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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,99 @@ | ||
| // Copyright 2024 Syler Clayton | ||
| // | ||
| // This file is part of the Refloat VESC package. | ||
| // | ||
| // Refloat VESC package is free software: you can redistribute it and/or modify | ||
| // it under the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your | ||
| // option) any later version. | ||
| // | ||
| // Refloat VESC package is distributed in the hope that it will be useful, but | ||
| // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| // more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along with | ||
| // this program. If not, see <http://www.gnu.org/licenses/>. | ||
|
|
||
| #include "haptic_feedback.h" | ||
|
|
||
| void haptic_feedback_configure(HapticFeedback *haptic_feedback, RefloatConfig *float_conf) { | ||
| haptic_feedback->duty.type = float_conf->haptic_feedback_duty; | ||
| haptic_feedback->duty.voltage = float_conf->haptic_feedback_voltage; | ||
| haptic_feedback->duty.freq = float_conf->haptic_feedback_duty_freq; | ||
| haptic_feedback->error.type = float_conf->haptic_feedback_error; | ||
| haptic_feedback->error.voltage = float_conf->haptic_feedback_voltage; | ||
| haptic_feedback->error.freq = float_conf->haptic_feedback_error_freq; | ||
| haptic_feedback->rumble_voltage = float_conf->haptic_feedback_rumble_voltage; | ||
| haptic_feedback->rumble_freq = float_conf->haptic_feedback_rumble_freq; | ||
| haptic_feedback->alt_delay = float_conf->haptic_feedback_alt_delay; | ||
| } | ||
|
|
||
| void haptic_feedback_reset(HapticFeedback *haptic_feedback, float current_time) { | ||
| if (haptic_feedback->tone_in_progress) { | ||
| VESC_IF->foc_stop_audio(true); | ||
| } | ||
| haptic_feedback->tone_in_progress = false; | ||
| haptic_feedback->timer = current_time; | ||
| haptic_feedback->alt_timer = current_time; | ||
| haptic_feedback->alt_state = false; | ||
| } | ||
|
|
||
| void haptic_feedback_update( | ||
| HapticFeedback *haptic_feedback, State *state, float current_time, float note_duration | ||
| ) { | ||
| if (state->mode == MODE_FLYWHEEL || !(VESC_IF->foc_play_tone && VESC_IF->foc_stop_audio)) { | ||
| return; | ||
| } | ||
| HapticFeedbackConfig haptic_feedback_state; | ||
| if (state->state == STATE_RUNNING && state->sat >= SAT_PB_DUTY) { | ||
| if (state->sat == SAT_PB_DUTY) { | ||
| haptic_feedback_state = haptic_feedback->duty; | ||
| } else if (state->sat > SAT_PB_DUTY) { | ||
| haptic_feedback_state = haptic_feedback->error; | ||
| } | ||
| if ((haptic_feedback_state.type > HAPTIC_FEEDBACK_NONE)) { | ||
| if (!haptic_feedback->tone_in_progress) { | ||
| if ((haptic_feedback_state.type == HAPTIC_FEEDBACK_RUMBLE || | ||
| (haptic_feedback_state.type == HAPTIC_FEEDBACK_ALTERNATING && | ||
| (haptic_feedback_state.voltage == 0.0 || haptic_feedback_state.freq == 0)))) { | ||
| haptic_feedback_state.freq = haptic_feedback->rumble_freq; | ||
| haptic_feedback_state.voltage = haptic_feedback->rumble_voltage; | ||
| haptic_feedback->alt_state = !haptic_feedback->alt_state; | ||
| } | ||
| if ((haptic_feedback_state.freq > 0) && (haptic_feedback_state.voltage > 0.0)) { | ||
| VESC_IF->foc_play_tone( | ||
| 0, haptic_feedback_state.freq, haptic_feedback_state.voltage | ||
| ); | ||
| haptic_feedback->alt_timer = current_time; | ||
| haptic_feedback->tone_in_progress = true; | ||
| } | ||
| } | ||
| haptic_feedback->timer = current_time; | ||
| } | ||
| } | ||
|
|
||
| if (haptic_feedback->tone_in_progress) { | ||
| if (fabsf(haptic_feedback->timer - current_time) > note_duration) { | ||
| VESC_IF->foc_stop_audio(true); | ||
| haptic_feedback->tone_in_progress = false; | ||
| } else if ((haptic_feedback_state.type == HAPTIC_FEEDBACK_ALTERNATING) && (haptic_feedback->alt_delay > 0) && (fabsf(haptic_feedback->alt_timer - current_time) > haptic_feedback->alt_delay/1000.0)) | ||
| { | ||
| haptic_feedback->alt_timer = current_time; | ||
| haptic_feedback->alt_state = !haptic_feedback->alt_state; | ||
| // change tone based on state | ||
| haptic_feedback_state.voltage = haptic_feedback->alt_state | ||
| ? haptic_feedback->rumble_voltage | ||
| : haptic_feedback_state.voltage; | ||
| haptic_feedback_state.freq = haptic_feedback->alt_state ? haptic_feedback->rumble_freq | ||
| : haptic_feedback_state.freq; | ||
| if (haptic_feedback_state.voltage > 0.0 && haptic_feedback_state.freq > 0) { | ||
| VESC_IF->foc_play_tone( | ||
| 0, haptic_feedback_state.freq, haptic_feedback_state.voltage | ||
| ); | ||
| } else { | ||
| VESC_IF->foc_stop_audio(false); | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // Copyright 2024 Syler Clayton | ||
| // | ||
| // This file is part of the Refloat VESC package. | ||
| // | ||
| // Refloat VESC package is free software: you can redistribute it and/or modify | ||
| // it under the terms of the GNU General Public License as published by the | ||
| // Free Software Foundation, either version 3 of the License, or (at your | ||
| // option) any later version. | ||
| // | ||
| // Refloat VESC package is distributed in the hope that it will be useful, but | ||
| // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY | ||
| // or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for | ||
| // more details. | ||
| // | ||
| // You should have received a copy of the GNU General Public License along with | ||
| // this program. If not, see <http://www.gnu.org/licenses/>. | ||
|
|
||
| #pragma once | ||
| #include "conf/datatypes.h" | ||
| #include "state.h" | ||
| #include "utils.h" | ||
| #include <math.h> | ||
|
|
||
| typedef struct { | ||
| HAPTIC_FEEDBACK_TYPE type; | ||
| float voltage; | ||
| int freq; | ||
| } HapticFeedbackConfig; | ||
|
|
||
| typedef struct { | ||
| float timer, alt_timer; | ||
| bool alt_state, tone_in_progress; | ||
| HapticFeedbackConfig duty, error; | ||
| float rumble_voltage; | ||
| int rumble_freq, alt_delay; | ||
| } HapticFeedback; | ||
|
|
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| void haptic_feedback_configure(HapticFeedback *haptic_feedback, RefloatConfig *float_conf); | ||
|
|
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| void haptic_feedback_reset(HapticFeedback *haptic_feedback, float current_time); | ||
|
|
||
| void haptic_feedback_update( | ||
| HapticFeedback *haptic_feedback, State *state, float current_time, float note_duration | ||
| ); |
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