Firmware updated to work for a gunstock

firmware/connections/bhaptics.cpp

@@ -254,7 +254,7 @@ void BHapticsBLEConnection::setup() {
 void BHapticsBLEConnection::loop() {
   BLEConnection::loop();
 
-  auto now_ms = millis();
+  App.getOutput()->loopOutput(OUTPUT_PATH_ACCESSORY);
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
   if (now_ms - this->lastBatteryUpdate >= BATTERY_SAMPLE_RATE) {

firmware/modes/bhaptics/tactosy2.cpp

@@ -11,6 +11,7 @@
 #include "connections/bhaptics.h"
 #include "output_components/closest.h"
 #include "output_writers/ledc.h"
+#include "output_writers/dio.h"
 
 #if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
 #include "battery/abstract_battery.h"
@@ -47,8 +48,8 @@ void setupMode() {
   // Configure PWM pins to their positions on the forearm
   auto forearmOutputs = transformAutoOutput({
       // clang-format off
-      {new LEDCOutputWriter(32), new LEDCOutputWriter(33), new LEDCOutputWriter(25)},
-      {new LEDCOutputWriter(26), new LEDCOutputWriter(27), new LEDCOutputWriter(14)},
+      {new DIOOutputWriter(32, UINT8_MAX * 0.5), new DIOOutputWriter(33, UINT8_MAX * 0.5), new DIOOutputWriter(25, UINT8_MAX * 0.5)},
+      {new DIOOutputWriter(26, UINT8_MAX * 0.5), new DIOOutputWriter(27, UINT8_MAX * 0.5), new DIOOutputWriter(14, UINT8_MAX * 0.5)},
       // clang-format on
   });
 

firmware/output.cpp

@@ -22,3 +22,14 @@ void Output::writeOutput(outputPath_t path, outputData_t& data) {
 
   (*componentSearch).second->writeOutput(data);
 }
+
+void Output::loopOutput(outputPath_t path) {
+  auto componentSearch = this->getComponents()->find(path);
+
+  if (componentSearch == this->getComponents()->end()) {
+    // if no requested component exists, skip
+    return;
+  }
+
+  (*componentSearch).second->loop();
+}

firmware/output_component.cpp

@@ -20,3 +20,9 @@ void OutputComponent::setup() {
     kv.second->setup();
   }
 }
+
+void OutputComponent::loop() {
+  for (const auto& kv : this->writers) {
+    kv.second->loop();
+  }
+}

firmware/output_writers/dio.cpp

@@ -0,0 +1,53 @@
+#include <Arduino.h>
+
+#include "config/all.h"
+#include "output_writers/dio.h"
+
+#define SOL_ON 0x1
+#define SOL_OFF 0x0
+#define SOL_COOLDOWN 0x2
+
+void DIOOutputWriter::setup() {
+  pinMode(this->pin, OUTPUT);
+
+  this->highTime = 0;
+  this->coolDownTime = 0;
+  this->state = SOL_OFF;
+  this->desiredState = SOL_OFF;
+
+  digitalWrite(pin, LOW);
+
+  // Serial.printf("> %s: attached to pin %2u\n",
+  // __PRETTY_FUNCTION__, this->pin);
+}
+
+void DIOOutputWriter::writeOutput(outputIntensity_t intensity) {
+  if (intensity > this->intensityThreshold) {
+    this->desiredState = SOL_ON;
+  }
+}
+
+void DIOOutputWriter::loop() {
+  unsigned long now = millis();
+
+  switch(this->state) {
+    case SOL_ON:
+      if (now - this->highTime > 25) {
+        digitalWrite(pin, LOW);
+        this->coolDownTime = now;
+        this->state = SOL_COOLDOWN;
+      }
+      break;
+    case SOL_COOLDOWN:
+      if (now - this->coolDownTime > 25) {
+        this->state = SOL_OFF;
+      }
+      break;
+    case SOL_OFF:
+      if (desiredState == SOL_ON) {
+        this->state = SOL_ON;
+        digitalWrite(pin, HIGH);
+        this->highTime = now;
+        this->desiredState = SOL_OFF;      }
+  }
+}

include/output.h

@@ -16,4 +16,6 @@ class Output {
   std::map<outputPath_t, OutputComponent*>* getComponents();
 
   void writeOutput(outputPath_t, outputData_t&);
+
+  void loopOutput(outputPath_t);
 };

include/output_component.h

@@ -38,6 +38,7 @@ class OutputWriter {
  public:
   virtual void setup(){};
   virtual void writeOutput(outputIntensity_t intensity) = 0;
+  virtual void loop(){};
 };
 
 typedef std::map<outputPoint_t, OutputWriter*> outputMap_t;
@@ -58,4 +59,5 @@ class OutputComponent : public Component {
   };
   virtual void writeOutput(outputData_t&) = 0;
   void setup() override;
+  void loop() override;
 };

include/output_writers/dio.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "output.h"
+
+class DIOOutputWriter : public OutputWriter {
+ private:
+  uint8_t pin, intensityThreshold;
+  unsigned long highTime;
+  unsigned long coolDownTime;
+  uint8_t state;
+  uint8_t desiredState;
+
+ public:
+  DIOOutputWriter(const uint8_t pin, const uint8_t intensityThreshold) : pin(pin), intensityThreshold(intensityThreshold){};
+
+  void setup() override;
+  void writeOutput(outputIntensity_t intensity) override;
+  void loop() override;
+};