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feat(calibration): implement calibration step

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Naxdy 2024-03-29 21:31:55 +01:00
parent 5eaf18993e
commit 4306cce840
Signed by: Naxdy
GPG key ID: CC15075846BCE91B
2 changed files with 152 additions and 18 deletions
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59
src/config.rs
View file

@ -2,7 +2,7 @@
* Storage for controller configuration, including helper functions & types, as well as sane defaults.
* Also includes necessary logic for configuring the controller & calibrating the sticks.
*/
use core::f32::consts::PI;
use core::{cmp::min, f32::consts::PI};
use defmt::{error, info, warn, Format};
use embassy_rp::{
@ -14,7 +14,10 @@ use packed_struct::{derive::PackedStruct, PackedStruct};
use crate::{
helpers::{PackedFloat, ToPackedFloatArray, XyValuePair},
input::{read_ext_adc, Stick, StickAxis, SPI_ACS_SHARED, SPI_CCS_SHARED, SPI_SHARED},
stick::{NotchStatus, NO_OF_ADJ_NOTCHES, NO_OF_CALIBRATION_POINTS, NO_OF_NOTCHES},
stick::{
legalize_notches, AppliedCalibration, NotchStatus, NOTCH_ADJUSTMENT_ORDER,
NO_OF_ADJ_NOTCHES, NO_OF_CALIBRATION_POINTS, NO_OF_NOTCHES,
},
ADDR_OFFSET, FLASH_SIZE,
};
@ -384,6 +387,7 @@ struct StickCalibrationProcess<'a> {
calibration_step: u8,
gcc_config: &'a mut ControllerConfig,
cal_points: [XyValuePair<f32>; NO_OF_CALIBRATION_POINTS],
applied_calibration: AppliedCalibration,
}
impl<'a> StickCalibrationProcess<'a> {
@ -393,10 +397,15 @@ impl<'a> StickCalibrationProcess<'a> {
calibration_step: 0,
gcc_config,
cal_points: [XyValuePair::default(); NO_OF_CALIBRATION_POINTS],
applied_calibration: AppliedCalibration::default(),
}
}
async fn calibration_advance(&mut self) {
let stick_config = match self.which_stick {
Stick::ControlStick => &mut self.gcc_config.astick_config,
Stick::CStick => &mut self.gcc_config.cstick_config,
};
let mut spi_unlocked = SPI_SHARED.lock().await;
let mut spi_acs_unlocked = SPI_ACS_SHARED.lock().await;
let mut spi_ccs_unlocked = SPI_CCS_SHARED.lock().await;
@ -427,18 +436,52 @@ impl<'a> StickCalibrationProcess<'a> {
// TODO: phob does something related to undo here
if self.calibration_step == NO_OF_CALIBRATION_POINTS as u8 {
// TODO
stick_config.angles = *legalize_notches(
self.calibration_step as usize,
&self.applied_calibration.measured_notch_angles,
&self.applied_calibration.notch_angles,
)
.to_packed_float_array();
self.applied_calibration = AppliedCalibration::from_points(
&self.cal_points.map(|e| e.x),
&self.cal_points.map(|e| e.y),
&stick_config,
self.which_stick,
);
}
let mut notch_idx = NOTCH_ADJUSTMENT_ORDER[min(
self.calibration_step - NO_OF_CALIBRATION_POINTS as u8,
NO_OF_ADJ_NOTCHES as u8 - 1,
) as usize];
while self.calibration_step >= NO_OF_CALIBRATION_POINTS as u8
&& self.applied_calibration.cleaned_calibration.notch_status[notch_idx]
== NotchStatus::TertInactive
&& self.calibration_step < NO_OF_CALIBRATION_POINTS as u8 + NO_OF_ADJ_NOTCHES as u8
{
stick_config.angles = *legalize_notches(
self.calibration_step as usize,
&self.applied_calibration.measured_notch_angles,
&stick_config.angles.map(|e| *e),
)
.to_packed_float_array();
self.calibration_step += 1;
notch_idx = NOTCH_ADJUSTMENT_ORDER[min(
self.calibration_step - NO_OF_CALIBRATION_POINTS as u8,
NO_OF_ADJ_NOTCHES as u8 - 1,
) as usize];
}
if self.calibration_step >= NO_OF_CALIBRATION_POINTS as u8 + NO_OF_ADJ_NOTCHES as u8 {
let stick_config = match self.which_stick {
Stick::ControlStick => &mut self.gcc_config.astick_config,
Stick::CStick => &mut self.gcc_config.cstick_config,
};
stick_config.cal_points_x = self.cal_points.map(|p| p.x.into());
stick_config.cal_points_y = self.cal_points.map(|p| p.y.into());
}
info!("Finished calibrating stick {}", self.which_stick);
}
pub async fn calibrate_stick(&mut self) {

111
src/stick.rs
View file

@ -3,7 +3,7 @@
use core::f32::consts::PI;
use defmt::{debug, Format};
use libm::{atan2f, cosf, fabs, fabsf, roundf, sinf, sqrtf};
use libm::{atan2f, cosf, fabs, fabsf, fmaxf, fminf, roundf, sinf, sqrtf};
use crate::{
config::{ControllerConfig, StickConfig, DEFAULT_ANGLES, DEFAULT_NOTCH_STATUS},
@ -28,8 +28,8 @@ const MAX_STICK_ANGLE: f32 = 0.4886921906;
const CALIBRATION_ORDER: [usize; NO_OF_CALIBRATION_POINTS] = [ 0, 1, 8, 9, 16, 17, 24, 25, 4, 5, 12, 13, 20, 21, 28, 29, 2, 3, 6, 7, 10, 11, 14, 15, 18, 19, 22, 23, 26, 27, 30, 31 ];
#[rustfmt::skip]
// up right up left down left down right notch 1 notch 2 notch 3 notch 4 notch 5 notch 6 notch 7 notch 8
const NOTCH_ADJUSTMENT_ORDER: [usize; NO_OF_ADJ_NOTCHES] = [2, 6, 10, 14, 1, 3, 5, 7, 9, 11, 13, 15];
// up right up left down left down right notch 1 notch 2 notch 3 notch 4 notch 5 notch 6 notch 7 notch 8
pub const NOTCH_ADJUSTMENT_ORDER: [usize; NO_OF_ADJ_NOTCHES] = [2, 6, 10, 14, 1, 3, 5, 7, 9, 11, 13, 15];
#[derive(Clone, Debug, Default, Format)]
pub struct StickParams {
@ -76,8 +76,8 @@ pub enum NotchStatus {
Cardinal,
}
#[derive(Clone, Debug)]
struct CleanedCalibrationPoints {
#[derive(Clone, Debug, Format)]
pub struct CleanedCalibrationPoints {
pub cleaned_points: XyValuePair<[f32; NO_OF_NOTCHES + 1]>,
pub notch_points: XyValuePair<[f32; NO_OF_NOTCHES + 1]>,
pub notch_status: [NotchStatus; NO_OF_NOTCHES],
@ -387,11 +387,12 @@ impl NotchCalibration {
}
}
struct AppliedCalibration {
stick_params: StickParams,
cleaned_calibration: CleanedCalibrationPoints,
notch_angles: [f32; NO_OF_NOTCHES],
measured_notch_angles: [f32; NO_OF_NOTCHES],
#[derive(Debug, Clone, Format, Default)]
pub struct AppliedCalibration {
pub stick_params: StickParams,
pub cleaned_calibration: CleanedCalibrationPoints,
pub notch_angles: [f32; NO_OF_NOTCHES],
pub measured_notch_angles: [f32; NO_OF_NOTCHES],
}
impl AppliedCalibration {
@ -488,6 +489,96 @@ impl AppliedCalibration {
}
}
pub fn legalize_notches(
current_step: usize,
measured_notch_angles: &[f32; NO_OF_NOTCHES],
notch_angles: &[f32; NO_OF_NOTCHES],
) -> [f32; NO_OF_NOTCHES] {
let mut out = *notch_angles;
for i in current_step..44 {
let idx = NOTCH_ADJUSTMENT_ORDER[i - NO_OF_CALIBRATION_POINTS];
out[idx] = legalize_notch(idx, measured_notch_angles, &out);
}
out
}
fn legalize_notch(
idx: usize,
measured_notch_angles: &[f32; NO_OF_NOTCHES],
notch_angles: &[f32; NO_OF_NOTCHES],
) -> f32 {
let is_diagonal = (idx - 2) % 4 == 0;
let prev_idx = if is_diagonal {
(idx - 2 + NO_OF_NOTCHES) % NO_OF_NOTCHES
} else {
(idx - 1 + NO_OF_NOTCHES) % NO_OF_NOTCHES
};
let next_idx = if is_diagonal {
(idx + 2) % NO_OF_NOTCHES
} else {
(idx + 1) % NO_OF_NOTCHES
};
let prev_angle = notch_angles[prev_idx];
let next_angle = match notch_angles[next_idx] {
a if a < prev_angle => a + 2. * PI,
a => a,
};
let prev_meas_angle = measured_notch_angles[prev_idx];
let this_meas_angle = measured_notch_angles[idx];
let next_meas_angle = match measured_notch_angles[next_idx] {
a if a < prev_meas_angle => a + 2. * PI,
a => a,
};
let (cmp_amt, str_amt) = match is_diagonal {
true => (0.769, 1.3),
false => (0.666, 1.5),
};
let min_threshold = 0.15 / 0.975;
let deadzone_limit = 0.2875 / 0.95;
let deadzone_plus = 0.325 / 0.9375;
let lower_compress_limit = prev_angle + cmp_amt * (this_meas_angle - prev_meas_angle);
let upper_compress_limit = next_angle - cmp_amt * (next_meas_angle - this_meas_angle);
let lower_strech_limit = if prev_idx % 4 == 0
&& !is_diagonal
&& (next_meas_angle - this_meas_angle) > min_threshold
&& (next_meas_angle - this_meas_angle) < deadzone_limit
{
next_angle - fmaxf(str_amt * (next_meas_angle - this_meas_angle), deadzone_plus)
} else {
next_angle - str_amt * (next_meas_angle - this_meas_angle)
};
let upper_strech_limit = if prev_idx % 4 == 0
&& !is_diagonal
&& (this_meas_angle - prev_meas_angle) > min_threshold
&& (this_meas_angle - prev_meas_angle) < deadzone_limit
{
prev_angle + fmaxf(str_amt * (this_meas_angle - prev_meas_angle), deadzone_plus)
} else {
prev_angle + str_amt * (this_meas_angle - prev_meas_angle)
};
let lower_distort_limit = fmaxf(lower_compress_limit, lower_strech_limit);
let upper_distort_limit = match fminf(upper_compress_limit, upper_strech_limit) {
a if a < lower_distort_limit => a + 2. * PI,
a => a,
};
fminf(
upper_distort_limit,
fmaxf(notch_angles[idx], lower_distort_limit),
)
}
/// Sets notches to measured values if absent.
fn clean_notches(
measured_notch_angles: &[f32; NO_OF_NOTCHES],