Merge pull request #64 from asterics/MPRLS-spike-removal

Mprls spike removal

FLipWare/FLipWare.ino

@@ -89,12 +89,11 @@ struct SensorData sensorData {
 };
 
 struct I2CSensorValues sensorValues {        
-  .xRaw=0, .yRaw=0, .pressure=0, 
+  .xRaw=0, .yRaw=0, .pressure=512, 
   .calib_now=CALIBRATION_PERIOD     // calibrate sensors after startup !
 };
 
 
-mutex_t sensorDataMutex;                      // for synchronizsation of data access between cores
 struct SlotSettings slotSettings;             // contains all slot settings
 uint8_t workingmem[WORKINGMEM_SIZE];          // working memory (command parser, IR-rec/play)
 uint8_t actSlot = 0;                          // number of current slot
@@ -110,7 +109,7 @@ uint8_t addonUpgrade = BTMODULE_UPGRADE_IDLE; // if not "idle": we are upgrading
 void setup() {
 
   // prepare synchronizsation of sensor data exchange between cores
-  mutex_init(&sensorDataMutex);
+  mutex_init(&(sensorValues.sensorDataMutex));
 
  //load slotSettings
   memcpy(&slotSettings,&defaultSlotSettings,sizeof(struct SlotSettings));
@@ -181,11 +180,11 @@ void loop() {
     lastInteractionUpdate = millis();
 
     // get current sensor data from core1
-    mutex_enter_blocking(&sensorDataMutex);
+    mutex_enter_blocking(&(sensorValues.sensorDataMutex));
     sensorData.xRaw=sensorValues.xRaw;
     sensorData.yRaw=sensorValues.yRaw;
     sensorData.pressure=sensorValues.pressure;
-    mutex_exit(&sensorDataMutex);
+    mutex_exit(&(sensorValues.sensorDataMutex));
 
     if (StandAloneMode) {
 
@@ -240,39 +239,40 @@ void setup1() {
    @return none
 */
 void loop1() {
-  static unsigned long lastUpdate=0;     
-  
+  static uint32_t lastMPRLS_ts=0;
+
   // check if there is a message from the other core (sensorboard change, profile ID)
   if (rp2040.fifo.available()) {
       setSensorBoard(rp2040.fifo.pop());  
   }
 
+  // if the Data Ready Pin of NAU chip signals new data: get force sensor values
+  if (digitalRead(DRDY_PIN) == HIGH)  { 
+    readForce(&sensorValues);    
+  }
 
-  // check if the Data Ready Pin of the NAU chip signals new data, if yes: get sensor values!
-  if (digitalRead(DRDY_PIN) == HIGH)
-  { 
-    getSensorValues();
+  // if desired sampling period for MPRLS pressure sensor passed: get pressure sensor value
+  if (millis()-lastMPRLS_ts >= 1000/MPRLS_SAMPLINGRATE) {
+    lastMPRLS_ts=millis();
+    readPressure(&sensorValues);
   }
 
+  // if calibration running: update calibration counter
+  if (sensorValues.calib_now) {
+    sensorValues.calib_now--;  
+    // calibrate sensors in the middle of the calibration period
+    if(sensorValues.calib_now==CALIBRATION_PERIOD/2) {
+      calibrateSensors();
+    }     
+  }
+
+
   // reset FlipMouse if sensors don't deliver data for several seconds (interface hangs?)
   if (!checkSensorWatchdog()) {
     //Serial.println("WATCHDOG !!");
     watchdog_reboot(0, 0, 10);
     while(1);
   }
-
-  if (millis() >= lastUpdate + UPDATE_INTERVAL)  {
-    lastUpdate = millis();
-
-    // get current sensor values
-    mutex_enter_blocking(&sensorDataMutex);
-    readPressure(&sensorValues);
-    readForce(&sensorValues);
-    mutex_exit(&sensorDataMutex);
-
-    // update calibration counter (if calibration running)
-    if (sensorValues.calib_now) sensorValues.calib_now--;
-
-  }
+
   delay(1);  // core1: sleep a bit ...  
 }

FLipWare/FlipWare.h

@@ -39,8 +39,9 @@
 #include "bluetooth.h"
 #include "hid_hal.h"
 
-#define VERSION_STRING "v3.3.1"
+#define VERSION_STRING "v3.4"
 
+//  V3.4:  improved MPRLS pressure sensor processing
 //  V3.3.1:  fixed IR-command name bug
 //  V3.3:  added Bluetooth Joystick
 //  V3.2:  changed pinning to PCB v3.2
@@ -84,7 +85,7 @@
 */
 #define UPDATE_INTERVAL     5    // update interval for performing HID actions (in milliseconds)
 #define DEFAULT_CLICK_TIME  8    // time for mouse click (loop iterations from press to release)
-#define CALIBRATION_PERIOD  200  // approx. 200*UPDATE_INTERVAL = 1sec calibration time
+#define CALIBRATION_PERIOD  1000  // approx. 1000ms calibration time
 
 // RAM buffers and memory constraints
 #define WORKINGMEM_SIZE         300    // reserved RAM for working memory (command parser, IR-rec/play)
@@ -152,6 +153,7 @@ struct I2CSensorValues {
   int xRaw,yRaw;
   int pressure;
   uint16_t calib_now;
+  mutex_t sensorDataMutex; // for synchronization of data access between cores
 };
 
 /**