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Haptic and solenoid cleanup (#9700)

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* solenoid: remove two functions that do nothing.

These functions modify the argument, and so they do nothing.

Note: versions of these functions exist in mtdjr's user folder,
however to core solenoid support and mtdjr user-specific solenoid
support are exclusive (only one can be used at a time).

So removing these confusing functions does no harm.

* solenoid: bugfix: don't allow dwell time to go 1ms below minimum time.

The previous code allowed dwell time to go 1ms below the configured minimum.
This change corrects it.

* solenoid: bugfix: when incrementing above maximum dwell time, jump back to minimum, not to 1

The previous code used to jump back to 1, which might be way under the configured minimum setting.

* solenoid: bugfix: on startup actually use the eeprom-stored dwell-time

This is because the dwell time is stored in two variables.

* solenoid: bugfix: on haptic_reset, actually use the newly set default dwell time.

This is needed because dwell time is configured in two variables.

* solenoid: on HPT_RST set buzz to a default value

* solenoid: buzz: reworked to make more configurable. Previous behaviour maintained.

* solenoid: documentation: clarify meaning of dwell time

* solenoid: add feature SOLENOID_DWELL_STEP_SIZE

* solenoid: documentation: added note about the precision of the solenoid time settings

* haptic: Correctly call haptic_reset when eeprom is corrupt.

* haptic: improve what happens if haptic is enabled without erasing eeprom

* haptic: improve what happens if solenoid is enabled without erasing eeprom

* drivers/haptic: fix compilation issue, when haptic is enabled, but solenoid isn't
This commit is contained in:
Purdea Andrei 2020-10-17 23:31:22 +03:00 • committed by James Young
parent 2e1232c6bd
commit c904520f72
No known key found for this signature in database
GPG key ID: 8E1085BF6FCFBD74
5 changed files with 83 additions and 32 deletions
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53
drivers/haptic/haptic.c
View file

@ -33,11 +33,18 @@ void haptic_init(void) {
eeconfig_init();
}
haptic_config.raw = eeconfig_read_haptic();
if (haptic_config.mode < 1) {
haptic_config.mode = 1;
}
if (!haptic_config.mode) {
dprintf("No haptic config found in eeprom, setting default configs\n");
#ifdef SOLENOID_ENABLE
solenoid_set_dwell(haptic_config.dwell);
#endif
if ((haptic_config.raw == 0)
#ifdef SOLENOID_ENABLE
|| (haptic_config.dwell == 0)
#endif
) {
// this will be called, if the eeprom is not corrupt,
// but the previous firmware didn't have haptic enabled,
// or the previous firmware didn't have solenoid enabled,
// and the current one has solenoid enabled.
haptic_reset();
}
#ifdef SOLENOID_ENABLE
@ -118,25 +125,37 @@ void haptic_mode_decrease(void) {
}
void haptic_dwell_increase(void) {
uint8_t dwell = haptic_config.dwell + 1;
#ifdef SOLENOID_ENABLE
int16_t next_dwell = ((int16_t)haptic_config.dwell) + SOLENOID_DWELL_STEP_SIZE;
if (haptic_config.dwell >= SOLENOID_MAX_DWELL) {
dwell = 1;
// if it's already at max, we wrap back to min
next_dwell = SOLENOID_MIN_DWELL;
} else if (next_dwell > SOLENOID_MAX_DWELL) {
// if we overshoot the max, then cap at max
next_dwell = SOLENOID_MAX_DWELL;
}
solenoid_set_dwell(dwell);
solenoid_set_dwell(next_dwell);
#else
int16_t next_dwell = ((int16_t)haptic_config.dwell) + 1;
#endif
haptic_set_dwell(dwell);
haptic_set_dwell(next_dwell);
}
void haptic_dwell_decrease(void) {
uint8_t dwell = haptic_config.dwell - 1;
#ifdef SOLENOID_ENABLE
if (haptic_config.dwell < SOLENOID_MIN_DWELL) {
dwell = SOLENOID_MAX_DWELL;
int16_t next_dwell = ((int16_t)haptic_config.dwell) - SOLENOID_DWELL_STEP_SIZE;
if (haptic_config.dwell <= SOLENOID_MIN_DWELL) {
// if it's already at min, we wrap to max
next_dwell = SOLENOID_MAX_DWELL;
} else if (next_dwell < SOLENOID_MIN_DWELL) {
// if we go below min, then we cap to min
next_dwell = SOLENOID_MIN_DWELL;
}
solenoid_set_dwell(dwell);
solenoid_set_dwell(next_dwell);
#else
int16_t next_dwell = ((int16_t)haptic_config.dwell) - 1;
#endif
haptic_set_dwell(dwell);
haptic_set_dwell(next_dwell);
}
void haptic_reset(void) {
@ -150,6 +169,12 @@ void haptic_reset(void) {
#ifdef SOLENOID_ENABLE
uint8_t dwell = SOLENOID_DEFAULT_DWELL;
haptic_config.dwell = dwell;
haptic_config.buzz = SOLENOID_DEFAULT_BUZZ;
solenoid_set_dwell(dwell);
#else
// This is to trigger haptic_reset again, if solenoid is enabled in the future.
haptic_config.dwell = 0;
haptic_config.buzz = 0;
#endif
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);