Merge pull request #16 from ChrGri/develop

Develop

Arduino/Esp32/Main/ABSOscillation.h

@@ -23,7 +23,7 @@ class ABSOscillation {
     _timeLastTriggerMillis = millis();
   }
 
-  float forceOffset(DAP_calculationVariables_st* calcVars_st) {
+  float forceOffset(DAP_calculationVariables_st* calcVars_st, uint8_t absPattern) {
 
 
     long timeNowMillis = millis();
@@ -39,7 +39,25 @@ class ABSOscillation {
     {
       _absTimeMillis += timeNowMillis - _lastCallTimeMillis;
       float absTimeSeconds = _absTimeMillis / 1000.0f;
-      absForceOffset = calcVars_st->absAmplitude * sin(calcVars_st->absFrequency * absTimeSeconds);
+
+      switch (absPattern) {
+        case 0:
+          // sine wave pattern
+          absForceOffset = calcVars_st->absAmplitude * sin(2 * PI * calcVars_st->absFrequency * absTimeSeconds);
+          break;
+        case 1:
+          // sawtooth pattern
+          if (calcVars_st->absFrequency > 0)
+          {
+            absForceOffset = calcVars_st->absAmplitude * fmod(absTimeSeconds, 1.0 / (float)calcVars_st->absFrequency) * (float)calcVars_st->absFrequency;
+          }
+          break;
+        default:
+          break;
+      }
+
+
+
     }
 
     _lastCallTimeMillis = timeNowMillis;
@@ -62,33 +80,28 @@ class RPMOscillation {
     : _timeLastTriggerMillis(0)
   {}
   float RPM_value =0;
-  float RPM_debug =0;
-  float RPM_debug_MAX_freq =0;
-  float RPM_debug_MIN_freq =0;
+  int32_t RPM_position_offset = 0;
 public:
   void trigger() {
     _timeLastTriggerMillis = millis();
   }
 
-  float forceOffset(DAP_calculationVariables_st* calcVars_st) {
+  void forceOffset(DAP_calculationVariables_st* calcVars_st) {
 
 
     long timeNowMillis = millis();
     float timeSinceTrigger = (timeNowMillis - _timeLastTriggerMillis);
     float RPMForceOffset = 0;
     float RPM_max_freq = calcVars_st->RPM_max_freq;
     float RPM_min_freq = calcVars_st->RPM_min_freq;
-    float RPM_max =10;
+    //float RPM_max =10;
     float RPM_amp = calcVars_st->RPM_AMP;
-    RPM_debug=RPM_amp;
-    RPM_debug_MAX_freq=RPM_max_freq;
-    RPM_debug_MIN_freq=RPM_min_freq;
     if(RPM_value==0)
     {
       RPM_min_freq=0;
-
     }
 
+
     float RPM_freq=constrain(RPM_value*(RPM_max_freq-RPM_min_freq)/100, RPM_min_freq, RPM_max_freq);
 
 
@@ -109,7 +122,8 @@ class RPMOscillation {
 
     _lastCallTimeMillis = timeNowMillis;
     RPM_VALUE_LAST=RPMForceOffset;
-    return RPMForceOffset;
+    RPM_position_offset = calcVars_st->stepperPosRange*(RPMForceOffset/calcVars_st->Force_Range);
+    //return RPMForceOffset;
 
 
   }

Arduino/Esp32/Main/DiyActivePedal_types.cpp

@@ -31,6 +31,7 @@ void DAP_config_st::initialiseDefaults() {
 
   payLoadPedalConfig_.absFrequency = 15;
   payLoadPedalConfig_.absAmplitude = 0;
+  payLoadPedalConfig_.absPattern = 0;
 
 
   payLoadPedalConfig_.lengthPedal_AC = 150;
@@ -69,6 +70,8 @@ void DAP_config_st::initialiseDefaults() {
   payLoadPedalConfig_.loadcell_rating = 150;
 
   payLoadPedalConfig_.travelAsJoystickOutput_u8 = 0;
+
+  payLoadPedalConfig_.invertLoadcellReading_u8 = 0;
 }
 
 
@@ -118,7 +121,7 @@ void DAP_calculationVariables_st::updateFromConfig(DAP_config_st& config_st) {
   startPosRel = ((float)config_st.payLoadPedalConfig_.pedalStartPosition) / 100.0f;
   endPosRel = ((float)config_st.payLoadPedalConfig_.pedalEndPosition) / 100.0f;
 
-  absFrequency = 2 * PI * ((float)config_st.payLoadPedalConfig_.absFrequency);
+  absFrequency = ((float)config_st.payLoadPedalConfig_.absFrequency);
   absAmplitude = ((float)config_st.payLoadPedalConfig_.absAmplitude) / 20.0f; // in kg
 
   dampingPress = ((float)config_st.payLoadPedalConfig_.dampingPress) / 400.0f;

Arduino/Esp32/Main/DiyActivePedal_types.h

@@ -3,7 +3,7 @@
 #include <stdint.h>
 
 
-#define DAP_VERSION_CONFIG 112
+#define DAP_VERSION_CONFIG 114
 
 
 #define DAP_PAYLOAD_TYPE_CONFIG 100
@@ -56,6 +56,7 @@ struct payloadPedalConfig {
   // configure ABS effect 
   uint8_t absFrequency; // In Hz
   uint8_t absAmplitude; // In kg/20
+  uint8_t absPattern; // 0: sinewave, 1: sawtooth
 
 
   // geometric properties of the pedal
@@ -97,6 +98,10 @@ struct payloadPedalConfig {
 
   // use loadcell or travel as joystick output
   uint8_t travelAsJoystickOutput_u8;
+
+  // invert loadcell sign
+  uint8_t invertLoadcellReading_u8;
+
 };
 
 struct payloadFooter {

Arduino/Esp32/Main/Main.h

@@ -132,6 +132,8 @@
   // level shifter is present on this PCB design
   #define SENSORLESS_HOMING true
 
+  #define Using_analog_output
+
 #endif
 
 

Arduino/Esp32/Main/Main.ino

@@ -1,6 +1,5 @@
 #define ESTIMATE_LOADCELL_VARIANCE
 #define ISV_COMMUNICATION
-//#define Using_analog_output
 //#define PRINT_SERVO_STATES
 
 #define DEBUG_INFO_0_CYCLE_TIMER 1
@@ -212,10 +211,7 @@ void setup()
   // init controller
   SetupController();
   delay(2000);
-  #ifdef Using_analog_output
-    delay(8000);
-  #endif
-
+
 
 
 // check whether iSV57 communication can be established
@@ -236,6 +232,9 @@ void setup()
 #endif
 
 
+// initialize configuration and update local variables
+  dap_config_st.initialiseDefaults();
+
   // Load config from EEPROM, if valid, overwrite initial config
   EEPROM.begin(sizeof(DAP_config_st));
   dap_config_st.loadConfigFromEprom(dap_config_st);
@@ -286,14 +285,7 @@ void setup()
 
 
 
-  // initialize configuration and update local variables
-  #ifdef PEDAL_IS_BRAKE
-    dap_config_st.initialiseDefaults();
-  #endif
-
-  #ifdef PEDAL_IS_ACCELERATOR
-    dap_config_st.initialiseDefaults_Accelerator();
-  #endif
+
 
 
 
@@ -540,19 +532,12 @@ void pedalUpdateTask( void * pvParameters )
 
       // compute pedal oscillation, when ABS is active
     float absForceOffset_fl32 = 0.0f;
-    float RPMForceOffset_fl32 = 0.0f;
-    float total_effect_force = 0.0f;
+
     #ifdef ABS_OSCILLATION
-      absForceOffset_fl32 = absOscillation.forceOffset(&dap_calculationVariables_st);
+      absForceOffset_fl32 = absOscillation.forceOffset(&dap_calculationVariables_st, dap_config_st.payLoadPedalConfig_.absPattern);
       RPMOscillation.trigger();
-      RPMForceOffset_fl32 = RPMOscillation.forceOffset(&dap_calculationVariables_st);
-      //total_effect_force = absForceOffset_fl32+RPMForceOffset_fl32;
-      //Serial.println(dap_config_st.payLoadPedalConfig_.RPM_AMP);
-      //Serial.println(dap_config_st.payLoadPedalConfig_.RPM_max_freq);
-      //Serial.println(dap_config_st.payLoadPedalConfig_.RPM_min_freq);
-      //Dap_action_st.
+      RPMOscillation.forceOffset(&dap_calculationVariables_st);
     #endif
-    //dap_calculationVariables_st.Force_Max+=total_effect_force;
 
     // compute the pedal incline angle 
     //#define COMPUTE_PEDAL_INCLINE_ANGLE
@@ -575,6 +560,11 @@ void pedalUpdateTask( void * pvParameters )
     // Get the loadcell reading
     float loadcellReading = loadcell->getReadingKg();
 
+    if (dap_config_st.payLoadPedalConfig_.invertLoadcellReading_u8 == 1)
+    {
+      loadcellReading *= -1;
+    }
+
     // Do the loadcell signal filtering
     float filteredReading = kalman->filteredValue(loadcellReading, 0, dap_config_st.payLoadPedalConfig_.kf_modelNoise);
     float changeVelocity = kalman->changeVelocity();
@@ -623,8 +613,8 @@ void pedalUpdateTask( void * pvParameters )
     double stepperPosFraction = stepper->getCurrentPositionFraction();
     //double stepperPosFraction2 = stepper->getCurrentPositionFractionFromExternalPos( -(int32_t)(isv57.servo_pos_given_p + isv57.servo_pos_error_p - isv57.getZeroPos()) );
     //int32_t Position_Next = MoveByInterpolatedStrategy(filteredReading, stepperPosFraction, &forceCurve, &dap_calculationVariables_st, &dap_config_st);
-    int32_t Position_Next = MoveByPidStrategy(filteredReading, stepperPosFraction, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, absForceOffset_fl32, RPMForceOffset_fl32);
-    //int32_t Position_Next = MoveByPidStrategy(filteredReading, stepperPosFraction, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, total_effect_force);
+    int32_t Position_Next = MoveByPidStrategy(filteredReading, stepperPosFraction, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, absForceOffset_fl32);
+
 
 
     //#define DEBUG_STEPPER_POS
@@ -650,8 +640,10 @@ void pedalUpdateTask( void * pvParameters )
 
 
 
-    // clip target position to configured target interval
-    Position_Next = (int32_t)constrain(Position_Next, dap_calculationVariables_st.stepperPosMin, dap_calculationVariables_st.stepperPosMax);
+    //Adding RPM effect
+    Position_Next +=RPMOscillation.RPM_position_offset;
+    // clip target position to configured target interval with RPM effect movement in the endstop
+    Position_Next = (int32_t)constrain(Position_Next, dap_calculationVariables_st.stepperPosMin, dap_calculationVariables_st.stepperPosMax+RPMOscillation.RPM_position_offset);
 
     // if pedal in min position, recalibrate position 
     #ifdef ISV_COMMUNICATION
@@ -904,6 +896,7 @@ void serialCommunicationTask( void * pvParameters )
               crc = checksumCalculator((uint8_t*)(&(dap_config_st.payLoadHeader_)), sizeof(dap_config_st.payLoadHeader_) + sizeof(dap_config_st.payLoadPedalConfig_));
               dap_config_st_local_ptr->payloadFooter_.checkSum = crc;
               Serial.write((char*)dap_config_st_local_ptr, sizeof(DAP_config_st));
+              Serial.print("\r\n");
             }
 
 

Arduino/Esp32/Main/StepperMovementStrategy.h

@@ -66,7 +66,7 @@ void tunePidValues(DAP_config_st& config_st)
   myPID.SetTunings(config_st.payLoadPedalConfig_.PID_p_gain, config_st.payLoadPedalConfig_.PID_i_gain, config_st.payLoadPedalConfig_.PID_d_gain);
 }
 
-int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, StepperWithLimits* stepper, ForceCurve_Interpolated* forceCurve, const DAP_calculationVariables_st* calc_st, DAP_config_st* config_st, float absForceOffset_fl32, float RPM_offest) {
+int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, StepperWithLimits* stepper, ForceCurve_Interpolated* forceCurve, const DAP_calculationVariables_st* calc_st, DAP_config_st* config_st, float absForceOffset_fl32) {
 
   if (pidWasInitialized == false)
   {
@@ -118,7 +118,7 @@ int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, Ste
 
 
   loadCellTargetKg -=absForceOffset_fl32;
-  float step_RPM = RPM_offest/calc_st->Force_Range * (calc_st->stepperPosMax - calc_st->stepperPosMin);
+
 
   // ToDO
   // - Min and Max force need to be identified from forceCurve->forceAtPosition() as they migh differ from calc_st.Force_Min & calc_st.Force_Max
@@ -148,9 +148,9 @@ int32_t MoveByPidStrategy(float loadCellReadingKg, float stepperPosFraction, Ste
 
   float posStepperNew_fl32 = -1.0 * Output * (float)(calc_st->stepperPosMax - calc_st->stepperPosMin);//stepper->getTravelSteps();
   posStepperNew_fl32 += calc_st->stepperPosMin;
-  //int32_t posStepperNew = floor(posStepperNew_fl32);
-  int32_t posStepperNew = floor(posStepperNew_fl32+step_RPM);
-  posStepperNew=constrain(posStepperNew,calc_st->stepperPosMin,calc_st->stepperPosMax+step_RPM );
+  int32_t posStepperNew = floor(posStepperNew_fl32);
+
+  posStepperNew=constrain(posStepperNew,calc_st->stepperPosMin,calc_st->stepperPosMax );
 
   //#define PLOT_PID_VALUES
   #ifdef PLOT_PID_VALUES

Arduino/Esp32/arduinoCliBuildScript.sh

@@ -2,4 +2,4 @@
 # for Arduino-cli help, see https://arduino.github.io/arduino-cli/0.33/commands/arduino-cli_compile/
 
 
-arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir bin Main/.
+arduino-cli compile --fqbn esp32:esp32:fm-devkit --output-dir bin Main/. --libraries ../libs/

README.md

@@ -89,9 +89,10 @@ Here are some examples of mechanical designs awesome DIYers have done:
 
 | Design           |  Link |
 :------------------------- | :-------------------------
-|<img src="https://user-images.githubusercontent.com/17485523/231913569-695fcab1-f0bb-4af6-8d90-b1bfaece13bc.png" height="200">  |  [Tjfenwick design](https://github.com/tjfenwick/DIY-Sim-Racing-Active-Pedal)|
+|<img src="https://user-images.githubusercontent.com/17485523/231913569-695fcab1-f0bb-4af6-8d90-b1bfaece13bc.png" height="200">  |  [Tjfenwick's design](https://github.com/tjfenwick/DIY-Sim-Racing-Active-Pedal)|
 |<img src="https://user-images.githubusercontent.com/79850208/261399337-b313371c-9262-416d-a131-44fa269f9557.png" height="200">  |  [Bjoes design](https://github.com/Bjoes/DIY-Active-pedal-mechanical-design)|
-|<img src="https://media.printables.com/media/prints/557527/images/4471984_0fbfebf6-7b91-47dd-9602-44a6c7e8b851/thumbs/inside/1600x1200/png/screenshot-2023-08-19-150158.webp" height="200">  |  [GWiz design](https://www.printables.com/de/model/557527-simucube-style-active-pedal/files)|
+|<img src="https://media.printables.com/media/prints/557527/images/4471984_0fbfebf6-7b91-47dd-9602-44a6c7e8b851/thumbs/inside/1600x1200/png/screenshot-2023-08-19-150158.webp" height="200">  |  [GWiz's design](https://www.printables.com/de/model/557527-simucube-style-active-pedal/files)|
+|<img src="https://cdn.thingiverse.com/assets/14/7d/56/cd/03/large_display_9d83a9a8-2c8a-4940-b9ce-b4ae4f9674c6.jpg" height="200">  | [shf90's design](https://www.thingiverse.com/thing:6414587)|
 
 
 
@@ -119,8 +120,9 @@ Firmware can be built and flashed via Arduino-IDE or Arduino-CLI.
 
 #### Built from source (via Arduino-CLI)
 1. Install the [Arduino CLI](https://github.com/arduino/arduino-cli/releases)
-2. Execute the [build script](Arduino/Esp32/arduinoCliBuildScript.bat) from a local repo.
-3. Flash the binaries via e.g. web installer, see [below](#flash-prebuilt-binaries-via-webflasher).
+2. Install the libraries `git submodule update --init --recursive`
+3. Execute the [build script](Arduino/Esp32/arduinoCliBuildScript.bat) from a local repo.
+4. Flash the binaries via e.g. web installer, see [below](#flash-prebuilt-binaries-via-webflasher).
 
 #### Flash prebuilt binaries via web flasher
 The binaries are available [here](https://github.com/ChrGri/DIY-Sim-Racing-FFB-Pedal/releases). They can be flashed via the ESP [webflasher](https://esp.huhn.me/). 
@@ -143,7 +145,7 @@ The SimHub plugin was designed to communicate with the ESP to (a) modify the ped
 
 ![image](SimHubPlugin/Images/Plugin-UI.png)
 
-To install the plugin, the plugin [binaries](https://github.com/ChrGri/DIY-Sim-Racing-FFB-Pedal/releases), hidden inside the SimHub_plugin.zip, have to be copied to the SimHub directory, e.g. C:/Program Files (x86)/SimHub
+To install the plugin, the plugin [DiyActivePedal.dll](https://github.com/ChrGri/DIY-Sim-Racing-FFB-Pedal/releases) has to be copied to the SimHub directory, e.g. C:/Program Files (x86)/SimHub
 
 # Steps after flashing the firmware
 The pedal will not move initially after flashing. One has to open the SimHub plugin, connect to the pedal, and send a config with non-zero PID values.
@@ -164,6 +166,11 @@ After sending the initial config, power cycling of the pedal is necessary. The p
 1. Make sure, that you follow the above instructions. The default PID values are set to 0 thus the pedal will not move. You have to send non-zero PID values and restart the pedal to observe pedal travel.
 2. Open the serial monitor in Arduino IDE, set the baud rate to 921600, and restart the pedal. You should see some debug info. Make a screenshot and kindly ask the Discord server for help.
 
+## Bluetooth doesn't show gamepad data
+Install DirectX 9
+
+## The serial monitor shows a message "Couldn't load config from EPROM due to version mismatch"
+Install a SimHub plugin matching the ESP firmware you installed and send a config to the pedal.
 
 # Misc
 ## Pedal kinematics calculation
@@ -178,17 +185,23 @@ To get a better understanding of the motion and forces, a [python](Validation/Pe
 ESP code:
 - [ ] Add automatic system identification of pedal response
 - [ ] Add model-predictive-control to the ESP code for the improved pedal response
-- [ ] Add field to select joystick output to be conputed from force or travel
-
+- [ ] Add field to invert motor and losdcell direction
+- [ ] send joystick data to simhub plugin and provide data as vJoy gamecontroller
+- [ ] check sebastiand issue eith sticking gas pedal
+- [ ] allow effects to move stepper beyond configured max/min position, but not the measured homing positions.
 
+      
 SimHub plugin:
 - [ ] Send SimHub data via wifi to ESP 
-- [ ] GUI design improvements for the SimHub plugin 
-- [ ] JSON deserialization make compatible with older revisions
-- [ ] JSON deserialization add nicer formating
-- [ ] add button to reset the ESP https://stackoverflow.com/questions/51084038/c-sharp-dtrenable-and-rtsenable-in-the-serialport
+- [x] GUI design improvements for the SimHub plugin 
+- [x] JSON deserialization make compatible with older revisions
 - [ ] include the types header file and use it
-
+- [ ] Make use of effects from the ShakeIt plugin
+- [ ] add OTA update for esp firmware
+- [ ] automatic serial monitor update
+- [ ] serial plotter
+- [ ] add different abs effect patterns, e.g. sawtooth
+
 Misc:
 - [ ] Create a video describing the build progress and the features
 - [ ] Add Doxygen + Graphviz to the project to automatically generate documentation, architectural design overview, etc.