ffb.h

/*
  Force Feedback Joystick
  USB HID descriptors for a force feedback joystick.  
  Copyright 2012  Tero Loimuneva (tloimu [at] gmail [dot] com)
  Copyright 2016  Jaka Simonic (telesimke [at] gmail [dot] com)
  MIT License.
  Permission to use, copy, modify, distribute, and sell this
  software and its documentation for any purpose is hereby granted
  without fee, provided that the above copyright notice appear in
  all copies and that both that the copyright notice and this
  permission notice and warranty disclaimer appear in supporting
  documentation, and that the name of the author not be used in
  advertising or publicity pertaining to distribution of the
  software without specific, written prior permission.
  The author disclaim all warranties with regard to this
  software, including all implied warranties of merchantability
  and fitness.  In no event shall the author be liable for any
  special, indirect or consequential damages or any damages
  whatsoever resulting from loss of use, data or profits, whether
  in an action of contract, negligence or other tortious action,
  arising out of or in connection with the use or performance of
  this software.
*/

#ifndef _FFB_
#define _FFB_

/* Type Defines: */
/** Type define for the joystick HID report structure, for creating and sending HID reports to the host PC.
 *  This mirrors the layout described to the host in the HID report descriptor, in Descriptors.c.
 */

// Maximum number of parallel effects in memory
#define MAX_EFFECTS     10
#define SIZE_EFFECT     sizeof(TEffectState)
#define MEMORY_SIZE     (uint16_t)(MAX_EFFECTS*SIZE_EFFECT)
#define TO_LT_END_16(x)    ((x<<8)&0xFF00)|((x>>8)&0x00FF)       //to little endian for 16 bit value

#pragma pack(1)

// ---- Input
	typedef struct
	{ //PID State
	uint8_t	reportId;	// =2
	uint8_t	status;	// Bits: 0=Device Paused,1=Actuators Enabled,2=Safety Switch,3=Actuator Override Switch,4=Actuator Power
	uint8_t	effectBlockIndex;	// Bit7=Effect Playing, Bit0..7=EffectId (1..40)
	} USB_FFBReport_PIDStatus_Input_Data_t;

// ---- Output
typedef struct
	{ // FFB: Set Effect Output Report
	uint8_t	reportId;	// =1
	uint8_t	effectBlockIndex;	// 1..40
	uint8_t	effectType;	// 1..12 (effect usages: 26,27,30,31,32,33,34,40,41,42,43,28)
	uint16_t	duration; // 0..32767 ms
	uint16_t	triggerRepeatInterval; // 0..32767 ms
	uint16_t	samplePeriod;	// 0..32767 ms
	uint8_t	gain;	// 0..255	 (physical 0..10000)
	uint8_t	triggerButton;	// button ID (0..8)
	uint8_t	enableAxis; // bits: 0=X, 1=Y, 2=DirectionEnable
	uint8_t	directionX;	// angle (0=0 .. 255=360deg)
	uint8_t	directionY;	// angle (0=0 .. 255=360deg)
//	uint16_t	startDelay;	// 0..32767 ms
	} USB_FFBReport_SetEffect_Output_Data_t;

typedef struct
	{ // FFB: Set Envelope Output Report
	uint8_t	reportId;	// =2
	uint8_t	effectBlockIndex;	// 1..40
	uint8_t attackLevel;
	uint8_t	fadeLevel;
	uint16_t	attackTime;	// ms
	uint16_t	fadeTime;	// ms
	} USB_FFBReport_SetEnvelope_Output_Data_t;

typedef struct
	{ // FFB: Set Condition Output Report
	uint8_t	reportId;	// =3
	uint8_t	effectBlockIndex;	// 1..40
	uint8_t	parameterBlockOffset;	// bits: 0..3=parameterBlockOffset, 4..5=instance1, 6..7=instance2
	int8_t cpOffset;	// 0..255
	int8_t	positiveCoefficient;	// -128..127
	int8_t	negativeCoefficient;	// -128..127
	uint8_t	positiveSaturation;	// -	128..127
	uint8_t	negativeSaturation;	// -128..127
	uint8_t	deadBand;	// 0..255
	} USB_FFBReport_SetCondition_Output_Data_t;

typedef struct
	{ // FFB: Set Periodic Output Report
	uint8_t	reportId;	// =4
	uint8_t	effectBlockIndex;	// 1..40
	uint8_t magnitude;
	int8_t	offset;
	uint8_t	phase;	// 0..255 (=0..359, exp-2)
	uint16_t	period;	// 0..32767 ms
	} USB_FFBReport_SetPeriodic_Output_Data_t;

typedef struct
	{ // FFB: Set ConstantForce Output Report
	uint8_t	reportId;	// =5
	uint8_t	effectBlockIndex;	// 1..40
	int16_t magnitude;	// -255..255
	} USB_FFBReport_SetConstantForce_Output_Data_t;

typedef struct
	{ // FFB: Set RampForce Output Report
	uint8_t	reportId;	// =6
	uint8_t	effectBlockIndex;	// 1..40
	int8_t start;
	int8_t	end;
	} USB_FFBReport_SetRampForce_Output_Data_t;

typedef struct
	{ // FFB: Set CustomForceData Output Report
	uint8_t	reportId;	// =7
	uint8_t	effectBlockIndex;	// 1..40
	uint8_t dataOffset;
	int8_t	data[12];
	} USB_FFBReport_SetCustomForceData_Output_Data_t;

typedef struct
	{ // FFB: Set DownloadForceSample Output Report
	uint8_t	reportId;	// =8
	int8_t	x;
	int8_t	y;
	} USB_FFBReport_SetDownloadForceSample_Output_Data_t;

typedef struct
	{ // FFB: Set EffectOperation Output Report
	uint8_t	reportId;	// =10
	uint8_t effectBlockIndex;	// 1..40
	uint8_t operation; // 1=Start, 2=StartSolo, 3=Stop
	uint8_t	loopCount;
	} USB_FFBReport_EffectOperation_Output_Data_t;

typedef struct
	{ // FFB: Block Free Output Report
	uint8_t	reportId;	// =11
	uint8_t effectBlockIndex;	// 1..40
	} USB_FFBReport_BlockFree_Output_Data_t;

typedef struct
	{ // FFB: Device Control Output Report
	uint8_t	reportId;	// =12
	uint8_t control;	// 1=Enable Actuators, 2=Disable Actuators, 4=Stop All Effects, 8=Reset, 16=Pause, 32=Continue
	} USB_FFBReport_DeviceControl_Output_Data_t;

typedef struct
	{ // FFB: DeviceGain Output Report
	uint8_t	reportId;	// =13
	uint8_t gain;
	} USB_FFBReport_DeviceGain_Output_Data_t;

typedef struct
	{ // FFB: Set Custom Force Output Report
	uint8_t		reportId;	// =14
	uint8_t effectBlockIndex;	// 1..40
	uint8_t	sampleCount;
	uint16_t	samplePeriod;	// 0..32767 ms
	} USB_FFBReport_SetCustomForce_Output_Data_t;

// ---- Features

typedef struct
	{ // FFB: Create New Effect Feature Report
	uint8_t		reportId;	// =1
	uint8_t	effectType;	// Enum (1..12): ET 26,27,30,31,32,33,34,40,41,42,43,28
	uint16_t	byteCount;	// 0..511
	} USB_FFBReport_CreateNewEffect_Feature_Data_t;
	
	typedef struct
	{ // FFB: PID Pool Feature Report
	uint8_t	reportId;	// =3
	uint16_t	ramPoolSize;	// ?
	uint8_t		maxSimultaneousEffects;	// ?? 40?
	uint8_t		memoryManagement;	// Bits: 0=DeviceManagedPool, 1=SharedParameterBlocks
	} USB_FFBReport_PIDPool_Feature_Data_t;

	typedef struct
	{ // FFB: PID Block Load Feature Report
	uint8_t	reportId;	// =2
	uint8_t effectBlockIndex;	// 1..40
	uint8_t	loadStatus;	// 1=Success,2=Full,3=Error
	uint16_t	ramPoolAvailable;	// =0 or 0xFFFF?
	} USB_FFBReport_PIDBlockLoad_Feature_Data_t;

	#pragma pack(2)

// Handle incoming data from USB
void FfbOnUsbData(uint8_t *data, uint16_t len);

// Handle incoming feature requests
void FfbOnCreateNewEffect(USB_FFBReport_CreateNewEffect_Feature_Data_t* inData);
uint8_t *FfbOnPIDPool(void);
uint8_t *FfbOnPIDBlockLoad(void);
uint8_t *FfbOnPIDStatus(void);

void FfbGetFeedbackValue(int16_t* axisPosition, int16_t* out);

#define USB_DURATION_INFINITE		0x7FFF

#define USB_EFFECT_CONSTANT	  	0x01
#define USB_EFFECT_RAMP					0x02
#define USB_EFFECT_SQUARE 			0x03
#define USB_EFFECT_SINE 				0x04
#define USB_EFFECT_TRIANGLE			0x05
#define USB_EFFECT_SAWTOOTHDOWN	0x06
#define USB_EFFECT_SAWTOOTHUP		0x07
#define USB_EFFECT_SPRING				0x08
#define USB_EFFECT_DAMPER				0x09
#define USB_EFFECT_INERTIA			0x0A
#define USB_EFFECT_FRICTION			0x0B
#define USB_EFFECT_CUSTOM				0x0C

// Bit-masks for effect states
#define MEFFECTSTATE_FREE				0x00
#define MEFFECTSTATE_ALLOCATED	0x01
#define MEFFECTSTATE_PLAYING		0x02

#define X_AXIS_ENABLE  					0x01
#define Y_AXIS_ENABLE  					0x02
#define DIRECTION_ENABLE  			0x04

//these were needed for testing 
#define INERTIA_FORCE 					0xFF
#define FRICTION_FORCE					0xFF
#define INERTIA_DEADBAND				0x30
#define FRICTION_DEADBAND				0x30




typedef struct {
	uint8_t state;	// see constants <MEffectState_*>
	uint8_t effectType;	// 
	int8_t offset;
	uint8_t gain, attackLevel, fadeLevel;
	uint8_t magnitude;
	uint8_t	enableAxis; // bits: 0=X, 1=Y, 2=DirectionEnable
	uint8_t	directionX;	// angle (0=0 .. 255=360deg)
	uint8_t	directionY;	// angle (0=0 .. 255=360deg)
	uint8_t axesIdx;
	int8_t cpOffset[2];	// -128..127
	int8_t	positiveCoefficient[2];	// -128..127
	int8_t	negativeCoefficient[2];	// -128..127
	uint8_t	positiveSaturation[2];	// -128..127
	uint8_t	negativeSaturation[2];	// -128..127
	uint8_t	deadBand[2];	// 0..255
	uint8_t	phase;	// 0..255 (=0..359, exp-2)
	int8_t start;
	int8_t	end;
	uint16_t	period;	// 0..32767 ms
	uint16_t duration, fadeTime,attackTime,elapsedTime;	

	} TEffectState;



#endif