Experimental HardlightVR Vest firmware

firmware/mode_configs/hardlight/vest.cpp

@@ -0,0 +1,16 @@
+// Override you configs in this file (Ctrl+Click)
+#include "config/all.h"
+
+#include <Arduino.h>
+#include <Wire.h>
+
+#include "openhaptics.h"
+
+using namespace OH;
+
+extern OpenHaptics App;
+OpenHaptics* app = &App;
+
+void setupMode() {
+
+}

ini/bhaptics.ini

@@ -3,9 +3,8 @@ build_flags = ${common.build_flags}
 	-D BHAPTICS
 build_unflags   = ${common.build_unflags}
 build_src_filter  = ${common.build_src_filter}
-	+<connections/ble.cpp>
-	+<connections/bhaptics.cpp>
 lib_deps    = ${common.lib_deps}
+	h2zero/NimBLE-Arduino@^1.4.0
 
 [env:bhaptics_tactsuit_x16]
 build_flags = ${bhaptics.build_flags}

ini/hardlight.ini

@@ -0,0 +1,18 @@
+[hardlight]
+platform 		 = ststm32
+board 			 = genericSTM32F401RE
+build_flags 	 = ${common.build_flags}
+	-D HARDLIGHT
+build_unflags    = ${common.build_unflags}
+build_src_filter = ${common.build_src_filter}
+lib_deps         = ${common.lib_deps}
+	stm32duino/STM32duino FreeRTOS @ ^10.3.1
+
+[env:hardlight_vest]
+platform         = ${hardlight.platform}
+board            = ${hardlight.board}
+build_flags      = ${hardlight.build_flags}
+build_unflags    = ${hardlight.build_unflags}
+build_src_filter = ${hardlight.build_src_filter}
+	+<mode_configs/hardlight/vest.cpp>
+lib_deps         = ${hardlight.lib_deps}

lib/arduino/output_writers/pwm.cpp

@@ -7,10 +7,16 @@ uint8_t PWMOutputWriter::CHANNELS = 0;
 void PWMOutputWriter::setup() {
   this->chan = PWMOutputWriter::CHANNELS++;
 
+#if defined(ARDUINO_ARCH_ESP32)
   ledcSetup(this->chan, this->freq, this->resolution);
   ledcAttachPin(this->pin, this->chan);
+#endif
 };
 
 void PWMOutputWriter::writeOutput(oh_output_intensity_t intensity) {
+#if defined(ARDUINO_ARCH_ESP32)
   ledcWrite(chan, (uint16_t)map(intensity, 0, OH_OUTPUT_INTENSITY_MAX, 0, 4096));
+#elif defined(ARDUINO_ARCH_STM32)
+  analogWrite(this->pin, (uint16_t)map(intensity, 0, OH_OUTPUT_INTENSITY_MAX, 0, 255));
+#endif
 }

lib/core/logging.hpp

@@ -1,5 +1,11 @@
 #pragma once
 
 #if defined(ARDUINO_ARCH_ESP32)
-#include <esp32-hal-log.h>
+  #include <esp32-hal-log.h>
+#elif defined(ARDUINO_ARCH_STM32)
+  #define log_e(...) ((void)0)
+  #define log_w(...) ((void)0)
+  #define log_i(...) ((void)0)
+  #define log_d(...) ((void)0)
+  #define log_t(...) ((void)0)
 #endif

lib/core/task.hpp

@@ -3,8 +3,16 @@
 #include "logging.hpp"
 
 #include <Arduino.h>
-#include <freertos/FreeRTOS.h>   // Include the base FreeRTOS definitions.
-#include <freertos/task.h>       // Include the task definitions.
+
+#if defined(ARDUINO_ARCH_ESP32)
+  #include <freertos/FreeRTOS.h>   // Include the base FreeRTOS definitions.
+  #include <freertos/task.h>       // Include the task definitions.
+#elif defined(ARDUINO_ARCH_STM32)
+  #include <STM32FreeRTOS.h>
+
+  #define tskNO_AFFINITY 0
+  #define xTaskCreateUniversal(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask, xCoreID) xTaskCreate(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask)
+#endif
 
 namespace OH {
   struct TaskConfig {
@@ -56,8 +64,8 @@ namespace OH {
         this->taskConfig.coreId       // xCoreID
       );
 
-      assert("Failed to create task" && result == pdPASS);
-      if(!taskHandle) {
+      // assert(result == pdPASS);
+      if(!taskHandle || !result) {
         log_e("Failed to create task %s", this->taskConfig.name);
       }
     };

platformio.ini

@@ -14,6 +14,7 @@ lib_dir       = ./lib
 src_dir       = ./firmware
 extra_configs =
     ini/bhaptics.ini
+	ini/hardlight.ini
 
 [common]
 build_flags       =
@@ -38,7 +39,6 @@ lib_deps          =
 	adafruit/Adafruit PWM Servo Driver Library@^2.4.0
 	adafruit/Adafruit INA219@^1.2.1
 	sparkfun/SparkFun MAX1704x Fuel Gauge Arduino Library@^1.0.4
-	h2zero/NimBLE-Arduino@^1.4.0
 
 [env]
 framework 	     = arduino