
+// we can pass the `led` resource to `_toggle_generic`.
+//
+// The error type is given by the stm32f4xx-hal implementation:
+// where `core::convert::Infallible` is used to indicate
+// there are no errors to be expected (hence infallible).
+//
+// Additionally, `_toggle_generic` takes a mutable reference
+// `toggle: &mut bool`, so you need to pass your `TOGGLE` variable.
+//
+// As you see, `TOGGLE` holds the "state", switching between
+// `true` and `false` (to make your led blink).
+//
+// Change your code into using the `_toggle_generic` function.
+// (You may rename it to `toggle_generic` if wished.)
+//
+// Confirm that your implementation correctly toggles the LED as in
+// previous exercise.
+//
+// Commit your code (bare7_2)
+//
+// ** My answer here **
+// This was merely a question of passing the toggle variable to the generic function.
+//
+// 3. What about the state?
+//
+// In your code `TOGGLE` holds the "state". However, the underlying
+// hardware ALSO holds the state (if the corresponding bit is set/cleared).
+//
+// What if we can leverage that, and guess what we can!!!!
+//
+// Look at the documentation for `embedded_hal::digital::v2::ToggleableOutputPin`,
+// and the implementation of:
+//
+// fn _toggleable_generic(led: &mut dyn ToggleableOutputPin<Error = Infallible>) {
+// led.toggle().ok();
+// }
+//
+// The latter does not take any state variable, instead it directly `toggle()`
+// the `ToggleableOutputPin`.
+//
+// Now alter your code to leverage on the `_toggleable_generic` function.
+// (You should be able to remove the `TOGGLE` state variable altogether.)
+//
+// Confirm that your implementation correctly toggles the LED as in
+// previous exercise.
+//
+// ** My answer here **
+// This is merely a question of uncommenting the toggle variable, as well
+// as the calls to the functions we are not to use. Since the toggleable_generic
+// works in the same was as toggle_generic, in the sense that it generically
+// handles pins which we can read and write from, so passing the led resource
+// is enough.
+//
+// Commit your code (bare7_3)
+//
+// 4. Discussion:
+//
+// In this exercise you have gone from a very hardware specific implementation,
+// to leveraging abstractions (batteries included).
+//
+// Your final code amounts to "configuration" rather than "coding".
+//
+// This reduces the risk of errors (as you let the libraries do the heavy lifting).
+//
+// This also improves code-re use. E.g., if you were to do something less
+// trivial then merely toggling you can do that in a generic manner,
+// breaking out functionality into "components" re-usable in other applications.
+//
+// Of course the example is trivial, you don't gain much here, but the principle
+// is the same behind drivers for USART communication, USB, PMW3389 etc.
+//
+// 5. More details:
+//
+// Looking closer at the implementation:
+// `led: &mut dyn OutputPin<Error = E>`
+//
+// You may ask what kind of mumbo jumbo is at play here.
+//
+// This is the way to express that we expect a mutable reference to a trait object
+// that implements the `OutputPin`. Since we will change the underlying object
+// (in this case an GPIOA pin 5) the reference needs to be mutable.
+//
+// Trait objects are further explained in the Rust book.
+// The `dyn` keyword indicates dynamic dispatch (through a VTABLE).
+// https://doc.rust-lang.org/std/keyword.dyn.html
+//
+// Notice: the Rust compiler (rustc + LLVM) is really smart. In many cases
+// it can analyse the call chain, and conclude the exact trait object type at hand.
+// In such cases the dynamic dispatch is turned into a static dispatch
+// and the VTABLE is gone, and we have a zero-cost abstraction.
+//
+// If the trait object is stored for e.g., in an array along with other
+// trait objects (of different concrete type), there is usually no telling
+// the concrete type of each element, and we will have dynamic dispatch.
+// Arguably, this is also a zero-cost abstraction, as there is no (obvious)
+// way to implement it more efficiently. Remember, zero-cost is not without cost
+// just that it is as good as it possibly gets (you can't make it better by hand).
+//
+// You can also force the compiler to deduce the type at compile time, by using
+// `impl` instead of `dyn`, if you are sure you don't want the compiler to
+// "fallback" to dynamic dispatch.
+//
+// You might find Rust to have long compile times. Yes you are right,
+// and this type of deep analysis done in release mode is part of the story.
+// On the other hand, the aggressive optimization allows us to code
+// in a generic high level fashion and still have excellent performing binaries.
--
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