Merge development branch

.github/FUNDING.yml

@@ -1,6 +1,6 @@
 # These are supported funding model platforms
 
-github: # Replace with up to 4 GitHub Sponsors-enabled usernames e.g., [user1, user2]
+github: ultrawipf
 patreon: Gigawipf
 open_collective: # Replace with a single Open Collective username
 ko_fi: # Replace with a single Ko-fi username
@@ -9,4 +9,4 @@ community_bridge: # Replace with a single Community Bridge project-name e.g., cl
 liberapay: # Replace with a single Liberapay username
 issuehunt: # Replace with a single IssueHunt username
 otechie: # Replace with a single Otechie username
-custom: "paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=B23BD5FGD5CH8"
+custom: "https://www.paypal.com/donate/?hosted_button_id=2SU5VLFRFZACG"

.github/workflows/release.yml

@@ -80,9 +80,9 @@ jobs:
       - name: Make changelog
         run: |
           echo -e "### Firmware changes\n" > /tmp/CHANGELOG.md
-          cat ${{ github.workspace }}/CHANGELOG.md >> /tmp/CHANGELOG.md
+          perl -0777 -ne 'print "$1\n$2" if /^(#+.+)\n((?:[^#\n]+\n)+)/m; exit' ${{ github.workspace }}/CHANGELOG.md >> /tmp/CHANGELOG.md
           echo -e "\n### Configurator changes\n" >> /tmp/CHANGELOG.md
-          cat ${{ github.workspace }}/Configurator/CHANGELOG.md >> /tmp/CHANGELOG.md
+          perl -0777 -ne 'print "$1\n$2" if /^(#+.+)\n((?:[^#\n]+\n)+)/m; exit' ${{ github.workspace }}/Configurator/CHANGELOG.md >> /tmp/CHANGELOG.md
 
 
       # Create release

CHANGELOG.md

@@ -1,24 +1,185 @@
-### Changes this version:
+### v1.17.0
 - Added SPI speed selector to MagnTek encoders
 - Added "reg" and "save" commands to MagnTek encoder. Allows programming MT6835 encoders (debug=1 mode required!)
+- Set ABN encoder filter to 5 for F407 and F407_DISCO. Should improve encoder stability in noisy environments.
+- Fixed Magntek encoder forwarding causing choppy FFB
+- Fixed TMC4671 ext encoder having inverted forces if previously inverted by dual enc mode
 
-### Changes in 1.16:
+### v1.16.6
+- Added SPI speed selector to MagnTek encoders
+- Added "reg" and "save" commands to MagnTek encoder. Allows programming MT6835 encoders (debug=1 mode required!)
+- Set ABN encoder filter to 5 for F407 and F407_DISCO. Should improve encoder stability in noisy environments.
 
-Internal changes:
-- CAN port interfaces rewritten
-- HAL updated
-- Migrated to CPP20
-- Upgraded to tinyusb 0.17
-- Improved microsecond counter implementation
+### v1.16.5
+- Reformatted USB serial string as hex and added command to request UID as hex string
+- Added device name to USB Product name
+- Added support for F407 OTP section
+- Added support for MagnTek MT6835 via SPI (SPI3 port, MagnTek encoder class)
+
+### v1.16.4
+- Added exponential torque postprocessing for game effects
+
+### v1.16.3
+- Added remote CAN button/analog source mainclass
+
+### v1.16.2
+- 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)
+
+### v1.16.0
 - 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
-- Added remote CAN button/analog source mainclass
-- Added exponential torque postprocessing for game effects
-- Reformatted USB serial string as hex and added command to request UID as hex string
-- Added device name to USB Product name
-- Added support for F407 OTP section
-- Added support for MagnTek MT6835 via SPI (SPI3 port, MagnTek encoder class)
+- CAN port interfaces rewritten
+- HAL updated
+- Migrated to CPP20
+- Upgraded to tinyusb 0.17
+- Improved microsecond counter implementation
+
+### v1.15.1
+- Fixed BISS-C encoder sometimes overflowing one rotation at startup
+- Added BISS-C direction inversion function (Default true). Most BISS-C encoders count CW while most others and TMC count CCW.
+- Standardized encoder counting direction counting up in CCW direction as a more common industrial standard
+- Fixed idle spring effect not working before first save
+- Retuned speed limiter function. Removed averaging. Should be more stable for high resolution encoders if high bandwidth speed filter preset is selected
+- Force ramps up slowly on potential sharp position changes such as recentering
+- FFB led now shows FFB state. On when FFB actuators enabled. Still blinks on clipping
+
+### v1.15.0
+- Added independend friction and inertia effects to axis
+- ODrive class can save encoder position offset
+- Reverted the forza fix for 2 axis setups. 
+  - TODO: test and report if behaviour works for all games with the angle always being used for 1 axis modes (Games must send 90° on X axis effects instead of 0°).
+
+### v1.14.4
+- TMC E-Stop handled even during calibration by pausing and disabling driver
+- E-Stop checked correctly after startup. You can now disable force and delay startup by setting E-Stop during startup.
+- Digital and Analog sources are disabled by default
+- Biss-C 1 rotation offset glitch at first packet fixed
+- Reverted CAN retransmission to enabled temporarily. Fixes 2 axis ODrive issues.
+
+### v1.14.3
+- Only activate brake resistor if vint and vext are >6.5V. Prevents board from activating resistor if only usb powered and a fault reset loop
+- Changed behaviour of direction enable and axis enable bits in set_effect report to always apply direction vector
+    - Fix for Forza Motorsport
+
+### v1.14.2
+- Added local button pulse mode
+
+### v1.14.0
+- Save TMC space vector PWM mode in flash. Should be usually on for BLDC motors if the star point is isolated.
+- Allow using the motors flux component to dissipate energy with the TMC4671 instead of the brake resistor. May cause noticable braking in the motor but takes stress off the resistor.
+- Axis speed limiter usable and saved in flash.
+- Removed unused hall direction flash setting.
+
+### v1.13.3
+- Added uid command (`sys.uid?` returns first 64 bits as val and second 32 as adr)
+
+### v1.13.2
+- Added effect monitoring per axis
+
+### v1.13.1
+- Added PWM direction toggle
+
+### v1.13.0
+- Added basic iterative TMC PI autotuning
+- Fixed issues with CAN transmission with multiple axes
+- Added SSI encoder support (AMT232B)
+- Fixed SPI buttons not working (SPI2 DMA on F407)
+- Dynamic TMC encoder alignment current based on current limit
+
+### v1.12.1
+- Added part of unique serial number to usb interface names for easier identification of multiple devices
+- Enabled Simplemotion for F407_DISCO build
+
+### v1.12.0
+- Added support for Simplemotion V2 (Ioni/Argon motor drivers)
+
+### v1.11.2
+- Fixed a possible crash if unparsable/too large numbers are sent in a command
+- Removed unused direction field from descriptor in 2 axis desc
+- Workarounds for 2 axis conditional effects giving condition blocks priority over direction angles
+
+### v1.11.1
+- Added new subproject for third party devkits (F407DISCO target)
+- Added serialfx effect manager for a command based FFB mainclass (Instead of PID FFB)
+- Added Serial FFB mainclass mode
+- Added mosfet BBM time to TMC hardware selection
+- TMC enable pin is set when TMC debug mode starts
+- Added option to change SPI speed for buttons. Can be helpful if the connection is unreliable
+- Added back second VESC instance for 2 axis vesc setups
+- Separate motor driver selection lists per axis (No double odrive/vesc/tmc instance options in motor driver lists)
+
+### v1.10.1
+- Changed default power from 2000 to 5000 as 2000 is not enough to calibrate many motors
+- Internal change moving effects into effectscalculator to simplify managing effects from different sources
+- Effect intensity tuning value now only affects game effects. Fixes the effect intensity incorrectly affecting the endstop.
+
+### v1.10.0
+- Added local encoder index option to reload a previously stored offset
+- Fixed an issue with 2 axis FFB effects on second axis
+- Added TMC4671 biquad filter option
+  - Lowpass, notch and peak modes (fixed Q factor, saved frequency)
+- Improved BISS performance when used with TMC
+- Fixed an issue with live effects statistics jumping to 0 using double buffers
+- Added missing command flags and help messages
+
+### v1.9.7
+- Fixed CDC serial port sometimes losing replies on with some USB ports
+
+### v1.9.6: 
+- Added analog filter option
+- Main effect loop runs in higher priority thread than idle
+- Added ADS111X analog source
+- Added user configurable axis encoder ratios for setups with reductions
+- Added effect filter option (Speed/accel filter presets for different encoders)
+- Added effects monitoring
+- Added some analog autorange margin
+- Added min/max commands to analog processing for manual ranges
+- Added analog processing functions to ADS111X
+- Selecting a "none" encoder will remove the axis value. Allows analog inputs to be used as the primary axis.
+- Added constant force rate command
+- Highly improved uart command stability (default baud rate 115200)
+- Added command to check command flags (cls.cmdinfo?cmdid)
+- Added advanced filter mode to switch between custom and default conditional effect output filters ("fx.filterProfile_id")
+- Automatic flash erase condition changed from major version change to separate flash version counter
+
+### v1.8.8
+- Rescaled endstop to encoder angle (makes strength feel the same at every range)
+- Changed SPI button saved count from 0-63 to 1-64 (will invalidate your setting)
+- Added CAN next frame length command to send frames with different headers
+- Emergency stop can be reset and only disables torque
+- Added estop command
+- Optimized string based command interfaces
+- Effects honor the gain setting (Makes Forza Horizon work)
+
+### v1.8.7
+- FFBWheel and FFBJoystick classes split for 1 and 2 axis FFB (Allows to use different HID descriptors)
+- Added a single axis HID descriptor (currently not used for compatibility reasons. enable by defining FFBWHEEL_USE_1AXIS_DESC)
+- Default SPI button speed increased to 1.3MHz
+- Added CAN button source
+- Added CAN analog source
+- Moved CAN and i2c speed settings to port class
+- Fixed CAN bridge RTR frames
+- HID interface sends ACKs
+- Improved help command formatting and added flags
+- Added I2C fast mode 400kHz
+- Added BISS-C encoder
+- Fixed MT Encoder
+- Reworked TMC external encoder system
+- Digital and analog source readout command
+
+
+# Persistent changelog
+Append changes at the top. 
+The first section is used in release comments

Firmware/.gitignore

@@ -1,4 +1,4 @@
-/*Debug/
+**/Debug/
 **/Release/
 **/.settings/
 *.launch
@@ -7,5 +7,4 @@
 .mxproject
 fixlang
 /build/
-/OpenFFBoard/
-/*Targets/F407VG/*.cfg
+/OpenFFBoard/

Firmware/FFBoard/Inc/AxesManager.h

@@ -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;

Firmware/FFBoard/Inc/Axis.h

@@ -71,7 +71,7 @@ struct AxisConfig
 struct metric_t {
 	float accel = 0;	// in deg/s²
 	float speed = 0; // in deg/s
-	int32_t pos = 0; // scaled position as 16b int -0x7fff to 0x7fff
+	int32_t pos_scaled_16b = 0; // scaled position as 16b int -0x7fff to 0x7fff matching FFB ranges
 	float pos_f = 0; // scaled position as float. -1 to 1 range
 	float posDegrees = 0; // Position in degrees. Not scaled to selected range
 	int32_t torque = 0; // total of effect + endstop torque
@@ -171,6 +171,9 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	bool updateTorque(int32_t* totalTorque);
 
 
+	void updateSamplerate(float newSamplerate);
+	void updateFilters(uint8_t profileId);
+
 	void setGearRatio(uint8_t numerator,uint8_t denominator);
 
 	static const std::vector<class_entry<MotorDriver>> axis1_drivers;
@@ -259,7 +262,7 @@ class Axis : public PersistentStorage, public CommandHandler, public ErrorHandle
 	const biquad_constant_t filterFrictionCst = {50, 20};
 	const biquad_constant_t filterInertiaCst = {20, 20};
 	uint8_t filterProfileId = 1; // Default medium (1) as this is the most common encoder resolution and users can go lower or higher if required.
-	const float filter_f = 1000; // 1khz
+	float filter_f = 1000; // 1khz default. should be set at runtime once the actual rate is known
 	const int32_t intFxClip = 20000;
 	uint8_t damperIntensity = 30;
 

Firmware/FFBoard/Inc/CmdParser.h

@@ -17,7 +17,9 @@
 #include "CommandHandler.h"
 #include "ringbufferwrapper.h"
 
+#ifndef CMDPARSER_MAX_VALID_CAPACITY
 #define CMDPARSER_MAX_VALID_CAPACITY 2048
+#endif
 
 class CommandHandler;
 class CommandInterface;

Firmware/FFBoard/Inc/CommandHandler.h

@@ -13,7 +13,7 @@
 #include "mutex.hpp"
 #include "ClassIDs.h"
 #include <vector>
-
+#include <span>
 
 #define CMDFLAG_GET	 	0x01
 #define CMDFLAG_SET	 	0x02
@@ -22,6 +22,7 @@
 #define CMDFLAG_SETADR	 	0x20
 #define CMDFLAG_HIDDEN	 0x40
 #define CMDFLAG_DEBUG	 0x80
+#define CMDFLAG_EXTOVERRIDE 0x80000000
 
 #define CMDFLAG_STR_ONLY 0x100
 #define CMDFLAG_HID_ONLY 0x200 // Command not available for string based parsers
@@ -50,8 +51,8 @@ class CmdHandlerCommanddef
 	  {};
 	const char* cmd = nullptr;
 	const char* helpstring = nullptr;
-	const uint32_t cmdId;
-	const uint32_t flags;
+	uint32_t cmdId;
+	uint32_t flags;
 };
 
 struct CmdHandlerInfo
@@ -260,17 +261,22 @@ class CommandHandler {
 	 */
 	template<typename ID>
 	void registerCommand(const char* cmd,const ID cmdid,const char* help=nullptr,uint32_t flags = 0){
-		for(CmdHandlerCommanddef& cmdDef : registeredCommands){
-			if(cmdDef.cmdId == static_cast<uint32_t>(cmdid))
-				return; //already present
-		}
+		registerCommand_INT(cmd, static_cast<uint32_t>(cmdid), help, flags);
+	}
 
-		this->registeredCommands.emplace_back(cmd, help,static_cast<uint32_t>(cmdid),flags);
-		this->registeredCommands.shrink_to_fit();
+
+	virtual void postCmdhandlerInit(){}; // Can implement in external file to override command flags
+	template<typename ID>
+	/**
+	 * Can override command flags to make it read only
+	 */
+	void overrideCommandFlags(const ID cmdid,uint32_t flagmask = 0){
+		overrideCommandFlags_INT(static_cast<uint32_t>(cmdid), flagmask);
 	}
 
 
 
+
 protected:
 	void setInstance(uint8_t instance);
 	bool commandsEnabled = true;
@@ -287,6 +293,9 @@ class CommandHandler {
 
 	CmdHandlerInfo cmdHandlerInfo;
 
+	void registerCommand_INT(const char* cmd,const uint32_t cmdid,const char* help=nullptr,uint32_t flags = 0);
+	void overrideCommandFlags_INT(const uint32_t cmdid,uint32_t flagmask = CMDFLAG_GET | CMDFLAG_GETADR);
+
 };
 
 #endif /* COMMANDHANDLER_H_ */

Firmware/FFBoard/Inc/CommandInterface.h

@@ -60,7 +60,7 @@ class StringCommandInterface : public CommandInterface{
 	CmdParser parser; // String parser
 };
 
-
+#define CDC_CMD_BUFFER_SIZE (TUD_OPT_HIGH_SPEED ? 4096 : 1024)
 //receives bytes from mainclass. calls its own parser instance, calls global parser thread, passes replies  back to cdc port.
 class CDC_CommandInterface : public StringCommandInterface,public cpp_freertos::Thread{
 public:
@@ -83,7 +83,7 @@ class CDC_CommandInterface : public StringCommandInterface,public cpp_freertos::
 	bool nextFormat = false;
 	std::string sendBuffer;
 	uint32_t bufferLength = 0;
-	const uint32_t maxSendBuffer = 1024; // Max buffered command size before sending immediately
+	const uint32_t maxSendBuffer = CDC_CMD_BUFFER_SIZE; // Max buffered command size before sending immediately
 };