added console repeat commands.

firmware/include/console.h

 #define __CONSOLE_H__
 
 void cnsl_init(void);
+void cnsl_run(void);
 void cnsl_handle_input(const char *buf, uint32_t len);
 
 #endif // __CONSOLE_H__

firmware/include/pmw3360.h

 };
 
 int pmw_init(void);
+
 struct pmw_motion pmw_get(void);
 
 /*

firmware/include/util.h

 bool str_startswith(const char *str, const char *start);
 
 void reset_to_bootloader(void);
+void reset_to_main(void);
 
 #endif // __UTIL_H__

firmware/src/console.c

 static char cnsl_line_buff[CNSL_BUFF_SIZE + 1];
 static uint32_t cnsl_buff_pos = 0;
 
+static char cnsl_last_command[CNSL_BUFF_SIZE + 1];
+
+static char cnsl_repeated_command[CNSL_BUFF_SIZE + 1];
+static bool repeat_command = false;
+static uint32_t last_repeat_time = 0;
+
 static void cnsl_interpret(const char *line) {
-    if ((strcmp(line, "help") == 0)
+    if (strlen(line) == 0) {
+        // repeat last command once
+        print("repeating command \"%s\"", cnsl_last_command);
+        cnsl_interpret(cnsl_last_command);
+        print();
+        return;
+    } else if (strcmp(line, "repeat") == 0) {
+        if (!repeat_command) {
+            // mark last command to be repeated multiple times
+            strncpy(cnsl_repeated_command, cnsl_last_command, CNSL_BUFF_SIZE + 1);
+            last_repeat_time = to_ms_since_boot(get_absolute_time()) - 1001;
+            repeat_command = true;
+        } else {
+            // stop repeating
+            repeat_command = false;
+        }
+    } else if ((strcmp(line, "help") == 0)
             || (strcmp(line, "h") == 0)
             || (strcmp(line, "?") == 0)) {
         print("Trackball Firmware Usage:");
         print("    cpi - print current sensitivity");
         print("  cpi N - set sensitivity");
-        print("    pmw - print PMW3360 status");
-        print("   help - print this message");
+        print("   pmws - print PMW3360 status");
+        print("   pmwr - reset PMW3360");
+        print("  reset - reset back into this firmware");
         print("   \\x18 - reset to bootloader");
-    } else if (strcmp(line, "pmw") == 0) {
+        print(" repeat - repeat last command once per second");
+        print("   help - print this message");
+        print("Press Enter with no input to repeat last command.");
+        print("Use repeat to continuously execute last command.");
+        print("Stop this by calling repeat again.");
+    } else if (strcmp(line, "pmws") == 0) {
         pmw_print_status();
+    } else if (strcmp(line, "pmwr") == 0) {
+        print("user requests re-initializing of PMW3360");
+        int r = pmw_init();
+        if (r < 0) {
+            print("error initializing PMW3360");
+        } else {
+            print("PMW3360 re-initialized successfully");
+        }
     } else if (strcmp(line, "cpi") == 0) {
         uint8_t sense = pmw_get_sensitivity();
         uint16_t cpi = PMW_SENSE_TO_CPI(sense);
             print("setting cpi to 0x%02llX", num);
             pmw_set_sensitivity(num);
         }
+    } else if (strcmp(line, "reset") == 0) {
+        reset_to_main();
     } else {
         print("unknown command \"%s\"", line);
+        return;
     }
+
+    print();
 }
 
 void cnsl_init(void) {
     return -1;
 }
 
+void cnsl_run(void) {
+    if (repeat_command) {
+        uint32_t now = to_ms_since_boot(get_absolute_time());
+        if (now >= (last_repeat_time + 1000)) {
+            print("repeating command \"%s\"", cnsl_repeated_command);
+            cnsl_interpret(cnsl_repeated_command);
+            print();
+
+            last_repeat_time = now;
+        }
+    }
+}
+
 void cnsl_handle_input(const char *buf, uint32_t len) {
     if ((cnsl_buff_pos + len) > CNSL_BUFF_SIZE) {
         debug("error: console input buffer overflow! %lu > %u", cnsl_buff_pos + len, CNSL_BUFF_SIZE);
 
     cnsl_interpret(cnsl_line_buff);
 
+    // store command for eventual repeats
+    strncpy(cnsl_last_command, cnsl_line_buff, CNSL_BUFF_SIZE + 1);
+
     // clear string and move following data over
     uint32_t cnt = line_len + 1;
     if (cnsl_line_buff[line_len + 1] == '\n') {

firmware/src/main.c

     while (1) {
         heartbeat_run();
         usb_run();
+        cnsl_run();
     }
 
     return 0;

firmware/src/pmw3360.c

 
 #include "config.h"
 #include "log.h"
+#include "util.h"
 #include "pmw3360_registers.h"
 #include "pmw3360_srom.h"
 #include "pmw3360.h"
     pmw_write_register(REG_CONFIG2, pmw_read_register(REG_CONFIG2) | 0x04);
     pmw_set_sensitivity(0x31); // default: 5000cpi
 
+    // Set lift-detection threshold to 3mm (max)
+    pmw_write_register(REG_LIFT_CONFIG, 0x03);
+
     // setup MOTION pin interrupt to handle reading data
     gpio_add_raw_irq_handler(PMW_MOTION_PIN, pmw_motion_irq);
     gpio_set_irq_enabled(PMW_MOTION_PIN, GPIO_IRQ_EDGE_FALL, true);

firmware/src/usb_hid.c

 #include "tusb.h"
 
 #include "config.h"
+#include "pmw3360.h"
 #include "usb_descriptors.h"
 #include "usb_hid.h"
 
 
         case REPORT_ID_MOUSE:
         {
-            // no button, right + down, no scroll, no pan
-            tud_hid_mouse_report(REPORT_ID_MOUSE, 0x00, -delta_x, -delta_y, 0, 0);
-
-            // TODO
-            delta_x = 0;
-            delta_y = 0;
+            struct pmw_motion mouse = pmw_get();
+            if (mouse.motion) {
+                tud_hid_mouse_report(REPORT_ID_MOUSE, 0x00,
+                        -mouse.delta_x, -mouse.delta_y, 0, 0);
+            }
         }
         break;
 

firmware/src/util.c

 #include <string.h>
 #include "pico/stdlib.h"
 #include "pico/bootrom.h"
+#include "hardware/watchdog.h"
 
 #include "config.h"
 #include "util.h"
     reset_usb_boot(0, 0);
 #endif // PICO_DEFAULT_LED_PIN
 }
+
+void reset_to_main(void) {
+    watchdog_enable(1, 1);
+    while (1) {
+        // wait 1ms until watchdog kills us
+        asm volatile("nop");
+    }
+}