lorenz.stechauner/Device-Driver
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Refine mouse mode

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Lorenz Stechauner
2026-01-19 19:43:44 +01:00
parent 1e403dcd4a
commit 8796d8c6bb
1 changed files with 14 additions and 58 deletions
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72
g29-wheel/g29_usb.c
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@@ -66,10 +66,9 @@ static const struct g29_keymap media_mode_keymap[] = {
};
static const struct g29_keymap mouse_mode_keymap[] = {
{G29_BTN_X, BTN_LEFT},
{G29_BTN_CIRCLE, BTN_RIGHT},
{G29_BTN_TRIANGLE, BTN_MIDDLE},
{G29_BTN_SQUARE, BTN_SIDE},
{G29_BTN_L1, BTN_LEFT},
{G29_BTN_R1, BTN_RIGHT},
{G29_BTN_RETURN, BTN_MIDDLE},
};
struct g29_dev {
@@ -234,63 +233,20 @@ static void mouse_mode_timer_fn(struct timer_list *t) {
struct g29_dev *g29 = timer_container_of(g29, t, mouse_timer);
const int rot = le16_to_cpu(g29->last.rot_le);
int gas_pressure = G29_PEDAL_RELEASED - g29->last.gas;
int clutch_pressure = G29_PEDAL_RELEASED - g29->last.clt;
const int up = G29_PEDAL_RELEASED - g29->last.gas;
const int down = G29_PEDAL_RELEASED - g29->last.clt;
const int left = rot < 0x8000 ? WHEEL_CENTER - rot : 0;
const int right = rot > 0x8000 ? rot - WHEEL_CENTER : 0;
/* Calculate speed: positive for forward (gas), negative for backward (clutch) */
int speed = gas_pressure - clutch_pressure;
const int dx = (right - left) / 0x400;
const int dy = (down - up) / 0x20;
/* Apply deadzone to steering */
int effective_rot = rot;
if (abs(rot - WHEEL_CENTER) <= steer_deadzone) {
effective_rot = WHEEL_CENTER;
}
/* Calculate angle from wheel rotation
* Map wheel rotation to angle:
* - Center (32768) = 0° (straight forward)
* - Full left (0) = -180° (reverse)
* - Full right (65535) = +180° (reverse)
* We normalize to -1000 to +1000 representing -π to +π radians
*/
int angle_normalized = ((effective_rot - WHEEL_CENTER) * 1000) / WHEEL_CENTER;
/* Clamp angle to prevent overflow */
if (angle_normalized > 1000) angle_normalized = 1000;
if (angle_normalized < -1000) angle_normalized = -1000;
/* Calculate movement components using better trigonometric approximations:
* dx = sin(angle) * speed
* dy = cos(angle) * speed
*
* sin(x) ≈ x - x³/6 (Taylor series)
* cos(x) ≈ 1 - x²/2 + x⁴/24 (Taylor series)
*
* For angle_normalized in [-1000, 1000] representing [-π, +π]:
* This gives us full reverse when fully steered
*/
long angle_cubed = ((long) angle_normalized * angle_normalized * angle_normalized) / 1000000;
int sin_approx = (angle_normalized * 1000 - angle_cubed / 6) / 1000;
long angle_squared = ((long) angle_normalized * angle_normalized) / 1000;
long angle_fourth = (angle_squared * angle_squared) / 1000;
int cos_approx = 1000 - angle_squared / 2 + angle_fourth / 24;
int dx = (sin_approx * speed) / 1000;
int dy = -(cos_approx * speed) / 1000; /* Negative because forward is -Y */
/* Scale down the movement for reasonable mouse speed */
int scaled_dx = dx / 50;
int scaled_dy = dy / 50;
/* Report mouse movement if there's any */
if (scaled_dx != 0 || scaled_dy != 0) {
input_report_rel(g29->input, REL_X, scaled_dx);
input_report_rel(g29->input, REL_Y, scaled_dy);
if (dx != 0 || dy != 0) {
input_report_rel(g29->input, REL_X, dx);
input_report_rel(g29->input, REL_Y, dy);
input_sync(g29->input);
}
/* Reschedule timer if still in mouse mode */
if (g29->current_mode == G29_MODE_MOUSE)
mod_timer(&g29->mouse_timer, jiffies + msecs_to_jiffies(10));
}
@@ -300,8 +256,8 @@ static void wasd_mode_timer_fn(struct timer_list *t) {
const int period = 50;
const int rot = le16_to_cpu(g29->last.rot_le);
const int gas = 0xFF - g29->last.gas;
const int brk = 0xFF - g29->last.brk;
const int gas = G29_PEDAL_RELEASED - g29->last.gas;
const int brk = G29_PEDAL_RELEASED - g29->last.brk;
const int gas_duty = gas * period / 0x40;
input_report_key(g29->input, KEY_W, g29->gas_phase_accumulator < gas_duty);