Mouse sensor testing

.vscode/settings.json

@@ -5,4 +5,7 @@
         "titleBar.activeForeground": "#FCFCFE"
     },
     "rust-analyzer.check.allTargets": false,
+    "rust-analyzer.cargo.features": [
+        "serial"
+    ],
 }

src/custom_hid.rs

@@ -1,4 +1,7 @@
-use crate::{serial::Serial, MouseInfoSender};
+use crate::{
+    serial::{Commands, Serial},
+    MouseInfoSender,
+};
 
 use rp_pico as bsp;
 
@@ -7,6 +10,7 @@ use bsp::{
         clocks::ClocksManager,
         pac,
         pac::{interrupt, Interrupt},
+        rom_data::reset_to_usb_boot,
         usb::UsbBus,
     },
     pac::{RESETS, USBCTRL_DPRAM, USBCTRL_REGS},
@@ -19,12 +23,15 @@ static mut USB_BUS: Option<UsbBusAllocator<UsbBus>> = None;
 static mut USB_SERIAL: Option<Serial> = None;
 static mut USB_DEVICE: Option<UsbDevice<UsbBus>> = None;
 
-pub struct CustomHID<'a> {
+pub fn serial() -> &'static mut Serial<'static> {
-    out_ep: EndpointOut<'a, UsbBus>,
+    unsafe { USB_SERIAL.as_mut().unwrap() }
-    in_ep: EndpointIn<'a, UsbBus>,
 }
 
-impl<'a> CustomHID<'a> {
+pub struct CustomHID {
+    c: u32,
+}
+
+impl CustomHID {
     pub fn new(
         usbctrl_reg: USBCTRL_REGS,
         usbctrl_dpram: USBCTRL_DPRAM,
@@ -58,20 +65,25 @@ impl<'a> CustomHID<'a> {
             );
         }
 
-        let (in_ep, out_ep) = unsafe {
+        unsafe {
             pac::NVIC::unmask(Interrupt::USBCTRL_IRQ);
-
+            pac::NVIC::unmask(Interrupt::SW0_IRQ);
-            (
-                USB_BUS.as_ref().unwrap().interrupt(64, poll_ms),
-                USB_BUS.as_ref().unwrap().interrupt(64, poll_ms),
-            )
         };
 
-        Self { in_ep, out_ep }
+        Self { c: 0 }
+    }
+
+    pub fn serial<F>(&mut self, mut f: F)
+    where
+        F: FnMut(&mut Serial),
+    {
+        critical_section::with(|_| {
+            f(serial());
+        })
     }
 }
 
-impl<'a> MouseInfoSender for CustomHID<'a> {
+impl MouseInfoSender for CustomHID {
     fn send(&mut self, x: i8, y: i8, buttons: u8, wheel: i8, pan: i8) {
         push_mouse_movement(MouseReport {
             x,
@@ -81,12 +93,24 @@ impl<'a> MouseInfoSender for CustomHID<'a> {
             pan,
         })
     }
+
+    fn heart_beat(&mut self) {
+        self.c += 1;
+
+        if self.c == 1_000_000 {
+            self.c = 0;
+
+            if !(pac::NVIC::is_pending(Interrupt::SW0_IRQ)) {
+                pac::NVIC::pend(Interrupt::SW0_IRQ);
+            }
+        }
+    }
 }
 
 /// with interrupts disabled, to avoid a race hazard with the USB IRQ.
 fn push_mouse_movement(report: MouseReport) {
-    critical_section::with(|_| unsafe {
+    critical_section::with(|_| {
-        let serial = USB_SERIAL.as_mut().unwrap();
+        let serial = serial();
 
         serial.send_text("x");
         serial.send_number(report.x, 10);
@@ -101,6 +125,19 @@ fn push_mouse_movement(report: MouseReport) {
 unsafe fn USBCTRL_IRQ() {
     // Handle USB request
     let usb_dev = USB_DEVICE.as_mut().unwrap();
-    let usb_hid = USB_SERIAL.as_mut().unwrap();
+    let usb_hid = serial();
-    usb_dev.poll(&mut [usb_hid]);
+
+    if usb_dev.poll(&mut [usb_hid]) {
+        if let Some(command) = usb_hid.read() {
+            match command {
+                Commands::Reset => reset_to_usb_boot(0, 0),
+            }
+        }
+    }
+}
+
+#[allow(non_snake_case)]
+#[interrupt]
+unsafe fn SW0_IRQ() {
+    serial().send_text("heartbeat (IRQ)");
 }

src/main.rs

@@ -1,24 +1,28 @@
 #![no_std]
 #![no_main]
 
-#[cfg(features = "serial")]
+#[cfg(feature = "serial")]
 mod custom_hid;
 
-#[cfg(not(features = "serial"))]
+#[cfg(not(feature = "serial"))]
 mod mouse_hid;
 
 mod mouse_sensor;
 mod serial;
 
-#[cfg(features = "serial")]
+use core::panic::PanicInfo;
+
+use cortex_m::delay::Delay;
+#[cfg(feature = "serial")]
 use custom_hid::CustomHID;
 
-#[cfg(not(features = "serial"))]
+#[cfg(not(feature = "serial"))]
 use mouse_hid::MouseHID;
 
-// Ensure we halt the program on panic (if we don't mention this crate it won't
+#[panic_handler]
-// be linked)
+fn panic(_info: &PanicInfo) -> ! {
-use panic_halt as _;
+    loop {}
+}
 
 use rp_pico as bsp;
 
@@ -32,6 +36,7 @@ use crate::mouse_sensor::MouseSensor;
 
 pub trait MouseInfoSender {
     fn send(&mut self, x: i8, y: i8, buttons: u8, wheel: i8, pan: i8);
+    fn heart_beat(&mut self);
 }
 
 #[entry]
@@ -57,8 +62,9 @@ fn main() -> ! {
     .unwrap();
 
     let peripheral_clock = clocks.peripheral_clock.freq();
+    let delay = Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
 
-    #[cfg(features = "serial")]
+    #[cfg(feature = "serial")]
     let mut hid = CustomHID::new(
         pac.USBCTRL_REGS,
         pac.USBCTRL_DPRAM,
@@ -67,7 +73,7 @@ fn main() -> ! {
         10,
     );
 
-    #[cfg(not(features = "serial"))]
+    #[cfg(not(feature = "serial"))]
     let mut hid = MouseHID::new(
         pac.USBCTRL_REGS,
         pac.USBCTRL_DPRAM,
@@ -87,11 +93,53 @@ fn main() -> ! {
         &mut pac.RESETS,
     );
 
-    let mut mouse_sensor = MouseSensor::new(pins, &mut pac.RESETS, pac.SPI0, peripheral_clock);
+    let mut mouse_sensor = MouseSensor::new(
+        pins,
+        &mut pac.RESETS,
+        pac.SPI0,
+        peripheral_clock,
+        delay,
+        |msg| {
+            #[cfg(feature = "serial")]
+            critical_section::with(|_| {
+                custom_hid::serial().send_text(msg);
+            });
+        },
+    );
+
+    // #[cfg(feature = "serial")]
+    // {
+    //     hid.serial(|serial| {
+    //         serial.send_number(mouse_sensor.product_id_1(), 10);
+    //         serial.send_number(mouse_sensor.product_id_2(), 10);
+    //     });
+    // }
+
+    let mut c = 0;
 
     loop {
-        if let Some((x, y)) = mouse_sensor.read_movement() {
+        // if let Some((x, y)) = mouse_sensor.read_movement() {
-            hid.send(x, y, 0, 0, 0);
+        //     hid.send(x, y, 0, 0, 0);
-        }
+        // }
+
+        c += 1;
+
+        if c == 10_000_000 {
+            c = 0;
+
+            #[cfg(feature = "serial")]
+            critical_section::with(|_| {
+                let serial = custom_hid::serial();
+
+                serial.send_text("---");
+                serial.send_number(mouse_sensor.operation_mode(), 10);
+                serial.send_text(" - ");
+                serial.send_number(0xB8, 10);
+
+                // custom_hid::serial().send_number(mouse_sensor.product_id_2(), 10);
+            });
+        }
+
+        // hid.heart_beat();
     }
 }

src/mouse_hid.rs

@@ -78,8 +78,6 @@ impl MouseHID {
             pac::NVIC::unmask(Interrupt::USBCTRL_IRQ);
         }
 
-        let delay = Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
-
         Self { delay }
     }
 }
@@ -95,6 +93,10 @@ impl MouseInfoSender for MouseHID {
         })
         .unwrap_or(0);
     }
+
+    fn heart_beat(&mut self) {
+        // mouse hid does everything by itself
+    }
 }
 
 /// with interrupts disabled, to avoid a race hazard with the USB IRQ.

src/mouse_sensor.rs

@@ -1,14 +1,14 @@
 use core::mem;
 
-use cortex_m::prelude::_embedded_hal_spi_FullDuplex;
+use cortex_m::{delay::Delay, prelude::_embedded_hal_spi_FullDuplex};
 use embedded_hal::digital::v2::OutputPin;
-use fugit::HertzU32;
+use fugit::{HertzU32, MegahertzU32};
 use rp_pico::{
     hal::{
         gpio::{
             self,
-            bank0::{Gpio2, Gpio3, Gpio4, Gpio5},
+            bank0::{Gpio2, Gpio25, Gpio3, Gpio4, Gpio5},
-            Function, Output, Pin, PushPull, Spi,
+            Function, Output, Pin, PushPull, PushPullOutput, Spi,
         },
         spi::{self, Enabled, Spi as SpiDevice},
     },
@@ -16,18 +16,29 @@ use rp_pico::{
     Pins,
 };
 
-pub struct MouseSensor {
+pub struct MouseSensor<L>
+where
+    L: FnMut(&str),
+{
     _sclk: Pin<Gpio2, Function<Spi>>,
     _mosi: Pin<Gpio3, Function<Spi>>,
     _miso: Pin<Gpio4, Function<Spi>>,
     cs: Pin<Gpio5, Output<PushPull>>,
 
+    led: Pin<Gpio25, PushPullOutput>,
+
     spi: SpiDevice<Enabled, SPI0, 8>,
+    delay: Delay,
+
+    log: L,
 }
 
-impl MouseSensor {
+impl<L> MouseSensor<L>
-    const READ: u8 = 0x7F;
+where
-    const WRITE: u8 = 0x80;
+    L: FnMut(&str),
+{
+    const READ: u8 = 0b0111_1111;
+    const WRITE: u8 = 0b1000_0000;
 
     const REG_PRODUCT_ID1: u8 = 0x00;
     const REG_PRODUCT_ID2: u8 = 0x01;
@@ -54,6 +65,8 @@ impl MouseSensor {
         resets: &mut RESETS,
         spio: SPI0,
         peripheral_clock: impl Into<HertzU32>,
+        mut delay: Delay,
+        mut log: L,
     ) -> Self {
         // These are implicitly used by the spi driver if they are in the correct mode
         let _sclk = pins.gpio2.into_mode::<gpio::FunctionSpi>();
@@ -68,46 +81,95 @@ impl MouseSensor {
         let spi = spi.init(
             resets,
             peripheral_clock,
-            HertzU32::from_raw(16_000_000u32),
+            MegahertzU32::from_raw(1).convert(),
-            &embedded_hal::spi::MODE_0,
+            &embedded_hal::spi::MODE_2,
         );
 
-        cs.set_high().unwrap();
+        if let Err(_err) = cs.set_low() {
+            log("cs high failed");
+        }
 
-        Self {
+        delay.delay_ms(2);
+
+        if let Err(_err) = cs.set_high() {
+            log("cs high failed");
+        }
+
+        let mut me = Self {
             _sclk,
             _mosi,
             _miso,
             cs,
 
+            led: pins.led.into_push_pull_output(),
+
             spi,
+            delay,
+
+            log,
+        };
+
+        if me.led.set_low().is_err() {
+            (me.log)("led low failed");
         }
+
+        if !me.verify_product_id_1() || !me.verify_product_id_2() {
+            if me.led.set_high().is_err() {
+                (me.log)("led high failed");
+            }
+        }
+
+        me
     }
 
     fn access<F, T>(&mut self, f: F) -> T
     where
         F: Fn(&mut Self) -> T,
     {
-        self.cs.set_low().unwrap();
+        if self.cs.set_low().is_err() {
+            (self.log)("cs low failed");
+        }
+
+        self.delay.delay_us(1);
 
         let res = f(self);
 
-        self.cs.set_high().unwrap();
+        if self.cs.set_high().is_err() {
+            (self.log)("cs low failed");
+        }
+
+        self.delay.delay_us(2);
 
         res
     }
 
     pub fn read(&mut self, address: u8) -> u8 {
         self.access(|me| {
-            me.spi.send(address & Self::READ).unwrap();
+            if me.spi.send(address & Self::READ).is_err() {
-            me.spi.read().unwrap()
+                (me.log)("send address (read) failed");
+            }
+
+            me.delay.delay_us(50);
+
+            match me.spi.read() {
+                Ok(res) => res,
+                Err(_) => {
+                    (me.log)("read failed");
+                    0
+                }
+            }
         })
     }
 
     pub fn write(&mut self, address: u8, value: u8) {
         self.access(|me| {
-            me.spi.send(address | Self::WRITE).unwrap();
+            if me.spi.send(address | Self::WRITE).is_err() {
-            me.spi.send(value).unwrap();
+                (me.log)("send address (write) failed");
+            }
+
+            if me.spi.send(value).is_err() {
+                (me.log)("send value (write) failed");
+            }
         });
     }
 
@@ -145,4 +207,28 @@ impl MouseSensor {
 
         (motion, x_overflow, y_overflow)
     }
+
+    pub fn product_id_1(&mut self) -> u8 {
+        self.read(Self::REG_PRODUCT_ID1)
+    }
+
+    pub fn product_id_2(&mut self) -> u8 {
+        self.read(Self::REG_PRODUCT_ID2)
+    }
+
+    pub fn operation_mode(&mut self) -> u8 {
+        self.read(Self::REG_OPERATION_MODE)
+    }
+
+    fn verify_product_id_1(&mut self) -> bool {
+        const DEFAULT_VALUE: u8 = 0x30;
+
+        DEFAULT_VALUE == self.product_id_1()
+    }
+
+    fn verify_product_id_2(&mut self) -> bool {
+        const DEFAULT_VALUE: u8 = 0x02;
+
+        DEFAULT_VALUE == self.product_id_2()
+    }
 }