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fix(bHaptics): prevent I2C bus being deallocated #143

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fix(bHaptics): prevent I2C bus being deallocated #143

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2 changes: 2 additions & 0 deletions arch/esp32/esp32.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -18,3 +18,5 @@ lib_deps =
lib_ignore =
segger_rtt
ESP32 BLE Arduino

monitor_filters = esp32_exception_decoder
2 changes: 2 additions & 0 deletions firmware/variants/bhaptics/bhaptics.ini
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@@ -1,4 +1,6 @@
[base:bhaptics]
extends = arch:esp32

platform = ${arch:esp32.platform}
platform_packages =
${arch:esp32.platform_packages}
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14 changes: 7 additions & 7 deletions firmware/variants/bhaptics/tactal/tactal.cpp
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Expand Up @@ -29,15 +29,15 @@ Application* app = &App;

static const std::array<Position, BH_LAYOUT_TACTAL_SIZE> bhLayout = { BH_LAYOUT_TACTAL };

// Configure PWM pins to their positions on the face
const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the face
const auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane(faceOutputs));

app->getVibroBody()->setup();
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16 changes: 8 additions & 8 deletions firmware/variants/bhaptics/tactosy2/tactosy2.cpp
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Expand Up @@ -29,17 +29,17 @@

static const std::array<Position, BH_LAYOUT_TACTOSY2_SIZE> bhLayout = { BH_LAYOUT_TACTOSY2 };

// Configure PWM pins to their positions on the forearm
auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25) },
{ new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the forearm
auto forearmOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25) },
{ new LedcOutput(26), new LedcOutput(27), new LedcOutput(14) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(forearmOutputs));

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GitHub Actions / Build bhaptics_tactosy2_forearm_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

Check warning on line 42 in firmware/variants/bhaptics/tactosy2/tactosy2.cpp

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GitHub Actions / Build bhaptics_tactosy2_forearm_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

app->getVibroBody()->setup();

Expand All @@ -50,7 +50,7 @@
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);

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GitHub Actions / Build bhaptics_tactosy2_forearm_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

Check warning on line 53 in firmware/variants/bhaptics/tactosy2/tactosy2.cpp

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GitHub Actions / Build bhaptics_tactosy2_forearm_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]
},
app
);
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18 changes: 9 additions & 9 deletions firmware/variants/bhaptics/tactosyf/tactosyf.cpp
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Expand Up @@ -29,18 +29,18 @@

static const std::array<Position, BH_LAYOUT_TACTOSYF_SIZE> bhLayout = { BH_LAYOUT_TACTOSYF };

// Configure PWM pins to their positions on the feet
auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32) },
{ new LedcOutput(33) },
{ new LedcOutput(25) },
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the feet
auto footOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32) },
{ new LedcOutput(33) },
{ new LedcOutput(25) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(footOutputs));

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GitHub Actions / Build bhaptics_tactosyf_foot_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

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GitHub Actions / Build bhaptics_tactosyf_foot_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

app->getVibroBody()->setup();

Expand All @@ -51,7 +51,7 @@
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);

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GitHub Actions / Build bhaptics_tactosyf_foot_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

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GitHub Actions / Build bhaptics_tactosyf_foot_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]
},
app
);
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18 changes: 9 additions & 9 deletions firmware/variants/bhaptics/tactosyh/tactosyh.cpp
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Expand Up @@ -29,18 +29,18 @@

static const std::array<Position, BH_LAYOUT_TACTOSYH_SIZE> bhLayout = { BH_LAYOUT_TACTOSYH };

// Configure PWM pins to their positions on the hands
auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32) },
{ new LedcOutput(33) },
{ new LedcOutput(25) }
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the hands
auto handOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32) },
{ new LedcOutput(33) },
{ new LedcOutput(25) }
// clang-format on
});

app->getVibroBody()->addTarget(Target::Accessory, new FloatPlane(handOutputs));

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GitHub Actions / Build bhaptics_tactosyh_hand_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

Check warning on line 43 in firmware/variants/bhaptics/tactosyh/tactosyh.cpp

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GitHub Actions / Build bhaptics_tactosyh_hand_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

app->getVibroBody()->setup();

Expand All @@ -51,7 +51,7 @@
.serialNumber = BH_SERIAL_NUMBER,
},
[](std::string& value) -> void {
Decoder::applyPlain(app->getVibroBody(), value, bhLayout, Effect::Vibro, Target::Accessory);

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GitHub Actions / Build bhaptics_tactosyh_hand_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]

Check warning on line 54 in firmware/variants/bhaptics/tactosyh/tactosyh.cpp

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GitHub Actions / Build bhaptics_tactosyh_hand_right without coverage, -D SS_BATTERY_ENABLED=true 

'SenseShift::Body::Haptics::Target::Accessory' is deprecated [-Wdeprecated-declarations]
},
app
);
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28 changes: 14 additions & 14 deletions firmware/variants/bhaptics/tactsuit_x16/tactsuit_x16.cpp
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Expand Up @@ -32,22 +32,22 @@ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { B
// Ouput indices, responsible for x40 => x16 grouping
static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;

// Configure PWM pins to their positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
{ new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(19), new LedcOutput(18), new LedcOutput(5), new LedcOutput(17) },
{ new LedcOutput(16), new LedcOutput(4), new LedcOutput(2), new LedcOutput(15) },
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
{ new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(19), new LedcOutput(18), new LedcOutput(5), new LedcOutput(17) },
{ new LedcOutput(16), new LedcOutput(4), new LedcOutput(2), new LedcOutput(15) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));

Expand Down
31 changes: 16 additions & 15 deletions firmware/variants/bhaptics/tactsuit_x16_pca9685/tactsuit_x16_pca9685.cpp
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Expand Up @@ -35,33 +35,34 @@ static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX16_SIZE> bhLayout = { B
// Ouput indices, responsible for x40 => x16 grouping
static const std::array<std::uint8_t, BH_LAYOUT_TACTSUITX16_GROUPS_SIZE> layoutGroups = BH_LAYOUT_TACTSUITX16_GROUPS;

auto pwm = i2cdev::PCA9685(0x40, I2CDev);

// Assign the pins on the configured PCA9685 to positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm, 0), new PCA9685Output(pwm, 1), new PCA9685Output(pwm, 2), new PCA9685Output(pwm, 3) },
{ new PCA9685Output(pwm, 4), new PCA9685Output(pwm, 5), new PCA9685Output(pwm, 6), new PCA9685Output(pwm, 7) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm, 8), new PCA9685Output(pwm, 9), new PCA9685Output(pwm, 10), new PCA9685Output(pwm, 11) },
{ new PCA9685Output(pwm, 12), new PCA9685Output(pwm, 13), new PCA9685Output(pwm, 14), new PCA9685Output(pwm, 15) },
// clang-format on
});

void setup()
{
Wire.begin();

// Configure the PCA9685s
auto pwm = i2cdev::PCA9685(0x40, I2CDev);
if (pwm.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to set frequency");
}
if (pwm.wakeup() != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to wake up");
}

// Assign the pins on the configured PCA9685 to positions on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm, 0), new PCA9685Output(pwm, 1), new PCA9685Output(pwm, 2), new PCA9685Output(pwm, 3) },
{ new PCA9685Output(pwm, 4), new PCA9685Output(pwm, 5), new PCA9685Output(pwm, 6), new PCA9685Output(pwm, 7) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm, 8), new PCA9685Output(pwm, 9), new PCA9685Output(pwm, 10), new PCA9685Output(pwm, 11) },
{ new PCA9685Output(pwm, 12), new PCA9685Output(pwm, 13), new PCA9685Output(pwm, 14), new PCA9685Output(pwm, 15) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));

Expand Down
46 changes: 23 additions & 23 deletions firmware/variants/bhaptics/tactsuit_x40/tactsuit_x40.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,48 +34,48 @@ Application* app = &App;

static const std::array<OutputLayout, BH_LAYOUT_TACTSUITX40_SIZE> bhLayout = { BH_LAYOUT_TACTSUITX40 };

auto pwm0 = i2cdev::PCA9685(0x40, I2CDev);
auto pwm1 = i2cdev::PCA9685(0x41, I2CDev);

// Assign the pins on the configured PCA9685s and PWM pins to locations on the vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm0, 0), new PCA9685Output(pwm0, 1), new PCA9685Output(pwm0, 2), new PCA9685Output(pwm0, 3) },
{ new PCA9685Output(pwm0, 4), new PCA9685Output(pwm0, 5), new PCA9685Output(pwm0, 6), new PCA9685Output(pwm0, 7) },
{ new PCA9685Output(pwm0, 8), new PCA9685Output(pwm0, 9), new PCA9685Output(pwm0, 10), new PCA9685Output(pwm0, 11) },
{ new PCA9685Output(pwm0, 12), new PCA9685Output(pwm0, 13), new PCA9685Output(pwm0, 14), new PCA9685Output(pwm0, 15) },
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm1, 0), new PCA9685Output(pwm1, 1), new PCA9685Output(pwm1, 2), new PCA9685Output(pwm1, 3) },
{ new PCA9685Output(pwm1, 4), new PCA9685Output(pwm1, 5), new PCA9685Output(pwm1, 6), new PCA9685Output(pwm1, 7) },
{ new PCA9685Output(pwm1, 8), new PCA9685Output(pwm1, 9), new PCA9685Output(pwm1, 10), new PCA9685Output(pwm1, 11) },
{ new PCA9685Output(pwm1, 12), new PCA9685Output(pwm1, 13), new PCA9685Output(pwm1, 14), new PCA9685Output(pwm1, 15) },
{ new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});

void setup()
{
Wire.begin();

// Configure the PCA9685s
auto pwm0 = i2cdev::PCA9685(0x40, I2CDev);
if (pwm0.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to set frequency");
}
if (pwm0.wakeup() != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to wake up");
}

auto pwm1 = i2cdev::PCA9685(0x41, I2CDev);
if (pwm1.setFrequency(PWM_FREQUENCY) != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to set frequency");
}
if (pwm1.wakeup() != I2CDEV_RESULT_OK) {
LOG_E("pca9685", "Failed to wake up");
}

// Assign the pins on the configured PCA9685s and PWM pins to locations on the
// vest
auto frontOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm0, 0), new PCA9685Output(pwm0, 1), new PCA9685Output(pwm0, 2), new PCA9685Output(pwm0, 3) },
{ new PCA9685Output(pwm0, 4), new PCA9685Output(pwm0, 5), new PCA9685Output(pwm0, 6), new PCA9685Output(pwm0, 7) },
{ new PCA9685Output(pwm0, 8), new PCA9685Output(pwm0, 9), new PCA9685Output(pwm0, 10), new PCA9685Output(pwm0, 11) },
{ new PCA9685Output(pwm0, 12), new PCA9685Output(pwm0, 13), new PCA9685Output(pwm0, 14), new PCA9685Output(pwm0, 15) },
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});
auto backOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new PCA9685Output(pwm1, 0), new PCA9685Output(pwm1, 1), new PCA9685Output(pwm1, 2), new PCA9685Output(pwm1, 3) },
{ new PCA9685Output(pwm1, 4), new PCA9685Output(pwm1, 5), new PCA9685Output(pwm1, 6), new PCA9685Output(pwm1, 7) },
{ new PCA9685Output(pwm1, 8), new PCA9685Output(pwm1, 9), new PCA9685Output(pwm1, 10), new PCA9685Output(pwm1, 11) },
{ new PCA9685Output(pwm1, 12), new PCA9685Output(pwm1, 13), new PCA9685Output(pwm1, 14), new PCA9685Output(pwm1, 15) },
{ new LedcOutput(27), new LedcOutput(14), new LedcOutput(12), new LedcOutput(13) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::ChestFront, new FloatPlane(frontOutputs));
app->getVibroBody()->addTarget(Target::ChestBack, new FloatPlane(backOutputs));

Expand Down
14 changes: 7 additions & 7 deletions firmware/variants/bhaptics/tactvisor/tactvisor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,15 @@ Application* app = &App;

static const std::array<Position, BH_LAYOUT_TACTVISOR_SIZE> bhLayout = { BH_LAYOUT_TACTVISOR };

// Configure PWM pins to their positions on the face
auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});

void setup()
{
// Configure PWM pins to their positions on the face
auto faceOutputs = PlaneMapper_Margin::mapMatrixCoordinates<FloatPlane::Actuator*>({
// clang-format off
{ new LedcOutput(32), new LedcOutput(33), new LedcOutput(25), new LedcOutput(26) },
// clang-format on
});

app->getVibroBody()->addTarget(Target::FaceFront, new FloatPlane(faceOutputs));

app->getVibroBody()->setup();
Expand Down
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