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feat(hardware): implement rumble (untested)

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This commit is contained in:
Naxdy 2024-04-02 22:17:50 +02:00
parent 1b4fbddd78
commit 60f8459835
Signed by: Naxdy
GPG key ID: CC15075846BCE91B
4 changed files with 76 additions and 16 deletions
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4
src/config.rs
View file

@ -16,6 +16,7 @@ use embassy_rp::{
use packed_struct::{derive::PackedStruct, PackedStruct};
use crate::{
gcc_hid::SIGNAL_CHANGE_RUMBLE_STRENGTH,
helpers::{PackedFloat, ToPackedFloatArray, ToRegularArray, XyValuePair},
input::{
read_ext_adc, Stick, StickAxis, StickState, FLOAT_ORIGIN, SPI_ACS_SHARED, SPI_CCS_SHARED,
@ -1548,7 +1549,7 @@ async fn configuration_main_loop<
})
.clamp(0, MAX_RUMBLE_STRENGTH) as u8;
// TODO: fire a test rumble here
SIGNAL_CHANGE_RUMBLE_STRENGTH.signal(*to_adjust);
override_gcc_state_and_wait(&OverrideGcReportInstruction {
report: match GcReport::default() {
@ -1559,6 +1560,7 @@ async fn configuration_main_loop<
a.buttons_2.button_l = true;
a.buttons_1.button_x = true;
a.buttons_1.button_a = true;
a.buttons_2.button_z = true; // makes the controller rumble in smashscope
a.stick_x = 127;
a.stick_y = 127;
a.cstick_x = 127;

50
src/gcc_hid.rs
View file

@ -6,18 +6,30 @@ use core::default::Default;
use defmt::{debug, info, trace, warn, Format};
use embassy_futures::join::join;
use embassy_rp::{peripherals::USB, usb::Driver};
use embassy_rp::{
peripherals::{PWM_CH4, PWM_CH6, USB},
pwm::Pwm,
usb::Driver,
};
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, signal::Signal};
use embassy_time::{Duration, Instant, Ticker};
use embassy_usb::{
class::hid::{HidReaderWriter, ReportId, RequestHandler, State},
control::OutResponse,
Builder, Handler,
};
use libm::powf;
use packed_struct::{derive::PackedStruct, PackedStruct};
use crate::input::CHANNEL_GCC_STATE;
static SIGNAL_RUMBLE: Signal<CriticalSectionRawMutex, bool> = Signal::new();
/// We could turn the config change signal into a PubSubChannel instead, but that
/// would just transmit unnecessary amounts of data.
pub static SIGNAL_CHANGE_RUMBLE_STRENGTH: Signal<CriticalSectionRawMutex, u8> = Signal::new();
#[rustfmt::skip]
pub const GCC_REPORT_DESCRIPTOR: &[u8] = &[
0x05, 0x01, // Usage Page (Generic Desktop Ctrls)
@ -385,7 +397,8 @@ pub async fn usb_transfer_task(
let mut buf = [0u8; 5];
match reader.read(&mut buf).await {
Ok(_e) => {
debug!("READ SOMETHIN: {:08b}", buf)
debug!("READ SOMETHIN: {:08b}", buf);
SIGNAL_RUMBLE.signal((buf[1] & 0x01) != 0);
}
Err(e) => {
warn!("Failed to read: {:?}", e);
@ -401,3 +414,36 @@ pub async fn usb_transfer_task(
join(usb_fut_wrapped, join(in_fut, out_fut)).await;
}
fn calc_rumble_power(strength: u8) -> u16 {
if strength > 0 {
powf(2.0, 7.0 + ((strength as f32 - 3.0) / 8.0)) as u16
} else {
0
}
}
#[embassy_executor::task]
pub async fn rumble_task(
strength: u8,
pwm_rumble: Pwm<'static, PWM_CH4>,
pwm_brake: Pwm<'static, PWM_CH6>,
) {
let mut rumble_power = calc_rumble_power(strength);
loop {
let new_rumble_status = SIGNAL_RUMBLE.wait().await;
if let Some(new_strength) = SIGNAL_CHANGE_RUMBLE_STRENGTH.try_take() {
rumble_power = calc_rumble_power(new_strength);
}
if new_rumble_status {
pwm_rumble.set_counter(rumble_power);
pwm_brake.set_counter(0);
} else {
pwm_rumble.set_counter(0);
pwm_brake.set_counter(255);
}
}
}

3
src/input.rs
View file

@ -499,14 +499,13 @@ pub async fn update_stick_states_task(
spi: Spi<'static, SPI0, embassy_rp::spi::Blocking>,
spi_acs: Output<'static, AnyPin>,
spi_ccs: Output<'static, AnyPin>,
controller_config: ControllerConfig,
mut controller_config: ControllerConfig,
) {
Timer::after_secs(1).await;
*SPI_SHARED.lock().await = Some(spi);
*SPI_ACS_SHARED.lock().await = Some(spi_acs);
*SPI_CCS_SHARED.lock().await = Some(spi_ccs);
let mut controller_config = controller_config;
let mut controlstick_params = StickParams::from_stick_config(&controller_config.astick_config);
let mut cstick_params = StickParams::from_stick_config(&controller_config.cstick_config);
let mut filter_gains = FILTER_GAINS.get_normalized_gains(&controller_config);

35
src/main.rs
View file

@ -35,6 +35,8 @@ use gpio::{Level, Output};
use input::{update_button_state_task, update_stick_states_task};
use static_cell::StaticCell;
use crate::config::enter_config_mode_task;
use crate::gcc_hid::rumble_task;
use crate::input::input_integrity_benchmark;
use {defmt_rtt as _, panic_probe as _};
@ -84,6 +86,20 @@ fn main() -> ! {
let spi_acs = Output::new(AnyPin::from(p_acs), Level::High); // active low
let spi_ccs = Output::new(AnyPin::from(p_ccs), Level::High); // active low
let mut rumble_config: embassy_rp::pwm::Config = Default::default();
rumble_config.top = 255;
rumble_config.enable = true;
rumble_config.compare_b = 0;
let mut brake_config = rumble_config.clone();
brake_config.compare_b = 255;
let pwm_rumble = Pwm::new_output_b(p.PWM_CH4, p.PIN_25, rumble_config.clone());
let pwm_brake = Pwm::new_output_b(p.PWM_CH6, p.PIN_29, brake_config.clone());
pwm_rumble.set_counter(0);
pwm_brake.set_counter(255);
spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
let executor1 = EXECUTOR1.init(Executor::new());
debug!("Mana");
@ -95,6 +111,14 @@ fn main() -> ! {
controller_config.input_consistency_mode,
))
.unwrap();
spawner.spawn(enter_config_mode_task()).unwrap();
spawner
.spawn(rumble_task(
controller_config.rumble_strength,
pwm_rumble,
pwm_brake,
))
.unwrap();
// spawner.spawn(input_integrity_benchmark()).unwrap();
spawner
.spawn(update_button_state_task(
@ -130,17 +154,6 @@ fn main() -> ! {
// ))
// .unwrap();
let mut pwm_config: embassy_rp::pwm::Config = Default::default();
pwm_config.top = 255;
pwm_config.enable = true;
pwm_config.compare_b = 255;
// let pwm_rumble = Pwm::new_output_b(p.PWM_CH4, p.PIN_25, pwm_config.clone());
// let pwm_brake = Pwm::new_output_b(p.PWM_CH6, p.PIN_29, pwm_config.clone());
// pwm_rumble.set_counter(0);
// pwm_brake.set_counter(255);
let executor0 = EXECUTOR0.init(Executor::new());
info!("Initialized.");