--- /dev/null
+#include "BowModel.h"
+
+#include <math.h>
+
+BowModel::BowModel(float threshold, float k)
+: ForceModel(), _threshold(threshold), _k(k), _stickpos(0.0)
+{
+}
+
+float BowModel::computeForce(float pos)
+{
+ float f = _k * (pos - _stickpos);
+ if (fabs(f) > _threshold)
+ {
+ f = 0.0;
+ _stickpos = pos;
+ }
+ _lastforce = f;
+ //_lastspeed = (pos - lastpos) / time;
+ _lastpos = pos;
+ return f;
+}
--- /dev/null
+#pragma once
+
+#include "ForceModel.h"
+
+class BowModel: public ForceModel
+{
+ public:
+ BowModel(float threshold, float k);
+
+ float computeForce(float pos);
+
+ float getThreshold() { return _threshold; }
+ float getK() { return _k; }
+
+ void setThreshold(float threshold) { _threshold = threshold; }
+ void setK(float k) { _k = k; }
+
+ private:
+ float _threshold;
+ float _k;
+ float _stickpos;
+};
--- /dev/null
+#include "ForceModel.h"
+
+ForceModel::ForceModel()
+: _lastpos(0.0), _lastforce(0.0)//, _lastspeed(0.0)
+{
+}
+
+float ForceModel::computeForce(float pos)
+{
+ return 0.0;
+}
\ No newline at end of file
--- /dev/null
+#pragma once
+
+class ForceModel {
+ public:
+ virtual ~ForceModel() {}
+
+ virtual float computeForce(float pos);
+
+ protected:
+ ForceModel();
+ float _lastpos;
+ float _lastforce;
+ //float _lastspeed;
+};
export BOARD = stm32f429discovery
ROOTDIR = $(CURDIR)/uC-sdk
+export VERBOSE = true
+
ifeq ($(wildcard $(ROOTDIR)/uC-sdk.root),)
ifneq ($(wildcard ../../../uC-sdk.root),)
ROOTDIR = ../../..
endif
TARGET = forcefader.bin
-TARGET_SRCS = forcefader.c
+TARGET_SRCS = forcefader.cpp capacitivetouch.c forcemotor.c ForceModel.cpp SpringModel.cpp BowModel.cpp PluckModel.cpp
LIBDEPS = \
$(ROOTDIR)/FreeRTOS/libFreeRTOS.a \
include $(ROOTDIR)/common.mk
+TARGET_CXX += -std=c++11
+#TARGET_LD = $(TOOLCHAIN)-g++
+
all: uC-sdk $(TARGET)
clean: clean-generic
--- /dev/null
+#include "PluckModel.h"
+
+#include <math.h>
+
+PluckModel::PluckModel(float pos, float delta, float k)
+: ForceModel(), _pos(pos), _delta(delta), _k(k)
+{
+}
+
+float PluckModel::computeForce(float pos)
+{
+ float f;
+ if (fabs(pos - _pos) < _delta)
+ f = _k * (pos - _pos);
+ else
+ f = 0.0;
+ _lastforce = f;
+ //_lastspeed = (pos - lastpos) / time;
+ _lastpos = pos;
+ return f;
+}
--- /dev/null
+#pragma once
+
+#include "ForceModel.h"
+
+class PluckModel: public ForceModel
+{
+ public:
+ PluckModel(float pos, float delta, float k);
+
+ float computeForce(float pos);
+
+ float getPos() { return _pos; }
+ float getDelta() { return _delta; }
+ float getK() { return _k; }
+
+ void setPos(float pos) { _pos = pos; }
+ void setDelta(float delta) { _delta = delta; }
+ void setK(float k) { _k = k; }
+
+ private:
+ float _pos;
+ float _delta;
+ float _k;
+};
--- /dev/null
+#include "SpringModel.h"
+
+SpringModel::SpringModel(float pos, float k)
+: ForceModel(), _pos(pos), _k(k)
+{
+}
+
+float SpringModel::computeForce(float pos)
+{
+ float f = _k * (pos - _pos);
+ _lastforce = f;
+ //_lastspeed = (pos - lastpos) / time;
+ _lastpos = pos;
+ return f;
+}
--- /dev/null
+#pragma once
+
+#include "ForceModel.h"
+
+class SpringModel: public ForceModel
+{
+ public:
+ SpringModel(float pos, float k);
+
+ float computeForce(float pos);
+
+ float getPos() { return _pos; }
+ float getK() { return _k; }
+
+ void setPos(float pos) { _pos = pos; }
+ void setK(float k) { _k = k; }
+
+ private:
+ float _pos;
+ float _k;
+};
--- /dev/null
+#include "capacitivetouch.h"
+
+#include <gpio.h>
+#include <timer.h>
+
+static timer_channel_t capacitiveloop_timer = { .timer = timer_2, .channel = 1 };
+static timer_channel_t capacitivemeasure_timer = { .timer = timer_4, .channel = 1 };
+
+uint16_t capacitance = 0;
+
+static uint8_t measuring = 0;
+
+static pin_t touch_TX_pin, touch_RX_pin;
+
+static void capacitiveRX()
+{
+ if (measuring)
+ {
+ capacitance = timer_get_count(timer_4);
+// printf("capa : %8d\n", capacitance);
+ gpio_set(touch_TX_pin, 0);
+ measuring = 0;
+ }
+}
+
+static void capacitiveTimeout()
+{
+ if (measuring)
+ {
+ capacitance = 0xffff;
+// printf("capa : timeout\n");
+ gpio_set(touch_TX_pin, 0);
+ measuring = 0;
+ }
+}
+
+static void capacitiveTX()
+{
+ if (!measuring)
+ {
+ timer_set_count(timer_4, 0);
+ gpio_set(touch_TX_pin, 1);
+ measuring = 1;
+ }
+}
+
+void init_capacitive_touch()
+{
+ touch_TX_pin = make_pin(gpio_port_c, 12);
+ touch_RX_pin = make_pin(gpio_port_g, 11);
+
+ gpio_config(touch_TX_pin, pin_dir_write, pull_down);
+ gpio_config(touch_RX_pin, pin_dir_read, pull_none);
+ gpio_set(touch_TX_pin, 0);
+
+ //start capacitive measure
+ timer_config(timer_2, 1050, 1000);
+ timer_irq_init(capacitiveloop_timer, event_update, capacitiveTX);
+
+ //capacitive counter
+ timer_config(timer_4, 84, 4000);
+ //timer_disable(timer_4);
+ timer_irq_init(capacitivemeasure_timer, event_update, capacitiveTimeout);
+
+ gpio_irq_init(touch_RX_pin, capacitiveRX, rising);
+}
\ No newline at end of file
--- /dev/null
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void init_capacitive_touch();
+
+#ifdef __cplusplus
+}
+#endif
+++ /dev/null
-#include <gpio.h>
-#include <adc.h>
-#include <timer.h>
-#include <stdio.h>
-
-#define POSMIN 0
-#define POSMAX 4095
-
-#define THRESHOLD 90
-
-uint16_t faderpos;
-pin_t faderpos_pin, motorsignal_pin, motordir1_pin, motordir2_pin, fadertouch_pin, touch_TX_pin, touch_RX_pin;
-
-timer_channel_t forceloop_timer = { .timer = 1, .channel = 1 };
-timer_channel_t capacitiveloop_timer = { .timer = 2, .channel = 1 };
-timer_channel_t motorsignal_timer = { .timer = 3, .channel = 3 };
-timer_channel_t capacitivemeasure_timer = { .timer = 4, .channel = 1 };
-
-uint16_t capacitance = 0;
-
-void setSpringForce(uint16_t pos, uint8_t k)
-{
- uint32_t force;
- if (faderpos > pos)
- {
- gpio_set(motordir1_pin, 0);
- gpio_set(motordir2_pin, 1);
- force = ((uint32_t)(faderpos - pos) * k) / 4096;
- }
- else
- {
- gpio_set(motordir1_pin, 1);
- gpio_set(motordir2_pin, 0);
- force = ((uint32_t)(pos - faderpos) * k) / 4096;
- }
- //printf("force 1: %8d\n", force);
- timer_pwmchannel_init(motorsignal_timer, motorsignal_pin, force);
-}
-
-void updateForce()
-{
- if (capacitance > THRESHOLD)
- setSpringForce(2048, 255);
-}
-
-uint8_t measuring = 0;
-
-void capacitiveRX()
-{
- if (measuring)
- {
- capacitance = timer_get_count(timer_4);
- //printf("capa : %8d\n", c);
- gpio_set(touch_TX_pin, 0);
- measuring = 0;
- }
-}
-
-void capacitiveTimeout()
-{
- if (measuring)
- {
- capacitance = 0xffff;
- //printf("capa : timeout\n");
- gpio_set(touch_TX_pin, 0);
- measuring = 0;
- }
-}
-
-void capacitiveTX()
-{
- if (!measuring)
- {
- timer_set_count(timer_4, 0);
- gpio_set(touch_TX_pin, 1);
- measuring = 1;
- }
-}
-
-int main()
-{
- faderpos_pin = make_pin(gpio_port_a, 0); //ADC1 CH0
- motorsignal_pin = make_pin(gpio_port_b, 0); //TIMER3 CH3
- motordir1_pin = make_pin(gpio_port_e, 6);
- motordir2_pin = make_pin(gpio_port_f, 4);
- touch_TX_pin = make_pin(gpio_port_c, 12);
- touch_RX_pin = make_pin(gpio_port_g, 11);
-
- faderpos = 0;
- uint8_t channel = 0;
- adc_config_continuous(adc_1, &channel, &faderpos_pin, &faderpos, 1);
-
- gpio_config(motordir1_pin, pin_dir_write, pull_none);
- gpio_config(motordir2_pin, pin_dir_write, pull_none);
-
- gpio_config(touch_TX_pin, pin_dir_write, pull_down);
- gpio_config(touch_RX_pin, pin_dir_read, pull_none);
- gpio_set(touch_TX_pin, 0);
-
- //compute new force
- timer_config(timer_1, 42, 1000);
- timer_irq_init(forceloop_timer, event_update, updateForce);
-
- //start capacitive measure
- timer_config(timer_2, 1050, 1000);
- timer_irq_init(capacitiveloop_timer, event_update, capacitiveTX);
-
- //motor amplitude
- timer_config(timer_3, 8, 255);
- timer_pwmchannel_init(motorsignal_timer, motorsignal_pin, 0);
-
- //capacitive counter
- timer_config(timer_4, 84, 4000);
- //timer_disable(timer_4);
- timer_irq_init(capacitivemeasure_timer, event_update, capacitiveTimeout);
-
- gpio_irq_init(touch_RX_pin, capacitiveRX, rising);
-
- //Loop
- while (1);
- //printf("pos : %4d\n", faderpos);
-
- return 0;
-}
--- /dev/null
+#include <gpio.h>
+#include <adc.h>
+#include <timer.h>
+#include <stdio.h>
+
+#include "ForceModel.h"
+#include "SpringModel.h"
+#include "BowModel.h"
+#include "PluckModel.h"
+
+#include "forcemotor.h"
+#include "capacitivetouch.h"
+
+#define POSMAX 4095 //12 bits ADC
+
+#define TRACKLENGTH 0.1 //10cm
+
+#define CAPACITIVETHRESHOLD 90
+
+uint16_t faderpos;
+pin_t faderpos_pin;
+
+timer_channel_t forceloop_timer = { .timer = timer_1, .channel = 1 };
+
+ForceModel *fm = NULL;
+
+void updateForce()
+{
+ if (!fm)// || capacitance < CAPACITIVETHRESHOLD)
+ return;
+
+ float fp = (faderpos * TRACKLENGTH) / POSMAX;
+ set_force(fm->computeForce(fp));
+}
+
+int main()
+{
+ //fm = new SpringModel(0.05, 5);
+ //fm = new BowModel(0.01, 5);
+ fm = new PluckModel(0.05, 0.02, 5);
+
+ faderpos_pin = make_pin(gpio_port_a, 0); //ADC1 CH0
+
+ faderpos = 0;
+ uint8_t channel = 0;
+ adc_config_continuous(adc_1, &channel, &faderpos_pin, &faderpos, 1);
+
+ //compute new forces
+ timer_config(timer_1, 42, 1000);
+ timer_irq_init(forceloop_timer, event_update, updateForce);
+
+ init_capacitive_touch();
+ init_force_motor();
+
+ //Loop
+ while (1);
+ //printf("pos : %4d\n", faderpos);
+
+ return 0;
+}
--- /dev/null
+#include "forcemotor.h"
+
+#include <math.h>
+//#include <stdio.h>
+
+#include <gpio.h>
+#include <timer.h>
+
+#define FORCEMAX 0.1 //100gF
+#define COMMANDMAX 255 //255 levels of force
+
+pin_t motorsignal_pin, motordir1_pin, motordir2_pin;
+
+timer_channel_t motorsignal_timer = { .timer = timer_3, .channel = 3 };
+
+void init_force_motor()
+{
+ motorsignal_pin = make_pin(gpio_port_b, 0); //TIMER3 CH3
+ motordir1_pin = make_pin(gpio_port_e, 6);
+ motordir2_pin = make_pin(gpio_port_f, 4);
+
+ gpio_config(motordir1_pin, pin_dir_write, pull_none);
+ gpio_config(motordir2_pin, pin_dir_write, pull_none);
+
+ //motor amplitude
+ timer_config(timer_3, 8, COMMANDMAX);
+ timer_pwmchannel_init(motorsignal_timer, motorsignal_pin, 0);
+}
+
+void set_force(float force)
+{
+ uint32_t f;
+ if (fabs(force) > FORCEMAX)
+ f = COMMANDMAX;
+ else
+ f = fabs(force) * COMMANDMAX / FORCEMAX;
+ if (force > 0)
+ {
+ gpio_set(motordir1_pin, 0);
+ gpio_set(motordir2_pin, 1);
+ }
+ else
+ {
+ gpio_set(motordir1_pin, 1);
+ gpio_set(motordir2_pin, 0);
+ }
+ //printf("force %lu %f\n", f, force);
+ timer_pwmchannel_init(motorsignal_timer, motorsignal_pin, f);
+}
--- /dev/null
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void init_force_motor();
+void set_force(float force);
+
+#ifdef __cplusplus
+}
+#endif
projects / forcefader.git / commitdiff