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Copy pathHapticFeedback.cpp
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97 lines (81 loc) · 2.32 KB
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#include "HapticFeedback.h"
#ifdef HAPTIC_FEEDBACK_PIN
#include <Arduino.h>
#ifdef HAPTIC_FEEDBACK_ACTIVE_LOW
#define HAPTIC_FEEDBACK_ON_STATE LOW
#define HAPTIC_FEEDBACK_OFF_STATE HIGH
#else
#define HAPTIC_FEEDBACK_ON_STATE HIGH
#define HAPTIC_FEEDBACK_OFF_STATE LOW
#endif
HapticFeedback *hapticFeedback = nullptr;
void initHapticFeedback()
{
if (!hapticFeedback)
hapticFeedback = new HapticFeedback();
}
HapticFeedback::HapticFeedback() : concurrency::OSThread("Haptic")
{
pinMode(HAPTIC_FEEDBACK_PIN, OUTPUT);
digitalWrite(HAPTIC_FEEDBACK_PIN, HAPTIC_FEEDBACK_OFF_STATE);
}
void HapticFeedback::motorWrite(bool on)
{
digitalWrite(HAPTIC_FEEDBACK_PIN, on ? HAPTIC_FEEDBACK_ON_STATE : HAPTIC_FEEDBACK_OFF_STATE);
}
void HapticFeedback::pulse(uint16_t durationMs)
{
motorWrite(true);
pulseOffAt = millis() + durationMs;
if (pulseOffAt == 0) // 0 is the "no pulse" sentinel
pulseOffAt = 1;
scheduleNext();
}
void HapticFeedback::armDelayedPulse(uint16_t delayMs, uint16_t durationMs)
{
delayedPulseAt = millis() + delayMs;
if (delayedPulseAt == 0)
delayedPulseAt = 1;
delayedPulseDuration = durationMs;
scheduleNext();
}
void HapticFeedback::cancelDelayedPulse()
{
delayedPulseAt = 0;
}
void HapticFeedback::scheduleNext()
{
uint32_t now = millis();
uint32_t next = 0;
if (pulseOffAt != 0)
next = pulseOffAt;
if (delayedPulseAt != 0 && (next == 0 || (int32_t)(delayedPulseAt - next) < 0))
next = delayedPulseAt;
if (next == 0)
return;
int32_t delay = (int32_t)(next - now);
setIntervalFromNow(delay > 0 ? (unsigned long)delay : 0);
}
int32_t HapticFeedback::runOnce()
{
uint32_t now = millis();
if (pulseOffAt != 0 && (int32_t)(now - pulseOffAt) >= 0) {
motorWrite(false);
pulseOffAt = 0;
}
if (delayedPulseAt != 0 && (int32_t)(now - delayedPulseAt) >= 0) {
uint16_t dur = delayedPulseDuration;
delayedPulseAt = 0;
pulse(dur);
}
uint32_t next = 0;
if (pulseOffAt != 0)
next = pulseOffAt;
if (delayedPulseAt != 0 && (next == 0 || (int32_t)(delayedPulseAt - next) < 0))
next = delayedPulseAt;
if (next == 0)
return 60 * 1000;
int32_t delay = (int32_t)(next - now);
return delay > 0 ? delay : 0;
}
#endif // HAPTIC_FEEDBACK_PIN