spi button debounce added

CHANGELOG.md

@@ -1,4 +1,15 @@
-### Changes this version from 1.16 to 1.15:
+### Changes this version:
+- Inverted Y axis direction vector magnitude
+  - Fixes 2 axis setups in XPforce and DCS and other flight sims
+- Changed 2 axis conditional effects to ignore direction vectors (Fixes DCS)
+- Modified HID 2 axis descriptor, added back second direction for compliance
+- Fixed chip temp sometimes glitching
+- TMC debug mode: Changed openloopspeed command to use torque mode instead of raw PWM. Added new openloopspeedpwm to control raw PWM.
+- CAN bus corrected packet length when packet is sent as command
+- Corrected CAN speed preset in can bridge GVRET mode (savvycan works again)
+
+
+### Changes in 1.16:
 - Added MyActuator RMD CAN support class.
   - Temporary implementation until CAN protocol changes. Usable but might be improved in the future
 - Fixed issues in CAN analog class for packet 2. Allow shorter frames

Firmware/FFBoard/Inc/Axis.h

@@ -203,24 +203,6 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 											 .pid_vel_lim = 2147483647,
 											 .pid_pos_low = -2147483647,
 											 .pid_pos_high = 2147483647});
-
-	// Lowpass 500Hz Q 0.7 @ 25khz
-	const TMC4671Biquad_t tmcbq_500hz_07q_25k = TMC4671Biquad_t(
-			{ .a1 = 979476766,
-			  .a2 = -450370144,
-			  .b0 = 1941073,
-			  .b1 = 3882145,
-			  .b2 = 1941073});
-
-	// Lowpass 1000Hz Q 0.7 @ 25khz
-	const TMC4671Biquad_t tmcbq_1000hz_07q_25k = TMC4671Biquad_t(
-			{ .a1 = 886773302,
-			  .a2 = -378358476,
-			  .b0 = 7114021,
-			  .b1 = 14228043,
-			  .b2 = 7114021});
-
-
 #endif
 	float encoderOffset = 0; // Offset for absolute encoders
 	uint16_t degreesOfRotation = 900;					// How many degrees of range for the full gamepad range

Firmware/FFBoard/Inc/CAN.h

@@ -50,7 +50,7 @@ class CANPortHardwareConfig{
 	constexpr PresetEntry getPreset(uint8_t idx) const {return PresetEntry(presets[std::min<uint8_t>(idx,presets.size())]);}
 	constexpr uint32_t speedToPreset(uint32_t speed) const {
 		auto it = std::find_if( presets.begin(), presets.end(), [&speed](const PresetEntry &e){return e.speed == speed;});
-		return it == presets.end() ? 255 : std::distance(it, presets.begin());
+		return it == presets.end() ? 255 : std::distance(presets.begin(),it);
 	}
 	constexpr uint32_t presetToSpeed(uint8_t preset) const {return presets[preset].speed;}
 	const std::span<const PresetEntry> presets; // Name for listing and init types for setup

Firmware/FFBoard/Inc/CANPort2B.h

@@ -69,7 +69,7 @@ class CANPort_2B : public CANPort, public CommandHandler,public CanHandler{
 	static const uint32_t sendTimeout = 20;
 
 	CAN_TxHeaderTypeDef header = {0,0,0,CAN_RTR_DATA,8,(FunctionalState)0};
-
+	uint8_t nextLen = 8;
 
 };
 #endif

Firmware/FFBoard/Inc/FastAvg.h

@@ -54,21 +54,20 @@ class FastAvg {
 };
 
 /**
- * Calculates a moving average of unknown length
+ * Calculates a moving average of variable length
  * Can periodically get and reset a value to average for an unknown amount of data points
  * If len != 0 calculates an exponential moving average with length len.
- * If len = 0 length equals the current amount of samples.
+ * If len = 0 length equals the current amount of samples up to 0x7FFFFFFF.
  */
 template <class T>
 class FastMovingAverage{
 public:
-	FastMovingAverage(uint32_t len = 0) : fixedLen(len), count(0){};
+	FastMovingAverage(int32_t len = 0) : fixedLen(len > 0 ? len : INT32_MAX), count(0){};
 	~FastMovingAverage(){};
 
 	void clear(){
 		curAvg = 0;
-		if(!fixedLen)
-			count=0;
+		count=0;
 	}
 	/**
 	 * Gets current average and clears current average and counter
@@ -89,15 +88,15 @@ class FastMovingAverage{
 	 * Adds a value and returns current average
 	 */
 	T addValue(T v){
-		if(!fixedLen || count < fixedLen)
+		if(count < fixedLen)
 			count++;
 		curAvg += (v - curAvg)/count;
 		return curAvg;
 	}
 private:
 	T curAvg = 0;
-	const uint32_t fixedLen;
-	uint32_t count = 0;
+	const int32_t fixedLen;
+	int32_t count = 0;
 };
 
 #endif

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] = {1,16,0}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,16,1}; // Version as array. 8 bit each!
 #ifndef MAX_AXIS
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #endif

Firmware/FFBoard/Inc/ffb_defs.h

@@ -169,7 +169,7 @@ typedef struct
 	uint8_t		triggerButton = 0;	// button ID. unused
 	uint8_t		enableAxis = 0; // bits: 0=X, 1=Y, 2=DirectionEnable
 	uint16_t	directionX = 0;	// angle (0=0 .. 36000=360deg)
-//	uint16_t	directionY = 0;	// angle (0=0 .. 36000=360deg) TODO axes are last bytes in struct if fewer axes are used. use different report if this is not enough anymore!
+	uint16_t	directionY = 0;	// angle (0=0 .. 36000=360deg) TODO axes are last bytes in struct if fewer axes are used. use different report if this is not enough anymore!
 //#if MAX_AXIS == 3
 //	uint8_t directionZ = 0; // angle (0=0 .. 255=360deg)
 //#endif
@@ -255,7 +255,7 @@ typedef struct
 	uint16_t deadBand = 0;
 
 	bool isActive(){ // Condition is active if either coefficient is not zero
-		return positiveCoefficient != 0 || negativeCoefficient != 0;
+		return (positiveCoefficient != 0 && positiveSaturation != 0) || (negativeCoefficient != 0 && negativeSaturation != 0);
 	}
 } FFB_Effect_Condition;
 

Firmware/FFBoard/Src/Axis.cpp

@@ -419,11 +419,11 @@ void Axis::setupTMC4671()
 {
 	TMC4671 *drv = static_cast<TMC4671 *>(this->drv.get());
 //	drv->setAxis(axis);
+	drv->setExternalEncoderAllowed(true);
 	drv->restoreFlash();
 	tmclimits.pid_torque_flux = getPower();
 	drv->setLimits(tmclimits);
 	//drv->setBiquadTorque(TMC4671Biquad(tmcbq_500hz_07q_25k));
-	drv->setExternalEncoderAllowed(true);
 
 
 	// Enable driver

Firmware/FFBoard/Src/CANPort2B.cpp

@@ -356,15 +356,16 @@ CommandStatus CANPort_2B::command(const ParsedCommand& cmd,std::vector<CommandRe
 			CAN_tx_msg msg;
 			memcpy(msg.data,&cmd.val,8);
 			msg.header.id = cmd.adr;
+			msg.header.length = nextLen;
 			sendMessage(msg);
 		}else{
 			return CommandStatus::NOT_FOUND;
 		}
 		break;
 	}
 	case CanPort_commands::len:
-		handleGetSet(cmd, replies, header.DLC);
-		header.DLC = std::min<uint32_t>(header.DLC,8);
+		handleGetSet(cmd, replies, nextLen);
+		nextLen = std::min<uint32_t>(nextLen,8);
 		break;
 	default:
 		return CommandStatus::NOT_FOUND;

Firmware/FFBoard/Src/HidFFB.cpp

@@ -290,48 +290,36 @@ void HidFFB::set_effect(FFB_SetEffect_t* effect){
 	effect_p->type = effect->effectType;
 	effect_p->samplePeriod = effect->samplePeriod;
 
-	if(axisCount == 1){
-		/* Compatibility fix. Some games may send a 0° or 90° angle for the first axis.
-		 * If we only have 1 axis defined we ignore any directions and force enable the first axis
-		 */
-		effect->enableAxis = X_AXIS_ENABLE;
-	}
-
 	bool directionEnable = (effect->enableAxis & this->directionEnableMask);
+	bool overridesCondition = false;
 
-	if(effect_p->useSingleCondition){ // Only allow turning single condition off in case it was overridden by sending multiple conditions previously
-		effect_p->useSingleCondition = directionEnable; // If direction is used only a single parameter block is allowed. Somehow this is still set while 2 conditions are sent...
-	}else if(directionEnable){
-		directionEnable = false; // If multiple conditions were previously sent we ignore direction enable and instead activate axes
+//	if(effect_p->useSingleCondition){ // Only allow turning single condition off in case it was overridden by sending multiple conditions previously
+//		effect_p->useSingleCondition = directionEnable; // If direction is used only a single parameter block is allowed. Somehow this is still set while 2 conditions are sent...
+//	}
+	// Conditional effects usually do not use directions
+	if(!effect_p->useSingleCondition && (effect->effectType == FFB_EFFECT_SPRING || effect->effectType == FFB_EFFECT_DAMPER || effect->effectType == FFB_EFFECT_INERTIA || effect->effectType == FFB_EFFECT_FRICTION))
+	{
 		if(effect_p->conditions[0].isActive()){
-			effect->enableAxis |= X_AXIS_ENABLE;
+			effect_p->axisMagnitudes[0] = 1.0f;
+			overridesCondition = true;
 		}
-		if(effect_p->conditions[1].isActive()){
-			effect->enableAxis |= Y_AXIS_ENABLE;
+		if(effect_p->conditions[1].isActive() || effect_p->useSingleCondition){
+			effect_p->axisMagnitudes[1] = 1.0f;
+			overridesCondition = true;
 		}
 	}
 
-	float phaseX = M_PI*2.0 * (effect->directionX/36000.0);
 
-	if(axisCount == 1){
-		/*
-		 * Angular vector if dirEnable used or axis enabled otherwise 0 if axis disabled
-		 * Compatibility fix.
-		 * Some single axis games send no directionEnable but enableAxis but still use phase vectors to scale a single axis effect
-		 */
-		effect_p->axisMagnitudes[0] = (directionEnable || (effect->enableAxis & X_AXIS_ENABLE) ? sin(phaseX) : 0);
-	}else{
-		/*
-		 * Some 2 axis games send no vector and require the axis to be enable via enableAxis
-		 */
-		effect_p->axisMagnitudes[0] = directionEnable ? sin(phaseX) : (effect->enableAxis & X_AXIS_ENABLE ? 1 : 0); // Angular vector if dirEnable used otherwise full or 0 if axis enabled
-		effect_p->axisMagnitudes[1] = directionEnable ? cos(phaseX) : (effect->enableAxis & Y_AXIS_ENABLE ? 1 : 0); // Angular vector if
+	if(!overridesCondition){
+		float phaseX = M_PI*2.0 * (effect->directionX/36000.0f);
+
+		effect_p->axisMagnitudes[0] = directionEnable ? sin(phaseX) : (effect->enableAxis & X_AXIS_ENABLE ? (effect->directionX - 18000.0f) / 18000.0f : 0); // Angular vector if dirEnable used otherwise linear or 0 if axis enabled
+		effect_p->axisMagnitudes[1] = directionEnable ? -cos(phaseX) : (effect->enableAxis & Y_AXIS_ENABLE ? -(effect->directionY - 18000.0f) / 18000.0f : 0);
 	}
 
 #if MAX_AXIS == 3
 	float phaseY = M_PI*2.0 * (effect->directionY/36000.0);
-	effect_p->axisMagnitudes[3] = (directionEnable || (effect->enableAxis & Z_AXIS_ENABLE) ? sin(phaseY) : 0); // Angular vector if dirEnable used otherwise full or 0 if axis enabled
-
+	effect_p->axisMagnitudes[3] = directionEnable ? sin(phaseY) : (effect->enableAxis & Z_AXIS_ENABLE ? (effect->directionZ - 18000.0f) / 18000.0f : 0);
 #endif
 	if(effect->duration == 0){ // Fix for games assuming 0 is infinite
 		effect_p->duration = FFB_EFFECT_DURATION_INFINITE;
@@ -372,20 +360,24 @@ void HidFFB::set_condition(FFB_SetCondition_Data_t *cond){
 	effect->conditions[axis].negativeSaturation = cond->negativeSaturation;
 	effect->conditions[axis].positiveSaturation = cond->positiveSaturation;
 	effect->conditions[axis].deadBand = cond->deadBand;
-	//effect->conditionsCount++;
-	if(effect->conditions[axis].positiveSaturation == 0){
-		effect->conditions[axis].positiveSaturation = 0x7FFF;
-	}
-	if(effect->conditions[axis].negativeSaturation == 0){
-		effect->conditions[axis].negativeSaturation = 0x7FFF;
-	}
 
-	if(axis>0){ // Workaround when direction enable is set but multiple conditions are defined... Resets direction and uses conditions again
+//	if(effect->conditions[axis].positiveSaturation == 0){
+//		effect->conditions[axis].positiveSaturation = 0x7FFF;
+//	}
+//	if(effect->conditions[axis].negativeSaturation == 0){
+//		effect->conditions[axis].negativeSaturation = 0x7FFF;
+//	}
+
+	if(axis>0 && axis < MAX_AXIS && effect->conditions[axis].isActive()){ // Workaround when direction enable is set but multiple conditions are defined... Resets direction and uses conditions again
 		effect->useSingleCondition = false;
-		for(uint8_t i = 0;i<MAX_AXIS;i++){
-			effect->axisMagnitudes[i] = 1.0;
-		}
 	}
+	if((effect->conditions[axis].isActive() || (axis > 0 && effect->useSingleCondition))  && effect->axisMagnitudes[axis] == 0){
+		effect->axisMagnitudes[axis] = 1.0;
+	}
+
+//	for(uint8_t i = 0;i<MAX_AXIS;i++){
+//		effect->axisMagnitudes[i] = 1.0;
+//	}
 }
 
 void HidFFB::set_effect_operation(FFB_EffOp_Data_t* report){

Firmware/FFBoard/Src/voltagesense.cpp

@@ -92,7 +92,7 @@ void brakeCheck(){
 
 }
 
-FastMovingAverage<int32_t>chipTempAvg{5};
+FastMovingAverage<int32_t>chipTempAvg{3};
 __weak int32_t getChipTemp(){
 #if !defined(TEMPSENSOR_ADC_VAL) || !defined(__LL_ADC_CALC_TEMPERATURE)
 	return 0;

Firmware/FFBoard/UserExtensions/Inc/SPIButtons.h

@@ -29,13 +29,15 @@ struct ButtonSourceConfig{
 	SPI_BtnMode mode=SPI_BtnMode::TM; // Mode preset
 	uint8_t cs_num = 0;
 	uint8_t spi_speed = 1; // Medium
+	bool debounce_enabled = false;
+	uint16_t debounce_time = 0; // in ms
 };
 
 
 class SPI_Buttons: public ButtonSource,public CommandHandler,public SPIDevice {
 
 	enum class SPIButtons_commands : uint32_t {
-		mode,btncut,btnpol,btnnum,cs,spispeed
+		mode,btncut,btnpol,btnnum,cs,spispeed,debounceen,debouncetime
 	};
 
 public:
@@ -62,6 +64,11 @@ class SPI_Buttons: public ButtonSource,public CommandHandler,public SPIDevice {
 
 	void setSpiSpeed(uint8_t speedPreset);
 
+	void setDebounceEnabled(bool enabled);
+	void setDebounceTime(uint16_t time_ms);
+	bool isDebounceEnabled() { return conf.debounce_enabled; }
+	uint16_t getDebounceTime() { return conf.debounce_time; }
+
 protected:
 	SPI_Buttons(uint16_t configuration_address, uint16_t configuration_address_2);
 
@@ -77,6 +84,11 @@ class SPI_Buttons: public ButtonSource,public CommandHandler,public SPIDevice {
 	uint8_t offset = 0;
 
 	ButtonSourceConfig conf;
+
+	// Button debouncing variables
+	uint64_t last_button_state = 0; // Last button state for debounce detection
+	uint64_t debounced_state = 0;   // Current stable debounced button state
+	uint32_t last_debounce_time = 0; // Timestamp of last button state change
 
 	uint8_t spi_buf[4] = {0};
 

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -150,7 +150,7 @@ struct TMC4671MainConfig{
 	uint8_t bbmL			= 50;
 	uint8_t bbmH			= 50;
 	uint16_t mdecA 			= 660; // 334 default. 331 recommended by datasheet,662 double. 660 lowest noise
-	uint16_t mdecB 			= 660; // Encoder ADC high resolution recommended
+	uint16_t mdecB 			= 331; // Encoder ADC fast rate recommended
 	uint32_t mclkA			= 0x20000000; //0x20000000 default
 	uint32_t mclkB			= 0x20000000; // For AENC
 	uint16_t adc_I0_offset 	= 33415;
@@ -368,7 +368,7 @@ friend class TMCDebugBridge;
 
 	uint32_t readReg(uint8_t reg);
 	void writeReg(uint8_t reg,uint32_t dat);
-	void writeRegDMA(uint8_t reg,uint32_t dat);
+	void writeRegAsync(uint8_t reg,uint32_t dat);
 	void updateReg(uint8_t reg,uint32_t dat,uint32_t mask,uint8_t shift);
 	//void SpiTxCplt(SPI_HandleTypeDef *hspi);
 

Firmware/FFBoard/UserExtensions/Inc/TMCDebugBridge.h

@@ -23,7 +23,7 @@ extern SPI_HandleTypeDef HSPIDRV;
 
 class TMCDebugBridge: public FFBoardMain {
 	enum class TMCDebugBridge_commands : uint32_t{
-		torque,pos,openloopspeed,velocity,mode,reg
+		torque,pos,openloopspeed,velocity,mode,reg,openloopspeedpwm
 	};
 public:
 

Firmware/FFBoard/UserExtensions/Inc/usb_hid_ffb_desc.h

@@ -15,7 +15,7 @@
 extern const uint8_t hid_1ffb_desc[USB_HID_1FFB_REPORT_DESC_SIZE];
 #endif
 
-#define USB_HID_2FFB_REPORT_DESC_SIZE 1208//1213
+#define USB_HID_2FFB_REPORT_DESC_SIZE 1215//1213
 #ifdef AXIS2_FFB_HID_DESC
 extern const uint8_t hid_2ffb_desc[USB_HID_2FFB_REPORT_DESC_SIZE];
 #endif