better imu startup

allynone.c

@@ -110,6 +110,8 @@ int main(int argc, char ** argv) {
     .settings = {
         .default_gamepad = 0,
         .nintendo_layout = false,
+        .gamepad_leds_control = true,
+        .gamepad_rumble_control = true,
     }
   };
 

config.cfg.default

@@ -1,5 +1,7 @@
 enable_qam = true;
-ff_gain = 100;
+ff_gain = 255;
 nintendo_layout = false;
-gamepad_output_device = 1;
-rumble_dedicated_thread = false;
+default_gamepad = 1;
+rumble_on_mode_switch = true;
+gamepad_rumble_control = true;
+gamepad_leds_control = true;

dev_out.c

@@ -581,7 +581,9 @@ void *dev_out_thread_func(void *ptr) {
                     }
                 };
 
-                out_msgs[out_msgs_count++] = msg;
+                if (dev_out_data->settings.gamepad_leds_control) {
+                    out_msgs[out_msgs_count++] = msg;
+                }
             }
 
             if (current_motors_events_count != prev_motors_events_count) {
@@ -595,7 +597,9 @@ void *dev_out_thread_func(void *ptr) {
                     }
                 };
 
-                out_msgs[out_msgs_count++] = msg;
+                if (dev_out_data->settings.gamepad_rumble_control) {
+                    out_msgs[out_msgs_count++] = msg;
+                }
             }
 
             // send out game-generated events to sockets

rogue-enemy_iio_buffer_on.sh

@@ -4,20 +4,57 @@ modprobe iio-trig-sysfs
 modprobe iio-trig-hrtimer
 
 # hrtimer
-if [! -d "/home/config"]; then
+if [ ! -d "/home/config" ]; then
     mkdir -p /home/config
 fi
 
 mount -t configfs none /home/config
 mkdir -p /home/config/iio/triggers/hrtimer/rogue
 
-cd /sys/bus/iio/devices/iio\:device0
-echo 1 > scan_elements/in_accel_x_en
-echo 1 > scan_elements/in_accel_y_en
-echo 1 > scan_elements/in_accel_z_en
-echo 1 > scan_elements/in_anglvel_x_en
-echo 1 > scan_elements/in_anglvel_y_en
-echo 1 > scan_elements/in_anglvel_z_en
-echo 1 > scan_elements/in_timestamp_en
-echo "rogue" > trigger/current_trigger
-echo 1 > buffer0/enable
+# set sampling frequency for rogue
+for i in /sys/bus/iio/devices/* ; do
+  if [ -d "$i" ]; then
+    if [ -f "$i/name" ]; then
+      name=$(cat "$i/name")
+      if [ "$name" = "rogue" ]; then
+        echo "800" > "$i/sampling_frequency"
+      fi
+    fi
+  fi
+done
+
+# set the gyroscope
+for i in /sys/bus/iio/devices/* ; do
+  if [ -d "$i" ]; then
+    if [ -f "$i/name" ]; then
+      name=$(cat "$i/name")
+      if [ "$name" = "bmi323-imu" ]; then
+
+        # change chip sampling frequency
+        echo "800.000000" > "$i/in_accel_sampling_frequency"
+        echo "800.000000" > "$i/in_anglvel_sampling_frequency"
+
+        # enable accel data acquisition
+        echo 1 > "$i/scan_elements/in_accel_x_en"
+        echo 1 > "$i/scan_elements/in_accel_y_en"
+        echo 1 > "$i/scan_elements/in_accel_z_en"
+
+        # enable gyroscope data acquisition
+        echo 1 > "$i/scan_elements/in_anglvel_x_en"
+        echo 1 > "$i/scan_elements/in_anglvel_y_en"
+        echo 1 > "$i/scan_elements/in_anglvel_z_en"
+
+        # enable timestamp reporting
+        echo 1 > "$i/scan_elements/in_timestamp_en"
+
+        # bind rogue hrtimer to to the iio device
+        echo "rogue" > "$i/trigger/current_trigger"
+
+        # enable the buffer
+        echo 1 > "$i/buffer0/enable"
+
+        echo "bmi323-imu buffer started"
+      fi
+    fi
+  fi
+done

settings.c

@@ -67,6 +67,20 @@ void load_out_config(dev_out_settings_t *const out_conf, const char* const filep
         fprintf(stderr, "default_gamepad (int) configuration not found. Default value will be used.\n");
     }
 
+    int gamepad_leds_control;
+    if (config_lookup_bool(&cfg, "gamepad_leds_control", &gamepad_leds_control) != CONFIG_FALSE) {
+        out_conf->gamepad_leds_control = gamepad_leds_control;
+    } else {
+        fprintf(stderr, "gamepad_leds_control (bool) configuration not found. Default value will be used.\n");
+    }
+
+    int gamepad_rumble_control;
+    if (config_lookup_bool(&cfg, "gamepad_rumble_control", &gamepad_rumble_control) != CONFIG_FALSE) {
+        out_conf->gamepad_rumble_control = gamepad_rumble_control;
+    } else {
+        fprintf(stderr, "gamepad_rumble_control (bool) configuration not found. Default value will be used.\n");
+    }
+
     config_destroy(&cfg);
 
 load_out_config_err:

settings.h

@@ -13,6 +13,8 @@ void load_in_config(dev_in_settings_t *const out_conf, const char* const filepat
 typedef struct dev_out_settings {
     bool nintendo_layout;
     uint8_t default_gamepad;
+    bool gamepad_leds_control;
+    bool gamepad_rumble_control;
 } dev_out_settings_t;
 
 void load_out_config(dev_out_settings_t *const out_conf, const char* const filepath);

stray_ally.c

@@ -45,6 +45,8 @@ int main(int argc, char ** argv) {
         .settings = {
             .default_gamepad = 0,
             .nintendo_layout = false,
+            .gamepad_leds_control = true,
+            .gamepad_rumble_control = true,
         }
     };