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hhkb: refactored

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This commit is contained in:
tmk 2010-10-24 01:17:26 +09:00
parent 9d7979931e
commit 06eb50be07
16 changed files with 354 additions and 217 deletions
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2
Makefile.common
View file

@ -51,10 +51,10 @@
# List C source files here. (C dependencies are automatically generated.)
SRC = tmk.c \
key_process.c \
usb.c \
usb_keyboard.c \
usb_mouse.c \
usb_debug.c \
usb.c \
jump_bootloader.c \
print.c
SRC += $(TARGET_SRC)

146
hhkb/keymap.c
View file

@ -3,12 +3,18 @@
*/
#include <stdbool.h>
#include <avr/pgmspace.h>
#include "usb_keyboard.h"
#include "matrix.h"
#include "keymap.h"
#include "usb_keyboard.h"
#include "print.h"
int current_layer = 0;
bool key_sent = false;
#define FN_KEYCODE(fn) (pgm_read_byte(&fn_keycode[(fn)]))
#define FN_LAYER(fn) (pgm_read_byte(&fn_layer[(fn)]))
#define KEYMAPS(layer, row, col) (pgm_read_byte(&keymaps[(layer)][(row)][(col)]))
static int current_layer = 0;
static bool layer_used = false;
static int onbit(uint8_t bits);
/*
* Layer0(Default Layer)
@ -66,15 +72,21 @@ bool key_sent = false;
* Mc: Mouse Cursor / Mb: Mouse Button / Mw: Mouse Wheel
*/
/* keycode sent when Fn key released without using layer keys. */
static const uint8_t PROGMEM FnKey[] = {
KB_NO, // this must be KB_NO. (not used)
/* keycode to sent when Fn key released without using layer keys. */
static const uint8_t PROGMEM fn_keycode[] = {
KB_NO, // FN_0
KB_NO, // FN_1
KB_RALT, // FN_2
KB_SCOLON, // FN_3
KB_NO, // FN_4
KB_NO, // FN_5
KB_NO, // FN_6
KB_NO, // FN_7
};
/* layer to change into while Fn key pressed */
static const int PROGMEM fn_layer[] = { 0, 1, 2, 3, 0, 0, 0, 0 };
static const uint8_t PROGMEM Keymap[][MATRIX_ROWS][MATRIX_COLS] = {
static const uint8_t PROGMEM keymaps[][MATRIX_ROWS][MATRIX_COLS] = {
/* plain keymap
{
{ KB_2, KB_Q, KB_W, KB_S, KB_A, KB_Z, KB_X, KB_C },
@ -134,61 +146,77 @@ static const uint8_t PROGMEM Keymap[][MATRIX_ROWS][MATRIX_COLS] = {
};
uint8_t get_keycode(int layer, int row, int col)
uint8_t keymap_get_keycode(int row, int col)
{
if (row >= MATRIX_ROWS)
return KB_NO;
if (col >= MATRIX_COLS)
return KB_NO;
return pgm_read_byte(&Keymap[layer][row][col]);
return keymap_get_keycodel(current_layer, row, col);
}
int get_layer(void) {
// keep modifier state when Fn key pressed
static uint8_t preserved_modifiers = 0;
int layer = 0;
uint8_t modifiers = 0;
for (int row = 0; row < MATRIX_ROWS; row++) {
for (int col = 0; col < MATRIX_ROWS; col++) {
if (matrix[row] & 1<<col) continue; // NOT pressed
uint8_t code = get_keycode(0, row, col);
// NOT change current_layer when one more Fn keys pressed
// when other than Fn key pressed
if (code == FN_1) layer = layer ? current_layer : 1;
else if (code == FN_2) layer = layer ? current_layer : 2;
else if (code == FN_3) layer = layer ? current_layer : 3;
else if (code == FN_4) layer = layer ? current_layer : 4;
else if (KB_LCTRL <= code && code <= KB_RGUI)
modifiers |= 1<<(code & 0x07);
else // other_key_pressed
layer = current_layer;
}
}
// TODO: this logic should go anywhere
// TODO: need timeout for key_sent
// send key when Fn key reloeased without used
if (layer != current_layer) {
if (layer == 0 && !key_sent) {
uint8_t code = pgm_read_byte(&FnKey[current_layer]);
if (code) {
// send modifiers when Fn key pressed.
keyboard_modifier_keys = preserved_modifiers;
for (int i = 0; i < 6; i++) keyboard_keys[i] = KB_NO;
if (KB_LCTRL <= code && code <= KB_RGUI) {
keyboard_modifier_keys |= 1<<(code & 0x07);
} else {
keyboard_keys[0] = code;
}
usb_keyboard_send();
}
}
current_layer = layer;
key_sent = false;
preserved_modifiers = modifiers;
}
uint8_t keymap_get_keycodel(int layer, int row, int col)
{
uint8_t code = KEYMAPS(layer, row, col);
// normal key or mouse key
if ((KB_A <= code && code <= KP_HEXADECIMAL) ||
(MS_UP <= code && code <= MS_WH_RIGHT))
layer_used = true;
return code;
}
inline
int keymap_get_layer(void) {
return current_layer;
}
inline
int keymap_set_layer(int layer) {
current_layer = layer;
return current_layer;
}
void keymap_fn_proc(int fn_bits) {
// layer switching
static int last_bits = 0;
static uint8_t last_mod = 0;
if (usb_keyboard_has_key() || fn_bits == last_bits) {
// do nothing during press other than Fn key
return;
} else if (fn_bits == 0) {
// send key when Fn key is released without using the layer
if (!layer_used) {
uint8_t code = FN_KEYCODE(onbit(last_bits));
if (code != KB_NO) {
if (KB_LCTRL <= code && code <= KB_RGUI) {
keyboard_modifier_keys = last_mod | 1<<(code & 0x07);
} else {
keyboard_keys[0] = code;
keyboard_modifier_keys = last_mod;
}
usb_keyboard_send();
usb_keyboard_print();
usb_keyboard_clear();
}
}
last_bits = 0;
last_mod = 0;
layer_used = false;
keymap_set_layer(0); // default layer
print("layer default: "); phex(current_layer); print("\n");
} else if ((fn_bits & (fn_bits - 1)) == 0) {
// switch layer when just one Fn Key is pressed
last_bits = fn_bits;
last_mod = keyboard_modifier_keys;
layer_used = false;
keymap_set_layer(FN_LAYER(onbit(fn_bits)));
print("layer: "); phex(current_layer); print("\n");
print("last_bits: "); phex(last_bits); print("\n");
print("last_mod: "); phex(last_mod); print("\n");
}
}
static int onbit(uint8_t bits) {
int n = 0;
if (bits >> 4) { bits >>= 4; n += 4;}
if (bits >> 2) { bits >>= 2; n += 2;}
if (bits >> 1) { bits >>= 1; n += 1;}
return n;
}

13
hhkb/keymap.h
View file

@ -4,17 +4,6 @@
#include <stdint.h>
#include <stdbool.h>
#include "usb_keycodes.h"
#define MATRIX_ROWS 8
#define MATRIX_COLS 8
extern int current_layer;
extern bool key_sent;
int get_layer(void);
uint8_t get_keycode(int layer, int row, int col);
#include "keymap_skel.h"
#endif

36
hhkb/matrix.c
View file

@ -31,6 +31,19 @@ static uint8_t _matrix0[MATRIX_ROWS];
static uint8_t _matrix1[MATRIX_ROWS];
static bool matrix_has_ghost_in_row(int row);
inline
int matrix_rows(void) {
return MATRIX_ROWS;
}
inline
int matrix_cols(void) {
return MATRIX_COLS;
}
// this must be called once before matrix_scan.
void matrix_init(void)
{
@ -48,7 +61,7 @@ void matrix_init(void)
matrix_prev = _matrix1;
}
uint8_t matrix_scan(void)
int matrix_scan(void)
{
uint8_t *tmp;
@ -82,10 +95,29 @@ bool matrix_is_modified(void) {
return false;
}
inline
bool matrix_has_ghost(void) {
return false;
}
bool matrix_has_ghost_in_row(uint8_t row) {
inline
uint16_t matrix_get_row(int row) {
return matrix[row];
}
void matrix_print(void) {
print("\nr/c 01234567\n");
for (int row = 0; row < matrix_rows(); row++) {
phex(row); print(": ");
pbin_reverse(matrix_get_row(row));
if (matrix_has_ghost_in_row(row)) {
print(" <ghost");
}
print("\n");
}
}
inline
static bool matrix_has_ghost_in_row(int row) {
return false;
}

15
hhkb/matrix.h Normal file
View file

@ -0,0 +1,15 @@
#ifndef MATRIX_H
#define MATRIX_H 1
#include <stdbool.h>
#include "matrix_skel.h"
#define MATRIX_ROWS 8
#define MATRIX_COLS 8
extern uint8_t *matrix;
extern uint8_t *matrix_prev;
#endif

213
key_process.c
View file

@ -8,7 +8,7 @@
#include "usb_keyboard.h"
#include "usb_mouse.h"
#include "print.h"
#include "matrix.h"
#include "matrix_skel.h"
#include "keymap.h"
#include "jump_bootloader.h"
@ -25,150 +25,113 @@
#define MOUSE_DELAY_ACC 5
static void print_matrix(void);
static void print_keys(void);
static void print_mouse(int8_t mouse_x, int8_t mouse_y, int8_t wheel_v, int8_t wheel_h);
void proc_matrix(void) {
static int mouse_repeat = 0;
bool modified = false;
bool has_ghost = false;
int layer = 0;
//bool has_ghost = false;
int key_index = 0;
uint8_t mouse_btn = 0;
int8_t mouse_x = 0;
int8_t mouse_y = 0;
int8_t mouse_wheel = 0;
int8_t mouse_hwheel = 0;
int fn_bits = 0;
matrix_scan();
modified = matrix_is_modified();
has_ghost = matrix_has_ghost();
layer = get_layer();
matrix_scan();
modified = matrix_is_modified();
// print matrix state for debug
if (modified) {
print_matrix();
if (modified) {
matrix_print();
// LED flash for debug
LED_CONFIG;
LED_ON;
// LED flash for debug
LED_CONFIG;
LED_ON;
}
if (matrix_has_ghost()) {
// should send error?
print("matrix has ghost!!\n");
return;
}
usb_keyboard_clear();
for (int row = 0; row < matrix_rows(); row++) {
for (int col = 0; col < matrix_cols(); col++) {
if (matrix_get_row(row) & 1<<col) continue;
uint8_t code = keymap_get_keycode(row, col);
if (code == KB_NO) {
code = keymap_get_keycodel(0, row, col);
if (FN_0 <= code && code <= FN_7) {
fn_bits |= 1<<(code - FN_0);
}
} else if (KB_LCTRL <= code && code <= KB_RGUI) {
// modifier keys(0xE0-0xE7)
keyboard_modifier_keys |= 1<<(code & 0x07);
} else if (code >= MS_UP) {
// mouse
if (code == MS_UP) mouse_y -= MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_DOWN) mouse_y += MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_LEFT) mouse_x -= MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_RIGHT) mouse_x += MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_BTN1) mouse_btn |= 1<<0;
if (code == MS_BTN2) mouse_btn |= 1<<1;
if (code == MS_BTN3) mouse_btn |= 1<<2;
if (code == MS_BTN4) mouse_btn |= 1<<3;
if (code == MS_BTN5) mouse_btn |= 1<<4;
if (code == MS_WH_UP) mouse_wheel += 1;
if (code == MS_WH_DOWN) mouse_wheel -= 1;
if (code == MS_WH_LEFT) mouse_hwheel -= 1;
if (code == MS_WH_RIGHT) mouse_hwheel += 1;
} else if (FN_0 <= code && code <= FN_7) {
fn_bits |= 1<<(code - FN_0);
} else {
// normal keys
if (key_index < 6)
keyboard_keys[key_index] = code;
key_index++;
}
}
}
keymap_fn_proc(fn_bits);
// when 4 left modifier keys down
if (keyboard_modifier_keys == (MOD_LCTRL | MOD_LSHIFT | MOD_LALT | MOD_LGUI)) {
// cancel all keys
keyboard_modifier_keys = 0;
for (int i = 0; i < 6; i++) keyboard_keys[i] = KB_NO;
key_index = 0;
mouse_btn = 0;
mouse_x = 0;
mouse_y = 0;
mouse_wheel = 0;
mouse_hwheel = 0;
usb_keyboard_send();
// convert matrix state to HID report
for (int row = 0; row < MATRIX_ROWS; row++) {
for (int col = 0; col < MATRIX_COLS; col++) {
if (matrix[row] & 1<<col) continue;
print("jump to bootloader...\n");
_delay_ms(100);
jump_bootloader(); // not return
}
uint8_t code = get_keycode(layer, row, col);
if (code == KB_NO) {
continue;
} else if (KB_LCTRL <= code && code <= KB_RGUI) {
// modifier keys(0xE0-0xE7)
keyboard_modifier_keys |= 1<<(code & 0x07);
} else if (code >= MS_UP) {
// mouse
if (code == MS_UP) mouse_y -= MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_DOWN) mouse_y += MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_LEFT) mouse_x -= MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_RIGHT) mouse_x += MOUSE_MOVE_UNIT + (mouse_repeat < 50 ? mouse_repeat/5 : 10);
if (code == MS_BTN1) mouse_btn |= 1<<0;
if (code == MS_BTN2) mouse_btn |= 1<<1;
if (code == MS_BTN3) mouse_btn |= 1<<2;
if (code == MS_BTN4) mouse_btn |= 1<<3;
if (code == MS_BTN5) mouse_btn |= 1<<4;
if (code == MS_WH_UP) mouse_wheel += 1;
if (code == MS_WH_DOWN) mouse_wheel -= 1;
if (code == MS_WH_LEFT) mouse_hwheel -= 1;
if (code == MS_WH_RIGHT) mouse_hwheel += 1;
} else {
// normal keys
if (key_index < 6)
keyboard_keys[key_index] = code;
key_index++;
}
}
if (mouse_x || mouse_y || mouse_wheel || mouse_hwheel || mouse_btn != mouse_buttons) {
mouse_buttons = mouse_btn;
usb_mouse_move(mouse_x, mouse_y, mouse_wheel, mouse_hwheel);
usb_mouse_print(mouse_x, mouse_y, mouse_wheel, mouse_hwheel);
// acceleration
_delay_ms(MOUSE_DELAY_MS >> (mouse_repeat < MOUSE_DELAY_ACC ? mouse_repeat : MOUSE_DELAY_ACC));
mouse_repeat++;
} else {
mouse_repeat = 0;
}
// send keys to host
if (modified) {
if (key_index > 6) {
//Rollover
}
usb_keyboard_send();
if (!has_ghost) {
// when 4 left modifier keys down
if (keyboard_modifier_keys == (MOD_LCTRL | MOD_LSHIFT | MOD_LALT | MOD_LGUI)) {
// cancel all keys
keyboard_modifier_keys = 0;
for (int i = 0; i < 6; i++) keyboard_keys[i] = KB_NO;
usb_keyboard_send();
print("jump to bootloader...\n");
_delay_ms(100);
jump_bootloader(); // not return
}
if (mouse_x || mouse_y || mouse_wheel || mouse_hwheel || mouse_btn != mouse_buttons) {
mouse_buttons = mouse_btn;
usb_mouse_move(mouse_x, mouse_y, mouse_wheel, mouse_hwheel);
print_mouse(mouse_x, mouse_y, mouse_wheel, mouse_hwheel);
key_sent = true;
// acceleration
_delay_ms(MOUSE_DELAY_MS >> (mouse_repeat < MOUSE_DELAY_ACC ? mouse_repeat : MOUSE_DELAY_ACC));
mouse_repeat++;
} else {
mouse_repeat = 0;
}
// send keys to host
if (modified) {
if (key_index > 6) {
//Rollover
}
usb_keyboard_send();
if (keyboard_keys[0])
key_sent = true;
print_keys();
// LED flash for debug
LED_CONFIG;
LED_OFF;
}
}
}
static void print_matrix(void) {
print("\nr/c 01234567\n");
for (int row = 0; row < MATRIX_ROWS; row++) {
phex(row); print(": ");
pbin_reverse(matrix[row]);
if (matrix_has_ghost_in_row(row)) {
print(" <ghost");
}
print("\n");
usb_keyboard_print();
// LED flash for debug
LED_CONFIG;
LED_OFF;
}
}
static void print_keys(void) {
print("\nkeys: ");
for (int i = 0; i < 6; i++) { phex(keyboard_keys[i]); print(" "); }
print("\n");
print("mods: "); phex(keyboard_modifier_keys); print("\n");
}
static void print_mouse(int8_t mouse_x, int8_t mouse_y, int8_t wheel_v, int8_t wheel_h) {
print("\nmouse_x y v h: ");
phex(mouse_x); print(" ");
phex(mouse_y); print(" ");
phex(wheel_v); print(" ");
phex(wheel_h); print("\n");
print("buttons: "); phex(mouse_buttons); print("\n");
}

1
key_process.h
View file

@ -1,6 +1,7 @@
#ifndef KEY_PROCESS_H
#define KEY_PROCESS_H 1
void proc_matrix(void);
#endif

17
keymap_skel.h Normal file
View file

@ -0,0 +1,17 @@
#ifndef KEYMAP_SKEL_H
#define KEYMAP_SKEL_H 1
#include <stdint.h>
#include <stdbool.h>
#include "usb_keycodes.h"
uint8_t keymap_get_keycode(int row, int col);
uint8_t keymap_get_keycodel(int layer, int row, int col);
int keymap_get_layer(void);
int keymap_set_layer(int layer);
/* process Fn keys. This.should be called every scan. */
void keymap_fn_proc(int fn_bits);
#endif

15
matrix.h
View file

@ -1,15 +0,0 @@
#ifndef MATRIX_H
#define MATRIX_H 1
#include <stdbool.h>
extern uint8_t *matrix;
extern uint8_t *matrix_prev;
void matrix_init(void);
uint8_t matrix_scan(void);
bool matrix_is_modified(void);
bool matrix_has_ghost(void);
bool matrix_has_ghost_in_row(uint8_t row);
#endif

24
matrix_skel.h Normal file
View file

@ -0,0 +1,24 @@
#ifndef MATRIX_SKEL_H
#define MATRIX_SKEL_H 1
#include <stdbool.h>
/* number of matrix rows */
int matrix_rows(void);
/* number of matrix columns */
int matrix_cols(void);
/* intialize matrix for scaning. should be called once. */
void matrix_init(void);
/* scan all key states on matrix */
int matrix_scan(void);
/* whether modified from previous scan. used after matrix_scan. */
bool matrix_is_modified(void);
/* whether ghosting occur on matrix. */
bool matrix_has_ghost(void);
/* matrix state on row */
uint16_t matrix_get_row(int row);
/* print matrix for debug */
void matrix_print(void);
#endif

2
tmk.c
View file

@ -34,7 +34,7 @@
#include "usb_keyboard.h"
#include "usb_mouse.h"
#include "print.h"
#include "matrix.h"
#include "matrix_skel.h"
#include "keymap.h"
#include "jump_bootloader.h"

43
usb_keyboard.c
View file

@ -1,8 +1,11 @@
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include "usb_keyboard.h"
#include "print.h"
static bool is_sent = false;
// which modifier keys are currently pressed
// 1=left ctrl, 2=left shift, 4=left alt, 8=left gui
// 16=right ctrl, 32=right shift, 64=right alt, 128=right gui
@ -72,5 +75,45 @@ int8_t usb_keyboard_send(void)
UEINTX = 0x3A;
keyboard_idle_count = 0;
SREG = intr_state;
is_sent = true;
return 0;
}
void usb_keyboard_init(void) {
usb_keyboard_clear();
is_sent = false;
}
void usb_keyboard_clear(void) {
usb_keyboard_clear_key();
usb_keyboard_clear_mod();
}
void usb_keyboard_clear_key(void) {
for (int i = 0; i < 6; i++) keyboard_keys[i] = 0;
}
void usb_keyboard_clear_mod(void) {
keyboard_modifier_keys = 0;
}
bool usb_keyboard_is_sent(void) {
return is_sent;
}
bool usb_keyboard_has_key(void) {
uint8_t keys = 0;
for (int i = 0; i < 6; i++) keys |= keyboard_keys[i];
return keys ? true : false;
}
bool usb_keyboard_has_mod(void) {
return keyboard_modifier_keys ? true : false;
}
void usb_keyboard_print(void) {
print("\nkeys: ");
for (int i = 0; i < 6; i++) { phex(keyboard_keys[i]); print(" "); }
print("\n");
print("mods: "); phex(keyboard_modifier_keys); print("\n");
}

13
usb_keyboard.h
View file

@ -2,6 +2,7 @@
#define USB_KEYBOARD_H 1
#include <stdint.h>
#include <stdbool.h>
#include "usb.h"
@ -10,6 +11,7 @@
#define KEYBOARD_SIZE 8
#define KEYBOARD_BUFFER EP_DOUBLE_BUFFER
// TODO: move to usb_keycodes.h ?
// modifier bits
#define MOD_LCTRL (1<<0)
#define MOD_LSHIFT (1<<1)
@ -21,15 +23,24 @@
#define MOD_RGUI (1<<7)
// TODO: change variable name: usb_keyboard_ or usb_kb_
extern uint8_t keyboard_modifier_keys;
extern uint8_t keyboard_keys[6];
extern uint8_t keyboard_protocol;
extern uint8_t keyboard_idle_config;
extern uint8_t keyboard_idle_count;
extern volatile uint8_t keyboard_leds;
extern volatile uint8_t keyboard_leds; // TODO: delete NOT USED?
int8_t usb_keyboard_press(uint8_t key, uint8_t modifier);
int8_t usb_keyboard_send(void);
void usb_keyboard_init(void);
void usb_keyboard_clear(void);
void usb_keyboard_clear_key(void);
void usb_keyboard_clear_mod(void);
bool usb_keyboard_is_sent(void);
bool usb_keyboard_has_key(void);
bool usb_keyboard_has_mod(void);
void usb_keyboard_print(void);
#endif

6
usb_keycodes.h
View file

@ -262,10 +262,14 @@ enum keycodes {
KB_RGUI, /* 0x80 */
/* extensions for internal use */
FN_1 = 0xE8,
FN_0 = 0xE8,
FN_1,
FN_2,
FN_3,
FN_4,
FN_5,
FN_6,
FN_7,
MS_UP = 0xF0,
MS_DOWN,
MS_LEFT,

21
usb_mouse.c
View file

@ -1,8 +1,11 @@
#include <avr/interrupt.h>
#include <util/delay.h>
#include "usb_mouse.h"
#include "print.h"
static bool is_sent = false;
// which buttons are currently pressed
uint8_t mouse_buttons=0;
@ -60,5 +63,23 @@ int8_t usb_mouse_move(int8_t x, int8_t y, int8_t wheel, int8_t hwheel)
UEINTX = 0x3A;
SREG = intr_state;
is_sent = true;
return 0;
}
void usb_mouse_clear(void) {
is_sent = false;
}
bool usb_mouse_is_sent(void) {
return is_sent;
}
void usb_mouse_print(int8_t mouse_x, int8_t mouse_y, int8_t wheel_v, int8_t wheel_h) {
print("mouse btn|x y v h: ");
phex(mouse_buttons); print("|");
phex(mouse_x); print(" ");
phex(mouse_y); print(" ");
phex(wheel_v); print(" ");
phex(wheel_h); print("\n");
}

4
usb_mouse.h
View file

@ -2,6 +2,7 @@
#define USB_MOUSE_H 1
#include <stdint.h>
#include <stdbool.h>
#include "usb.h"
@ -16,5 +17,8 @@ extern uint8_t mouse_protocol;
int8_t usb_mouse_buttons(uint8_t left, uint8_t middle, uint8_t right);
int8_t usb_mouse_move(int8_t x, int8_t y, int8_t wheel, int8_t hwheel);
void usb_mouse_clear(void);
bool usb_mouse_is_sent(void);
void usb_mouse_print(int8_t mouse_x, int8_t mouse_y, int8_t wheel_v, int8_t wheel_h);
#endif