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0f11c659c4
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2546bbbaab
GPG key ID:
CC15075846BCE91B
3 changed files with 124 additions and 55 deletions
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@ -112,6 +112,8 @@ pub struct StickConfig {
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#[packed_field(size_bits = "8")]
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pub y_snapback: i8, // not used for CStick
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#[packed_field(size_bits = "8")]
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pub cardinal_snapping: i8, // not used for CStick
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#[packed_field(size_bits = "8")]
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pub x_smoothing: u8,
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#[packed_field(size_bits = "8")]
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pub y_smoothing: u8,
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@ -132,7 +134,8 @@ impl Default for StickConfig {
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y_snapback: 0,
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x_smoothing: 0,
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y_smoothing: 0,
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analog_scaler: 0,
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cardinal_snapping: 0,
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analog_scaler: 100,
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temp_cal_points_x: *DEFAULT_CAL_POINTS_X.to_packed_float_array(),
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temp_cal_points_y: *DEFAULT_CAL_POINTS_Y.to_packed_float_array(),
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angles: *DEFAULT_ANGLES.to_packed_float_array(),
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@ -147,9 +150,9 @@ pub struct ControllerConfig {
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pub config_revision: u8,
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#[packed_field(size_bits = "8")]
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pub config_version: u8,
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#[packed_field(size_bytes = "327")]
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#[packed_field(size_bytes = "328")]
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pub astick_config: StickConfig,
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#[packed_field(size_bytes = "327")]
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#[packed_field(size_bytes = "328")]
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pub cstick_config: StickConfig,
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}
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@ -168,7 +171,7 @@ impl ControllerConfig {
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pub fn from_flash_memory(
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mut flash: &mut Flash<'static, FLASH, Async, FLASH_SIZE>,
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) -> Result<Self, embassy_rp::flash::Error> {
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let mut controller_config_packed: <ControllerConfig as packed_struct::PackedStruct>::ByteArray = [0u8; 656]; // ControllerConfig byte size
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let mut controller_config_packed: <ControllerConfig as packed_struct::PackedStruct>::ByteArray = [0u8; 658]; // ControllerConfig byte size
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flash.blocking_read(ADDR_OFFSET, &mut controller_config_packed)?;
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match ControllerConfig::unpack(&controller_config_packed).unwrap() {
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133
src/input.rs
133
src/input.rs
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@ -1,4 +1,4 @@
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use defmt::{debug, info};
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use defmt::{debug, info, trace, Format};
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use embassy_futures::{join::join, yield_now};
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use embassy_rp::{
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flash::{Async, Flash},
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@ -45,7 +45,7 @@ struct StickPositions {
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cy: f32,
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}
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#[derive(Clone, Debug, Default)]
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#[derive(Clone, Debug, Default, Format)]
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struct RawStickValues {
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a_linearized: XyValuePair<f32>,
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c_linearized: XyValuePair<f32>,
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@ -182,8 +182,7 @@ async fn update_stick_states<
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y: (cy_sum as f32) / (adc_count as f32) / 4096.0f32,
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};
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debug!("Raw Control Stick: {:?}", raw_controlstick);
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debug!("Raw C Stick: {:?}", raw_cstick);
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trace!("Raw Control Stick: {}", raw_controlstick);
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raw_stick_values.a_raw = raw_controlstick;
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raw_stick_values.c_raw = raw_cstick;
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@ -199,107 +198,145 @@ async fn update_stick_states<
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raw_stick_values.c_linearized.x = pos_cx;
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raw_stick_values.c_linearized.y = pos_cy;
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trace!("Raw Stick Values 001: {:?}", raw_stick_values);
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let (x_pos_filt, y_pos_filt) =
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kalman_state.run_kalman(x_z, y_z, &controller_config.astick_config, &filter_gains);
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let (shaped_x, shaped_y) = run_waveshaping(
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let shaped_astick = match run_waveshaping(
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x_pos_filt,
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y_pos_filt,
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controller_config.astick_config.x_waveshaping,
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controller_config.astick_config.y_waveshaping,
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controlstick_waveshaping_values,
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&filter_gains,
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);
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) {
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(x, y) => XyValuePair { x, y },
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};
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let pos_x: f32 =
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filter_gains.smoothing.x * shaped_x + (1.0 - filter_gains.smoothing.x) * old_stick_pos.x;
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let pos_y =
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filter_gains.smoothing.y * shaped_y + (1.0 - filter_gains.smoothing.y) * old_stick_pos.y;
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trace!("Shaped Controlstick: {}", shaped_astick);
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let pos_x: f32 = filter_gains.smoothing.x * shaped_astick.x
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+ (1.0 - filter_gains.smoothing.x) * old_stick_pos.x;
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let pos_y = filter_gains.smoothing.y * shaped_astick.y
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+ (1.0 - filter_gains.smoothing.y) * old_stick_pos.y;
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old_stick_pos.x = pos_x;
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old_stick_pos.y = pos_y;
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let (shaped_cx, shaped_cy) = run_waveshaping(
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let shaped_cstick = match run_waveshaping(
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pos_cx,
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pos_cy,
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controller_config.cstick_config.x_waveshaping,
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controller_config.cstick_config.y_waveshaping,
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cstick_waveshaping_values,
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&filter_gains,
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);
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) {
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(x, y) => XyValuePair { x, y },
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};
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let old_cx_pos = old_stick_pos.cx;
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let old_cy_pos = old_stick_pos.cy;
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old_stick_pos.cx = shaped_cx;
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old_stick_pos.cy = shaped_cy;
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let old_c_pos = XyValuePair {
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x: old_stick_pos.cx,
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y: old_stick_pos.cy,
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};
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old_stick_pos.cx = shaped_cstick.x;
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old_stick_pos.cy = shaped_cstick.y;
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let x_weight_1 = filter_gains.c_smoothing.x;
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let x_weight_2 = 1.0 - x_weight_1;
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let y_weight_1 = filter_gains.c_smoothing.y;
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let y_weight_2 = 1.0 - y_weight_1;
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let pos_cx_filt = x_weight_1 * shaped_cx + x_weight_2 * old_cx_pos;
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let pos_cy_filt = y_weight_1 * shaped_cy + y_weight_2 * old_cy_pos;
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let pos_cx_filt = x_weight_1 * shaped_cstick.x + x_weight_2 * old_c_pos.x;
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let pos_cy_filt = y_weight_1 * shaped_cstick.y + y_weight_2 * old_c_pos.y;
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// phob optionally runs a median filter here, but we leave it for now
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let (mut remapped_x, mut remapped_y) = notch_remap(
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trace!("Controlstick position: {}, {}", pos_x, pos_y);
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let mut remapped = match notch_remap(
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pos_x,
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pos_y,
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controlstick_params,
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controller_config,
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Stick::ControlStick,
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);
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let (mut remapped_cx, mut remapped_cy) = notch_remap(
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false,
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) {
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(x, y) => XyValuePair { x, y },
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};
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let mut remapped_c = match notch_remap(
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pos_cx_filt,
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pos_cy_filt,
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cstick_params,
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controller_config,
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Stick::CStick,
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);
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let (remapped_x_unfiltered, remapped_y_unfiltered) = notch_remap(
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false,
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) {
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(x, y) => XyValuePair { x, y },
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};
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let remapped_unfiltered = match notch_remap(
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raw_stick_values.a_linearized.x,
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raw_stick_values.a_linearized.y,
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controlstick_params,
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controller_config,
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Stick::ControlStick,
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);
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let (remapped_cx_unfiltered, remapped_cy_unfiltered) = notch_remap(
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false,
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) {
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(x, y) => XyValuePair { x, y },
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};
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let remapped_c_unfiltered = match notch_remap(
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raw_stick_values.c_linearized.x,
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raw_stick_values.c_linearized.y,
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cstick_params,
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controller_config,
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Stick::CStick,
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);
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false,
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) {
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(x, y) => XyValuePair { x, y },
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};
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remapped_x = fminf(125., fmaxf(-125., remapped_x));
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remapped_y = fminf(125., fmaxf(-125., remapped_y));
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remapped_cx = fminf(125., fmaxf(-125., remapped_cx));
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remapped_cy = fminf(125., fmaxf(-125., remapped_cy));
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raw_stick_values.a_unfiltered.x = fminf(125., fmaxf(-125., remapped_x_unfiltered));
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raw_stick_values.a_unfiltered.y = fminf(125., fmaxf(-125., remapped_y_unfiltered));
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raw_stick_values.c_unfiltered.x = fminf(125., fmaxf(-125., remapped_cx_unfiltered));
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raw_stick_values.c_unfiltered.y = fminf(125., fmaxf(-125., remapped_cy_unfiltered));
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trace!("Remapped Control Stick: {}", remapped);
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remapped = XyValuePair {
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x: fminf(125., fmaxf(-125., remapped.x)),
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y: fminf(125., fmaxf(-125., remapped.y)),
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};
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remapped_c = XyValuePair {
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x: fminf(125., fmaxf(-125., remapped_c.x)),
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y: fminf(125., fmaxf(-125., remapped_c.y)),
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};
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raw_stick_values.a_unfiltered.x = fminf(125., fmaxf(-125., remapped_unfiltered.x));
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raw_stick_values.a_unfiltered.y = fminf(125., fmaxf(-125., remapped_unfiltered.y));
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raw_stick_values.c_unfiltered.x = fminf(125., fmaxf(-125., remapped_c_unfiltered.x));
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raw_stick_values.c_unfiltered.y = fminf(125., fmaxf(-125., remapped_c_unfiltered.y));
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let mut out_stick_state = current_stick_state.clone();
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let diff_x = (remapped_x + FLOAT_ORIGIN) - current_stick_state.ax as f32;
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let diff_x = (remapped.x + FLOAT_ORIGIN) - current_stick_state.ax as f32;
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if (diff_x > (1.0 + STICK_HYST_VAL)) || (diff_x < -STICK_HYST_VAL) {
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out_stick_state.ax = (remapped_x + FLOAT_ORIGIN) as u8;
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out_stick_state.ax = (remapped.x + FLOAT_ORIGIN) as u8;
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}
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let diff_y = (remapped_y + FLOAT_ORIGIN) - current_stick_state.ay as f32;
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let diff_y = (remapped.y + FLOAT_ORIGIN) - current_stick_state.ay as f32;
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if (diff_y > (1.0 + STICK_HYST_VAL)) || (diff_y < -STICK_HYST_VAL) {
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out_stick_state.ay = (remapped_y + FLOAT_ORIGIN) as u8;
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out_stick_state.ay = (remapped.y + FLOAT_ORIGIN) as u8;
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}
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let diff_cx = (remapped_cx + FLOAT_ORIGIN) - current_stick_state.cx as f32;
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let diff_cx = (remapped_c.x + FLOAT_ORIGIN) - current_stick_state.cx as f32;
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if (diff_cx > (1.0 + STICK_HYST_VAL)) || (diff_cx < -STICK_HYST_VAL) {
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out_stick_state.cx = (remapped_cx + FLOAT_ORIGIN) as u8;
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out_stick_state.cx = (remapped_c.x + FLOAT_ORIGIN) as u8;
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}
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let diff_cy = (remapped_cy + FLOAT_ORIGIN) - current_stick_state.cy as f32;
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let diff_cy = (remapped_c.y + FLOAT_ORIGIN) - current_stick_state.cy as f32;
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if (diff_cy > (1.0 + STICK_HYST_VAL)) || (diff_cy < -STICK_HYST_VAL) {
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out_stick_state.cy = (remapped_cy + FLOAT_ORIGIN) as u8;
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out_stick_state.cy = (remapped_c.y + FLOAT_ORIGIN) as u8;
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}
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trace!(
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"Control stick: {}, {}, C-stick: {}, {}",
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out_stick_state.ax,
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out_stick_state.ay,
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out_stick_state.cx,
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out_stick_state.cy
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);
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out_stick_state
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}
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@ -403,7 +440,7 @@ pub async fn input_loop(
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let mut last_loop_time = Instant::now();
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loop {
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let timer = Timer::after_millis(1);
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let timer = Timer::after_micros(1000);
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current_stick_state = update_stick_states(
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&mut spi,
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@ -424,10 +461,12 @@ pub async fn input_loop(
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timer.await;
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debug!(
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"Loop took {} us",
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(Instant::now() - last_loop_time).as_micros()
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);
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match (Instant::now() - last_loop_time).as_micros() {
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a if a > 1100 => {
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debug!("Loop took {} us", a);
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}
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_ => {}
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};
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last_loop_time = Instant::now();
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35
src/stick.rs
35
src/stick.rs
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@ -3,7 +3,7 @@
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use core::f32::consts::PI;
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use defmt::{debug, Format};
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use libm::{atan2f, cosf, fabs, roundf, sinf, sqrtf};
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use libm::{atan2f, cosf, fabs, fabsf, roundf, sinf, sqrtf};
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use crate::{
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config::{ControllerConfig, StickConfig, DEFAULT_NOTCH_STATUS},
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@ -583,6 +583,7 @@ pub fn notch_remap(
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stick_params: &StickParams,
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controller_config: &ControllerConfig,
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which_stick: Stick,
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is_calibrating: bool,
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) -> (f32, f32) {
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//determine the angle between the x unit vector and the current position vector
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let angle = match atan2f(y_in, x_in) {
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@ -608,14 +609,40 @@ pub fn notch_remap(
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Stick::CStick => controller_config.cstick_config.analog_scaler as f32 / 100.,
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};
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let x_out = stick_scale
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let mut x_out = stick_scale
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* (stick_params.affine_coeffs[region][0] * x_in
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+ stick_params.affine_coeffs[region][1] * y_in);
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let y_out = stick_scale
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let mut y_out = stick_scale
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* (stick_params.affine_coeffs[region][2] * x_in
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+ stick_params.affine_coeffs[region][3] * y_in);
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// TODO: here, add calibration step shenanigans
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if !is_calibrating {
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let stick_config = match which_stick {
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Stick::ControlStick => &controller_config.astick_config,
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Stick::CStick => &controller_config.cstick_config,
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};
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if stick_config.cardinal_snapping > 0 {
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if fabsf(x_out) < stick_config.cardinal_snapping as f32 + 0.5 && fabsf(y_out) >= 79.5 {
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x_out = 0.;
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}
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if fabsf(y_out) < stick_config.cardinal_snapping as f32 + 0.5 && fabsf(x_out) >= 79.5 {
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y_out = 0.;
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}
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} else if stick_config.cardinal_snapping == -1 {
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if fabsf(x_out) < 6.5 && fabsf(y_out) >= 79.5 {
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x_out = 0.;
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}
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if fabsf(y_out) < 6.5 && fabsf(x_out) >= 79.5 {
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y_out = 0.;
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}
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}
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if fabs(x_out) < 3. && fabs(y_out) < 3. {
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x_out = 0.;
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y_out = 0.;
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}
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}
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(x_out, y_out)
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}
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