fix(bHaptics): extract outputs to global variables

senseshift · Aug 20, 2024 · 50c3265 · 50c3265
1 parent 382983b
commit 50c3265
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Showing 10 changed files with 97 additions and 92 deletions.
diff --git a/arch/esp32/esp32.ini b/arch/esp32/esp32.ini
@@ -18,3 +18,5 @@ lib_deps =
 lib_ignore =
     segger_rtt
     ESP32 BLE Arduino
+
+monitor_filters = esp32_exception_decoder
diff --git a/firmware/variants/bhaptics/bhaptics.ini b/firmware/variants/bhaptics/bhaptics.ini
@@ -1,4 +1,6 @@
 [base:bhaptics]
+extends = arch:esp32
+
 platform = ${arch:esp32.platform}
 platform_packages =
     ${arch:esp32.platform_packages}

diff --git a/firmware/variants/bhaptics/tactal/tactal.cpp b/firmware/variants/bhaptics/tactal/tactal.cpp
@@ -29,15 +29,15 @@ Application* app = &App;
 
 static const std::array<Position, BH_LAYOUT_TACTAL_SIZE> bhLayout = { BH_LAYOUT_TACTAL };
 
+// Configure PWM pins to their positions on the face
+const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the face
-    const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane(faceOutputs));
 
     app->getVibroBody()->setup();

diff --git a/firmware/variants/bhaptics/tactosy2/tactosy2.cpp b/firmware/variants/bhaptics/tactosy2/tactosy2.cpp
@@ -29,16 +29,16 @@ Application* app = &App;
 
 static const std::array<Position, BH_LAYOUT_TACTOSY2_SIZE> bhLayout = { BH_LAYOUT_TACTOSY2 };
 
+// Configure PWM pins to their positions on the forearm
+auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25) },
+  { new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the forearm
-    auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25) },
-      { new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(forearmOutputs));
 
     app->getVibroBody()->setup();

diff --git a/firmware/variants/bhaptics/tactosyf/tactosyf.cpp b/firmware/variants/bhaptics/tactosyf/tactosyf.cpp
@@ -29,17 +29,17 @@ Application* app = &App;
 
 static const std::array<Position, BH_LAYOUT_TACTOSYF_SIZE> bhLayout = { BH_LAYOUT_TACTOSYF };
 
+// Configure PWM pins to their positions on the feet
+auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32) },
+  { new LedcOutput(33) },
+  { new LedcOutput(25) },
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the feet
-    auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32) },
-      { new LedcOutput(33) },
-      { new LedcOutput(25) },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(footOutputs));
 
     app->getVibroBody()->setup();

diff --git a/firmware/variants/bhaptics/tactosyh/tactosyh.cpp b/firmware/variants/bhaptics/tactosyh/tactosyh.cpp
@@ -29,17 +29,17 @@ Application* app = &App;
 
 static const std::array<Position, BH_LAYOUT_TACTOSYH_SIZE> bhLayout = { BH_LAYOUT_TACTOSYH };
 
+// Configure PWM pins to their positions on the hands
+auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32) },
+  { new LedcOutput(33) },
+  { new LedcOutput(25) }
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the hands
-    auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32) },
-      { new LedcOutput(33) },
-      { new LedcOutput(25) }
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(handOutputs));
 
     app->getVibroBody()->setup();

diff --git a/firmware/variants/bhaptics/tactsuit_x16/tactsuit_x16.cpp b/firmware/variants/bhaptics/tactsuit_x16/tactsuit_x16.cpp
@@ -32,22 +32,22 @@ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { B
 // Ouput indices, responsible for x40 => x16 grouping
 static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
 
+// Configure PWM pins to their positions on the vest
+auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
+  { new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
+  // clang-format on
+});
+auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(19), new LedcOutput(18), new LedcOutput(5), new LedcOutput(17) },
+  { new LedcOutput(16), new LedcOutput(4), new LedcOutput(2), new LedcOutput(15)  },
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the vest
-    auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
-      { new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
-      // clang-format on
-    });
-    auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(19), new LedcOutput(18), new LedcOutput(5), new LedcOutput(17) },
-      { new LedcOutput(16), new LedcOutput(4), new LedcOutput(2), new LedcOutput(15)  },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
     app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));
 

diff --git a/firmware/variants/bhaptics/tactsuit_x16_pca9685/tactsuit_x16_pca9685.cpp b/firmware/variants/bhaptics/tactsuit_x16_pca9685/tactsuit_x16_pca9685.cpp
@@ -35,33 +35,34 @@ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { B
 // Ouput indices, responsible for x40 => x16 grouping
 static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;
 
+auto pwm = i2cdev::PCA9685(0x40, I2CDev);
+
+// Assign the pins on the configured PCA9685 to positions on the vest
+auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new PCA9685Output(pwm, 0), new PCA9685Output(pwm, 1), new PCA9685Output(pwm, 2), new PCA9685Output(pwm, 3) },
+  { new PCA9685Output(pwm, 4), new PCA9685Output(pwm, 5), new PCA9685Output(pwm, 6), new PCA9685Output(pwm, 7) },
+  // clang-format on
+});
+auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new PCA9685Output(pwm, 8),  new PCA9685Output(pwm, 9),  new PCA9685Output(pwm, 10), new PCA9685Output(pwm, 11) },
+  { new PCA9685Output(pwm, 12), new PCA9685Output(pwm, 13), new PCA9685Output(pwm, 14), new PCA9685Output(pwm, 15) },
+  // clang-format on
+});
+
 void setup()
 {
     Wire.begin();
 
     // Configure the PCA9685s
-    auto pwm = i2cdev::PCA9685(0x40, I2CDev);
     if (pwm.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to set frequency");
     }
     if (pwm.wakeup() != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to wake up");
     }
 
-    // Assign the pins on the configured PCA9685 to positions on the vest
-    auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new PCA9685Output(pwm, 0), new PCA9685Output(pwm, 1), new PCA9685Output(pwm, 2), new PCA9685Output(pwm, 3) },
-      { new PCA9685Output(pwm, 4), new PCA9685Output(pwm, 5), new PCA9685Output(pwm, 6), new PCA9685Output(pwm, 7) },
-      // clang-format on
-    });
-    auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new PCA9685Output(pwm, 8),  new PCA9685Output(pwm, 9),  new PCA9685Output(pwm, 10), new PCA9685Output(pwm, 11) },
-      { new PCA9685Output(pwm, 12), new PCA9685Output(pwm, 13), new PCA9685Output(pwm, 14), new PCA9685Output(pwm, 15) },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
     app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));
 

diff --git a/firmware/variants/bhaptics/tactsuit_x40/tactsuit_x40.cpp b/firmware/variants/bhaptics/tactsuit_x40/tactsuit_x40.cpp
@@ -34,48 +34,48 @@ Application* app = &App;
 
 static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX40_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX40 };
 
+auto pwm0 = i2cdev::PCA9685(0x40, I2CDev);
+auto pwm1 = i2cdev::PCA9685(0x41, I2CDev);
+
+// Assign the pins on the configured PCA9685s and PWM pins to locations on the vest
+auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new PCA9685Output(pwm0, 0),  new PCA9685Output(pwm0, 1),  new PCA9685Output(pwm0, 2),  new PCA9685Output(pwm0, 3)  },
+  { new PCA9685Output(pwm0, 4),  new PCA9685Output(pwm0, 5),  new PCA9685Output(pwm0, 6),  new PCA9685Output(pwm0, 7)  },
+  { new PCA9685Output(pwm0, 8),  new PCA9685Output(pwm0, 9),  new PCA9685Output(pwm0, 10), new PCA9685Output(pwm0, 11) },
+  { new PCA9685Output(pwm0, 12), new PCA9685Output(pwm0, 13), new PCA9685Output(pwm0, 14), new PCA9685Output(pwm0, 15) },
+  { new LedcOutput(32),          new LedcOutput(33),          new LedcOutput(25),          new LedcOutput(26)          },
+  // clang-format on
+});
+auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new PCA9685Output(pwm1, 0),  new PCA9685Output(pwm1, 1),  new PCA9685Output(pwm1, 2),  new PCA9685Output(pwm1, 3)  },
+  { new PCA9685Output(pwm1, 4),  new PCA9685Output(pwm1, 5),  new PCA9685Output(pwm1, 6),  new PCA9685Output(pwm1, 7)  },
+  { new PCA9685Output(pwm1, 8),  new PCA9685Output(pwm1, 9),  new PCA9685Output(pwm1, 10), new PCA9685Output(pwm1, 11) },
+  { new PCA9685Output(pwm1, 12), new PCA9685Output(pwm1, 13), new PCA9685Output(pwm1, 14), new PCA9685Output(pwm1, 15) },
+  { new LedcOutput(27),          new LedcOutput(14),          new LedcOutput(12),          new LedcOutput(13)          },
+  // clang-format on
+});
+
 void setup()
 {
     Wire.begin();
 
     // Configure the PCA9685s
-    auto pwm0 = i2cdev::PCA9685(0x40, I2CDev);
     if (pwm0.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to set frequency");
     }
     if (pwm0.wakeup() != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to wake up");
     }
 
-    auto pwm1 = i2cdev::PCA9685(0x41, I2CDev);
     if (pwm1.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to set frequency");
     }
     if (pwm1.wakeup() != I2CDEV_RESULT_OK) {
         LOG_E("pca9685", "Failed to wake up");
     }
 
-    // Assign the pins on the configured PCA9685s and PWM pins to locations on the
-    // vest
-    auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-          { new PCA9685Output(pwm0, 0),  new PCA9685Output(pwm0, 1),  new PCA9685Output(pwm0, 2),  new PCA9685Output(pwm0, 3)  },
-          { new PCA9685Output(pwm0, 4),  new PCA9685Output(pwm0, 5),  new PCA9685Output(pwm0, 6),  new PCA9685Output(pwm0, 7)  },
-          { new PCA9685Output(pwm0, 8),  new PCA9685Output(pwm0, 9),  new PCA9685Output(pwm0, 10), new PCA9685Output(pwm0, 11) },
-          { new PCA9685Output(pwm0, 12), new PCA9685Output(pwm0, 13), new PCA9685Output(pwm0, 14), new PCA9685Output(pwm0, 15) },
-          { new LedcOutput(32),          new LedcOutput(33),          new LedcOutput(25),          new LedcOutput(26)          },
-      // clang-format on
-    });
-    auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-          { new PCA9685Output(pwm1, 0),  new PCA9685Output(pwm1, 1),  new PCA9685Output(pwm1, 2),  new PCA9685Output(pwm1, 3)  },
-          { new PCA9685Output(pwm1, 4),  new PCA9685Output(pwm1, 5),  new PCA9685Output(pwm1, 6),  new PCA9685Output(pwm1, 7)  },
-          { new PCA9685Output(pwm1, 8),  new PCA9685Output(pwm1, 9),  new PCA9685Output(pwm1, 10), new PCA9685Output(pwm1, 11) },
-          { new PCA9685Output(pwm1, 12), new PCA9685Output(pwm1, 13), new PCA9685Output(pwm1, 14), new PCA9685Output(pwm1, 15) },
-          { new LedcOutput(27),          new LedcOutput(14),          new LedcOutput(12),          new LedcOutput(13)          },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
     app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));
 

diff --git a/firmware/variants/bhaptics/tactvisor/tactvisor.cpp b/firmware/variants/bhaptics/tactvisor/tactvisor.cpp
@@ -29,15 +29,15 @@ Application* app = &App;
 
 static const std::array<Position, BH_LAYOUT_TACTVISOR_SIZE> bhLayout = { BH_LAYOUT_TACTVISOR };
 
+// Configure PWM pins to their positions on the face
+auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
+  // clang-format off
+  { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
+  // clang-format on
+});
+
 void setup()
 {
-    // Configure PWM pins to their positions on the face
-    auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
-      // clang-format off
-      { new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
-      // clang-format on
-    });
-
     app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane(faceOutputs));
 
     app->getVibroBody()->setup();