AllSpiceMirrors/initial-v
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upadate firmware

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This commit is contained in:
Aaron Patterson 2022-12-21 16:36:43 -08:00
parent 1e80a9d625
commit f024ebf4d1
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GPG Key ID: 953170BCB4FFAFC6
5 changed files with 209 additions and 79 deletions
firmware
components
esp-nimble-keyboard
shifter
include
shifter.h
shifter.c
main
initial-v.cpp
housing
thing.scad

2
firmware/components/esp-nimble-keyboard

Submodule firmware/components/esp-nimble-keyboard updated: c13779e90e...59bffd9bbb

10
firmware/components/shifter/include/shifter.h
View File

@ -26,6 +26,7 @@ typedef enum {
SHIFTER_SIDE_UP,
SHIFTER_SIDE_DOWN,
SHIFTER_SIDE,
SHIFTER_MAX,
} handle_position_t;
POSITION_PREDICATE(CENTER, 0x0e);
@ -52,6 +53,11 @@ SHIFTER_POSITION(twai_message_t message, handle_position_t * pos)
uint8_t position = (message.data[2] >> 4) & 0xF;
// Resetting causes the position to go to 9
if (position > SHIFTER_MAX) {
position = SHIFTER_CENTER;
}
if (SHIFTER_PARK_P(message)) {
position |= PARK_BUTTON_BIT;
}
@ -63,9 +69,11 @@ SHIFTER_POSITION(twai_message_t message, handle_position_t * pos)
void shifter_send_park(void);
void shifter_send_neutral(void);
void shifter_send_reverse(void);
void shifter_send_drive(bool moveable);
void shifter_send_reset(void);
void shifter_send_light(uint8_t counter);
void shifter_send_light(uint8_t counter, uint8_t brightness);
#ifdef __cplusplus
}

19
firmware/components/shifter/shifter.c
View File

@ -29,6 +29,18 @@ shifter_send_park(void)
send_state(0x20);
}
void
shifter_send_neutral(void)
{
send_state(0x60);
}
void
shifter_send_reverse(void)
{
send_state(0x40);
}
void
shifter_send_drive(bool moveable)
{
@ -61,10 +73,11 @@ shifter_send_reset(void)
}
void
shifter_send_light(uint8_t counter)
shifter_send_light(uint8_t counter, uint8_t brightness)
{
uint8_t buf[] = { 0, 0xFF, 0x00, 0x00 };
buf[0] = counter;
uint8_t buf[] = { 0, 0x00, 0x00, 0x00 };
buf[0] = brightness;
//buf[1] = brightness;
twai_message_t message;
message.identifier = 0x202;

158
firmware/main/initial-v.cpp
View File

@ -6,6 +6,7 @@
#include "freertos/timers.h"
#include <shifter.h>
#include <BleKeyboard.h>
#include "NimBLECharacteristic.h"
static SemaphoreHandle_t ctrl_task_sem;
static QueueHandle_t tx_task_queue;
@ -19,26 +20,62 @@ static BleKeyboard * kb;
typedef enum {
NONE,
BACKLIGHT,
DRIVE,
RESET,
DRIVE,
NEUTRAL,
REVERSE,
PARK,
} handle_state_t;
#define PRESSED (1 << 7)
#define BUTTON_MASK (PRESSED - 1)
uint8_t key_lut[] = {
'r', // CENTER
'u', // UP
'U', // UP_UP
'd', // DOWN
'D', // DOWN_DOWN
'x', // SIDE_UP
'y', // SIDE_DOWN
'l', // SIDE
};
handle_state_t handle_mode = NONE;
handle_position_t current_pos = SHIFTER_CENTER;
uint8_t brightness = 0xFF;
class HIDDataCallbacks : public NimBLECharacteristicCallbacks
{
public:
HIDDataCallbacks(void) { }
void onWrite(NimBLECharacteristic* me) {
size_t len = me->getDataLength();
const uint8_t *buff = me->getValue()->data();
handle_state_t tx_action;
handle_state_t requested_state = (handle_state_t)buff[0];
switch (requested_state) {
case NONE:
case RESET:
tx_action = RESET;
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
break;
case BACKLIGHT:
if (len > 1) {
brightness = buff[1];
} else {
brightness = 0xFF;
}
tx_action = BACKLIGHT;
xQueueSend(tx_task_queue, &tx_action, portMAX_DELAY);
break;
case DRIVE:
case NEUTRAL:
case REVERSE:
case PARK:
handle_mode = requested_state;
break;
}
printf("onwrite!!\n");
for (int i = 0; i < len; i++) {
printf("onWrite byte: %d\n", buff[i]);
}
printf("done!!\n");
}
};
void
dump_message(twai_message_t message)
@ -73,48 +110,68 @@ receive_task(void *arg)
handle_position_t pos;
if (SHIFTER_POSITION(message, &pos)) {
if (current_pos != pos) {
uint8_t button = pos;
handle_position_t to_pos = (handle_position_t)((uint8_t)pos & SHIFTER_POSITION_MASK);
handle_position_t from_pos = (handle_position_t)((uint8_t)current_pos & SHIFTER_POSITION_MASK);
// Center -> side
if (to_pos == SHIFTER_SIDE && from_pos == SHIFTER_CENTER) {
uint8_t press = button | PRESSED;
xQueueSend(buttons_queue, &press, portMAX_DELAY);
vTaskDelay(pdMS_TO_TICKS(3));
xQueueSend(buttons_queue, &button, portMAX_DELAY);
}
else {
// Side -> center
if (to_pos == SHIFTER_CENTER && from_pos == SHIFTER_SIDE) {
if (to_pos != from_pos) {
uint8_t button = to_pos;
printf("from pos (%d) %d -> to pos %d\n", pos, from_pos, to_pos);
// Center -> side
if (to_pos == SHIFTER_SIDE && from_pos == SHIFTER_CENTER) {
uint8_t press = button | PRESSED;
xQueueSend(buttons_queue, &press, portMAX_DELAY);
vTaskDelay(pdMS_TO_TICKS(3));
xQueueSend(buttons_queue, &button, portMAX_DELAY);
}
else {
// Center -> something else == button press
if (from_pos == SHIFTER_CENTER) {
button |= PRESSED;
// Side -> center
if (to_pos == SHIFTER_CENTER && from_pos == SHIFTER_SIDE) {
uint8_t press = button | PRESSED;
xQueueSend(buttons_queue, &press, portMAX_DELAY);
vTaskDelay(pdMS_TO_TICKS(3));
xQueueSend(buttons_queue, &button, portMAX_DELAY);
}
else {
// Center -> something else == button press
if (from_pos == SHIFTER_CENTER) {
button |= PRESSED;
}
// something else -> center == release previous button
if (to_pos == SHIFTER_CENTER) {
button = current_pos;
// something else -> center == release previous button
if (to_pos == SHIFTER_CENTER) {
button = current_pos;
}
xQueueSend(buttons_queue, &button, portMAX_DELAY);
}
xQueueSend(buttons_queue, &button, portMAX_DELAY);
}
}
else {
if (pos & PARK_BUTTON_BIT) {
printf("park button pressed\n");
}
else {
printf("park button released\n");
}
}
}
current_pos = pos;
}
else {
dump_message(message);
}
}
}
uint8_t key_lut[] = {
'r', // CENTER
'u', // UP
'U', // UP_UP
'd', // DOWN
'D', // DOWN_DOWN
'x', // SIDE_UP
'y', // SIDE_DOWN
'l', // SIDE
};
void
kb_transmit_task(void *arg)
{
@ -128,15 +185,20 @@ kb_transmit_task(void *arg)
uint8_t key = key_lut[button];
if (kb->isConnected()) {
switch (key) {
case SHIFTER_CENTER:
case SHIFTER_SIDE:
break;
}
if (pressed & PRESSED) {
printf("pressed! ");
kb->press(key);
//kb->press(key);
}
else {
printf("released! ");
kb->release(key);
//kb->release(key);
}
printf("%d key: %d\n", button, key);
printf("%d key: %c\n", button, (char)key);
}
}
}
@ -148,9 +210,12 @@ transmit_task(void *arg)
handle_state_t action;
xQueueReceive(tx_task_queue, &action, portMAX_DELAY);
printf("transmitting %d\n", action);
switch(action) {
case BACKLIGHT:
shifter_send_light(0);
printf("transmitting %d brightness %d\n", action, brightness);
shifter_send_light(0, brightness);
break;
case RESET:
shifter_send_reset();
@ -158,6 +223,15 @@ transmit_task(void *arg)
case DRIVE:
shifter_send_drive(true);
break;
case NEUTRAL:
shifter_send_neutral();
break;
case REVERSE:
shifter_send_reverse();
break;
case PARK:
shifter_send_park();
break;
case NONE:
break;
}
@ -184,7 +258,11 @@ extern "C" void app_main(void)
g_config.alerts_enabled |= TWAI_ALERT_TX_SUCCESS | TWAI_ALERT_TX_FAILED;
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
//twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
// We only care about 0x197 messages
twai_filter_config_t f_config = { .acceptance_code = ((uint32_t)0x197 << 21),
.acceptance_mask = ~(TWAI_STD_ID_MASK << 21),
.single_filter = true };
//Install TWAI driver
if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
@ -204,13 +282,13 @@ extern "C" void app_main(void)
handle_mode = DRIVE;
kb = new BleKeyboard("Initial V", "Adequate INC", 100);
kb = new BleKeyboard("Initial V", "Adequate INC", 100, new HIDDataCallbacks());
kb->begin();
xTaskCreatePinnedToCore(receive_task, "TWAI_rx", 4096, NULL, RX_TASK_PRIO, NULL, tskNO_AFFINITY);
xTaskCreatePinnedToCore(transmit_task, "TWAI_tx", 4096, NULL, TX_TASK_PRIO, NULL, tskNO_AFFINITY);
xTaskCreatePinnedToCore(kb_transmit_task, "kb_tx", 4096, NULL, KB_TASK_PRIO, NULL, tskNO_AFFINITY);
TimerHandle_t handle = xTimerCreate("Update Timer", pdMS_TO_TICKS(100), pdTRUE, (void *)0, timer_callback);
TimerHandle_t handle = xTimerCreate("Update Timer", pdMS_TO_TICKS(250), pdTRUE, (void *)0, timer_callback);
xTimerStart(handle, 0);
xSemaphoreGive(ctrl_task_sem);
vTaskDelay(pdMS_TO_TICKS(100));

99
housing/thing.scad
View File

@ -1,29 +1,32 @@
module ShifterThing() {
translate([-8, 3, -1])
linear_extrude(4)
rotate([0, 0, -17])
rotate([0, 180, 0])
import("path413.svg", center=true, dpi=94.5);
}
TOP_PLATE_Y = 101;
module Foo(width) {
difference() {
linear_extrude(2)
square([width, TOP_PLATE_Y], center=true);
translate([0, 0, -1])
linear_extrude(4)
square([width - 4, TOP_PLATE_Y - 4], center=true);
//ShifterThing();
}
}
REAR_POST_Z = 31;
POST_DIAMETER = 6;
POST_OUTER_DIAMETER = 14;
REAR_TAB_LENGTH = 16;
MIN_WALL_THICKNESS = 2;
TOP_PLATE_Y = 101;
BOX_X = 79;
BOX_Y = TOP_PLATE_Y;
module ShifterThing() {
translate([-5, 6, -1])
linear_extrude(4)
rotate([0, 0, -16])
rotate([0, 180, 0])
import("path413.svg", center=true, dpi=94.5);
}
module Foo(width) {
difference() {
color("blue")
linear_extrude(2)
square([width, TOP_PLATE_Y], center=true);
//translate([0, 0, -1])
// linear_extrude(4)
// square([width - 4, TOP_PLATE_Y - 4], center=true);
ShifterThing();
}
}
module RearPost(height) {
$fn = 80;
@ -48,8 +51,6 @@ module RearPost(height) {
}
}
BOX_X = 79;
module FrontPosts(height) {
x = (BOX_X / 2) + 7;
translate([-x, 0, 0])
@ -103,15 +104,45 @@ module RearWall(height) {
square([(rear_post_center_x * 2) - POST_DIAMETER, 2], center=true);
}
REAR_POST_Z = 31;
module TopPart() {
translate([0, (TOP_PLATE_Y / 2) - (15 / 2), 0])
FrontPosts(REAR_POST_Z + 2); // front are ~2mm lower
translate([0, (TOP_PLATE_Y / 2) - (15 / 2), 0])
FrontPosts(REAR_POST_Z + 2); // front are ~2mm lower
translate([0, 0, 2]) {
translate([0, -((TOP_PLATE_Y / 2) + 9), 0])
rotate([0, 0, 180])
RearWall(REAR_POST_Z);
translate([0, 0, REAR_POST_Z - 2])
Foo(79);
translate([0, 0, 2]) {
translate([0, -((TOP_PLATE_Y / 2) + 9), 0])
rotate([0, 0, 180])
RearWall(REAR_POST_Z);
translate([0, 0, REAR_POST_Z - 2])
Foo(79);
}
}
module BottomPart() {
x_axis_wall = MIN_WALL_THICKNESS + 1;
y_axis_wall = MIN_WALL_THICKNESS;
box_with_wall_y = BOX_Y + x_axis_wall;
box_with_wall_x = BOX_X + (2 * y_axis_wall);
post_overlap = 4;
box_z = 8;
difference() {
translate([-(box_with_wall_x / 2), -post_overlap, 0])
linear_extrude(MIN_WALL_THICKNESS + box_z)
square([box_with_wall_x, box_with_wall_y + post_overlap]);
translate([-(BOX_X / 2), -(1 + post_overlap), MIN_WALL_THICKNESS])
linear_extrude(MIN_WALL_THICKNESS + box_z)
square([BOX_X, BOX_Y + 1 + post_overlap]);
translate([-(BOX_X / 2), BOX_Y - 0.5, MIN_WALL_THICKNESS])
linear_extrude(box_z + 1)
square([16.5, 2]);
}
translate([0, -(REAR_TAB_LENGTH - (POST_OUTER_DIAMETER / 2)), 15])
rotate([180, 0, 0])
RearWall(15);
}
BottomPart();