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-rw-r--r--drivers/haptic/haptic.c53
-rw-r--r--drivers/haptic/solenoid.c10
-rw-r--r--drivers/haptic/solenoid.h18
3 files changed, 56 insertions, 25 deletions
diff --git a/drivers/haptic/haptic.c b/drivers/haptic/haptic.c
index 2ce279b753..de3f400527 100644
--- a/drivers/haptic/haptic.c
+++ b/drivers/haptic/haptic.c
@@ -33,11 +33,18 @@ void haptic_init(void) {
eeconfig_init();
}
haptic_config.raw = eeconfig_read_haptic();
- if (haptic_config.mode < 1) {
- haptic_config.mode = 1;
- }
- if (!haptic_config.mode) {
- dprintf("No haptic config found in eeprom, setting default configs\n");
+#ifdef SOLENOID_ENABLE
+ solenoid_set_dwell(haptic_config.dwell);
+#endif
+ if ((haptic_config.raw == 0)
+#ifdef SOLENOID_ENABLE
+ || (haptic_config.dwell == 0)
+#endif
+ ) {
+ // this will be called, if the eeprom is not corrupt,
+ // but the previous firmware didn't have haptic enabled,
+ // or the previous firmware didn't have solenoid enabled,
+ // and the current one has solenoid enabled.
haptic_reset();
}
#ifdef SOLENOID_ENABLE
@@ -118,25 +125,37 @@ void haptic_mode_decrease(void) {
}
void haptic_dwell_increase(void) {
- uint8_t dwell = haptic_config.dwell + 1;
#ifdef SOLENOID_ENABLE
+ int16_t next_dwell = ((int16_t)haptic_config.dwell) + SOLENOID_DWELL_STEP_SIZE;
if (haptic_config.dwell >= SOLENOID_MAX_DWELL) {
- dwell = 1;
+ // if it's already at max, we wrap back to min
+ next_dwell = SOLENOID_MIN_DWELL;
+ } else if (next_dwell > SOLENOID_MAX_DWELL) {
+ // if we overshoot the max, then cap at max
+ next_dwell = SOLENOID_MAX_DWELL;
}
- solenoid_set_dwell(dwell);
+ solenoid_set_dwell(next_dwell);
+#else
+ int16_t next_dwell = ((int16_t)haptic_config.dwell) + 1;
#endif
- haptic_set_dwell(dwell);
+ haptic_set_dwell(next_dwell);
}
void haptic_dwell_decrease(void) {
- uint8_t dwell = haptic_config.dwell - 1;
#ifdef SOLENOID_ENABLE
- if (haptic_config.dwell < SOLENOID_MIN_DWELL) {
- dwell = SOLENOID_MAX_DWELL;
+ int16_t next_dwell = ((int16_t)haptic_config.dwell) - SOLENOID_DWELL_STEP_SIZE;
+ if (haptic_config.dwell <= SOLENOID_MIN_DWELL) {
+ // if it's already at min, we wrap to max
+ next_dwell = SOLENOID_MAX_DWELL;
+ } else if (next_dwell < SOLENOID_MIN_DWELL) {
+ // if we go below min, then we cap to min
+ next_dwell = SOLENOID_MIN_DWELL;
}
- solenoid_set_dwell(dwell);
+ solenoid_set_dwell(next_dwell);
+#else
+ int16_t next_dwell = ((int16_t)haptic_config.dwell) - 1;
#endif
- haptic_set_dwell(dwell);
+ haptic_set_dwell(next_dwell);
}
void haptic_reset(void) {
@@ -150,6 +169,12 @@ void haptic_reset(void) {
#ifdef SOLENOID_ENABLE
uint8_t dwell = SOLENOID_DEFAULT_DWELL;
haptic_config.dwell = dwell;
+ haptic_config.buzz = SOLENOID_DEFAULT_BUZZ;
+ solenoid_set_dwell(dwell);
+#else
+ // This is to trigger haptic_reset again, if solenoid is enabled in the future.
+ haptic_config.dwell = 0;
+ haptic_config.buzz = 0;
#endif
eeconfig_update_haptic(haptic_config.raw);
xprintf("haptic_config.feedback = %u\n", haptic_config.feedback);
diff --git a/drivers/haptic/solenoid.c b/drivers/haptic/solenoid.c
index d645c379ae..2975ef893a 100644
--- a/drivers/haptic/solenoid.c
+++ b/drivers/haptic/solenoid.c
@@ -32,14 +32,6 @@ void solenoid_buzz_off(void) { haptic_set_buzz(0); }
void solenoid_set_buzz(int buzz) { haptic_set_buzz(buzz); }
-void solenoid_dwell_minus(uint8_t solenoid_dwell) {
- if (solenoid_dwell > 0) solenoid_dwell--;
-}
-
-void solenoid_dwell_plus(uint8_t solenoid_dwell) {
- if (solenoid_dwell < SOLENOID_MAX_DWELL) solenoid_dwell++;
-}
-
void solenoid_set_dwell(uint8_t dwell) { solenoid_dwell = dwell; }
void solenoid_stop(void) {
@@ -73,7 +65,7 @@ void solenoid_check(void) {
// Check whether to buzz the solenoid on and off
if (haptic_config.buzz) {
- if (elapsed / SOLENOID_MIN_DWELL % 2 == 0) {
+ if ((elapsed % (SOLENOID_BUZZ_ACTUATED + SOLENOID_BUZZ_NONACTUATED)) < SOLENOID_BUZZ_ACTUATED) {
if (!solenoid_buzzing) {
solenoid_buzzing = true;
writePinHigh(SOLENOID_PIN);
diff --git a/drivers/haptic/solenoid.h b/drivers/haptic/solenoid.h
index dd6ececa68..f2a3bc4c30 100644
--- a/drivers/haptic/solenoid.h
+++ b/drivers/haptic/solenoid.h
@@ -29,6 +29,22 @@
# define SOLENOID_MIN_DWELL 4
#endif
+#ifndef SOLENOID_DWELL_STEP_SIZE
+# define SOLENOID_DWELL_STEP_SIZE 1
+#endif
+
+#ifndef SOLENOID_DEFAULT_BUZZ
+# define SOLENOID_DEFAULT_BUZZ 0
+#endif
+
+#ifndef SOLENOID_BUZZ_ACTUATED
+# define SOLENOID_BUZZ_ACTUATED SOLENOID_MIN_DWELL
+#endif
+
+#ifndef SOLENOID_BUZZ_NONACTUATED
+# define SOLENOID_BUZZ_NONACTUATED SOLENOID_MIN_DWELL
+#endif
+
#ifndef SOLENOID_PIN
# error SOLENOID_PIN not defined
#endif
@@ -37,8 +53,6 @@ void solenoid_buzz_on(void);
void solenoid_buzz_off(void);
void solenoid_set_buzz(int buzz);
-void solenoid_dwell_minus(uint8_t solenoid_dwell);
-void solenoid_dwell_plus(uint8_t solenoid_dwell);
void solenoid_set_dwell(uint8_t dwell);
void solenoid_stop(void);