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Runtime improvements. Reactivate the iSV57 internal safety features. …
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…Changes the plugins slider range.
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@ChrGri
ChrGri committed Dec 14, 2024
1 parent 3136ed8 commit 1f585f5
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Showing 14 changed files with 210 additions and 267 deletions.
72 changes: 36 additions & 36 deletions ESP32/include/ABSOscillation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ class ABSOscillation {

long timeNowMillis = millis();
float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
float absForceOffset_local = 0;
float absForceOffset_local = 0.00f;

if (timeSinceTrigger > ABS_ACTIVE_TIME_PER_TRIGGER_MILLIS)
{
Expand All @@ -50,7 +50,7 @@ class ABSOscillation {
absAmp_fl32 = calcVars_st->absAmplitude;
break;
case 1:
absAmp_fl32 = calcVars_st->stepperPosRange * calcVars_st->absAmplitude / 100.;
absAmp_fl32 = calcVars_st->stepperPosRange * calcVars_st->absAmplitude / 100.0f;
break;
default:
break;
Expand All @@ -61,13 +61,13 @@ class ABSOscillation {
switch (absPattern) {
case 0:
// sine wave pattern
absForceOffset_local = absAmp_fl32 * sin(2 * PI * calcVars_st->absFrequency * absTimeSeconds);
absForceOffset_local = absAmp_fl32 * sin(2.0f * PI * calcVars_st->absFrequency * absTimeSeconds);
break;
case 1:
// sawtooth pattern
if (calcVars_st->absFrequency > 0)
if (calcVars_st->absFrequency > 0.0f)
{
absForceOffset_local = absAmp_fl32 * fmod(absTimeSeconds, 1.0 / (float)calcVars_st->absFrequency) * (float)calcVars_st->absFrequency;
absForceOffset_local = absAmp_fl32 * fmod(absTimeSeconds, 1.0f / (float)calcVars_st->absFrequency) * (float)calcVars_st->absFrequency;
absForceOffset_local -= absAmp_fl32 * 0.5f; // make it symmetrical around 0
}
break;
Expand All @@ -78,10 +78,10 @@ class ABSOscillation {
switch (absForceOrTarvelBit) {
case 0:
*absForceOffset = absForceOffset_local;
*absPosOffset = 0;
*absPosOffset = 0.0f;
break;
case 1:
*absForceOffset = 0;
*absForceOffset = 0.0f;
*absPosOffset = absForceOffset_local;
break;
default:
Expand All @@ -108,7 +108,7 @@ class RPMOscillation {
RPMOscillation()
: _timeLastTriggerMillis(0)
{}
float RPM_value =0;
float RPM_value =0.0f;
int32_t RPM_position_offset = 0;
public:
void trigger() {
Expand All @@ -120,13 +120,13 @@ class RPMOscillation {

long timeNowMillis = millis();
float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
float RPMForceOffset = 0;
float RPMForceOffset = 0.0f;
float RPM_max_freq = calcVars_st->RPM_max_freq;
float RPM_min_freq = calcVars_st->RPM_min_freq;
//float RPM_max =10;
float RPM_amp_base = calcVars_st->RPM_AMP;
float RPM_amp=0;
RPM_amp=RPM_amp_base*(1.0f+0.3*RPM_value/100.0f);
RPM_amp=RPM_amp_base*(1.0f+0.3f*RPM_value/100.0f);
if(RPM_value==0)
{
RPM_min_freq=0;
Expand Down Expand Up @@ -188,7 +188,7 @@ class BitePointOscillation {

long timeNowMillis = millis();
float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
float BitePointForceOffset = 0;
float BitePointForceOffset = 0.0f;
float BP_freq = calcVars_st->BP_freq;
//float BP_freq = 15;
float BP_amp = calcVars_st->BP_amp;
Expand All @@ -205,7 +205,7 @@ class BitePointOscillation {
float BPTimeSeconds = _BiteTimeMillis / 1000.0f;

//RPMForceOffset = calcVars_st->absAmplitude * sin(calcVars_st->absFrequency * RPMTimeSeconds);
BitePointForceOffset = BP_amp * sin( 2*PI* BP_freq* BPTimeSeconds);
BitePointForceOffset = BP_amp * sin( 2.0f*PI* BP_freq* BPTimeSeconds);
}
BitePoint_Force_offset=BitePointForceOffset;
_lastCallTimeMillis = timeNowMillis;
Expand Down Expand Up @@ -247,13 +247,13 @@ MovingAverageFilter::MovingAverageFilter(unsigned int newDataPointsCount)

for (i = 0; i < dataPointsCount; i++)
{
values[i] = 0; // fill the array with 0's
values[i] = 0.0f; // fill the array with 0's
}
}

float MovingAverageFilter::process(float in)
{
out = 0;
out = 0.0f;

values[k] = in;
k = (k + 1) % dataPointsCount;
Expand All @@ -263,7 +263,7 @@ float MovingAverageFilter::process(float in)
out += values[i];
}

float retValue= 0;
float retValue= 0.0f;
if (dataPointsCount> 0)
{
retValue= out / dataPointsCount;
Expand Down Expand Up @@ -294,7 +294,7 @@ class G_force_effect
}
else
{
G_force_raw=10*(G_value)*G_multiplier/9.8;
G_force_raw=10.0f*(G_value)*G_multiplier/9.8f;
//G_force_raw=constrain(G_force_raw,-1*Force_Range*0.25,Force_Range*0.25);
}

Expand All @@ -317,7 +317,7 @@ class WSOscillation {
: _timeLastTriggerMillis(0)
{}
//float RPM_value =0;
float WS_Force_offset = 0;
float WS_Force_offset = 0.0f;
public:
void trigger() {
_timeLastTriggerMillis = millis();
Expand All @@ -328,7 +328,7 @@ class WSOscillation {

long timeNowMillis = millis();
float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
float WSForceOffset = 0;
float WSForceOffset = 0.0f;
float WS_freq = calcVars_st->WS_freq;
//float BP_freq = 15;
float WS_amp = calcVars_st->WS_amp;
Expand All @@ -337,15 +337,15 @@ class WSOscillation {
if (timeSinceTrigger > WS_ACTIVE_TIME_PER_TRIGGER_MILLIS)
{
_WSTimeMillis = 0;
WSForceOffset = 0;
WSForceOffset = 0.0f;
}
else
{
_WSTimeMillis += timeNowMillis - _lastCallTimeMillis;
float WSTimeSeconds = _WSTimeMillis / 1000.0f;

//RPMForceOffset = calcVars_st->absAmplitude * sin(calcVars_st->absFrequency * RPMTimeSeconds);
WSForceOffset = WS_amp * sin( 2*PI* WS_freq* WSTimeSeconds);
WSForceOffset = WS_amp * sin( 2.0f*PI* WS_freq* WSTimeSeconds);
/*if (WS_freq > 0)
{
//WSForceOffset = WS_amp * fmod(WSTimeSeconds, 1.0 / (float)WS_freq) * WS_freq;
Expand Down Expand Up @@ -376,10 +376,10 @@ class Road_impact_effect
void forceOffset(DAP_calculationVariables_st* calcVars_st, uint8_t Road_impact_multi)
{
uint32_t Force_Range;
float Road_multiplier=((float)Road_impact_multi)/100;
float Road_multiplier=((float)Road_impact_multi)/100.0f;
Force_Range=calcVars_st->Force_Range;
//Road_multiplier=0.1;
Road_Impact_force_raw=0.3*Road_multiplier*((float)Force_Range)*((float)Road_Impact_value)/100;
Road_Impact_force_raw=0.3f*Road_multiplier*((float)Force_Range)*((float)Road_Impact_value)/100;

//apply filter
Road_Impact_force=movingAverageFilter_roadimpact.process(Road_Impact_force_raw);
Expand All @@ -400,7 +400,7 @@ class Custom_vibration {
: _timeLastTriggerMillis(0)
{}
//float RPM_value =0;
float CV_Force_offset = 0;
float CV_Force_offset = 0.0f;
public:
void trigger() {
_timeLastTriggerMillis = millis();
Expand All @@ -411,20 +411,20 @@ class Custom_vibration {

long timeNowMillis = millis();
float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
float CVForceOffset = 0;
float CVForceOffset = 0.0f;


if (timeSinceTrigger > CV_ACTIVE_TIME_PER_TRIGGER_MILLIS)
{
_CVTimeMillis = 0;
CVForceOffset = 0;
CVForceOffset = 0.0f;
}
else
{
_CVTimeMillis += timeNowMillis - _lastCallTimeMillis;
float CVTimeSeconds = _CVTimeMillis / 1000.0f;

CVForceOffset = CV_amp/20.0f * sin( 2*PI* CV_freq* CVTimeSeconds);
CVForceOffset = CV_amp/20.0f * sin( 2.0f*PI* CV_freq* CVTimeSeconds);



Expand Down Expand Up @@ -464,13 +464,13 @@ class Rudder{
endpos_travel=(float)calcVars_st->stepperPosRange;
position_ratio_current=((float)(current_pedal_position-calcVars_st->stepperPosMin))/endpos_travel;
dead_zone=20;
Center_offset=calcVars_st->stepperPosMin+ calcVars_st->stepperPosRange/2;
float center_deadzone = 0.51;
Center_offset=calcVars_st->stepperPosMin+ calcVars_st->stepperPosRange/2.0f;
float center_deadzone = 0.51f;
if(calcVars_st->Rudder_status)
{
if(position_ratio_sync>center_deadzone)
{
offset_raw=(int32_t)(-1*(position_ratio_sync-0.50)*endpos_travel);
offset_raw=(int32_t)(-1*(position_ratio_sync-0.50f)*endpos_travel);

}
else
Expand All @@ -492,9 +492,9 @@ class Rudder{
void force_offset_calculate(DAP_calculationVariables_st* calcVars_st)
{
dead_zone=20;
Center_offset=calcVars_st->stepperPosRange/2;
dead_zone_upper=Center_offset+dead_zone/2;
dead_zone_lower=Center_offset-dead_zone/2;
Center_offset=calcVars_st->stepperPosRange/2.0f;
dead_zone_upper=Center_offset+dead_zone/2.0f;
dead_zone_lower=Center_offset-dead_zone/2.0f;
sync_pedal_position=calcVars_st->sync_pedal_position;
current_pedal_position=calcVars_st->current_pedal_position;
stepper_range=calcVars_st->stepperPosRange;
Expand All @@ -506,23 +506,23 @@ class Rudder{
position_ratio_current=((float)(current_pedal_position-calcVars_st->stepperPosMin))/endpos_travel;


float center_deadzone = 0.51;
float center_deadzone = 0.51f;
if(calcVars_st->Rudder_status)
{


if(position_ratio_sync>center_deadzone)
{
force_offset_raw=(float)(-1*(position_ratio_sync-0.50)*force_range);
force_offset_raw=(float)(-1.0f*(position_ratio_sync-0.50f)*force_range);

}
else
{
force_offset_raw=0;
force_offset_raw=0.0f;
}
if(calcVars_st->rudder_brake_status)
{
force_offset_raw=0;
force_offset_raw=0.0f;
}

force_offset_filter=averagefilter_rudder_force.process(force_offset_raw+force_center_offset);
Expand Down
6 changes: 3 additions & 3 deletions ESP32/include/Main.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -50,9 +50,9 @@
/********************************************************************/
/* Loadcell defines */
/********************************************************************/
#define LOADCELL_WEIGHT_RATING_KG 300.0
#define LOADCELL_EXCITATION_V 5.0
#define LOADCELL_SENSITIVITY_MV_V 2.0
#define LOADCELL_WEIGHT_RATING_KG 300.0f
#define LOADCELL_EXCITATION_V 5.0f
#define LOADCELL_SENSITIVITY_MV_V 2.0f


/********************************************************************/
Expand Down
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