Merge pull request #290 from adafruit/add-mouse-tremor

add mouse tremor with Butterworth filter

Author: hathach

examples/DualRole/HID/hid_device_report/hid_device_report.ino

@@ -26,17 +26,17 @@
 #include "Adafruit_TinyUSB.h"
 
 // Pin D+ for host, D- = D+ + 1
-#ifndef PIN_PIO_USB_HOST_DP
-#define PIN_PIO_USB_HOST_DP       20
+#ifndef PIN_USB_HOST_DP
+#define PIN_USB_HOST_DP  16
 #endif
 
 // Pin for enabling Host VBUS. comment out if not used
-#ifndef PIN_PIO_USB_HOST_VBUSEN
-#define PIN_PIO_USB_HOST_VBUSEN        22
+#ifndef PIN_5V_EN
+#define PIN_5V_EN        18
 #endif
 
-#ifndef PIN_PIO_USB_HOST_VBUSEN_STATE
-#define PIN_PIO_USB_HOST_VBUSEN_STATE  1
+#ifndef PIN_5V_EN_STATE
+#define PIN_5V_EN_STATE  1
 #endif
 
 // Language ID: English
@@ -51,16 +51,15 @@ Adafruit_USBH_Host USBHost;
 
 void setup()
 {
-  Serial1.begin(115200);
-
   Serial.begin(115200);
-  //while ( !Serial ) delay(10);   // wait for native usb
+  while ( !Serial ) delay(10);   // wait for native usb
 
   Serial.println("TinyUSB Dual Device Info Example");
 }
 
 void loop()
 {
+  Serial.flush();
 }
 
 //--------------------------------------------------------------------+
@@ -80,13 +79,13 @@ void setup1() {
     while(1) delay(1);
   }
 
-#ifdef PIN_PIO_USB_HOST_VBUSEN
-  pinMode(PIN_PIO_USB_HOST_VBUSEN, OUTPUT);
-  digitalWrite(PIN_PIO_USB_HOST_VBUSEN, PIN_PIO_USB_HOST_VBUSEN_STATE);
+#ifdef PIN_5V_EN
+  pinMode(PIN_5V_EN, OUTPUT);
+  digitalWrite(PIN_5V_EN, PIN_5V_EN_STATE);
 #endif
 
   pio_usb_configuration_t pio_cfg = PIO_USB_DEFAULT_CONFIG;
-  pio_cfg.pin_dp = PIN_PIO_USB_HOST_DP;
+  pio_cfg.pin_dp = PIN_USB_HOST_DP;
   USBHost.configure_pio_usb(1, &pio_cfg);
 
   // run host stack on controller (rhport) 1
@@ -100,14 +99,16 @@ void loop1()
   USBHost.task();
 }
 
+extern "C" {
+
 // Invoked when device with hid interface is mounted
 // Report descriptor is also available for use.
 // tuh_hid_parse_report_descriptor() can be used to parse common/simple enough
 // descriptor. Note: if report descriptor length > CFG_TUH_ENUMERATION_BUFSIZE,
 // it will be skipped therefore report_desc = NULL, desc_len = 0
 void tuh_hid_mount_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *desc_report, uint16_t desc_len) {
-  (void)desc_report;
-  (void)desc_len;
+  (void) desc_report;
+  (void) desc_len;
   uint16_t vid, pid;
   tuh_vid_pid_get(dev_addr, &vid, &pid);
 
@@ -135,3 +136,5 @@ void tuh_hid_report_received_cb(uint8_t dev_addr, uint8_t instance, uint8_t cons
     Serial.printf("Error: cannot request to receive report\r\n");
   }
 }
+
+} // extern C

examples/DualRole/HID/hid_mouse_tremor_filter/.feather_rp2040_tinyusb.test.only

@@ -0,0 +1,226 @@
+/*********************************************************************
+ Adafruit invests time and resources providing this open source code,
+ please support Adafruit and open-source hardware by purchasing
+ products from Adafruit!
+
+ MIT license, check LICENSE for more information
+ Copyright (c) 2019 Ha Thach for Adafruit Industries
+ All text above, and the splash screen below must be included in
+ any redistribution
+*********************************************************************/
+
+
+/* This example demonstrates use of both device and host, where
+ * - Device run on native usb controller (controller0)
+ * - Host run on bit-banging 2 GPIOs with the help of Pico-PIO-USB library (controller1)
+ *
+ * Example sketch receive keyboard report from host interface (from e.g consumer keyboard)
+ * and remap it to another key and send it via device interface (to PC). For simplicity,
+ * this example only toggle shift key to the report, effectively remap:
+ * - all character key <-> upper case
+ * - number <-> its symbol (with shift)
+ *
+ * Requirements:
+ * - [Pico-PIO-USB](https://github.com/sekigon-gonnoc/Pico-PIO-USB) library
+ * - 2 consecutive GPIOs: D+ is defined by PIN_PIO_USB_HOST_DP, D- = D+ +1
+ * - Provide VBus (5v) and GND for peripheral
+ * - CPU Speed must be either 120 or 240 Mhz. Selected via "Menu -> CPU Speed"
+ */
+
+// pio-usb is required for rp2040 host
+#include "pio_usb.h"
+#include "Adafruit_TinyUSB.h"
+
+// Pin D+ for host, D- = D+ + 1
+#ifndef PIN_USB_HOST_DP
+#define PIN_USB_HOST_DP  16
+#endif
+
+// Pin for enabling Host VBUS. comment out if not used
+#ifndef PIN_5V_EN
+#define PIN_5V_EN        18
+#endif
+
+#ifndef PIN_5V_EN_STATE
+#define PIN_5V_EN_STATE  1
+#endif
+
+// Language ID: English
+#define LANGUAGE_ID 0x0409
+
+// USB Host object
+Adafruit_USBH_Host USBHost;
+
+// HID report descriptor using TinyUSB's template
+// Single Report (no ID) descriptor
+uint8_t const desc_hid_report[] =
+{
+  TUD_HID_REPORT_DESC_MOUSE()
+};
+
+// USB HID object. For ESP32 these values cannot be changed after this declaration
+// desc report, desc len, protocol, interval, use out endpoint
+Adafruit_USBD_HID usb_hid(desc_hid_report, sizeof(desc_hid_report), HID_ITF_PROTOCOL_MOUSE, 2, false);
+
+//------------- Low pass filter with Butterworth -------------//
+// Butterworth low-pass filter coefficients
+typedef struct {
+  float b0, b1, b2, a1, a2;
+} butterworth_coeffs_t;
+
+#define SAMPLING_FREQUENCY 100.0  // Hz
+#define CUTOFF_FREQUENCY    10.0  // Hz
+
+// x, y
+butterworth_coeffs_t coeffs[2];
+
+butterworth_coeffs_t butterworth_lowpass(float cutoff_frequency, float sampling_frequency);
+void filter_report(hid_mouse_report_t const* report);
+
+//--------------------------------------------------------------------+
+// Setup and Loop on Core0
+//--------------------------------------------------------------------+
+
+void setup()
+{
+  Serial.begin(115200);
+  usb_hid.begin();
+
+  coeffs[0] = butterworth_lowpass(CUTOFF_FREQUENCY, SAMPLING_FREQUENCY);
+  coeffs[1] = butterworth_lowpass(CUTOFF_FREQUENCY, SAMPLING_FREQUENCY);
+
+  //while ( !Serial ) delay(10);   // wait for native usb
+  Serial.println("TinyUSB Mouse Tremor Filter Example");
+}
+
+void loop()
+{
+  Serial.flush();
+}
+
+//--------------------------------------------------------------------+
+// Setup and Loop on Core1
+//--------------------------------------------------------------------+
+
+void setup1() {
+  //while ( !Serial ) delay(10);   // wait for native usb
+  Serial.println("Core1 setup to run TinyUSB host with pio-usb");
+
+  // Check for CPU frequency, must be multiple of 120Mhz for bit-banging USB
+  uint32_t cpu_hz = clock_get_hz(clk_sys);
+  if ( cpu_hz != 120000000UL && cpu_hz != 240000000UL ) {
+    while ( !Serial ) delay(10);   // wait for native usb
+    Serial.printf("Error: CPU Clock = %lu, PIO USB require CPU clock must be multiple of 120 Mhz\r\n", cpu_hz);
+    Serial.printf("Change your CPU Clock to either 120 or 240 Mhz in Menu->CPU Speed \r\n");
+    while(1) delay(1);
+  }
+
+#ifdef PIN_5V_EN
+  pinMode(PIN_5V_EN, OUTPUT);
+  digitalWrite(PIN_5V_EN, PIN_5V_EN_STATE);
+#endif
+
+  pio_usb_configuration_t pio_cfg = PIO_USB_DEFAULT_CONFIG;
+  pio_cfg.pin_dp = PIN_USB_HOST_DP;
+  USBHost.configure_pio_usb(1, &pio_cfg);
+
+  // run host stack on controller (rhport) 1
+  // Note: For rp2040 pico-pio-usb, calling USBHost.begin() on core1 will have most of the
+  // host bit-banging processing works done in core1 to free up core0 for other works
+  USBHost.begin(1);
+}
+
+void loop1()
+{
+  USBHost.task();
+}
+
+
+extern "C"
+{
+
+// Invoked when device with hid interface is mounted
+// Report descriptor is also available for use.
+// tuh_hid_parse_report_descriptor() can be used to parse common/simple enough
+// descriptor. Note: if report descriptor length > CFG_TUH_ENUMERATION_BUFSIZE,
+// it will be skipped therefore report_desc = NULL, desc_len = 0
+void tuh_hid_mount_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *desc_report, uint16_t desc_len) {
+  (void) desc_report;
+  (void) desc_len;
+  uint16_t vid, pid;
+  tuh_vid_pid_get(dev_addr, &vid, &pid);
+
+  Serial.printf("HID device address = %d, instance = %d is mounted\r\n", dev_addr, instance);
+  Serial.printf("VID = %04x, PID = %04x\r\n", vid, pid);
+
+  uint8_t const itf_protocol = tuh_hid_interface_protocol(dev_addr, instance);
+  if (itf_protocol == HID_ITF_PROTOCOL_MOUSE) {
+    Serial.printf("HID Mouse\r\n");
+    if (!tuh_hid_receive_report(dev_addr, instance)) {
+      Serial.printf("Error: cannot request to receive report\r\n");
+    }
+  }
+}
+
+// Invoked when device with hid interface is un-mounted
+void tuh_hid_umount_cb(uint8_t dev_addr, uint8_t instance) {
+  Serial.printf("HID device address = %d, instance = %d is unmounted\r\n", dev_addr, instance);
+}
+
+
+// Invoked when received report from device via interrupt endpoint
+void tuh_hid_report_received_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *report, uint16_t len) {
+  filter_report((hid_mouse_report_t const *) report);
+
+  // continue to request to receive report
+  if (!tuh_hid_receive_report(dev_addr, instance)) {
+    Serial.printf("Error: cannot request to receive report\r\n");
+  }
+}
+
+} // extern C
+
+//--------------------------------------------------------------------+
+// Low pass filter Functions
+//--------------------------------------------------------------------+
+
+butterworth_coeffs_t butterworth_lowpass(float cutoff_frequency, float sampling_frequency) {
+  butterworth_coeffs_t coe;
+
+  float omega = 2.0 * PI * cutoff_frequency / sampling_frequency;
+  float c = cos(omega);
+  float s = sin(omega);
+  float t = tan(omega / 2.0);
+  float alpha = s / (2.0 * t);
+
+  coe.b0 = 1.0 / (1.0 + 2.0 * alpha + 2.0 * alpha * alpha);
+  coe.b1 = 2.0 * coe.b0;
+  coe.b2 = coe.b0;
+  coe.a1 = 2.0 * (alpha * alpha - 1.0) * coe.b0;
+  coe.a2 = (1.0 - 2.0 * alpha + 2.0 * alpha * alpha) * coe.b0;
+
+  return coe;
+}
+
+float butterworth_filter(float data, butterworth_coeffs_t *coeffs, float *filtered, float *prev1, float *prev2) {
+  float output = coeffs->b0 * data + coeffs->b1 * (*prev1) + coeffs->b2 * (*prev2) - coeffs->a1 * (*filtered) - coeffs->a2 * (*prev1);
+  *prev2 = *prev1;
+  *prev1 = data;
+  *filtered = output;
+  return output;
+}
+
+void filter_report(hid_mouse_report_t const* report) {
+  static float filtered[2] = { 0.0, 0.0 };
+  static float prev1[2] = { 0.0, 0.0 };
+  static float prev2[2] = { 0.0, 0.0 };
+
+  butterworth_filter(report->x, &coeffs[0], &filtered[0], &prev1[0], &prev2[0]);
+  butterworth_filter(report->y, &coeffs[1], &filtered[1], &prev1[1], &prev2[1]);
+
+  hid_mouse_report_t filtered_report = *report;
+  filtered_report.x = (int8_t) filtered[0];
+  filtered_report.y = (int8_t) filtered[1];
+
+  usb_hid.sendReport(0, &filtered_report, sizeof(filtered_report));
+}

examples/DualRole/HID/hid_mouse_tremor_filter/hid_mouse_tremor_filter.ino

@@ -134,7 +134,7 @@ void tuh_hid_mount_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *desc_re
 
   uint8_t const itf_protocol = tuh_hid_interface_protocol(dev_addr, instance);
   if (itf_protocol == HID_ITF_PROTOCOL_KEYBOARD) {
-    Serial.printf("HID Keyboard\r\n", vid, pid);
+    Serial.printf("HID Keyboard\r\n");
     if (!tuh_hid_receive_report(dev_addr, instance)) {
       Serial.printf("Error: cannot request to receive report\r\n");
     }