Merge branch 'hotfix/v0.4.2'

senseshift · Mar 27, 2023 · 40f0fee · 40f0fee
2 parents 4d23832 + 8be46e7
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diff --git a/README.md b/README.md
@@ -15,12 +15,12 @@ Build your own DIY haptic vest, haptic gloves and more!
 [![GitHub](https://img.shields.io/github/stars/openhaptics/openhaptics-firmware.svg)](https://github.com/openhaptics/openhaptics-firmware)
 [![Contributor Covenant](https://img.shields.io/badge/code_of_conduct-contributor_covenant_v2.1-ff69b4)](/CODE_OF_CONDUCT.md)
 
-
 ## Configuration, flashing and connecting
 
 The main documentation on this project is located on [openhaptics.github.io](https://openhaptics.github.io/)
 
 * [Getting Started](https://openhaptics.github.io/docs/getting-started)
+* **NEW** [Build Guides](https://openhaptics.github.io/guides/getting-started)
 * [Hardware Schematics](https://github.com/openhaptics/openhaptics-hardware)
 * [Flashing Firmware](https://openhaptics.github.io/docs/category/flashing-firmware)
 
@@ -58,9 +58,9 @@ Please note, that documentation is still work-in-progress
 
 | Board                | Status       |
 | :------------------- | :----------: |
-| Internal ADC         | 🚧            |
-| MAX1704x             | 🚧            |
-| INA219               | 🚧            |
+| Internal ADC         | ✅            |
+| MAX1704x             | ✅            |
+| INA219               | ✅            |
 | MCP3021              | 🚧            |
 | STUSB4500            | 🚧            |
 
@@ -73,15 +73,15 @@ Please note, that documentation is still work-in-progress
 
 ## Supported devices
 
-| Device                 | Supported Devices    | Retail price | Hardware                                                                                            |
-| :--------------------  | :------------------- | -----------: | :-------------------------------------------------------------------------------------------------- |
-| Haptics Face Interface | Tactal               | US $149      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-face-interface) |
-| Haptic Gloves          | TactGlove            | US $299      | PWM on pins `32`, `33`, `25`, `26`, `27`, `14`                                                      |
-| Haptic Sleeves         | Tactosy for arms     | US $249      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-forearm-sleeve) |
-| Haptic Hand Gauntlet   | Tactosy for hands    | US $249      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-gauntlet)       |
-| Haptic Feet Device     | Tactosy for feet     | US $249      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-feet-device)    |
-| X16 Haptic Vest        | TactSuit X16         | US $299      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#x16-haptic-vest)       |
-| X40 Haptic Vest        | TactSuit X40, Tactot | US $499      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#x40-haptic-vest)       |
+| Device                 | Supported Devices    | Retail price | DIY Price | Hardware                                                                                            |
+| :--------------------  | :------------------- | -----------: | --------: | :-------------------------------------------------------------------------------------------------- |
+| Haptics Face Interface | Tactal               | US $149      | ~20$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-face-interface) |
+| Haptic Gloves          | TactGlove            | US $299      | ~20$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-glove)          |
+| Haptic Sleeves         | Tactosy for arms     | US $249      | ~20$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-forearm-sleeve) |
+| Haptic Hand Gauntlet   | Tactosy for hands    | US $249      | ~20$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-gauntlet)       |
+| Haptic Feet Device     | Tactosy for feet     | US $249      | ~20$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#haptic-feet-device)    |
+| X16 Haptic Vest        | TactSuit X16         | US $299      | ~40$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#x16-haptic-vest)       |
+| X40 Haptic Vest        | TactSuit X40, Tactot | US $499      | ~70$      | See [Hardware Reference](https://github.com/openhaptics/openhaptics-hardware#x40-haptic-vest)       |
 
 ## For Developers
 

diff --git a/firmware/firmware.cpp b/firmware/firmware.cpp
@@ -10,28 +10,30 @@
 
 #ifndef PIO_UNIT_TESTING
 
-extern void setupMode(OpenHaptics* app);
+extern void setupMode();
 
 #if defined(ARDUINO)
 
-static OpenHaptics App;
+OpenHaptics App;
 
 void setup() {
   Serial.begin(115200);
-  setupMode(&App);
+
+  setupMode();
 
 #if defined(SERIAL_PLOTTER) && SERIAL_PLOTTER == true
   auto* serialOutputState = new OH::SerialPlotter_OutputStates<HardwareSerial>(Serial, App.getOutput());
-  App.registerComponent(serialOutputState);
+  serialOutputState->begin();
 #endif // SERIAL_PLOTTER
 
-  App.begin();
-
   // Free up the Arduino loop task
   vTaskDelete(NULL);
 }
 
-void loop() {}
+void loop() {
+  // Arduino loop task is deleted in setup()
+  // Delete the `vTaskDelete(NULL);` line in setup() to enable this function
+}
 
 #endif // ARDUINO
 

diff --git a/firmware/mode_configs/bhaptics/tactal.cpp b/firmware/mode_configs/bhaptics/tactal.cpp
@@ -17,33 +17,47 @@
 using namespace OH;
 using namespace BH;
 
-static const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+extern OpenHaptics App;
+OpenHaptics* app = &App;
 
-void setupMode(OpenHaptics* app) {
+// ========= Output =========
+
+const size_t bhLayoutSize = BH_LAYOUT_TACTAL_SIZE;
+const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTAL;
+
+// ========= Connection =========
+
+// ========= Battery =========
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+#endif
+
+void setupMode() {
   // Configure PWM pins to their positions on the face
   auto faceOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
       {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
       // clang-format on
   });
+  ClosestOutputComponent* face = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, faceOutputs);
 
-  OutputComponent* face = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, faceOutputs);
   app->getOutput()->addComponent(face);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     plainOutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, &App, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }
diff --git a/firmware/mode_configs/bhaptics/tactglove.cpp b/firmware/mode_configs/bhaptics/tactglove.cpp
@@ -19,6 +19,9 @@
 using namespace OH;
 using namespace BH;
 
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
 #pragma region bHaptics_trash
 
 // TODO: all of this will need to be re-written to use the new output paths system, when time comes
@@ -44,30 +47,35 @@ static const oh_output_point_t* bhLayout[bhLayoutSize] = {
 
 #pragma endregion bHaptics_trash
 
-void setupMode(OpenHaptics* app) {
+void setupMode() {
   // Configure PWM pins to their positions on the glove
   auto gloveOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
-      {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27), new PWMOutputWriter(14)},
+      {
+        new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25), new PWMOutputWriter(26), new PWMOutputWriter(27),
+        new PWMOutputWriter(14)
+      },
       // clang-format on
   });
 
   OutputComponent* glove = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, gloveOutputs);
   app->getOutput()->addComponent(glove);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     plainOutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }
diff --git a/firmware/mode_configs/bhaptics/tactosy2.cpp b/firmware/mode_configs/bhaptics/tactosy2.cpp
@@ -17,10 +17,13 @@
 using namespace OH;
 using namespace BH;
 
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
 static const size_t bhLayoutSize = BH_LAYOUT_TACTOSY2_SIZE;
 static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSY2;
 
-void setupMode(OpenHaptics* app) {
+void setupMode() {
   // Configure PWM pins to their positions on the forearm
   auto forearmOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
@@ -32,19 +35,21 @@ void setupMode(OpenHaptics* app) {
   OutputComponent* forearm = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, forearmOutputs);
   app->getOutput()->addComponent(forearm);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     plainOutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }
diff --git a/firmware/mode_configs/bhaptics/tactosyf.cpp b/firmware/mode_configs/bhaptics/tactosyf.cpp
@@ -17,33 +17,40 @@
 using namespace OH;
 using namespace BH;
 
-static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
-static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
+void setupMode() {
+  static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYF_SIZE;
+  static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYF;
 
-void setupMode(OpenHaptics* app) {
   // Configure PWM pins to their positions on the feet
   auto footOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
-      {new PWMOutputWriter(32), new PWMOutputWriter(33), new PWMOutputWriter(25)}
+      { new PWMOutputWriter(32) },
+      { new PWMOutputWriter(33) },
+      { new PWMOutputWriter(25) },
       // clang-format on
   });
 
   OutputComponent* foot = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, footOutputs);
   app->getOutput()->addComponent(foot);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     plainOutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }
diff --git a/firmware/mode_configs/bhaptics/tactosyh.cpp b/firmware/mode_configs/bhaptics/tactosyh.cpp
@@ -17,10 +17,13 @@
 using namespace OH;
 using namespace BH;
 
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
 static const size_t bhLayoutSize = BH_LAYOUT_TACTOSYH_SIZE;
 static const oh_output_point_t* bhLayout[bhLayoutSize] = BH_LAYOUT_TACTOSYH;
 
-void setupMode(OpenHaptics* app) {
+void setupMode() {
   // Configure PWM pins to their positions on the hands
   auto handOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
@@ -33,19 +36,21 @@ void setupMode(OpenHaptics* app) {
   OutputComponent* hand = new ClosestOutputComponent(OUTPUT_PATH_ACCESSORY, handOutputs);
   app->getOutput()->addComponent(hand);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     plainOutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, OUTPUT_PATH_ACCESSORY);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }
diff --git a/firmware/mode_configs/bhaptics/tactsuit_x16.cpp b/firmware/mode_configs/bhaptics/tactsuit_x16.cpp
@@ -17,14 +17,17 @@
 using namespace OH;
 using namespace BH;
 
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
 static const oh_output_point_t* bhLayout[] = BH_LAYOUT_TACTSUITX16;
 static const size_t bhLayoutSize = BH_LAYOUT_TACTSUITX16_SIZE;
 
 // Ouput indices, responsible for x40 => x16 grouping
 static const size_t layoutGroupsSize = BH_LAYOUT_TACTSUITX16_GROUPS_SIZE;
 static const uint8_t layoutGroups[layoutGroupsSize] = BH_LAYOUT_TACTSUITX16_GROUPS;
 
-void setupMode(OpenHaptics* app) {
+void setupMode() {
   // Configure PWM pins to their positions on the vest
   auto frontOutputs = mapMatrixCoordinates<AbstractOutputWriter>({
       // clang-format off
@@ -45,19 +48,21 @@ void setupMode(OpenHaptics* app) {
   app->getOutput()->addComponent(chestFront);
   app->getOutput()->addComponent(chestBack);
 
-#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
-  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
-  app->setBattery(battery);
-#endif
+  app->getOutput()->setup();
 
   uint8_t serialNumber[BH_SERIAL_NUMBER_LENGTH] = BH_SERIAL_NUMBER;
   ConnectionBHBLE_Config config = {
       .deviceName = BLUETOOTH_NAME,
       .appearance = BH_BLE_APPEARANCE,
       .serialNumber = serialNumber,
   };
-  AbstractConnection* bhBleConnection = new ConnectionBHBLE(&config, [app](std::string& value)->void {
+  AbstractConnection* bhBleConnection = new ConnectionBHBLE(config, [](std::string& value)->void {
     vestX16OutputTransformer(app->getOutput(), value, bhLayout, bhLayoutSize, layoutGroups, layoutGroupsSize);
   }, app);
-  app->setConnection(bhBleConnection);
+  bhBleConnection->begin();
+
+#if defined(BATTERY_ENABLED) && BATTERY_ENABLED == true
+  AbstractBattery* battery = new ADCNaiveBattery(36, { .sampleRate = BATTERY_SAMPLE_RATE }, app, tskNO_AFFINITY);
+  battery->begin();
+#endif
 }