-
Notifications
You must be signed in to change notification settings - Fork 15
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Feature: Implement Haptic Feedback
- Loading branch information
Showing
5 changed files
with
397 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| // Copyright 2024 Lukas Hrazky | ||
| // | ||
| // 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" | ||
|
|
||
| #include "vesc_c_if.h" | ||
|
|
||
| #include <math.h> | ||
|
|
||
| void haptic_feedback_init(HapticFeedback *hf) { | ||
| hf->type_playing = HAPTIC_FEEDBACK_NONE; | ||
| hf->start_time = 0.0f; | ||
| hf->is_playing = false; | ||
| } | ||
|
|
||
| void haptic_feedback_configure(HapticFeedback *hf, const CfgHapticFeedback *cfg) { | ||
| hf->cfg = cfg; | ||
| } | ||
|
|
||
| static HapticFeedbackType state_to_haptic_type(const State *state) { | ||
| if (state->state != STATE_RUNNING) { | ||
| return HAPTIC_FEEDBACK_NONE; | ||
| } | ||
|
|
||
| switch (state->sat) { | ||
| case SAT_PB_DUTY: | ||
| return HAPTIC_FEEDBACK_DUTY; | ||
| case SAT_PB_TEMPERATURE: | ||
| return HAPTIC_FEEDBACK_ERROR_TEMPERATURE; | ||
| case SAT_PB_LOW_VOLTAGE: | ||
| case SAT_PB_HIGH_VOLTAGE: | ||
| return HAPTIC_FEEDBACK_ERROR_VOLTAGE; | ||
| default: | ||
| return HAPTIC_FEEDBACK_NONE; | ||
| } | ||
| } | ||
|
|
||
| // Returns the number of "beats" per period of a given tone. Tones are played | ||
| // on even beats and if there are more than two beats, the last beat is | ||
| // skipped, giving a certain number of "beeps" followed by a pause. | ||
| static uint8_t get_beats(HapticFeedbackType type) { | ||
| switch (type) { | ||
| case HAPTIC_FEEDBACK_DUTY: | ||
| return 2; | ||
| case HAPTIC_FEEDBACK_DUTY_CONTINUOUS: | ||
| return 0; | ||
| case HAPTIC_FEEDBACK_ERROR_TEMPERATURE: | ||
| return 6; | ||
| case HAPTIC_FEEDBACK_ERROR_VOLTAGE: | ||
| return 8; | ||
| case HAPTIC_FEEDBACK_NONE: | ||
| break; | ||
| } | ||
|
|
||
| return 0; | ||
| } | ||
|
|
||
| static const CfgHapticTone *get_haptic_tone(const HapticFeedback *hf) { | ||
| switch (hf->type_playing) { | ||
| case HAPTIC_FEEDBACK_DUTY: | ||
| case HAPTIC_FEEDBACK_DUTY_CONTINUOUS: | ||
| return &hf->cfg->duty; | ||
| case HAPTIC_FEEDBACK_ERROR_TEMPERATURE: | ||
| case HAPTIC_FEEDBACK_ERROR_VOLTAGE: | ||
| return &hf->cfg->error; | ||
| case HAPTIC_FEEDBACK_NONE: | ||
| break; | ||
| } | ||
|
|
||
| return 0; | ||
| } | ||
|
|
||
| void haptic_feedback_update( | ||
| HapticFeedback *hf, const State *state, float duty_cycle, float current_time | ||
| ) { | ||
| if (!VESC_IF->foc_play_tone) { | ||
| return; | ||
| } | ||
|
|
||
| HapticFeedbackType type_to_play = state_to_haptic_type(state); | ||
| if (type_to_play == HAPTIC_FEEDBACK_DUTY && duty_cycle > hf->cfg->duty_solid_threshold) { | ||
| type_to_play = HAPTIC_FEEDBACK_DUTY_CONTINUOUS; | ||
| } | ||
|
|
||
| float tone_length = hf->cfg->tone_length * 0.001f; | ||
|
|
||
| if (type_to_play != hf->type_playing && current_time - hf->start_time > tone_length) { | ||
| hf->type_playing = type_to_play; | ||
| hf->start_time = current_time; | ||
| } | ||
|
|
||
| bool should_be_playing = false; | ||
| if (hf->type_playing != HAPTIC_FEEDBACK_NONE) { | ||
| uint8_t beats = get_beats(hf->type_playing); | ||
| float period = tone_length * beats; | ||
| float time = fmodf(current_time - hf->start_time, period); | ||
| uint8_t beat = floorf(time / tone_length); | ||
| uint8_t off_beat = beats > 2 ? beats - 2 : 0; | ||
|
|
||
| should_be_playing = beats == 0 || (beat % 2 == 0 && (off_beat == 0 || beat != off_beat)); | ||
| } | ||
|
|
||
| if (hf->is_playing && !should_be_playing) { | ||
| VESC_IF->foc_play_tone(0, 1, 0.0f); | ||
| VESC_IF->foc_play_tone(1, 1, 0.0f); | ||
| hf->is_playing = false; | ||
| } else if (!hf->is_playing && should_be_playing) { | ||
| const CfgHapticTone *tone = get_haptic_tone(hf); | ||
| VESC_IF->foc_play_tone(0, tone->frequency, tone->voltage); | ||
| VESC_IF->foc_play_tone(1, hf->cfg->vibrate.frequency, hf->cfg->vibrate.voltage); | ||
| hf->is_playing = true; | ||
| } | ||
| } |
Oops, something went wrong.