Haptic support

radio/src/Makefile

@@ -703,6 +703,12 @@ ifeq ($(PCB), TARANIS)
     CPPSRC += targets/taranis/a7105_driver.cpp
   endif
   
+  ifeq ($(HAPTIC), YES)
+    CPPDEFS += -DHAPTIC
+    CPPSRC += haptic.cpp
+    CPPSRC += targets/taranis/haptic_driver.cpp
+  endif
+  
 endif
 
 CC      = $(TRGT)gcc

radio/src/haptic.cpp

@@ -54,20 +54,20 @@ void hapticQueue::heartbeat()
 #else
   if (buzzTimeLeft > 0) {
     buzzTimeLeft--; // time gets counted down
-#if defined(PCBSKY9X)
+#if defined(PCBSXY9X) || (defined(PCBTARANIS) && defined(REVPLUS))
     hapticOn(g_eeGeneral.hapticStrength * 20);
 #else
     if (hapticTick-- > 0) {
-      HAPTIC_ON; // haptic output 'high'
+      HAPTIC_ON;
     }
     else {
-      HAPTIC_OFF; // haptic output 'high'
+      HAPTIC_OFF;
       hapticTick = g_eeGeneral.hapticStrength;
     }
 #endif
   }
   else {
-    HAPTIC_OFF; // haptic output 'high'
+    HAPTIC_OFF;
     if (buzzPause > 0) {
       buzzPause--;
     }

radio/src/opentx.h

@@ -904,21 +904,6 @@ enum Analogs {
 #define BUZZER_ON     PORTE |=  (1 << OUT_E_BUZZER)
 #define BUZZER_OFF    PORTE &= ~(1 << OUT_E_BUZZER)
 
-#if defined(HAPTIC)
-  #if defined(PCBSKY9X)
-    #define HAPTIC_OFF    hapticOff()
-  #elif defined(PCBGRUVIN9X)
-    #define HAPTIC_ON     PORTD &= ~(1 << OUT_D_HAPTIC)
-    #define HAPTIC_OFF    PORTD |=  (1 << OUT_D_HAPTIC)
-  #else
-    #define HAPTIC_ON     PORTG |=  (1 << OUT_G_HAPTIC)
-    #define HAPTIC_OFF    PORTG &= ~(1 << OUT_G_HAPTIC)
-  #endif
-#else
-  #define HAPTIC_ON
-  #define HAPTIC_OFF
-#endif
-
 #define BITMASK(bit) (1<<(bit))
 
 /// liefert Dimension eines Arrays

radio/src/targets/gruvin9x/board_gruvin9x.h

@@ -185,7 +185,8 @@ void pwrOff();
 #define usbPlugged()    false
 
 // Haptic driver
-#define hapticOff() // TODO hapticOn() cleaner ...
+#define HAPTIC_ON     PORTD &= ~(1 << OUT_D_HAPTIC)
+#define HAPTIC_OFF    PORTD |=  (1 << OUT_D_HAPTIC)
 
 // Rotary encoder driver
 #if ROTARY_ENCODERS <= 2

radio/src/targets/mega2560/board_mega2560.h

@@ -189,5 +189,7 @@ void pwrOff();
 
 // Haptic driver
 #define hapticOff() // TODO hapticOn() cleaner ...
+#define HAPTIC_ON     PORTD &= ~(1 << OUT_D_HAPTIC)
+#define HAPTIC_OFF    PORTD |=  (1 << OUT_D_HAPTIC)
 
 #endif

radio/src/targets/sky9x/board_sky9x.h

@@ -237,8 +237,9 @@ extern int8_t Coproc_temp;
 extern int8_t Coproc_maxtemp;
 
 // Haptic driver
-void hapticOff(void) ;
+void hapticOff(void);
 void hapticOn(uint32_t pwmPercent);
+#define HAPTIC_OFF    hapticOff()
 
 // BlueTooth driver
 #if defined(BLUETOOTH)

radio/src/targets/stock/board_stock.h

@@ -230,6 +230,10 @@ extern uint8_t RotEncoder ;
 void rotencPoll();
 #endif
 
+// Haptic
+#define HAPTIC_ON     PORTG |=  (1 << OUT_G_HAPTIC)
+#define HAPTIC_OFF    PORTG &= ~(1 << OUT_G_HAPTIC)
+
 // USB fake driver
 #define usbPlugged()    false
 

radio/src/targets/taranis/board_taranis.cpp

@@ -130,6 +130,10 @@ void interrupt5ms()
 
   AUDIO_HEARTBEAT();
 
+#if defined(HAPTIC)
+  HAPTIC_HEARTBEAT();
+#endif
+
   if ( ++pre_scale >= 2 ) {
     pre_scale = 0 ;
     per10ms();
@@ -155,6 +159,10 @@ void boardInit()
   eepromInit();
   sportInit();
   usbInit();
+  
+#if defined(HAPTIC)  
+  hapticInit();
+#endif
 
 #if defined(DEBUG)
   DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);

radio/src/targets/taranis/board_taranis.h

@@ -239,6 +239,13 @@ void eeWriteBlockCmp(const void *pointer_ram, uint16_t pointer_eeprom, size_t si
 // Debug driver
 void debugPutc(const char c);
 
+// Haptic
+void hapticOff(void);
+void hapticOn(uint32_t pwmPercent);
+void hapticInit(void);
+#define HAPTIC_OFF    hapticOff()
+#define HAPTIC_ON     hapticOn(100)
+
 extern uint8_t currentTrainerMode;
 
 #endif

radio/src/targets/taranis/hal.h

@@ -333,4 +333,15 @@
 #define I2C_EEPROM_ADDRESS              0xA2
 #define I2C_CAT5137_ADDRESS             0x5C //0101110
 
+// Haptic
+#if defined(REVPLUS)
+  #define RCC_AHB1Periph_GPIOHAPTIC     RCC_AHB1Periph_GPIOB
+  #define GPIO_HAPTIC                   GPIOB
+  #define PIN_HAPTIC                    GPIO_Pin_8
+#else
+  #define RCC_AHB1Periph_GPIOHAPTIC     RCC_AHB1Periph_GPIOC
+  #define GPIO_HAPTIC                   GPIOC
+  #define PIN_HAPTIC                    GPIO_Pin_12
+#endif
+
 #endif

radio/src/targets/taranis/haptic_driver.cpp

@@ -0,0 +1,71 @@
+/*
+ * Authors (alphabetical order)
+ * - Andre Bernet <bernet.andre@gmail.com>
+ * - Andreas Weitl
+ * - Bertrand Songis <bsongis@gmail.com>
+ * - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
+ * - Cameron Weeks <th9xer@gmail.com>
+ * - Erez Raviv
+ * - Gabriel Birkus
+ * - Jean-Pierre Parisy
+ * - Karl Szmutny
+ * - Michael Blandford
+ * - Michal Hlavinka
+ * - Pat Mackenzie
+ * - Philip Moss
+ * - Rob Thomson
+ * - Romolo Manfredini <romolo.manfredini@gmail.com>
+ * - Thomas Husterer
+ *
+ * opentx is based on code named
+ * gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
+ * er9x by Erez Raviv: http://code.google.com/p/er9x/,
+ * and the original (and ongoing) project by
+ * Thomas Husterer, th9x: http://code.google.com/p/th9x/
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ */
+
+#include "../../opentx.h"
+
+void hapticOff(void)
+{
+#if defined(REVPLUS)
+  return; //TODO PWM support
+#else
+  GPIO_ResetBits(GPIO_HAPTIC, PIN_HAPTIC);
+#endif
+}
+
+void hapticOn(uint32_t pwmPercent)
+{
+#if defined(REVPLUS)
+  // pwmPercent 0-100
+  return; //TODO PWM support
+#else
+  // No PWM before REVPLUS
+  GPIO_SetBits(GPIO_HAPTIC, PIN_HAPTIC);
+#endif
+}
+
+void hapticInit(void)
+{
+  GPIO_InitTypeDef GPIO_InitStructure;
+  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOHAPTIC, ENABLE);
+
+  /* GPIO  Configuration*/
+  GPIO_InitStructure.GPIO_Pin = PIN_HAPTIC;
+  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
+  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+  GPIO_Init(GPIO_HAPTIC, &GPIO_InitStructure);
+}