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Feat(#1): DSP, Reconstruction Filter and Tmc init optimisation #167

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e23abe8
Include the algorithm library where needed
dracc Oct 20, 2025
07ee4c6
Fix deprecation warning in ringbufferwrapper
dracc Oct 20, 2025
bc63e6a
Makefile cleanup
dracc Oct 20, 2025
14088a6
Command interface buffer size changes
Ultrawipf Aug 26, 2024
2d788c9
SPI allow speed range
Ultrawipf Sep 28, 2023
b00ae8a
Task delay in i2c eeprom
Ultrawipf Oct 21, 2023
a7315df
Dynamic biss-c speed presets
Ultrawipf Oct 23, 2023
a1c13f1
Add force erase flag for debugging
Ultrawipf Dec 8, 2023
25119c9
Set initial spi device config to actual current port config
Ultrawipf Jan 23, 2024
a420a1f
Add analog encoder cal skip option
Ultrawipf Jan 30, 2024
488572a
.gitignore added Debug
Ultrawipf Feb 7, 2024
5e4c88d
TMC4671 restructured hw conf constants
Ultrawipf Feb 20, 2024
df66376
TMC allow autotuning I term definition
Ultrawipf Feb 22, 2024
1bc949a
Commandhandler split register command template and prepared overriding
Ultrawipf Feb 22, 2024
134840e
Make FFB capable axes optionally report 32b gamepad values
Ultrawipf Feb 26, 2024
f48e9f7
Allow changing FFB update rates
Ultrawipf Mar 4, 2024
69ce7c5
Added tasklist
Ultrawipf Mar 6, 2024
484af58
Periodic effect sampling using microsecond counter
Ultrawipf Mar 6, 2024
11eef1a
Corrected tmc hw config defines
Ultrawipf Mar 6, 2024
034c2f5
TMC4671 corrected brake pin settings.
Ultrawipf Mar 12, 2024
23e06a7
Removed micros timer from canbridge
Ultrawipf Mar 19, 2024
720584a
Default ffb rate option
Ultrawipf Mar 19, 2024
cabb85c
Axis always returns a 32b value. mainclass does the scaling in 16b mode.
Ultrawipf Apr 2, 2024
c28fc29
Prepared usb descriptor splitting.
Ultrawipf Apr 2, 2024
b95b81e
Split HID gamepad report buffer into helper class
Ultrawipf Apr 4, 2024
57fe767
Cleanup
Ultrawipf Apr 8, 2024
dee37c0
I2C eeprom using port class.
Ultrawipf Apr 16, 2024
9e958de
TMC check if motor is set before encoder init
Ultrawipf Apr 23, 2024
2e22765
FFBWheel supporting variable range in 32b desc mode
Ultrawipf Apr 29, 2024
6334cd7
HID command interface using reference in loop
Ultrawipf Apr 29, 2024
c1804dc
Fixed first 16b axis being scaled incorrectly
Ultrawipf May 3, 2024
6aff9be
Axis updates friction and inertia filters on samplerate change
Ultrawipf Jun 14, 2024
e5adac3
Allow overriding flash defaults. Requires >CPP20
Ultrawipf Aug 26, 2024
c5bd54c
Wait at least 1ms if no TIM_FFB defined
Ultrawipf Feb 10, 2025
9f19737
TMC4671 fix ext encoder timer not starting
Ultrawipf Feb 26, 2025
7a6ae9e
TMC4671 make ext enc timer ARR a define
Ultrawipf Feb 26, 2025
855aa0a
feat: DSP, Reconstruction Filter, Tmc init optimisation
manoukianv Nov 9, 2025
8abc3d2
fix: linear, splite arm and splite hermite
manoukianv Nov 10, 2025
a708735
More encoder validity checks
Ultrawipf Nov 11, 2025
18ec300
Command interface buffer size changes
Ultrawipf Aug 26, 2024
1d7ba03
SPI allow speed range
Ultrawipf Sep 28, 2023
8013133
Task delay in i2c eeprom
Ultrawipf Oct 21, 2023
d8b0f03
Dynamic biss-c speed presets
Ultrawipf Oct 23, 2023
c0329a3
Add force erase flag for debugging
Ultrawipf Dec 8, 2023
923e597
Set initial spi device config to actual current port config
Ultrawipf Jan 23, 2024
6dbc6a0
Add analog encoder cal skip option
Ultrawipf Jan 30, 2024
7ec9c94
.gitignore added Debug
Ultrawipf Feb 7, 2024
edb538e
TMC4671 restructured hw conf constants
Ultrawipf Feb 20, 2024
cd995aa
TMC allow autotuning I term definition
Ultrawipf Feb 22, 2024
bd22c1e
Commandhandler split register command template and prepared overriding
Ultrawipf Feb 22, 2024
a308be5
Make FFB capable axes optionally report 32b gamepad values
Ultrawipf Feb 26, 2024
f617222
Allow changing FFB update rates
Ultrawipf Mar 4, 2024
796ba4b
Added tasklist
Ultrawipf Mar 6, 2024
21bdc37
Periodic effect sampling using microsecond counter
Ultrawipf Mar 6, 2024
e59796c
Corrected tmc hw config defines
Ultrawipf Mar 6, 2024
318242e
TMC4671 corrected brake pin settings.
Ultrawipf Mar 12, 2024
d6bfd0e
Removed micros timer from canbridge
Ultrawipf Mar 19, 2024
a7c765a
Default ffb rate option
Ultrawipf Mar 19, 2024
e09f4cd
Axis always returns a 32b value. mainclass does the scaling in 16b mode.
Ultrawipf Apr 2, 2024
e080397
Prepared usb descriptor splitting.
Ultrawipf Apr 2, 2024
b7f4faf
Split HID gamepad report buffer into helper class
Ultrawipf Apr 4, 2024
70d2a55
Cleanup
Ultrawipf Apr 8, 2024
0e5bbb8
I2C eeprom using port class.
Ultrawipf Apr 16, 2024
43bb264
TMC check if motor is set before encoder init
Ultrawipf Apr 23, 2024
716d6a5
FFBWheel supporting variable range in 32b desc mode
Ultrawipf Apr 29, 2024
bcaa962
HID command interface using reference in loop
Ultrawipf Apr 29, 2024
5e3c237
Fixed first 16b axis being scaled incorrectly
Ultrawipf May 3, 2024
902fdfc
Axis updates friction and inertia filters on samplerate change
Ultrawipf Jun 14, 2024
23734b0
Allow overriding flash defaults. Requires >CPP20
Ultrawipf Aug 26, 2024
e4cd75b
Wait at least 1ms if no TIM_FFB defined
Ultrawipf Feb 10, 2025
eea5ab1
TMC4671 fix ext encoder timer not starting
Ultrawipf Feb 26, 2025
e4df0e7
TMC4671 make ext enc timer ARR a define
Ultrawipf Feb 26, 2025
7335a55
feat: DSP, Reconstruction Filter, Tmc init optimisation
manoukianv Nov 11, 2025
ead7204
fix: linear, splite arm and splite hermite
manoukianv Nov 11, 2025
44d3ef7
Merge branch 'feat/new_ffb_process_and_add_DSP' of https://github.com…
manoukianv Nov 11, 2025
0399851
fix: tmc init in axis, and starting initialisation
manoukianv Nov 11, 2025
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5 changes: 2 additions & 3 deletions Firmware/.gitignore
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
/*Debug/
**/Debug/
**/Release/
**/.settings/
*.launch
Expand All @@ -7,5 +7,4 @@
.mxproject
fixlang
/build/
/OpenFFBoard/
/*Targets/F407VG/*.cfg
/OpenFFBoard/
4 changes: 2 additions & 2 deletions Firmware/FFBoard/Inc/AxesManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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