add keyboard source code

Code/uconsole_keyboard/trackball.ino

@@ -0,0 +1,130 @@
+/*
+ * clockworkpi devterm trackball 
+ */
+#include "keys_io_map.h"
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include <USBComposite.h>
+
+
+#include "trackball.h"
+
+#include "ratemeter.h"
+#include "glider.h"
+#include "math.h"
+
+
+ 
+enum Axis: uint8_t {
+  AXIS_X,
+  AXIS_Y,
+  AXIS_NUM,
+};
+static TrackballMode lastMode;
+static int8_t distances[AXIS_NUM];
+static RateMeter rateMeter[AXIS_NUM];
+static Glider glider[AXIS_NUM];
+
+static const int8_t WHEEL_DENOM = 2;
+static int8_t wheelBuffer;
+
+static float rateToVelocityCurve(float input) {
+  //return std::pow(std::abs(input) / 50, 1.4);
+  return std::abs(input) / 30;
+}
+
+template<Axis AXIS, int8_t Direction >
+static void interrupt( ) {
+  distances[AXIS] += Direction;
+  rateMeter[AXIS].onInterrupt();
+  glider[AXIS].setDirection(Direction);
+
+  const auto rx = rateMeter[AXIS_X].rate();
+  const auto ry = rateMeter[AXIS_Y].rate();
+
+  const auto rate = std::sqrt(rx * rx + ry * ry);
+  const auto ratio = rateToVelocityCurve(rate) / rate;
+
+  const auto vx = rx * ratio;
+  const auto vy = ry * ratio;
+
+  if (AXIS == AXIS_X) {
+    glider[AXIS_X].update(vx, std::sqrt(rateMeter[AXIS_X].delta()));
+    glider[AXIS_Y].updateSpeed(vy);
+    
+  } else {
+    glider[AXIS_X].updateSpeed(vx);
+    glider[AXIS_Y].update(vy, std::sqrt(rateMeter[AXIS_Y].delta()));
+
+  }
+
+ 
+}
+ 
+void trackball_task(DEVTERM*dv) {
+  int8_t x = 0, y = 0, w = 0;
+  noInterrupts();
+  const auto mode = dv->state->moveTrackball();
+  if (lastMode != mode) {
+    rateMeter[AXIS_X].expire();
+    rateMeter[AXIS_Y].expire();
+    wheelBuffer = 0;
+  }
+  else {
+    rateMeter[AXIS_X].tick(dv->delta);
+    rateMeter[AXIS_Y].tick(dv->delta);
+  }
+  lastMode = mode; 
+  
+  switch(mode){
+    case TrackballMode::Mouse: {
+      const auto rX = glider[AXIS_X].glide(dv->delta);
+      const auto rY = glider[AXIS_Y].glide(dv->delta);
+      x = rX.value;
+      y = rY.value;
+      if (rX.stopped) {
+        glider[AXIS_Y].stop();
+      }
+      if (rY.stopped) {
+        glider[AXIS_Y].stop();
+      }
+
+      break;
+    }
+    case TrackballMode::Wheel: {
+      wheelBuffer += distances[AXIS_Y];
+      w = wheelBuffer / WHEEL_DENOM;
+      wheelBuffer -= w * WHEEL_DENOM;
+      if(w != 0){
+        dv->state->setScrolled();
+      }
+      break;
+    }
+  }
+  distances[AXIS_X] = 0;
+  distances[AXIS_Y] = 0;
+  interrupts();
+
+  if(x !=0 || y != 0 || -w!=0) {
+    dv->Mouse->move(x, y, -w);
+  }
+ 
+}
+
+
+void trackball_init(DEVTERM*dv){
+
+  pinMode(LEFT_PIN, INPUT);
+  pinMode(UP_PIN, INPUT);
+  pinMode(RIGHT_PIN, INPUT);
+  pinMode(DOWN_PIN, INPUT);
+
+  attachInterrupt(LEFT_PIN, &interrupt<AXIS_X,-1> , ExtIntTriggerMode::CHANGE);
+  attachInterrupt(RIGHT_PIN, &interrupt<AXIS_X, 1>, ExtIntTriggerMode::CHANGE);
+  attachInterrupt(UP_PIN, &interrupt<AXIS_Y, -1>, ExtIntTriggerMode::CHANGE);
+  attachInterrupt(DOWN_PIN, &interrupt<AXIS_Y, 1>, ExtIntTriggerMode::CHANGE);
+  
+}