lorenz.stechauner/Device-Driver
1
0
Fork 0
Code Pull Requests Activity

add mouse mode mouse compatability

Browse Source
This commit is contained in:
Elias Huhsovitz
2026-01-18 23:10:46 +01:00
parent 72a7744433
commit b3bcd286fd
1 changed files with 17 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
g29-wheel/g29_usb.c
View File

@@ -220,10 +220,10 @@ static void mouse_mode_timer_fn(struct timer_list *t) {
/* Calculate angle from wheel rotation /* Calculate angle from wheel rotation
* Map wheel rotation to angle: * Map wheel rotation to angle:
* - Center (32768) = 0° (straight up when forward) * - Center (32768) = 0° (straight forward)
* - Full left (0) = -90° (left) * - Full left (0) = -180° (reverse)
* - Full right (65535) = +90° (right) * - Full right (65535) = +180° (reverse)
* We normalize to -1000 to +1000 for integer math * We normalize to -1000 to +1000 representing -π to +π radians
*/ */
int angle_normalized = ((effective_rot - WHEEL_CENTER) * 1000) / WHEEL_CENTER; int angle_normalized = ((effective_rot - WHEEL_CENTER) * 1000) / WHEEL_CENTER;
@@ -231,18 +231,24 @@ static void mouse_mode_timer_fn(struct timer_list *t) {
if (angle_normalized > 1000) angle_normalized = 1000; if (angle_normalized > 1000) angle_normalized = 1000;
if (angle_normalized < -1000) angle_normalized = -1000; if (angle_normalized < -1000) angle_normalized = -1000;
/* Calculate movement components: /* Calculate movement components using better trigonometric approximations:
* dx = sin(angle) * speed * dx = sin(angle) * speed
* dy = cos(angle) * speed * dy = cos(angle) * speed
* *
* For small angles we approximate: * sin(x) ≈ x - x³/6 (Taylor series)
* sin(angle) ≈ angle (in normalized form) * cos(x) ≈ 1 - x²/2 + x⁴/24 (Taylor series)
* cos(angle) ≈ 1 - angle²/2 (in normalized form) *
* For angle_normalized in [-1000, 1000] representing [-π, +π]:
* This gives us full reverse when fully steered
*/ */
int dx = (angle_normalized * speed) / 1000; long angle_cubed = ((long)angle_normalized * angle_normalized * angle_normalized) / 1000000;
int sin_approx = (angle_normalized * 1000 - angle_cubed / 6) / 1000;
/* For dy, we use cos approximation: cos ≈ 1000 - (angle²/2000) */ long angle_squared = ((long)angle_normalized * angle_normalized) / 1000;
int cos_approx = 1000 - ((angle_normalized * angle_normalized) / 2000); 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 */ int dy = -(cos_approx * speed) / 1000; /* Negative because forward is -Y */
/* Scale down the movement for reasonable mouse speed */ /* Scale down the movement for reasonable mouse speed */