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samples: sensors: Add accelerometer based HID mouse
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Add Accelerometer mouse by using fxos8700 accelerometer and using data
to control USB HID mouse.

Signed-off-by: Andrei Emeltchenko <[email protected]>
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@finikorg @nashif
finikorg authored and nashif committed Jan 11, 2019
1 parent 3d880dd commit ad875f0
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6 changes: 6 additions & 0 deletions samples/sensor/fxos8700-hid/CMakeLists.txt
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cmake_minimum_required(VERSION 3.13.1)
include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
project(fxos8700-hid)

FILE(GLOB app_sources src/*.c)
target_sources(app PRIVATE ${app_sources})
18 changes: 18 additions & 0 deletions samples/sensor/fxos8700-hid/prj.conf
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CONFIG_LOG=y
CONFIG_USB=y
CONFIG_USB_DEVICE_STACK=y
CONFIG_USB_DEVICE_HID=y
CONFIG_USB_DEVICE_PRODUCT="Zephyr HID accelerometer mouse sample"
CONFIG_USB_DRIVER_LOG_LEVEL_ERR=y
CONFIG_USB_DEVICE_LOG_LEVEL_ERR=y

CONFIG_STDOUT_CONSOLE=y
CONFIG_LOG=y
CONFIG_I2C=y
CONFIG_SENSOR=y
CONFIG_FXOS8700=y
CONFIG_FXOS8700_MODE_ACCEL=y
CONFIG_FXOS8700_TRIGGER_OWN_THREAD=y
CONFIG_SENSOR_LOG_LEVEL_DBG=y

CONFIG_GPIO=y
8 changes: 8 additions & 0 deletions samples/sensor/fxos8700-hid/sample.yaml
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sample:
name: USB HID accelerometer mouse sample
tests:
usb.hid-mouse:
depends_on: usb_device
platform_whitelist: frdm_k64f
harness: usb
tags: usb sensors
312 changes: 312 additions & 0 deletions samples/sensor/fxos8700-hid/src/main.c
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/*
* Copyright (c) 2018 qianfan Zhao
* Copyright (c) 2018 Nordic Semiconductor ASA
* Copyright (c) 2019 Intel Corp
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr.h>
#include <device.h>
#include <gpio.h>

#include <usb/usb_device.h>
#include <usb/class/usb_hid.h>

#define LOG_LEVEL LOG_LEVEL_DBG
LOG_MODULE_REGISTER(main);

/* change this to use another GPIO port */
#ifdef SW0_GPIO_CONTROLLER
#define PORT0 SW0_GPIO_CONTROLLER
#else
#error SW0_GPIO_CONTROLLER needs to be set
#endif

/* change this to use another GPIO pin */
#ifdef SW0_GPIO_PIN
#define PIN0 SW0_GPIO_PIN
#else
#error SW0_GPIO_PIN needs to be set
#endif

/* The switch pin pull-up/down flags */
#ifdef SW0_GPIO_FLAGS
#define PIN0_FLAGS SW0_GPIO_FLAGS
#else
#error SW0_GPIO_FLAGS needs to be set
#endif

/* If second button exists, use it as right-click. */
#ifdef SW1_GPIO_PIN
#define PIN1 SW1_GPIO_PIN
#endif

#ifdef SW1_GPIO_CONTROLLER
#define PORT1 SW1_GPIO_CONTROLLER
#endif

#ifdef SW1_GPIO_FLAGS
#define PIN1_FLAGS SW1_GPIO_FLAGS
#endif

#define LED_PORT LED0_GPIO_CONTROLLER
#define LED LED0_GPIO_PIN

#ifdef CONFIG_FXOS8700
#include <sensor.h>
#define CONFIG_SENSOR_ACCEL_NAME DT_FXOS8700_NAME
#endif

static const u8_t hid_report_desc[] = {
HID_GI_USAGE_PAGE, USAGE_GEN_DESKTOP,
/* USAGE_PAGE (Generic Desktop) 05 01 */
HID_LI_USAGE, USAGE_GEN_DESKTOP_MOUSE,
/* USAGE (Mouse) 09 02 */
HID_MI_COLLECTION, COLLECTION_APPLICATION,
/* COLLECTION (Application) A1 01 */
HID_LI_USAGE, USAGE_GEN_DESKTOP_POINTER,
/* USAGE (Pointer) 09 01 */
HID_MI_COLLECTION, COLLECTION_PHYSICAL,
/* COLLECTION (Physical) A1 00 */
HID_GI_USAGE_PAGE, USAGE_GEN_BUTTON,
/* USAGE_PAGE (Button) 05 09 */
HID_LI_USAGE_MIN(1), 0x01,
/* USAGE_MINIMUM (Button 1) 19 01 */
HID_LI_USAGE_MAX(1), 0x03,
/* USAGE_MAXIMUM (Button 3) 29 03 */
HID_GI_LOGICAL_MIN(1), 0,
/* LOGICAL_MINIMUM (0) 15 00 */
HID_GI_LOGICAL_MAX(1), 1,
/* LOGICAL_MAXIMUM (1) 25 01 */
HID_GI_REPORT_COUNT, 3,
/* REPORT_COUNT (3) 95 03 */
HID_GI_REPORT_SIZE, 1,
/* REPORT_SIZE (1) 75 01 */
HID_MI_INPUT, 0x02,
/* INPUT (Data,Var,Abs) 81 02 */
HID_GI_REPORT_COUNT, 1,
/* REPORT_COUNT (1) 95 01 */
HID_GI_REPORT_SIZE, 5,
/* REPORT_SIZE (5) 75 05 */
HID_MI_INPUT, 0x01,
/* INPUT (Cnst,Ary,Abs) 81 01 */
HID_GI_USAGE_PAGE, USAGE_GEN_DESKTOP,
/* USAGE_PAGE (Generic Desktop) 05 01 */
HID_LI_USAGE, USAGE_GEN_DESKTOP_X,
/* USAGE (X) 09 30 */
HID_LI_USAGE, USAGE_GEN_DESKTOP_Y,
/* USAGE (Y) 09 31 */
HID_LI_USAGE, USAGE_GEN_DESKTOP_WHEEL,
/* USAGE (Wheel) 09 38 */
HID_GI_LOGICAL_MIN(1), -127,
/* LOGICAL_MINIMUM (-127) 15 81 */
HID_GI_LOGICAL_MAX(1), 127,
/* LOGICAL_MAXIMUM (127) 25 7F */
HID_GI_REPORT_SIZE, 8,
/* REPORT_SIZE (8) 75 08 */
HID_GI_REPORT_COUNT, 3,
/* REPORT_COUNT (3) 95 03 */
HID_MI_INPUT, 0x06,
/* INPUT (Data,Var,Rel) 81 06 */
HID_MI_COLLECTION_END,
/* END_COLLECTION C0 */
HID_MI_COLLECTION_END,
/* END_COLLECTION C0 */
};

static u32_t def_val[4];
static volatile u8_t status[4];
static K_SEM_DEFINE(sem, 0, 1); /* starts off "not available" */
static struct gpio_callback callback[4];

#define MOUSE_BTN_REPORT_POS 0
#define MOUSE_X_REPORT_POS 1
#define MOUSE_Y_REPORT_POS 2

#define MOUSE_BTN_LEFT BIT(0)
#define MOUSE_BTN_RIGHT BIT(1)
#define MOUSE_BTN_MIDDLE BIT(2)


static void left_button(struct device *gpio, struct gpio_callback *cb,
u32_t pins)
{
u32_t cur_val;
u8_t state = status[MOUSE_BTN_REPORT_POS];

gpio_pin_read(gpio, PIN0, &cur_val);
if (def_val[0] != cur_val) {
state |= MOUSE_BTN_LEFT;
} else {
state &= ~MOUSE_BTN_LEFT;
}

if (status[MOUSE_BTN_REPORT_POS] != state) {
status[MOUSE_BTN_REPORT_POS] = state;
k_sem_give(&sem);
}
}

#ifdef SW1_GPIO_PIN
static void right_button(struct device *gpio, struct gpio_callback *cb,
u32_t pins)
{
u32_t cur_val;
u8_t state = status[MOUSE_BTN_REPORT_POS];

gpio_pin_read(gpio, PIN1, &cur_val);
if (def_val[0] != cur_val) {
state |= MOUSE_BTN_RIGHT;
} else {
state &= ~MOUSE_BTN_RIGHT;
}

if (status[MOUSE_BTN_REPORT_POS] != state) {
status[MOUSE_BTN_REPORT_POS] = state;
k_sem_give(&sem);
}
}
#endif

int callbacks_configure(struct device *gpio, u32_t pin, int flags,
void (*handler)(struct device*, struct gpio_callback*,
u32_t), struct gpio_callback *callback, u32_t *val)
{
if (!gpio) {
LOG_ERR("Could not find PORT");
return -ENXIO;
}
gpio_pin_configure(gpio, pin,
GPIO_DIR_IN | GPIO_INT |
GPIO_INT_EDGE | GPIO_INT_DOUBLE_EDGE |
flags);
gpio_pin_read(gpio, pin, val);
gpio_init_callback(callback, handler, BIT(pin));
gpio_add_callback(gpio, callback);
gpio_pin_enable_callback(gpio, pin);
return 0;
}

static bool read_accel(struct device *accel)
{
struct sensor_value val[3];
int ret;

ret = sensor_channel_get(accel, SENSOR_CHAN_ACCEL_XYZ, val);
if (ret < 0) {
LOG_ERR("Cannot read sensor channels");
return false;
}

/* For printing double we need to use printf with
* printf("%10.6f\n", sensor_value_to_double(x));
*/
LOG_DBG("int parts: X %d Y %d", val[0].val1, val[1].val1);

/* TODO: Add proper calculations */

if (val[0].val1 != 0) {
status[MOUSE_X_REPORT_POS] = val[0].val1 * 4;
}

if (val[1].val1 != 0) {
status[MOUSE_Y_REPORT_POS] = val[1].val1 * 4;
}

if (val[0].val1 != 0 || val[1].val1 != 0) {
return true;
} else {
return false;
}
}

static void trigger_handler(struct device *accel, struct sensor_trigger *tr)
{
ARG_UNUSED(tr);

/* Always fetch the sample to clear the data ready interrupt in the
* sensor.
*/
if (sensor_sample_fetch(accel)) {
LOG_ERR("sensor_sample_fetch failed");
return;
}

if (read_accel(accel)) {
k_sem_give(&sem);
}
}

void main(void)
{
u8_t report[4] = { 0x00 };
u8_t toggle = 0;
struct device *dev, *accel;

dev = device_get_binding(LED_PORT);
if (dev == NULL) {
LOG_ERR("Could not get %s device", LED_PORT);
return;
}

gpio_pin_configure(dev, LED, GPIO_DIR_OUT);

if (callbacks_configure(device_get_binding(PORT0), PIN0, PIN0_FLAGS,
&left_button, &callback[0], &def_val[0])) {
LOG_ERR("Failed configuring left button callback.");
return;
}

#ifdef SW1_GPIO_PIN
if (callbacks_configure(device_get_binding(PORT1), PIN1, PIN1_FLAGS,
&right_button, &callback[1], &def_val[1])) {
LOG_ERR("Failed configuring right button callback.");
return;
}
#endif

accel = device_get_binding(CONFIG_SENSOR_ACCEL_NAME);
if (accel == NULL) {
LOG_ERR("Could not get %s device", CONFIG_SENSOR_ACCEL_NAME);
return;
}

struct sensor_value attr = {
.val1 = 6,
.val2 = 250000,
};

if (sensor_attr_set(accel, SENSOR_CHAN_ALL,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr)) {
LOG_ERR("Could not set sampling frequency");
return;
}

struct sensor_trigger trig = {
.type = SENSOR_TRIG_DATA_READY,
.chan = SENSOR_CHAN_ACCEL_XYZ,
};

if (sensor_trigger_set(accel, &trig, trigger_handler)) {
LOG_ERR("Could not set trigger");
return;
}

usb_hid_register_device(hid_report_desc, sizeof(hid_report_desc), NULL);
usb_hid_init();

while (true) {
k_sem_take(&sem, K_FOREVER);

report[MOUSE_BTN_REPORT_POS] = status[MOUSE_BTN_REPORT_POS];
report[MOUSE_X_REPORT_POS] = status[MOUSE_X_REPORT_POS];
status[MOUSE_X_REPORT_POS] = 0;
report[MOUSE_Y_REPORT_POS] = status[MOUSE_Y_REPORT_POS];
status[MOUSE_Y_REPORT_POS] = 0;
hid_int_ep_write(report, sizeof(report), NULL);

/* Toggle LED on sent report */
gpio_pin_write(dev, LED, toggle);
toggle = !toggle;
}
}

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