Release v1.16.3 CAN remote mainclass mode

CHANGELOG.md

@@ -1,26 +1,17 @@
 ### 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)
-- Using interrupt transfer for TMC4671 encoder forwarding (Fixed again)
-
+- Added remote CAN button/analog source mainclass
 
 ### 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
-- F407: ADC now triggered by timer to reduce interrupt frequency
-- Using analog VREF for voltage sensing (better accuracy with unstable 3.3V)
-- Added chip temperature readout
 
 Internal changes:
 - CAN port interfaces rewritten
 - HAL updated
 - Migrated to CPP20
 - Upgraded to tinyusb 0.17
-- Improved microsecond counter implementation
+- Improved microsecond counter implementation
+- 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
+- F407: ADC now triggered by timer to reduce interrupt frequency
+- Using analog VREF for voltage sensing (better accuracy with unstable 3.3V)
+- Added chip temperature readout

Firmware/FFBoard/Inc/SelectableInputs.h

@@ -0,0 +1,49 @@
+/*
+ * SelectableInputs.h
+ *
+ *  Created on: Apr 28, 2025
+ *      Author: Yannick
+ */
+
+#ifndef SRC_SELECTABLEINPUTS_H_
+#define SRC_SELECTABLEINPUTS_H_
+#include "AnalogSource.h"
+#include "ButtonSource.h"
+#include "semaphore.hpp"
+
+/**
+ * Helper class with common functions to manage input sources
+ */
+class SelectableInputs {
+public:
+	SelectableInputs(const ClassChooser<ButtonSource>& btn_chooser,const ClassChooser<AnalogSource>& analog_chooser);
+	virtual ~SelectableInputs();
+
+	virtual void setBtnTypes(uint16_t btntypes);
+	virtual void addBtnType(uint16_t id);
+	virtual void clearBtnTypes();
+
+	virtual void setAinTypes(uint16_t aintypes);
+	virtual void addAinType(uint16_t id);
+	virtual void clearAinTypes();
+
+	virtual uint8_t getButtonValues(uint64_t &values);
+	virtual std::vector<int32_t>* getAnalogValues();
+
+
+protected:
+	std::vector<std::unique_ptr<ButtonSource>> btns;
+	std::vector<std::unique_ptr<AnalogSource>> analog_inputs;
+
+	cpp_freertos::BinarySemaphore sourcesSem = cpp_freertos::BinarySemaphore(true);
+
+	uint16_t btnsources = 0; // Disabled by default
+	uint16_t ainsources = 0;
+
+	std::vector<int32_t> analogsources_buf; // Persistent buffer
+
+	ClassChooser<ButtonSource> btn_chooser;
+	ClassChooser<AnalogSource> analog_chooser;
+};
+
+#endif /* SRC_SELECTABLEINPUTS_H_ */

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] = {1,16,2}; // Version as array. 8 bit each!
+static const uint8_t SW_VERSION_INT[3] = {1,16,3}; // Version as array. 8 bit each!
 #ifndef MAX_AXIS
 #define MAX_AXIS 2 // ONLY USE 2 for now else screws HID Reports
 #endif
@@ -24,6 +24,8 @@ static const uint8_t SW_VERSION_INT[3] = {1,16,2}; // Version as array. 8 bit ea
 #undef ODRIVE
 #undef CANBUTTONS
 #undef VESC
+#undef CANBRIDGE
+#undef CANINPUTMAIN
 #endif
 
 

Firmware/FFBoard/Src/SelectableInputs.cpp

@@ -0,0 +1,114 @@
+/*
+ * SelectableInputs.cpp
+ *
+ *  Created on: Apr 28, 2025
+ *      Author: Yannick
+ */
+
+#include "SelectableInputs.h"
+
+SelectableInputs::SelectableInputs(const ClassChooser<ButtonSource>& btn_chooser,const ClassChooser<AnalogSource>& analog_chooser)
+: btn_chooser(btn_chooser), analog_chooser(analog_chooser)
+{
+	analogsources_buf.reserve(8);
+}
+
+SelectableInputs::~SelectableInputs() {
+	clearAinTypes();
+	clearBtnTypes();
+}
+
+// Buttons
+void SelectableInputs::clearBtnTypes(){
+	// Destruct all button sources
+
+	this->btns.clear();
+}
+
+void SelectableInputs::setBtnTypes(uint16_t btntypes){
+	sourcesSem.Take();
+	this->btnsources = btntypes;
+	clearBtnTypes();
+	for(uint8_t id = 0;id<16;id++){
+		if((btntypes >> id) & 0x1){
+			// Matching flag
+			ButtonSource* btn = btn_chooser.Create(id);
+			if(btn!=nullptr)
+				this->btns.push_back(std::unique_ptr<ButtonSource>(btn));
+		}
+	}
+	sourcesSem.Give();
+}
+
+void SelectableInputs::addBtnType(uint16_t id){
+	for(auto &btn : this->btns){
+		if(btn->getInfo().id == id){
+			return;
+		}
+	}
+	ButtonSource* btn = btn_chooser.Create(id);
+	if(btn!=nullptr)
+		this->btns.push_back(std::unique_ptr<ButtonSource>(btn));
+}
+
+// Analog
+void SelectableInputs::clearAinTypes(){
+	// Destruct all button sources
+
+	this->analog_inputs.clear();
+}
+
+void SelectableInputs::setAinTypes(uint16_t aintypes){
+	sourcesSem.Take();
+	this->ainsources = aintypes;
+	clearAinTypes();
+	for(uint8_t id = 0;id<16;id++){
+		if((aintypes >> id) & 0x1){
+			// Matching flag
+			AnalogSource* ain = analog_chooser.Create(id);
+			if(ain!=nullptr)
+				this->analog_inputs.push_back(std::unique_ptr<AnalogSource>(ain));
+		}
+	}
+	sourcesSem.Give();
+}
+void SelectableInputs::addAinType(uint16_t id){
+	for(auto &ain : this->analog_inputs){
+		if(ain->getInfo().id == id){
+			return;
+		}
+	}
+	AnalogSource* ain = analog_chooser.Create(id);
+	if(ain!=nullptr)
+		this->analog_inputs.push_back(std::unique_ptr<AnalogSource>(ain));
+}
+
+/**
+ * Gets button values from all button sources
+ */
+uint8_t SelectableInputs::getButtonValues(uint64_t &values){
+	uint8_t shift = 0;
+	if(btns.size() != 0){
+		for(auto &btn : btns){
+			uint64_t buf = 0;
+			uint8_t amount = btn->readButtons(&buf);
+			values |= buf << shift;
+			shift += amount;
+		}
+	}
+	return shift;
+}
+
+/**
+ * Gets analog values from all analog sources
+ */
+std::vector<int32_t>* SelectableInputs::getAnalogValues(){
+	sourcesSem.Take();
+	analogsources_buf.clear();
+	for(auto &ain : analog_inputs){
+		std::vector<int32_t>* buf = ain->getAxes();
+		analogsources_buf.insert(analogsources_buf.end(), buf->begin(), buf->end());
+	}
+	sourcesSem.Give();
+	return &analogsources_buf;
+}

Firmware/FFBoard/UserExtensions/Inc/CanInputMain.h

@@ -0,0 +1,72 @@
+/*
+ * CanInputMain.h
+ *
+ *  Created on: Apr 28, 2025
+ *      Author: Yannick
+ */
+
+#ifndef USEREXTENSIONS_INC_CANINPUTMAIN_H_
+#define USEREXTENSIONS_INC_CANINPUTMAIN_H_
+#include "constants.h"
+#ifdef CANINPUTMAIN
+
+#include "FFBoardMain.h"
+#include "PersistentStorage.h"
+#include "ButtonSource.h"
+#include "AnalogSource.h"
+#include "thread.hpp"
+#include "CAN.h"
+#include "SelectableInputs.h"
+
+class CANInputMain : public FFBoardMain, public PersistentStorage, public SelectableInputs, public cpp_freertos::Thread {
+	enum class CANInput_commands : uint32_t{
+		caniddigital,canidanalog,btntypes,lsbtn,addbtn,aintypes,lsain,addain,rate,dvals,avals
+	};
+public:
+	CANInputMain();
+	CANInputMain(CANPort& canport);
+	virtual ~CANInputMain();
+
+	static ClassIdentifier info;
+	const ClassIdentifier getInfo();
+	static bool isCreatable() {return true;};
+
+	CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
+	void registerCommands();
+	virtual std::string getHelpstring(){
+		return "Remote CAN Analog/Digital source";
+		}
+
+	void usbInit() override;
+
+	void saveFlash();
+	void restoreFlash();
+
+	void Run();
+
+	void updateControl();
+	void sendReport();
+
+	void setReportRate(uint8_t rateidx);
+	std::string report_rates_names();
+
+
+protected:
+	uint32_t report_rate_cnt = 0;
+	uint32_t report_rate = 1;
+
+	std::vector<int32_t> analogBuffer;
+	uint64_t digitalBuffer;
+
+	CANPort& can;
+
+	uint32_t buttons_id = 100;
+	uint32_t analog_id = 110;
+
+	uint8_t rate_idx = 0;
+	const std::array<uint8_t,7> report_rates = {1,2,4,8,10,16,32}; // Maps speed preset to report rates
+
+
+};
+#endif
+#endif /* USEREXTENSIONS_INC_CANINPUTMAIN_H_ */

Firmware/FFBoard/UserExtensions/Inc/ClassIDs.h

@@ -38,6 +38,7 @@ enum class ClassType : uint16_t {
 #define CLSID_MAIN_FFBWHEEL 0x1
 #define CLSID_MAIN_FFBJOY	0x2
 #define CLSID_MAIN_FFBEXT	0x3
+#define CLSID_MAIN_CANINPUT	0x5
 #define CLSID_MAIN_TMCDBG 	0xB
 #define CLSID_MAIN_CAN	 	0xC
 #define CLSID_MAIN_MIDI 	0xD

Firmware/FFBoard/UserExtensions/Inc/FFBHIDMain.h

@@ -30,10 +30,10 @@
 #include "ErrorHandler.h"
 #include "memory"
 #include "HidCommandInterface.h"
-
+#include "SelectableInputs.h"
 #include "thread.hpp"
 
-class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentStorage,ExtiHandler,public UsbHidHandler, ErrorHandler{
+class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentStorage,ExtiHandler,public UsbHidHandler, ErrorHandler, SelectableInputs{
 	enum class FFBWheel_commands : uint32_t{
 		ffbactive,axes,btntypes,lsbtn,addbtn,aintypes,lsain,addain,hidrate,hidsendspd,estop,cfrate
 	};
@@ -52,13 +52,6 @@ class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentSto
 	virtual std::string getHelpstring(){
 		return "Force feedback HID game controller";
 	}
-	void setBtnTypes(uint16_t btntypes);
-	void addBtnType(uint16_t id);
-	void clearBtnTypes();
-
-	void setAinTypes(uint16_t aintypes);
-	void addAinType(uint16_t id);
-	void clearAinTypes();
 
 
 	virtual void usbInit() = 0; // initialize a composite usb device
@@ -117,18 +110,10 @@ class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentSto
 	uint8_t reportSendCounter = 0;
 
 	const uint8_t analogAxisCount = 8;
-	uint16_t btnsources = 0; // Disabled by default
-	uint16_t ainsources = 0;
-
-
-	ClassChooser<ButtonSource> btn_chooser;
-	ClassChooser<AnalogSource> analog_chooser;
-
 	//HID_CommandInterface hidCommands; // Enables full HID control
 	std::unique_ptr<HID_CommandInterface> hidCommands = std::make_unique<HID_CommandInterface>();
 
 	uint32_t lastUsbReportTick = 0;
-	cpp_freertos::BinarySemaphore sourcesSem = cpp_freertos::BinarySemaphore(true);
 
 	volatile uint32_t lastEstop = 0;
 };

Firmware/FFBoard/UserExtensions/Inc/eeprom_addresses.h

@@ -13,11 +13,11 @@
 
 #include "main.h"
 // Change this to the amount of currently registered variables
-#define NB_OF_VAR 159
+#define NB_OF_VAR 161
 extern const uint16_t VirtAddVarTab[NB_OF_VAR];
 
 // Amount of variables in exportable list
-#define NB_EXPORTABLE_ADR 144
+#define NB_EXPORTABLE_ADR 146
 extern const uint16_t exportableFlashAddresses[NB_EXPORTABLE_ADR];
 
 
@@ -47,6 +47,9 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) will return 1 if
 #define ADR_FFBWHEEL_BUTTONCONF 0x101
 #define ADR_FFBWHEEL_ANALOGCONF 0x102
 #define ADR_FFBWHEEL_CONF1 0x103
+// CAN remote
+#define ADR_CANREMOTE_CONF1 0x120
+#define ADR_CANREMOTE_CONF2 0x121
 // Button Sources:
 #define ADR_SPI_BTN_1_CONF 0x201
 #define ADR_SHIFTERANALOG_CONF 0x202

Firmware/FFBoard/UserExtensions/Src/CanAnalog.cpp

@@ -117,7 +117,7 @@ void CanAnalogBase::canRxPendCallback(CANPort* port,CAN_rx_msg& msg){
 			continue;
 		}
 		for(uint8_t i = 0; i < 4 && (i + packet*4) < axes && (i*2+1) < msg.header.length; i++) {
-			this->buf[i + packet*4] = msg.data[i*2] | (msg.data[i*2+1] << 8);
+			this->buf[i + packet*4] = (int16_t)(msg.data[i*2] | (msg.data[i*2+1] << 8));
 		}
 	}
 }

Firmware/FFBoard/UserExtensions/Src/CanButtons.cpp

@@ -135,7 +135,6 @@ CommandStatus CanButtons::command(const ParsedCommand& cmd,std::vector<CommandRe
 void CanButtons::canRxPendCallback(CANPort* port,CAN_rx_msg& msg){
 
 	uint32_t id = (msg.header.id) & 0x7FF;
-	pulseClipLed();
 	if(id != this->canId || msg.header.rtr || msg.header.length != 8){
 		return;
 	}