SPIButton: RP2040 mode

Firmware/.gitignore

@@ -1,4 +1,4 @@
-/*Debug/
+**/Debug/
 **/Release/
 **/.settings/
 *.launch
@@ -7,5 +7,4 @@
 .mxproject
 fixlang
 /build/
-/OpenFFBoard/
-/*Targets/F407VG/*.cfg
+/OpenFFBoard/

Firmware/FFBoard/Inc/AxesManager.h

@@ -47,10 +47,10 @@ class AxesManager
 	void emergencyStop(bool reset);
 	void resetPosZero();
 
+	void updateSamplerate(float newSamplerate);
+
 private:
 	volatile Control_t* control;
-	volatile bool *p_usb_disabled;
-	volatile bool *p_emergency;
 	std::shared_ptr<EffectsCalculator> effects_calc;
 	uint16_t axis_count = 0;
 	std::vector<std::unique_ptr<Axis>> axes;

Firmware/FFBoard/Inc/Axis.h

@@ -71,7 +71,7 @@ struct AxisConfig
 struct metric_t {
 	float accel = 0;	// in deg/s²
 	float speed = 0; // in deg/s
-	int32_t pos = 0; // scaled position as 16b int -0x7fff to 0x7fff
+	int32_t pos_scaled_16b = 0; // scaled position as 16b int -0x7fff to 0x7fff matching FFB ranges
 	float pos_f = 0; // scaled position as float. -1 to 1 range
 	float posDegrees = 0; // Position in degrees. Not scaled to selected range
 	int32_t torque = 0; // total of effect + endstop torque
@@ -171,6 +171,9 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	bool updateTorque(int32_t* totalTorque);
 
 
+	void updateSamplerate(float newSamplerate);
+	void updateFilters(uint8_t profileId);
+
 	void setGearRatio(uint8_t numerator,uint8_t denominator);
 
 	static const std::vector<class_entry<MotorDriver>> axis1_drivers;
@@ -259,7 +262,7 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	const biquad_constant_t filterFrictionCst = {50, 20};
 	const biquad_constant_t filterInertiaCst = {20, 20};
 	uint8_t filterProfileId = 1; // Default medium (1) as this is the most common encoder resolution and users can go lower or higher if required.
-	const float filter_f = 1000; // 1khz
+	float filter_f = 1000; // 1khz default. should be set at runtime once the actual rate is known
 	const int32_t intFxClip = 20000;
 	uint8_t damperIntensity = 30;
 

Firmware/FFBoard/Inc/CmdParser.h

@@ -17,7 +17,9 @@
 #include "CommandHandler.h"
 #include "ringbufferwrapper.h"
 
+#ifndef CMDPARSER_MAX_VALID_CAPACITY
 #define CMDPARSER_MAX_VALID_CAPACITY 2048
+#endif
 
 class CommandHandler;
 class CommandInterface;

Firmware/FFBoard/Inc/CommandHandler.h

@@ -13,7 +13,7 @@
 #include "mutex.hpp"
 #include "ClassIDs.h"
 #include <vector>
-
+#include <span>
 
 #define CMDFLAG_GET	 	0x01
 #define CMDFLAG_SET	 	0x02
@@ -22,6 +22,7 @@
 #define CMDFLAG_SETADR	 	0x20
 #define CMDFLAG_HIDDEN	 0x40
 #define CMDFLAG_DEBUG	 0x80
+#define CMDFLAG_EXTOVERRIDE 0x80000000
 
 #define CMDFLAG_STR_ONLY 0x100
 #define CMDFLAG_HID_ONLY 0x200 // Command not available for string based parsers
@@ -50,8 +51,8 @@ class CmdHandlerCommanddef
 	  {};
 	const char* cmd = nullptr;
 	const char* helpstring = nullptr;
-	const uint32_t cmdId;
-	const uint32_t flags;
+	uint32_t cmdId;
+	uint32_t flags;
 };
 
 struct CmdHandlerInfo
@@ -260,17 +261,22 @@ class CommandHandler {
 	 */
 	template<typename ID>
 	void registerCommand(const char* cmd,const ID cmdid,const char* help=nullptr,uint32_t flags = 0){
-		for(CmdHandlerCommanddef& cmdDef : registeredCommands){
-			if(cmdDef.cmdId == static_cast<uint32_t>(cmdid))
-				return; //already present
-		}
+		registerCommand_INT(cmd, static_cast<uint32_t>(cmdid), help, flags);
+	}
 
-		this->registeredCommands.emplace_back(cmd, help,static_cast<uint32_t>(cmdid),flags);
-		this->registeredCommands.shrink_to_fit();
+
+	virtual void postCmdhandlerInit(){}; // Can implement in external file to override command flags
+	template<typename ID>
+	/**
+	 * Can override command flags to make it read only
+	 */
+	void overrideCommandFlags(const ID cmdid,uint32_t flagmask = 0){
+		overrideCommandFlags_INT(static_cast<uint32_t>(cmdid), flagmask);
 	}
 
 
 
+
 protected:
 	void setInstance(uint8_t instance);
 	bool commandsEnabled = true;
@@ -287,6 +293,9 @@ class CommandHandler {
 
 	CmdHandlerInfo cmdHandlerInfo;
 
+	void registerCommand_INT(const char* cmd,const uint32_t cmdid,const char* help=nullptr,uint32_t flags = 0);
+	void overrideCommandFlags_INT(const uint32_t cmdid,uint32_t flagmask = CMDFLAG_GET | CMDFLAG_GETADR);
+
 };
 
 #endif /* COMMANDHANDLER_H_ */

Firmware/FFBoard/Inc/CommandInterface.h

@@ -60,7 +60,7 @@ class StringCommandInterface : public CommandInterface{
 	CmdParser parser; // String parser
 };
 
-
+#define CDC_CMD_BUFFER_SIZE (TUD_OPT_HIGH_SPEED ? 4096 : 1024)
 //receives bytes from mainclass. calls its own parser instance, calls global parser thread, passes replies  back to cdc port.
 class CDC_CommandInterface : public StringCommandInterface,public cpp_freertos::Thread{
 public:
@@ -83,7 +83,7 @@ class CDC_CommandInterface : public StringCommandInterface,public cpp_freertos::
 	bool nextFormat = false;
 	std::string sendBuffer;
 	uint32_t bufferLength = 0;
-	const uint32_t maxSendBuffer = 1024; // Max buffered command size before sending immediately
+	const uint32_t maxSendBuffer = CDC_CMD_BUFFER_SIZE; // Max buffered command size before sending immediately
 };
 
 

Firmware/FFBoard/Inc/EffectsCalculator.h

@@ -84,7 +84,7 @@ class EffectsCalculator: public PersistentStorage,
 	uint8_t getGain();
 	void logEffectType(uint8_t type,bool remove = false);
 	//void setDirectionEnableMask(uint8_t mask);
-	void calcStatsEffectType(uint8_t type, int16_t force,uint8_t axis);
+	void calcStatsEffectType(uint8_t type, int32_t force,uint8_t axis);
 	void logEffectState(uint8_t type,uint8_t state);
 	void resetLoggedActiveEffects(bool reinit);
 
@@ -100,6 +100,8 @@ class EffectsCalculator: public PersistentStorage,
 	// Thread impl
 	void Run();
 
+	void updateSamplerate(float newSamplerate); // Must be called if update rate is changed to update filters and effects
+
 
 protected:
 
@@ -108,7 +110,7 @@ class EffectsCalculator: public PersistentStorage,
 	// Filters
 	effect_biquad_t filter[2];		// 0 is the default profile and the custom for CFFilter, CUSTOM_PROFILE_ID is the custom slot
 	uint8_t filterProfileId = 0;
-	const uint32_t calcfrequency = 1000; 		// HID frequency 1khz
+	uint32_t calcfrequency = 1000; 		// HID frequency 1khz
 	const float qfloatScaler = 0.01;
 
 	// Rescale factor for conditional effect to boost or decrease the intensity
@@ -150,10 +152,11 @@ class EffectsControlItf{
 	virtual void set_gain(uint8_t gain) = 0;
 	virtual void cfUpdateEvent();
 	virtual void fxUpdateEvent();
+	virtual void updateSamplerate(float newSamplerate) = 0; // Should be called when update loop rate is changed
 
 private:
-	FastMovingAverage<float> fxPeriodAvg{20};
-	FastMovingAverage<float> cfUpdatePeriodAvg{20};
+	FastMovingAverage<float> fxPeriodAvg{5};
+	FastMovingAverage<float> cfUpdatePeriodAvg{5};
 
 	uint32_t lastFxUpdate = 0;
 	uint32_t lastCfUpdate = 0;

Firmware/FFBoard/Inc/HidFFB.h

@@ -39,6 +39,7 @@ class HidFFB: public UsbHidHandler, public EffectsControlItf {
 
 	void sendStatusReport(uint8_t effect);
 	void setDirectionEnableMask(uint8_t mask);
+	void updateSamplerate(float newSamplerate);
 
 private:
 	// HID

Firmware/FFBoard/Inc/SPI.h

@@ -14,6 +14,7 @@
 
 #include "SpiHandler.h"
 #include "semaphore.hpp"
+#include <math.h>
 
 struct SPIConfig {
 	SPIConfig(OutputPin cs,bool cspol = true)
@@ -77,7 +78,7 @@ class SPIPort: public SpiHandler {
 	bool hasFreePins();
 
 	uint32_t getBaseClk();
-	std::pair<uint32_t,float> getClosestPrescaler(float clock);
+	std::pair<uint32_t,float> getClosestPrescaler(float clock,float min = 0, float max = INFINITY);
 
 	SPI_HandleTypeDef* getPortHandle();
 

Firmware/FFBoard/Inc/SerialFFB.h

@@ -37,6 +37,7 @@ class SerialFFB : public CommandHandler, public EffectsControlItf{
 	void setMagnitude(uint8_t idx,int16_t magnitude);
 
 	void setEffectState(uint8_t id, bool state);
+	void updateSamplerate(float newSamplerate);
 
 private:
 	static ClassIdentifier info;

Firmware/FFBoard/Inc/SystemCommands.h

@@ -11,7 +11,7 @@
 #include "CommandHandler.h"
 
 enum class FFBoardMain_commands : uint32_t{
-	help=0,save=1,reboot=2,dfu=3,swver=4,hwtype=5,lsmain,main,lsactive,format,errors,errorsclr,flashdump,flashraw,vint,vext,mallinfo,heapfree,taskstats,debug,devid,uid,temp,otp,signature
+	help=0,save=1,reboot=2,dfu=3,swver=4,hwtype=5,lsmain,main,lsactive,format,errors,errorsclr,flashdump,flashraw,vint,vext,mallinfo,heapfree,taskstats,debug,devid,uid,temp,otp,signature,tasklist
 };
 
 class SystemCommands : public CommandHandler {

Firmware/FFBoard/Inc/constants.h

@@ -8,7 +8,7 @@
  * For more settings see target_constants.h in a target specific folder
  */
 
-static const uint8_t SW_VERSION_INT[3] = {1,16,6}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,16,7}; // Version as array. 8 bit each!
 #ifndef MAX_AXIS
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #endif
@@ -31,11 +31,19 @@ static const uint8_t SW_VERSION_INT[3] = {1,16,6}; // Version as array. 8 bit ea
 
 #ifdef FFBWHEEL
 #ifdef FFBWHEEL_USE_1AXIS_DESC
+#ifdef HIDAXISRES_USE_32B_DESC
+#define AXIS1_FFB_HID_DESC_32B
+#else
 #define AXIS1_FFB_HID_DESC
+#endif
+#else
+#ifdef HIDAXISRES_USE_32B_DESC
+#define AXIS2_FFB_HID_DESC_32B
 #else
 #define AXIS2_FFB_HID_DESC
 #endif
 #endif
+#endif
 
 #ifdef FFBJOYSTICK
 #define AXIS2_FFB_HID_DESC

Firmware/FFBoard/Inc/cpp_target_config.h

@@ -47,4 +47,8 @@ extern const OutputPin debugpin;
 extern const OutputPin gpMotor;
 #endif
 
+#if defined(I2C_PORT_EEPROM)
+extern I2CPort i2cport_int;
+#endif
+
 #endif