Revision 78
fixed ack reading issue. added statemachine, still not working
| lab4/Makefile | ||
|---|---|---|
| 2 | 2 |
PROG=lab4 |
| 3 | 3 |
|
| 4 | 4 |
# source code files to be compiled |
| 5 |
SRCS = lab4.c mouse.c utils.c kbc.c keyboard.c timer.c |
|
| 5 |
SRCS = lab4.c mouse.c utils.c kbc.c keyboard.c timer.c state_machine.c
|
|
| 6 | 6 |
|
| 7 | 7 |
# additional compilation flags |
| 8 | 8 |
# "-Wall -Wextra -Werror -I . -std=c11 -Wno-unused-parameter" are already set |
| lab4/errors.h | ||
|---|---|---|
| 11 | 11 |
WRITE_ERROR, /* @brief Error on Writing to Port */ |
| 12 | 12 |
TIMEOUT_ERROR, /* @brief Timeout error */ |
| 13 | 13 |
INVALID_COMMAND, /* @brief Invalid Command issued */ |
| 14 |
INVALID_STATE, /* @brief State machine reached an invalid state */ |
|
| 14 | 15 |
OTHER_ERROR, /* @brief Unspecified error */ |
| 15 | 16 |
}; |
| 16 | 17 |
|
| lab4/kbc.c | ||
|---|---|---|
| 67 | 67 |
int ret = 0; |
| 68 | 68 |
uint8_t stat; |
| 69 | 69 |
for(int i = 0; i < KBC_NUM_TRIES; ++i){
|
| 70 |
if((ret = util_sys_inb(STATUS_REG, &stat))) return ret;//printf("kbc.c,L71\n");
|
|
| 71 |
printf("%x %d %d\n", stat, (stat&OUT_BUF_FUL), (stat&AUX_MOUSE));
|
|
| 72 |
if((stat&OUT_BUF_FUL) && (stat&AUX_MOUSE)==0){//printf("kbc.c,L72\n");
|
|
| 73 |
if(stat & (PARITY_ERROR | TIME_OUT_REC)) return OTHER_ERROR;//printf("kbc.c,L73\n");
|
|
| 70 |
if((ret = util_sys_inb(STATUS_REG, &stat))) return ret; |
|
| 71 |
if((stat&OUT_BUF_FUL) && (stat&AUX_MOUSE)==0){
|
|
| 72 |
if(stat & (PARITY_ERROR | TIME_OUT_REC)) return OTHER_ERROR; |
|
| 74 | 73 |
if((ret = util_sys_inb(OUTPUT_BUF, byte))) return ret; |
| 75 | 74 |
else return SUCCESS; |
| 76 | 75 |
} |
| lab4/lab4.c | ||
|---|---|---|
| 7 | 7 |
#include "kbc.h" |
| 8 | 8 |
#include "errors.h" |
| 9 | 9 |
#include "mouse_macros.h" |
| 10 |
#include "kbc_macros.h" |
|
| 10 | 11 |
#include "timer.h" |
| 12 |
#include "state_machine.h" |
|
| 11 | 13 |
|
| 12 | 14 |
int main(int argc, char *argv[]) {
|
| 13 | 15 |
// sets the language of LCF messages (can be either EN-US or PT-PT) |
| ... | ... | |
| 95 | 97 |
// return value |
| 96 | 98 |
int ret; |
| 97 | 99 |
|
| 100 |
if ((ret = mouse_issue_cmd(SET_REMOTE_MD))) return ret; |
|
| 101 |
|
|
| 102 |
if ((ret = mouse_set_data_report(true))) return ret; |
|
| 103 |
|
|
| 104 |
uint8_t cmd = 0; |
|
| 105 |
if ((ret = kbc_read_cmd(&cmd))) return ret; |
|
| 106 |
|
|
| 98 | 107 |
while (good) {
|
| 99 | 108 |
|
| 100 | 109 |
if ((ret = mouse_read_data(&data))) return ret; |
| ... | ... | |
| 103 | 112 |
packet[sz] = data; |
| 104 | 113 |
sz++; |
| 105 | 114 |
} |
| 106 |
|
|
| 107 | 115 |
if (sz == 3) {
|
| 108 | 116 |
struct packet pp = mouse_parse_packet(packet); |
| 109 | 117 |
mouse_print_packet(&pp); |
| ... | ... | |
| 111 | 119 |
sz = 0; |
| 112 | 120 |
if (packetCounter == cnt) good = 0; |
| 113 | 121 |
} |
| 114 |
|
|
| 115 | 122 |
tickdelay(micros_to_ticks(period*1e3)); |
| 116 | 123 |
} |
| 117 | 124 |
|
| ... | ... | |
| 119 | 126 |
if ((ret = mouse_issue_cmd(SET_STREAM_MD))) return ret; |
| 120 | 127 |
// Disable data reporting |
| 121 | 128 |
if ((ret = mouse_set_data_report(false))) return ret; |
| 122 |
|
|
| 123 | 129 |
uint8_t cmd_byte = minix_get_dflt_kbc_cmd_byte(); |
| 124 | 130 |
if ((ret = kbc_change_cmd(cmd_byte))) return ret; |
| 125 | 131 |
|
| ... | ... | |
| 188 | 194 |
return 0; |
| 189 | 195 |
} |
| 190 | 196 |
|
| 191 |
enum state{
|
|
| 192 |
STATE_NEUTRAL, |
|
| 193 |
STATE_FIRST, |
|
| 194 |
STATE_MID, |
|
| 195 |
STATE_SECOND |
|
| 196 |
}; |
|
| 197 |
|
|
| 198 | 197 |
int (mouse_test_gesture)(uint8_t x_len, uint8_t tolerance) {
|
| 199 |
int ret = 0; |
|
| 200 | 198 |
/// loop stuff |
| 201 | 199 |
int ipc_status, r; |
| 202 | 200 |
message msg; |
| ... | ... | |
| 205 | 203 |
int mouse_id = 0; |
| 206 | 204 |
int mouse_irq = BIT(mouse_irq_bit); |
| 207 | 205 |
//if ((ret = mouse_set_data_report(true))) return ret; |
| 208 |
if ((ret = mouse_enable_data_reporting())) return ret;
|
|
| 206 |
if (mouse_enable_data_reporting()) return 1;
|
|
| 209 | 207 |
|
| 210 | 208 |
if (subscribe_mouse_interrupt(mouse_irq_bit, &mouse_id)) return 1; |
| 211 | 209 |
/// cycle |
| 212 | 210 |
int good = 1; |
| 213 |
//int st = STATE_NEUTRAL; |
|
| 214 |
//int16_t dx, dy; |
|
| 211 |
|
|
| 212 |
// mouse event gesture |
|
| 213 |
struct mouse_ev *event; |
|
| 214 |
struct packet pp; |
|
| 215 |
int response; |
|
| 216 |
|
|
| 215 | 217 |
while (good) {
|
| 216 | 218 |
/* Get a request message. */ |
| 217 | 219 |
if ((r = driver_receive(ANY, &msg, &ipc_status)) != 0) {
|
| ... | ... | |
| 223 | 225 |
case HARDWARE: /* hardware interrupt notification */ |
| 224 | 226 |
if (msg.m_notify.interrupts & mouse_irq) { /* subscribed interrupt */
|
| 225 | 227 |
mouse_ih(); |
| 226 |
if(counter >= 3){
|
|
| 227 |
struct packet pp = mouse_parse_packet(packet); |
|
| 228 |
mouse_print_packet(&pp);/* |
|
| 229 |
switch(st){
|
|
| 230 |
case STATE_NEUTRAL: |
|
| 231 |
if(pp.lb == 1 && pp.mb == 0 && pp.rb == 0){
|
|
| 232 |
st = STATE_FIRST; |
|
| 233 |
dx = 0; |
|
| 234 |
dy = 0; |
|
| 235 |
} |
|
| 236 |
break; |
|
| 237 |
case STATE_FIRST: |
|
| 238 |
if(pp.lb == 1){
|
|
| 239 |
if(pp.delta_x >= -tolerance && pp.delta_y >= -tolerance){
|
|
| 240 |
dx += pp.delta_x; |
|
| 241 |
dy += pp.delta_y; |
|
| 242 |
}else{
|
|
| 243 |
st = STATE_NEUTRAL; |
|
| 244 |
} |
|
| 245 |
}else{
|
|
| 246 |
if(abs(dx) < abs(dy) && dx > 0 && dy > 0){
|
|
| 247 |
st = STATE_MID; |
|
| 248 |
}else{
|
|
| 249 |
st = STATE_NEUTRAL; |
|
| 250 |
} |
|
| 251 |
} |
|
| 252 |
break; |
|
| 253 |
case STATE_MID: |
|
| 254 |
if(pp.lb == 0 && pp.mb == 0 && pp.rb == 1){
|
|
| 255 |
st = STATE_SECOND; |
|
| 256 |
dx = 0; |
|
| 257 |
dy = 0; |
|
| 258 |
}else{
|
|
| 259 |
st = STATE_NEUTRAL; |
|
| 260 |
} |
|
| 261 |
break; |
|
| 262 |
case STATE_SECOND: |
|
| 263 |
if(pp.rb == 1){
|
|
| 264 |
if(pp.delta_x >= -tolerance && pp.delta_y <= tolerance){
|
|
| 265 |
dx += pp.delta_x; |
|
| 266 |
dy += pp.delta_y; |
|
| 267 |
}else{
|
|
| 268 |
st = STATE_NEUTRAL; |
|
| 269 |
} |
|
| 270 |
}else{
|
|
| 271 |
if(abs(dx) < abs(dy) && dx > 0 && dy < 0){
|
|
| 272 |
st = STATE_NEUTRAL; |
|
| 273 |
good = false; |
|
| 274 |
}else{
|
|
| 275 |
st = STATE_NEUTRAL; |
|
| 276 |
} |
|
| 277 |
} |
|
| 278 |
break; |
|
| 279 |
default: |
|
| 280 |
return OTHER_ERROR; |
|
| 281 |
break; |
|
| 282 |
}*/ |
|
| 228 |
if(counter >= 3) {
|
|
| 229 |
pp = mouse_parse_packet(packet); |
|
| 230 |
//mouse_print_packet(&pp); |
|
| 231 |
event = mouse_get_event(&pp); |
|
| 232 |
|
|
| 233 |
response = state_machine(event, x_len, tolerance); |
|
| 234 |
|
|
| 235 |
if (response == SUCCESS) |
|
| 236 |
good = 0; |
|
| 237 |
else if (response == INVALID_STATE) |
|
| 238 |
return response; |
|
| 283 | 239 |
} |
| 284 | 240 |
} |
| 285 | 241 |
break; |
| lab4/mouse.c | ||
|---|---|---|
| 81 | 81 |
int (mouse_issue_cmd)(uint32_t cmd) {
|
| 82 | 82 |
int ret; |
| 83 | 83 |
uint8_t ack = 0; |
| 84 |
if ((ret = kbc_issue_cmd(MOUSE_WRITE_B))) return ret; |
|
| 85 |
if ((ret = kbc_issue_arg(cmd))) return ret; |
|
| 86 |
if ((ret = mouse_read_ack(&ack))) return ret; |
|
| 87 |
if (ack == ACK_OK) return SUCCESS; |
|
| 88 |
if (ack == ACK_ERROR) return INVALID_COMMAND; |
|
| 89 |
return OTHER_ERROR; |
|
| 84 |
for (unsigned int i = 0; i < KBC_NUM_TRIES; i++) {
|
|
| 85 |
if ((ret = kbc_issue_cmd(MOUSE_WRITE_B))) return ret; |
|
| 86 |
if ((ret = kbc_issue_arg(cmd))) return ret; |
|
| 87 |
if ((ret = mouse_read_ack(&ack))) return ret; |
|
| 88 |
|
|
| 89 |
if (ack == ACK_OK) return SUCCESS; |
|
| 90 |
if (ack == ACK_ERROR) return INVALID_COMMAND; |
|
| 91 |
tickdelay(micros_to_ticks(DELAY)); |
|
| 92 |
} |
|
| 93 |
return TIMEOUT_ERROR; |
|
| 90 | 94 |
} |
| 91 | 95 |
|
| 92 | 96 |
int (mouse_read_byte)(uint8_t *byte) {
|
| lab4/state_machine.c | ||
|---|---|---|
| 1 |
#include <lcom/lcf.h> |
|
| 2 |
|
|
| 3 |
#include "state_machine.h" |
|
| 4 |
#include "mouse_macros.h" |
|
| 5 |
#include "mouse.h" |
|
| 6 |
#include "errors.h" |
|
| 7 |
|
|
| 8 |
struct mouse_ev* mouse_get_event(struct packet *pp) {
|
|
| 9 |
|
|
| 10 |
static struct mouse_ev event; |
|
| 11 |
static struct packet last; // compare consecutive events |
|
| 12 |
static int aux = 1; // first iteration |
|
| 13 |
|
|
| 14 |
if (pp == NULL) |
|
| 15 |
return &event; |
|
| 16 |
|
|
| 17 |
// current packet |
|
| 18 |
uint8_t lb_press = pp->bytes[0] & LEFT_BUTTON; |
|
| 19 |
uint8_t rb_press = pp->bytes[0] & RIGHT_BUTTON; |
|
| 20 |
uint8_t mb_press = pp->bytes[0] & MIDDLE_BUTTON; |
|
| 21 |
int16_t delta_x = sign_extend_byte(pp->bytes[0] & MSB_X_DELTA, pp->bytes[1]); |
|
| 22 |
int16_t delta_y = sign_extend_byte(pp->bytes[0] & MSB_Y_DELTA, pp->bytes[2]); |
|
| 23 |
|
|
| 24 |
if (aux) { // first event detected
|
|
| 25 |
if (lb_press && (rb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0) |
|
| 26 |
event.type = LB_PRESSED; |
|
| 27 |
else if (rb_press && (lb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0) |
|
| 28 |
event.type = RB_PRESSED; |
|
| 29 |
else if ((delta_x || delta_y) && (lb_press | rb_press | mb_press) == 0) {
|
|
| 30 |
event.type = MOUSE_MOV; |
|
| 31 |
event.delta_x = delta_x; |
|
| 32 |
event.delta_y = delta_y; |
|
| 33 |
} else |
|
| 34 |
event.type = BUTTON_EV; |
|
| 35 |
aux = 0; |
|
| 36 |
} else {
|
|
| 37 |
// last packet |
|
| 38 |
uint8_t last_lb_press = last.bytes[0] & LEFT_BUTTON; |
|
| 39 |
uint8_t last_rb_press = last.bytes[0] & RIGHT_BUTTON; |
|
| 40 |
uint8_t last_mb_press = last.bytes[0] & MIDDLE_BUTTON; |
|
| 41 |
|
|
| 42 |
if (lb_press && (rb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0 && last_lb_press == 0) |
|
| 43 |
event.type = LB_PRESSED; |
|
| 44 |
else if (rb_press && (lb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0 && last_rb_press == 0) |
|
| 45 |
event.type = RB_PRESSED; |
|
| 46 |
else if ((lb_press | rb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0 && last_lb_press) |
|
| 47 |
event.type = LB_RELEASED; |
|
| 48 |
else if ((lb_press | rb_press | mb_press) == 0 && delta_x == 0 && delta_y == 0 && last_rb_press) |
|
| 49 |
event.type = RB_RELEASED; |
|
| 50 |
else if ((delta_x || delta_y) && (lb_press | rb_press | mb_press) == (last_lb_press | last_rb_press | last_mb_press)) {
|
|
| 51 |
event.type = MOUSE_MOV; |
|
| 52 |
event.delta_x = delta_x; |
|
| 53 |
event.delta_y = delta_y; |
|
| 54 |
} else |
|
| 55 |
event.type = BUTTON_EV; |
|
| 56 |
} |
|
| 57 |
|
|
| 58 |
// update last packet for comparison |
|
| 59 |
last = *pp; |
|
| 60 |
|
|
| 61 |
return &event; |
|
| 62 |
} |
|
| 63 |
|
|
| 64 |
int state_machine(struct mouse_ev* event, uint8_t x_len, uint8_t tolerance) {
|
|
| 65 |
|
|
| 66 |
static enum states state = INITIAL; |
|
| 67 |
static int response = OTHER_ERROR; |
|
| 68 |
static int x_length = 0; |
|
| 69 |
static int y_length = 0; |
|
| 70 |
|
|
| 71 |
if (event == NULL) |
|
| 72 |
return response; |
|
| 73 |
|
|
| 74 |
switch (state) {
|
|
| 75 |
case INITIAL: |
|
| 76 |
if (event->type == LB_PRESSED) |
|
| 77 |
state = DRAG_UP; |
|
| 78 |
break; |
|
| 79 |
case DRAG_UP: |
|
| 80 |
if (event->type == MOUSE_MOV) {
|
|
| 81 |
if (abs(event->delta_x) > tolerance || abs(event->delta_y) > tolerance) {
|
|
| 82 |
state = INITIAL; |
|
| 83 |
x_length = 0; |
|
| 84 |
y_length = 0; |
|
| 85 |
break; |
|
| 86 |
} |
|
| 87 |
|
|
| 88 |
x_length += event->delta_x; |
|
| 89 |
y_length += event->delta_y; |
|
| 90 |
} else if (event->type == LB_RELEASED) {
|
|
| 91 |
if (x_length == 0 || y_length == 0) {
|
|
| 92 |
state = INITIAL; |
|
| 93 |
break; |
|
| 94 |
} |
|
| 95 |
|
|
| 96 |
int slope = y_length / x_length; |
|
| 97 |
|
|
| 98 |
if (slope <= 1 || x_length < x_len) {
|
|
| 99 |
state = INITIAL; |
|
| 100 |
x_length = 0; |
|
| 101 |
y_length = 0; |
|
| 102 |
break; |
|
| 103 |
} |
|
| 104 |
|
|
| 105 |
state = VERTEX; |
|
| 106 |
x_length = 0; |
|
| 107 |
y_length = 0; |
|
| 108 |
} else {
|
|
| 109 |
state = INITIAL; |
|
| 110 |
x_length = 0; |
|
| 111 |
y_length = 0; |
|
| 112 |
} |
|
| 113 |
break; |
|
| 114 |
case VERTEX: |
|
| 115 |
if (event->type == MOUSE_MOV) {
|
|
| 116 |
if (abs(event->delta_x) > tolerance || abs(event->delta_y) > tolerance) |
|
| 117 |
state = INITIAL; |
|
| 118 |
} else if (event->type == RB_PRESSED) {
|
|
| 119 |
state = DRAG_DOWN; |
|
| 120 |
} else if (event->type == LB_PRESSED) {
|
|
| 121 |
state = DRAG_UP; |
|
| 122 |
} else |
|
| 123 |
state = INITIAL; |
|
| 124 |
break; |
|
| 125 |
case DRAG_DOWN: |
|
| 126 |
if (event->type == MOUSE_MOV) {
|
|
| 127 |
if (abs(event->delta_x) > tolerance || abs(event->delta_y) > tolerance) {
|
|
| 128 |
state = INITIAL; |
|
| 129 |
x_length = 0; |
|
| 130 |
y_length = 0; |
|
| 131 |
break; |
|
| 132 |
} |
|
| 133 |
|
|
| 134 |
x_length += event->delta_x; |
|
| 135 |
y_length += event->delta_y; |
|
| 136 |
} else if (event->type == RB_RELEASED) {
|
|
| 137 |
if (x_length == 0 || y_length == 0) {
|
|
| 138 |
state = INITIAL; |
|
| 139 |
break; |
|
| 140 |
} |
|
| 141 |
|
|
| 142 |
int slope = y_length / x_length; |
|
| 143 |
|
|
| 144 |
if (slope >= -1 || x_length < x_len) {
|
|
| 145 |
state = INITIAL; |
|
| 146 |
x_length = 0; |
|
| 147 |
y_length = 0; |
|
| 148 |
break; |
|
| 149 |
} |
|
| 150 |
|
|
| 151 |
state = FINAL; |
|
| 152 |
x_length = 0; |
|
| 153 |
y_length = 0; |
|
| 154 |
} else {
|
|
| 155 |
state = INITIAL; |
|
| 156 |
x_length = 0; |
|
| 157 |
y_length = 0; |
|
| 158 |
} |
|
| 159 |
break; |
|
| 160 |
case FINAL: // acception state |
|
| 161 |
response = SUCCESS; |
|
| 162 |
default: // invalid state / dead state |
|
| 163 |
response = INVALID_STATE; |
|
| 164 |
} |
|
| 165 |
return response; |
|
| 166 |
} |
|
| 0 | 167 | |
| lab4/state_machine.h | ||
|---|---|---|
| 1 |
#ifndef _STATE_MACHINE_H_ |
|
| 2 |
#define _STATE_MACHINE_H_ |
|
| 3 |
|
|
| 4 |
/** |
|
| 5 |
* @brief States of state machine |
|
| 6 |
*/ |
|
| 7 |
enum states {
|
|
| 8 |
INITIAL, |
|
| 9 |
DRAG_UP, |
|
| 10 |
VERTEX, |
|
| 11 |
DRAG_DOWN, |
|
| 12 |
FINAL |
|
| 13 |
}; |
|
| 14 |
|
|
| 15 |
/** |
|
| 16 |
* |
|
| 17 |
*/ |
|
| 18 |
struct mouse_ev* mouse_get_event(struct packet *pp); |
|
| 19 |
|
|
| 20 |
/** |
|
| 21 |
* |
|
| 22 |
*/ |
|
| 23 |
int state_machine(struct mouse_ev* event, uint8_t x_len, uint8_t tolerance); |
|
| 24 |
|
|
| 25 |
#endif /* end of include guard: _STATE_MACHINE_H_ */ |
|
| 0 | 26 | |
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