273 lines
10 KiB
C
273 lines
10 KiB
C
#include <furi.h>
|
|
#include <furi_hal.h>
|
|
#include <input/input.h>
|
|
#include <sys/time.h>
|
|
#include "engine/sensors/imu.h"
|
|
#include "imu_controller.h"
|
|
|
|
// Number of readings per second for the IMU
|
|
#define BUTTON_READINGS_PER_SECOND 20
|
|
|
|
// Default configuration for the IMU controller
|
|
const ImuControllerConfig IMU_CONTROLLER_DEFAULT_CONFIG = {
|
|
.roll_up = 8.0f, // 8 degrees triggers an Up button press
|
|
.roll_down = -8.0f, // -8 degrees triggers a Down button press
|
|
.roll_hysteresis = 3.0f, // 3 degrees of movement is required to release the Up or Down button press
|
|
.pitch_left = 20.0f, // 20 degrees triggers a Left button press
|
|
.pitch_right = -20.0f, // -20 degrees triggers a Right button press
|
|
.pitch_hysteresis = 5.0f, // 5 degrees of movement is required to release the Left or Right button press
|
|
.button_state_long_ms = 300, // 300ms is the time required to trigger a long press event
|
|
.button_state_repeat_ms = 150, // 150ms is the time required to trigger a repeat press event
|
|
.vibro_duration = 25, // 25ms is the duration of the vibration when a button is pressed or released
|
|
};
|
|
|
|
// Current virtual button state
|
|
typedef enum {
|
|
ButtonStateReleased = 0,
|
|
ButtonStatePressed,
|
|
ButtonStateLongPressed,
|
|
ButtonStateRepeatPressed,
|
|
} ButtonState;
|
|
|
|
// IMU controller structure
|
|
struct ImuController {
|
|
const ImuControllerConfig* config;
|
|
ImuControllerQueue queue_message;
|
|
FuriMutex* mutex;
|
|
Imu* imu;
|
|
void* context;
|
|
FuriTimer* timer;
|
|
uint32_t button_press_tick[InputKeyMAX];
|
|
ButtonState button_state[InputKeyMAX];
|
|
};
|
|
|
|
/**
|
|
* @brief Release a virtual button
|
|
* @param controller The controller
|
|
* @param key The key
|
|
*/
|
|
static void imu_controller_release(ImuController* controller, InputKey key) {
|
|
// If the button was already released, ignore the request.
|
|
if(controller->button_state[key] == ButtonStateReleased) {
|
|
return;
|
|
}
|
|
|
|
if(controller->config->vibro_duration) {
|
|
furi_hal_vibro_on(true);
|
|
}
|
|
|
|
// If the button was pressed, send a InputTypeShort event
|
|
// (otherwise we already sent a InputTypeLong event).
|
|
if(controller->button_state[key] == ButtonStatePressed) {
|
|
controller->queue_message(controller->context, InputTypeShort, key);
|
|
}
|
|
|
|
// Send a InputTypeRelease event
|
|
controller->queue_message(controller->context, InputTypeRelease, key);
|
|
// Reset the button state
|
|
controller->button_press_tick[key] = 0;
|
|
controller->button_state[key] = ButtonStateReleased;
|
|
|
|
if(controller->config->vibro_duration) {
|
|
furi_delay_ms(controller->config->vibro_duration);
|
|
furi_hal_vibro_on(false);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Press a virtual button
|
|
* @param controller The controller
|
|
* @param key The key
|
|
*/
|
|
static void imu_controller_press(ImuController* controller, InputKey key) {
|
|
if(controller->button_press_tick[key]) {
|
|
// If the button was already pressed, check if we need to send a InputTypeLong or InputTypeRepeat event.
|
|
uint32_t duration = furi_get_tick() - controller->button_press_tick[key];
|
|
|
|
// If the button was pressed for a long time, send a InputTypeLong event.
|
|
if(controller->config->button_state_long_ms &&
|
|
(controller->button_state[key] == ButtonStatePressed &&
|
|
duration >= controller->config->button_state_long_ms)) {
|
|
// Send a InputTypeLong event
|
|
controller->queue_message(controller->context, InputTypeLong, key);
|
|
// Update the button state
|
|
controller->button_press_tick[key] = furi_get_tick();
|
|
controller->button_state[key] = ButtonStateLongPressed;
|
|
}
|
|
// If we already sent a InputTypeLong, check if we need to send a InputTypeRepeat event.
|
|
else if(
|
|
controller->config->button_state_repeat_ms &&
|
|
(controller->button_state[key] >= ButtonStateLongPressed &&
|
|
duration > controller->config->button_state_repeat_ms)) {
|
|
// Send a InputTypeRepeat event
|
|
controller->queue_message(controller->context, InputTypeRepeat, key);
|
|
// Update the button state
|
|
controller->button_press_tick[key] = furi_get_tick();
|
|
controller->button_state[key] = ButtonStateRepeatPressed;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
if(controller->config->vibro_duration) {
|
|
furi_hal_vibro_on(true);
|
|
}
|
|
|
|
// Release the button in the opposite direction
|
|
switch(key) {
|
|
case InputKeyUp:
|
|
imu_controller_release(controller, InputKeyDown);
|
|
break;
|
|
case InputKeyDown:
|
|
imu_controller_release(controller, InputKeyUp);
|
|
break;
|
|
case InputKeyLeft:
|
|
imu_controller_release(controller, InputKeyRight);
|
|
break;
|
|
case InputKeyRight:
|
|
imu_controller_release(controller, InputKeyLeft);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
// Send a InputTypePress event
|
|
controller->queue_message(controller->context, InputTypePress, key);
|
|
|
|
// Update the button state
|
|
controller->button_press_tick[key] = furi_get_tick();
|
|
controller->button_state[key] = ButtonStatePressed;
|
|
|
|
if(controller->config->vibro_duration) {
|
|
furi_delay_ms(controller->config->vibro_duration);
|
|
furi_hal_vibro_on(false);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief IMU controller callback
|
|
* @details This function is called periodically to check the IMU orientation and send virtual button events.
|
|
* @param context The context
|
|
*/
|
|
static void imu_controller_callback(void* context) {
|
|
ImuController* imu_controller = (ImuController*)context;
|
|
|
|
// Acquire the mutex to access the IMU
|
|
furi_mutex_acquire(imu_controller->mutex, FuriWaitForever);
|
|
|
|
if(imu_present(imu_controller->imu)) {
|
|
// Get the roll (up/down)
|
|
float roll = imu_roll_get(imu_controller->imu);
|
|
if(roll > imu_controller->config->roll_up) {
|
|
imu_controller_press(imu_controller, InputKeyUp);
|
|
} else if(roll < imu_controller->config->roll_down) {
|
|
imu_controller_press(imu_controller, InputKeyDown);
|
|
}
|
|
// If the roll is outside the hysteresis range, release the up and down buttons
|
|
else if(
|
|
roll < imu_controller->config->roll_up - imu_controller->config->roll_hysteresis &&
|
|
roll > imu_controller->config->roll_down + imu_controller->config->roll_hysteresis) {
|
|
imu_controller_release(imu_controller, InputKeyUp);
|
|
imu_controller_release(imu_controller, InputKeyDown);
|
|
}
|
|
|
|
// Get the pitch (left/right)
|
|
float pitch = imu_pitch_get(imu_controller->imu);
|
|
if(pitch > imu_controller->config->pitch_left) {
|
|
imu_controller_press(imu_controller, InputKeyLeft);
|
|
} else if(pitch < imu_controller->config->pitch_right) {
|
|
imu_controller_press(imu_controller, InputKeyRight);
|
|
}
|
|
// If the pitch is outside the hysteresis range, release the left and right buttons
|
|
else if(
|
|
pitch < imu_controller->config->pitch_left - imu_controller->config->pitch_hysteresis &&
|
|
pitch > imu_controller->config->pitch_right + imu_controller->config->pitch_hysteresis) {
|
|
imu_controller_release(imu_controller, InputKeyLeft);
|
|
imu_controller_release(imu_controller, InputKeyRight);
|
|
}
|
|
}
|
|
|
|
// Release the mutex, so other threads can access the IMU
|
|
furi_mutex_release(imu_controller->mutex);
|
|
}
|
|
|
|
/**
|
|
* @brief Release all virtual buttons
|
|
* @param context The context
|
|
*/
|
|
static void imu_controller_release_buttons(void* context) {
|
|
ImuController* imu_controller = (ImuController*)context;
|
|
imu_controller_release(imu_controller, InputKeyUp);
|
|
imu_controller_release(imu_controller, InputKeyDown);
|
|
imu_controller_release(imu_controller, InputKeyLeft);
|
|
imu_controller_release(imu_controller, InputKeyRight);
|
|
}
|
|
|
|
/**
|
|
* @brief Allocate a new IMU controller
|
|
* @param context The context for callbacks
|
|
* @param config The configuration for pitch and roll
|
|
* @param queue_message A callback to queue input messages
|
|
* @return The new IMU controller
|
|
*/
|
|
ImuController* imu_controller_alloc(
|
|
void* context,
|
|
const ImuControllerConfig* config,
|
|
ImuControllerQueue queue_message) {
|
|
ImuController* imu_controller = malloc(sizeof(ImuController));
|
|
imu_controller->mutex = furi_mutex_alloc(FuriMutexTypeNormal);
|
|
imu_controller->queue_message = queue_message;
|
|
imu_controller->imu = imu_alloc();
|
|
imu_controller->context = context;
|
|
imu_controller->config = config;
|
|
imu_controller->timer =
|
|
furi_timer_alloc(imu_controller_callback, FuriTimerTypePeriodic, imu_controller);
|
|
|
|
return imu_controller;
|
|
}
|
|
|
|
/**
|
|
* @brief Free the IMU controller
|
|
* @param imu_controller The IMU controller
|
|
*/
|
|
void imu_controller_free(ImuController* imu_controller) {
|
|
furi_timer_stop(imu_controller->timer);
|
|
furi_timer_free(imu_controller->timer);
|
|
imu_controller_release_buttons(imu_controller);
|
|
imu_free(imu_controller->imu);
|
|
furi_mutex_free(imu_controller->mutex);
|
|
free(imu_controller);
|
|
}
|
|
|
|
/**
|
|
* @brief Start the IMU controller
|
|
* @details This function starts the IMU controller, which will periodically check the IMU orientation and send virtual button events.
|
|
* @param imu_controller The IMU controller
|
|
*/
|
|
void imu_controller_start(ImuController* imu_controller) {
|
|
furi_timer_start(
|
|
imu_controller->timer, furi_kernel_get_tick_frequency() / BUTTON_READINGS_PER_SECOND);
|
|
}
|
|
|
|
/**
|
|
* @brief Stop the IMU controller
|
|
* @details This function stops the IMU controller, which will stop checking the IMU orientation and sending virtual button events.
|
|
* @param imu_controller The IMU controller
|
|
*/
|
|
void imu_controller_stop(ImuController* imu_controller) {
|
|
furi_timer_stop(imu_controller->timer);
|
|
}
|
|
|
|
/**
|
|
* @brief Recalibrate the IMU controller
|
|
* @details This function stops the IMU controller, recalibrates the IMU and starts the IMU controller again.
|
|
* @param imu_controller The IMU controller
|
|
*/
|
|
void imu_controller_recalibrate(ImuController* imu_controller) {
|
|
imu_controller_stop(imu_controller);
|
|
furi_mutex_acquire(imu_controller->mutex, FuriWaitForever);
|
|
imu_free(imu_controller->imu);
|
|
imu_controller->imu = imu_alloc();
|
|
furi_mutex_release(imu_controller->mutex);
|
|
imu_controller_start(imu_controller);
|
|
} |