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Merge branch 'cm_linux_sc' into 'main'

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Cm linux sc

See merge request cm/cmdr-joystick!3
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Christoffer Martinsson 2025-09-13 13:45:10 +02:00
commit 05a7c9b541
3 changed files with 610 additions and 1248 deletions
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763
rp2040/src/main.rs
View File

@ -49,6 +49,57 @@ pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
// Public constants
// HW Button index map:
// ---------------------------------------------------------------
// | 0 L| 1 U| 25 U | | 2 | | 26 U | 4 U| 3 L|
// ---------------------------------------------------------------
// | | 5 | 6 | 7 | | 12 | 11 | 10 | |
// | |
// | | 8 | | 13 | |
// | | 9 | | 14 | |
// | X1/Y1 X2/Y2 |
// | | 16 | | 21 | |
// | | 19 | 15 | 17 | | 24 | 20 | 22 | |
// | | 18 | | 23 | |
// ---------------------------------------------------------------
pub const BUTTON_FRONT_LEFT_LOWER: usize = 0;
pub const BUTTON_FRONT_LEFT_UPPER: usize = 1;
pub const BUTTON_FRONT_LEFT_EXTRA: usize = 25;
pub const BUTTON_FRONT_CONFIG: usize = 2;
pub const BUTTON_FRONT_RIGHT_LOWER: usize = 3;
pub const BUTTON_FRONT_RIGHT_UPPER: usize = 4;
pub const BUTTON_FRONT_RIGHT_EXTRA: usize = 26;
pub const BUTTON_TOP_LEFT_LOW: usize = 5;
pub const BUTTON_TOP_LEFT_HIGH: usize = 6;
pub const BUTTON_TOP_LEFT_MODE: usize = 7;
pub const BUTTON_TOP_LEFT_UP: usize = 8;
pub const BUTTON_TOP_LEFT_DOWN: usize = 9;
pub const BUTTON_TOP_LEFT_HAT: usize = 15;
pub const BUTTON_TOP_LEFT_HAT_UP: usize = 16;
pub const BUTTON_TOP_LEFT_HAT_RIGHT: usize = 17;
pub const BUTTON_TOP_LEFT_HAT_DOWN: usize = 18;
pub const BUTTON_TOP_LEFT_HAT_LEFT: usize = 19;
pub const BUTTON_TOP_RIGHT_LOW: usize = 10;
pub const BUTTON_TOP_RIGHT_HIGH: usize = 11;
pub const BUTTON_TOP_RIGHT_MODE: usize = 12;
pub const BUTTON_TOP_RIGHT_UP: usize = 13;
pub const BUTTON_TOP_RIGHT_DOWN: usize = 14;
pub const BUTTON_TOP_RIGHT_HAT: usize = 20;
pub const BUTTON_TOP_RIGHT_HAT_UP: usize = 21;
pub const BUTTON_TOP_RIGHT_HAT_RIGHT: usize = 22;
pub const BUTTON_TOP_RIGHT_HAT_DOWN: usize = 23;
pub const BUTTON_TOP_RIGHT_HAT_LEFT: usize = 24;
pub const USB_HAT_UP: usize = 33;
pub const USB_HAT_RIGHT: usize = 34;
pub const USB_HAT_DOWN: usize = 35;
pub const USB_HAT_LEFT: usize = 36;
// Special button functions
// Throttle hold:
pub const TH_BUTTON: usize = BUTTON_TOP_LEFT_MODE;
pub const VT_BUTTON: usize = BUTTON_TOP_RIGHT_MODE;
pub const BUTTON_ROWS: usize = 5;
pub const BUTTON_COLS: usize = 5;
pub const NUMBER_OF_BUTTONS: usize = BUTTON_ROWS * BUTTON_COLS;
@ -74,6 +125,8 @@ pub const DEBOUNCE: u8 = 10;
pub const RELEASE_RIMEOUT: u16 = 30; // => 300ms
pub const EEPROM_DATA_LENGTH: usize = 25;
// Public types
#[derive(Copy, Clone, Default)]
pub struct Button {
@ -81,13 +134,17 @@ pub struct Button {
pub previous_pressed: bool,
pub usb_changed: bool,
pub usb_changed_to_pressed: bool,
pub usb_button: usize,
pub usb_button_sec_enable: bool,
pub usb_button_sec: usize,
pub usb_button_sec_trigger_index: usize,
pub usb_button_sec_pressed: bool,
pub usb_button_toggle_enable: bool,
pub usb_release_timeout: u16,
pub usb_button: usize, // For short press
pub usb_button_long: usize, // For long press
pub enable_long_press: bool, // Flag to enable special behavior
pub enable_long_hold: bool, // Flag to enable special behavior
// Internals
pub press_start_time: u32, // When physical press started
pub long_press_handled: bool, // True if long press activated
pub active_usb_button: usize, // Currently active USB button
pub usb_press_active: bool, // Is USB press currently "down"
pub usb_press_start_time: u32, // When USB press was sent
}
#[derive(Copy, Clone)]
@ -226,9 +283,10 @@ fn main() -> ! {
// Scan matrix to get initial state and check if bootloader should be entered
// This is done by holding button 0 pressed while power on the unit
for _ in 0..10 {
// Scan 10 times to make sure debounce routine covered all buttons
button_matrix.scan_matrix(&mut delay);
}
if button_matrix.buttons_pressed()[0] {
if button_matrix.buttons_pressed()[BUTTON_FRONT_LEFT_LOWER] {
status_led.update(StatusMode::Bootloader);
let gpio_activity_pin_mask: u32 = 0;
let disable_interface_mask: u32 = 0;
@ -241,6 +299,9 @@ fn main() -> ! {
let mut status_led_count_down = timer.count_down();
status_led_count_down.start(250.millis());
let mut ms_count_down = timer.count_down();
ms_count_down.start(1.millis());
let mut scan_count_down = timer.count_down();
scan_count_down.start(200u32.micros());
@ -254,154 +315,70 @@ fn main() -> ! {
let mut usb_active: bool = false;
let mut calibration_active: bool = false;
let mut throttle_hold_enable: bool = false;
let mut vt_enable: bool = false;
let mut axis: [GimbalAxis; NBR_OF_GIMBAL_AXIS] = [Default::default(); NBR_OF_GIMBAL_AXIS];
let mut buttons: [Button; NUMBER_OF_BUTTONS + 2] = [Button::default(); NUMBER_OF_BUTTONS + 2];
let mut virtual_ry: u16 = AXIS_CENTER;
let mut virtual_rz: u16 = AXIS_CENTER;
let mut gimbal_mode: u8;
// HW Button index map:
// ---------------------------------------------------------------
// | 0 L| 1 U| 25 U | | 2 | | 26 U | 4 U| 3 L|
// ---------------------------------------------------------------
// | | 5 | 6 | 7 | | 12 | 11 | 10 | |
// | |
// | | 8 | | 13 | |
// | | 9 | | 14 | |
// | X1/Y1 X2/Y2 |
// | | 16 | | 21 | |
// | | 19 | 15 | 17 | | 24 | 20 | 22 | |
// | | 18 | | 23 | |
// ---------------------------------------------------------------
// Config Layer (holding CONFIG button)
// ---------------------------------------------------------------
// |BOOT L| CAL U| | CONFIG | | - | - |
// ---------------------------------------------------------------
// | | - | - | - | | - | - | - | |
// | |
// | |C M10| | - | |
// | |C M7 | | - | |
// | -/- -/- |
// | | - | | - | |
// | | - | - | - | | - |C OK | - | |
// | | - | | - | |
// ---------------------------------------------------------------
pub const CONFIG_BUTTON: usize = 2;
pub const BOOT_BUTTON: usize = 0;
pub const CAL_BUTTON: usize = 1;
pub const CAL_DONE_BUTTON: usize = 20;
pub const CAL_M10_GIMBLE_BUTTON: usize = 8;
pub const CAL_M7_GIMBLE_BUTTON: usize = 9;
// HW Button index map:
// ---------------------------------------------------------------
// | 0 L| 1 U| 25 U | | 2 | | 26 U | 4 U| 3 L|
// ---------------------------------------------------------------
// | | 5 | 6 | 7 | | 12 | 11 | 10 | |
// | |
// | | 8 | | 13 | |
// | | 9 | | 14 | |
// | X1/Y1 X2/Y2 |
// | | 16 | | 21 | |
// | | 19 | 15 | 17 | | 24 | 20 | 22 | |
// | | 18 | | 23 | |
// ---------------------------------------------------------------
//
// USB HID joystick map :
// ---------------------------------------------------------------
// | Fn L| B19 U| B7 U| | B32 | | B8 U| B1 U| B2 L|
// ---------------------------------------------------------------
// | | B5 | B14 | B9 | | B10 | B15 | B6 | |
// | |
// | | B13 | | B17 | |
// | | B16 | | B18 | |
// | X1/Y1 X2/Y2 |
// | | H1U | | H2U | |
// | | H1L | B11 | H1R | | H2L | B12 | H2R | |
// | | H1D | | H2D | |
// ---------------------------------------------------------------
//
// USB HID joystick map (Fn):
// ---------------------------------------------------------------
// | Fn L| B21 U| B27 U| | B32 | | B8 U| B3 U| B4 L|
// ---------------------------------------------------------------
// | | TH | B22 | B26 | | B28 | B24 | B23 | |
// | |
// | | B29 | | B31 | |
// | | B16 | | B18 | |
// | X1/Y1 X2/Y2 |
// | | H3U | | H4U | |
// | | H3L | B20 | H3R | | H4L | B25 | H4R | |
// | | H3D | | H4D | |
// ---------------------------------------------------------------
// Special button functions
// Throttle hold:
pub const TH_BUTTON: usize = 5;
pub const TH_BUTTON_TRIGGER: usize = 0;
// Set up usb button layout (button 0 to 15, 20, 25 and 26)
buttons[0].usb_button = 0; // Fn. Setting to 0 to disable USB button generation
buttons[1].usb_button = 19;
buttons[1].usb_button_sec_enable = true;
buttons[1].usb_button_sec = 21;
buttons[1].usb_button_sec_trigger_index = 0;
buttons[2].usb_button = 32; // Button used as global config. Do not define secondary USB button!
buttons[3].usb_button = 2;
buttons[3].usb_button_sec_enable = true;
buttons[3].usb_button_sec = 4;
buttons[3].usb_button_sec_trigger_index = 0;
buttons[4].usb_button = 1;
buttons[4].usb_button_sec_enable = true;
buttons[4].usb_button_sec = 3;
buttons[4].usb_button_sec_trigger_index = 0;
buttons[5].usb_button = 5;
buttons[5].usb_button_sec_enable = true; // Set TH_BUTTON to inhibit button press on throttle hold
buttons[5].usb_button_sec = 0; // Setting to 0 to disable USB buttton generation
buttons[5].usb_button_sec_trigger_index = 0; // Set same as TH_BUTTON_TRIGGER
buttons[6].usb_button = 14;
buttons[6].usb_button_sec_enable = true;
buttons[6].usb_button_sec = 22;
buttons[6].usb_button_sec_trigger_index = 0;
buttons[7].usb_button = 9;
buttons[7].usb_button_sec_enable = true;
buttons[7].usb_button_sec = 26;
buttons[7].usb_button_sec_trigger_index = 0;
buttons[8].usb_button = 13;
buttons[8].usb_button_sec_enable = true;
buttons[8].usb_button_sec = 29;
buttons[8].usb_button_sec_trigger_index = 0;
buttons[9].usb_button = 16;
buttons[10].usb_button = 6;
buttons[10].usb_button_sec_enable = true;
buttons[10].usb_button_sec = 23;
buttons[10].usb_button_sec_trigger_index = 0;
buttons[11].usb_button = 15;
buttons[11].usb_button_sec_enable = true;
buttons[11].usb_button_sec = 24;
buttons[11].usb_button_sec_trigger_index = 0;
buttons[12].usb_button = 10;
buttons[12].usb_button_sec_enable = true;
buttons[12].usb_button_sec = 28;
buttons[12].usb_button_sec_trigger_index = 0;
buttons[13].usb_button = 17;
buttons[13].usb_button_sec_enable = true;
buttons[13].usb_button_sec = 31;
buttons[13].usb_button_sec_trigger_index = 0;
buttons[14].usb_button = 18;
buttons[15].usb_button = 11;
buttons[15].usb_button_sec_enable = true;
buttons[15].usb_button_sec = 20;
buttons[15].usb_button_sec_trigger_index = 0;
buttons[20].usb_button = 12;
buttons[20].usb_button_sec_enable = true;
buttons[20].usb_button_sec = 25;
buttons[20].usb_button_sec_trigger_index = 0;
buttons[25].usb_button = 7;
buttons[25].usb_button_sec_enable = true;
buttons[25].usb_button_sec = 27;
buttons[25].usb_button_sec_trigger_index = 0;
buttons[26].usb_button = 8;
// Set up usb button layout
buttons[BUTTON_FRONT_LEFT_LOWER].usb_button = 29;
buttons[BUTTON_FRONT_LEFT_UPPER].usb_button = 28;
buttons[BUTTON_FRONT_CONFIG].usb_button = 32; // Button used as global config.
buttons[BUTTON_FRONT_CONFIG].usb_button_long = 3;
buttons[BUTTON_FRONT_CONFIG].enable_long_press = true;
buttons[BUTTON_FRONT_RIGHT_LOWER].usb_button = 2;
buttons[BUTTON_FRONT_RIGHT_UPPER].usb_button = 1;
buttons[BUTTON_TOP_LEFT_LOW].usb_button = 4;
buttons[BUTTON_TOP_LEFT_LOW].usb_button_long = 5;
buttons[BUTTON_TOP_LEFT_LOW].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_LOW].enable_long_hold = true;
buttons[BUTTON_TOP_LEFT_HIGH].usb_button = 6;
buttons[BUTTON_TOP_LEFT_HIGH].usb_button_long = 7;
buttons[BUTTON_TOP_LEFT_HIGH].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_MODE].usb_button = 0;
buttons[BUTTON_TOP_LEFT_UP].usb_button = 12;
buttons[BUTTON_TOP_LEFT_UP].usb_button_long = 13;
buttons[BUTTON_TOP_LEFT_UP].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_DOWN].usb_button = 16;
buttons[BUTTON_TOP_LEFT_DOWN].usb_button_long = 17;
buttons[BUTTON_TOP_LEFT_DOWN].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_DOWN].enable_long_hold = true;
buttons[BUTTON_TOP_RIGHT_LOW].usb_button = 10;
buttons[BUTTON_TOP_RIGHT_LOW].usb_button_long = 11;
buttons[BUTTON_TOP_RIGHT_LOW].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_HIGH].usb_button = 8;
buttons[BUTTON_TOP_RIGHT_HIGH].usb_button_long = 9;
buttons[BUTTON_TOP_RIGHT_HIGH].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_MODE].usb_button = 0;
buttons[BUTTON_TOP_RIGHT_UP].usb_button = 14;
buttons[BUTTON_TOP_RIGHT_UP].usb_button_long = 15;
buttons[BUTTON_TOP_RIGHT_UP].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_DOWN].usb_button = 18;
buttons[BUTTON_TOP_RIGHT_DOWN].usb_button_long = 19;
buttons[BUTTON_TOP_RIGHT_DOWN].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_HAT].usb_button = 20;
buttons[BUTTON_TOP_LEFT_HAT].usb_button_long = 21;
buttons[BUTTON_TOP_LEFT_HAT].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_HAT_UP].usb_button = 22;
buttons[BUTTON_TOP_LEFT_HAT_RIGHT].usb_button = 23;
buttons[BUTTON_TOP_LEFT_HAT_DOWN].usb_button = 24;
buttons[BUTTON_TOP_LEFT_HAT_LEFT].usb_button = 25;
buttons[BUTTON_TOP_RIGHT_HAT].usb_button = 26;
buttons[BUTTON_TOP_RIGHT_HAT].usb_button_long = 27;
buttons[BUTTON_TOP_RIGHT_HAT].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_HAT_UP].usb_button = 33;
buttons[BUTTON_TOP_RIGHT_HAT_RIGHT].usb_button = 34;
buttons[BUTTON_TOP_RIGHT_HAT_DOWN].usb_button = 35;
buttons[BUTTON_TOP_RIGHT_HAT_LEFT].usb_button = 36;
buttons[BUTTON_FRONT_LEFT_EXTRA].usb_button = 30;
buttons[BUTTON_FRONT_RIGHT_EXTRA].usb_button = 31;
// Table for gimbal expo curve lookup insded of doing floating point math for every analog read
let expo_lut: [u16; ADC_MAX as usize + 1] = generate_expo_lut(0.3);
let expo_lut_virtual: [u16; ADC_MAX as usize + 1] = generate_expo_lut(0.6);
// Create dynamic smoother array for gimbal axis
let mut smoother: [DynamicSmootherEcoI32; NBR_OF_GIMBAL_AXIS] = [
@ -444,7 +421,7 @@ fn main() -> ! {
item.center <<= 8;
item.center |= eeprom.read_byte((index as u32 * 6) + 5).unwrap() as u16;
}
gimbal_mode = eeprom.read_byte(25).unwrap();
gimbal_mode = eeprom.read_byte(EEPROM_DATA_LENGTH as u32).unwrap();
loop {
// Take care of USB HID poll requests
@ -483,6 +460,7 @@ fn main() -> ! {
&usb_active,
&calibration_active,
&throttle_hold_enable,
&vt_enable,
);
}
@ -493,11 +471,60 @@ fn main() -> ! {
}
// Updated extra buttons
buttons[25].pressed = left_extra_button.is_low().unwrap();
buttons[26].pressed = right_extra_button.is_low().unwrap();
buttons[BUTTON_FRONT_LEFT_EXTRA].pressed = left_extra_button.is_low().unwrap();
buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed = right_extra_button.is_low().unwrap();
// Secondary way to enter bootloader (pressing all left hands buttons except the hat
if buttons[BOOT_BUTTON].pressed && buttons[CONFIG_BUTTON].pressed {
// Filter left hat swith buttons
for i in BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT {
if (BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT)
.filter(|&j| j != i)
.any(|j| buttons[j].pressed)
{
buttons[i].pressed = false;
}
}
// Fix button state for center hat press on hat
if buttons[BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT]
.iter()
.any(|b| b.pressed)
{
buttons[BUTTON_TOP_LEFT_HAT].pressed = false;
}
// Filter right hat swith buttons
for i in BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT {
if (BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT)
.filter(|&j| j != i)
.any(|j| buttons[j].pressed)
{
buttons[i].pressed = false;
}
}
// Fix button state for center hat press on hat
if buttons[BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT]
.iter()
.any(|b| b.pressed)
{
buttons[BUTTON_TOP_RIGHT_HAT].pressed = false;
}
// Config Layer
// ---------------------------------------------------------------
// |BOOT L| CAL U| | CONFIG | | - | - |
// ---------------------------------------------------------------
// | | - | - | - | | - | - | - | |
// | |
// | |C M10| | - | |
// | |C M7 | | - | |
// | -/- -/- |
// | | - | | - | |
// | | - | - | - | | - |C OK | - | |
// | | - | | - | |
// ---------------------------------------------------------------
// Secondary way to enter bootloader
if buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& buttons[BUTTON_TOP_LEFT_MODE].pressed
&& buttons[BUTTON_TOP_RIGHT_MODE].pressed
{
status_led.update(StatusMode::Bootloader);
let gpio_activity_pin_mask: u32 = 0;
let disable_interface_mask: u32 = 0;
@ -507,9 +534,11 @@ fn main() -> ! {
);
}
// Calibration of center position (pressing all right hands buttons except
// the hat switch)
if buttons[CAL_BUTTON].pressed && buttons[CONFIG_BUTTON].pressed {
// Calibration of center position
if buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& buttons[BUTTON_TOP_LEFT_MODE].pressed
&& buttons[BUTTON_TOP_RIGHT_MODE].pressed
{
for (index, item) in axis.iter_mut().enumerate() {
item.center = smoother[index].value() as u16;
item.min = item.center;
@ -529,14 +558,16 @@ fn main() -> ! {
}
}
if calibration_active && buttons[CAL_M10_GIMBLE_BUTTON].pressed {
// Calibration set M10 gimbal mode
if calibration_active && buttons[BUTTON_TOP_LEFT_UP].pressed {
gimbal_mode = GIMBAL_MODE_M10;
for (index, item) in axis.iter_mut().enumerate() {
item.center = smoother[index].value() as u16;
item.min = item.center;
item.max = item.center;
}
} else if calibration_active && buttons[CAL_M7_GIMBLE_BUTTON].pressed {
// Calibration set M7 gimbal mode
} else if calibration_active && buttons[BUTTON_TOP_LEFT_DOWN].pressed {
gimbal_mode = GIMBAL_MODE_M7;
for (index, item) in axis.iter_mut().enumerate() {
item.center = smoother[index].value() as u16;
@ -545,8 +576,8 @@ fn main() -> ! {
}
}
// Save calibration data to eeprom (pressing right hat switch)
else if calibration_active && buttons[CAL_DONE_BUTTON].pressed {
let mut eeprom_data: [u8; 25] = [0; 25];
else if calibration_active && buttons[BUTTON_TOP_RIGHT_HAT].pressed {
let mut eeprom_data: [u8; EEPROM_DATA_LENGTH] = [0; EEPROM_DATA_LENGTH];
for (index, item) in axis.iter_mut().enumerate() {
eeprom_data[index * 6] = item.min as u8;
eeprom_data[(index * 6) + 1] = (item.min >> 8) as u8;
@ -555,12 +586,12 @@ fn main() -> ! {
eeprom_data[(index * 6) + 4] = item.center as u8;
eeprom_data[(index * 6) + 5] = (item.center >> 8) as u8;
}
eeprom_data[24] = gimbal_mode;
eeprom_data[EEPROM_DATA_LENGTH - 1] = gimbal_mode;
let _ = eeprom.write_page(0x01, &eeprom_data);
calibration_active = false;
}
// // ON/OFF switch for Throttle hold mode
// ON/OFF switch for Throttle hold mode
throttle_hold_enable = axis[GIMBAL_AXIS_LEFT_Y].hold != AXIS_CENTER;
// Process axis values
@ -607,7 +638,88 @@ fn main() -> ! {
axis[GIMBAL_AXIS_LEFT_Y].value = axis[GIMBAL_AXIS_LEFT_Y].hold;
}
// Generate led activity when gimbal is moved from idle position
// Update Virtual RY
let virtual_step: u16 = 5;
// Compensate value when changing direction
if buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& virtual_ry < AXIS_CENTER
{
virtual_ry = AXIS_CENTER + (AXIS_CENTER - virtual_ry) / 2;
} else if buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& virtual_ry > AXIS_CENTER
{
virtual_ry = AXIS_CENTER - (virtual_ry - AXIS_CENTER) / 2;
}
// Move virtual axis
if buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& virtual_ry < ADC_MAX - virtual_step
{
virtual_ry = virtual_ry + virtual_step;
usb_activity = true;
} else if buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& virtual_ry > ADC_MIN + virtual_step
{
virtual_ry = virtual_ry - virtual_step;
usb_activity = true;
} else if (virtual_ry != AXIS_CENTER
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed)
|| (buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& buttons[BUTTON_FRONT_LEFT_LOWER].pressed)
{
if virtual_ry < AXIS_CENTER + virtual_step {
virtual_ry = virtual_ry + virtual_step;
} else if virtual_ry > AXIS_CENTER - virtual_step {
virtual_ry = virtual_ry - virtual_step;
}
usb_activity = true;
}
// Update Virtual RZ
// Compensate value when changing direction
if buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& virtual_rz < AXIS_CENTER
{
virtual_rz = AXIS_CENTER + (AXIS_CENTER - virtual_rz) / 2;
} else if buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& virtual_rz > AXIS_CENTER
{
virtual_rz = AXIS_CENTER - (virtual_rz - AXIS_CENTER) / 2;
}
// Move virtual axis
if buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& virtual_rz < ADC_MAX - virtual_step
{
virtual_rz = virtual_rz + virtual_step;
usb_activity = true;
} else if buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& virtual_rz > ADC_MIN + virtual_step
{
virtual_rz = virtual_rz - virtual_step;
usb_activity = true;
} else if (virtual_rz != AXIS_CENTER
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed)
|| (buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& buttons[BUTTON_FRONT_LEFT_EXTRA].pressed)
{
if virtual_rz < AXIS_CENTER + virtual_step {
virtual_rz = virtual_rz + virtual_step;
} else if virtual_rz > AXIS_CENTER - virtual_step {
virtual_rz = virtual_rz - virtual_step;
}
usb_activity = true;
}
// Indicate activity when gimbal is moved from idle position
for item in axis.iter_mut() {
if item.value != item.previous_value {
usb_activity = true;
@ -615,31 +727,17 @@ fn main() -> ! {
item.previous_value = item.value;
}
// Make sure usb will be updated during timeout countdown
for key in buttons.iter() {
if key.usb_release_timeout != 0 {
usb_activity = true;
}
}
// Indicate activity when a button is pressed
for (index, key) in buttons.iter_mut().enumerate() {
update_button_press_type(key, (timer.get_counter().ticks() / 1000) as u32);
// Generate led activity when a button is pressed
let mut th_trigger_pressed: bool = false;
for (index, key) in buttons.iter_mut().enumerate() {
if key.pressed && index == TH_BUTTON_TRIGGER {
th_trigger_pressed = true;
}
}
for (index, key) in buttons.iter_mut().enumerate() {
if key.pressed != key.previous_pressed {
key.usb_changed = true;
key.usb_changed_to_pressed = key.pressed;
usb_activity = true;
}
// Set throttle_hold_value
if key.pressed != key.previous_pressed
&& key.pressed
&& index == TH_BUTTON
&& th_trigger_pressed
&& unprocessed_value != AXIS_CENTER
{
axis[GIMBAL_AXIS_LEFT_Y].hold = axis[GIMBAL_AXIS_LEFT_Y].value;
@ -647,11 +745,16 @@ fn main() -> ! {
} else if key.pressed != key.previous_pressed
&& key.pressed
&& index == TH_BUTTON
&& th_trigger_pressed
&& unprocessed_value == AXIS_CENTER
{
axis[GIMBAL_AXIS_LEFT_Y].hold = AXIS_CENTER;
axis[GIMBAL_AXIS_LEFT_Y].hold_pending = true;
} else if key.pressed != key.previous_pressed && key.pressed && index == VT_BUTTON {
vt_enable = !vt_enable;
}
if key.usb_changed {
usb_activity = true;
}
key.previous_pressed = key.pressed;
}
@ -667,10 +770,29 @@ fn main() -> ! {
// Dont send USB HID joystick report if there is no activity
// This is to avoid preventing the computer from going to sleep
if usb_update_count_down.wait().is_ok() && usb_activity {
match usb_hid_joystick
.device()
.write_report(&get_joystick_report(&mut buttons, &mut axis))
{
match usb_hid_joystick.device().write_report(&get_joystick_report(
&mut buttons,
&mut axis,
calculate_axis_value(
virtual_ry,
ADC_MIN,
ADC_MAX,
AXIS_CENTER,
(0, 0, 0),
true,
&expo_lut_virtual,
),
calculate_axis_value(
virtual_rz,
ADC_MIN,
ADC_MAX,
AXIS_CENTER,
(0, 0, 0),
true,
&expo_lut_virtual,
),
&vt_enable,
)) {
Err(UsbHidError::WouldBlock) => {}
Ok(_) => {}
Err(e) => {
@ -683,6 +805,60 @@ fn main() -> ! {
}
}
fn update_button_press_type(button: &mut Button, current_time: u32) {
const LONG_PRESS_THRESHOLD: u32 = 200;
const USB_MIN_HOLD_MS: u32 = 50;
// Pressing button
if button.pressed && !button.previous_pressed {
button.press_start_time = current_time;
button.long_press_handled = false;
}
// While held: trigger long press if applicable
if button.pressed && button.enable_long_press && !button.long_press_handled {
if current_time - button.press_start_time >= LONG_PRESS_THRESHOLD {
button.active_usb_button = button.usb_button_long;
button.usb_press_start_time = current_time;
button.usb_press_active = true;
button.usb_changed = true;
button.long_press_handled = true;
}
}
// Releasing button
if !button.pressed && button.previous_pressed {
// If long press wasn't triggered, it's a short press
if (!button.enable_long_press || !button.long_press_handled) && button.usb_button != 0 {
button.active_usb_button = button.usb_button;
button.usb_press_start_time = current_time;
button.usb_press_active = true;
button.usb_changed = true;
}
// If long press was active, release now
if button.long_press_handled && button.usb_press_active {
button.usb_changed = true;
button.usb_press_active = false;
button.active_usb_button = 0;
}
}
// Auto-release for short press after minimum hold time
if button.usb_press_active
&& (!button.pressed
&& !button.long_press_handled
&& current_time - button.usb_press_start_time >= USB_MIN_HOLD_MS)
|| (!button.enable_long_hold
&& button.long_press_handled
&& current_time - button.usb_press_start_time >= USB_MIN_HOLD_MS)
{
button.usb_changed = true;
button.usb_press_active = false;
button.active_usb_button = 0;
}
}
/// Update status LED colour
///
/// Waiting for USB enumerate = flashing green
@ -699,6 +875,7 @@ fn update_status_led<P, SM, I>(
usb_active: &bool,
calibration_active: &bool,
throttle_hold_enable: &bool,
vt_enable: &bool,
) where
I: AnyPin<Function = P::PinFunction>,
P: PIOExt,
@ -708,6 +885,8 @@ fn update_status_led<P, SM, I>(
status_led.update(StatusMode::ActivityFlash);
} else if !*usb_active {
status_led.update(StatusMode::NormalFlash);
} else if *usb_active && *vt_enable {
status_led.update(StatusMode::Activity);
} else if *usb_active && *throttle_hold_enable {
status_led.update(StatusMode::Other);
} else if *usb_active && !*throttle_hold_enable {
@ -725,132 +904,66 @@ fn update_status_led<P, SM, I>(
fn get_joystick_report(
matrix_keys: &mut [Button; NUMBER_OF_BUTTONS + 2],
axis: &mut [GimbalAxis; 4],
virtual_ry: u16,
virtual_rz: u16,
vt_enable: &bool,
) -> JoystickReport {
let x: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_LEFT_X].value);
let y: i16 = axis_12bit_to_i16(ADC_MAX - axis[GIMBAL_AXIS_LEFT_Y].value);
let z: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_RIGHT_X].value);
let y: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_LEFT_Y].value);
let mut z: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_RIGHT_X].value);
let rx: i16 = axis_12bit_to_i16(ADC_MAX - axis[GIMBAL_AXIS_RIGHT_Y].value);
let mut hat1: u8 = 0xf;
let mut hat2: u8 = 0xf;
let mut hat3: u8 = 0xf;
let mut hat4: u8 = 0xf;
let ry: i16 = axis_12bit_to_i16(virtual_ry);
let rz: i16 = axis_12bit_to_i16(virtual_rz);
let mut slider: i16 = axis_12bit_to_i16(ADC_MIN);
let mut hat: u8 = 8; // Hat center position
// Store hat bits
let mut hat_left: u8 = 0;
let mut hat_right: u8 = 0;
for (index, key) in matrix_keys.iter_mut().enumerate() {
if (15..=19).contains(&index) && key.pressed {
hat_left |= 1 << (index - 15);
}
if (20..=24).contains(&index) && key.pressed {
hat_right |= 1 << (index - 20);
}
}
// Convert hat switch data to HID code
let (hat_l, hat_button_l) = format_hat_value(hat_left);
let (hat_r, hat_button_r) = format_hat_value(hat_right);
// Handle sec_button (Fn) for left hat switch
let mut sec_button_pressed: bool = false;
for (sec_index, sec_key) in matrix_keys.iter().enumerate() {
if matrix_keys[15].usb_button_sec_enable
&& matrix_keys[15].usb_button_sec_trigger_index == sec_index
&& sec_key.pressed
{
sec_button_pressed = true;
break;
}
}
if matrix_keys[15].usb_changed {
matrix_keys[15].usb_button_sec_pressed = sec_button_pressed;
}
if matrix_keys[15].usb_button_sec != 0 && matrix_keys[15].usb_button_sec_pressed {
hat2 = hat_l;
} else {
hat4 = hat_l;
}
// Handle sec_button (Fn) for right hat switch
let mut sec_button_pressed: bool = false;
for (sec_index, sec_key) in matrix_keys.iter().enumerate() {
if matrix_keys[20].usb_button_sec_enable
&& matrix_keys[20].usb_button_sec_trigger_index == sec_index
&& sec_key.pressed
{
sec_button_pressed = true;
break;
}
}
if matrix_keys[20].usb_changed {
matrix_keys[20].usb_button_sec_pressed = sec_button_pressed;
}
if matrix_keys[20].usb_button_sec != 0 && matrix_keys[20].usb_button_sec_pressed {
hat1 = hat_r;
} else {
hat3 = hat_r;
}
// Fix button state for center hat press on hat
matrix_keys[15].pressed = hat_button_l != 0;
matrix_keys[20].pressed = hat_button_r != 0;
// Update button array with Sec button trigger status
// Using indexing instead of iterating to be able to iterate inside loop
for index in 0..NUMBER_OF_BUTTONS + 2 {
let mut sec_button_pressed: bool = false;
for (sec_index, sec_key) in matrix_keys.iter().enumerate() {
if matrix_keys[index].usb_button_sec_enable
&& matrix_keys[index].usb_button_sec_trigger_index == sec_index
&& sec_key.pressed
{
sec_button_pressed = true;
break;
}
}
// Only update button when "root key" is pressed (ie. Do not change sec button as soon as Fn
// key is pressed
if matrix_keys[index].usb_changed {
matrix_keys[index].usb_button_sec_pressed = sec_button_pressed;
// Virtual axix control. Disables z and rx axis and using right gimbal Y axis to control
// slider axis. Values from center stick to max or min will be recalculated to min to max.
if *vt_enable {
if axis[GIMBAL_AXIS_RIGHT_X].value >= AXIS_CENTER {
slider = axis_12bit_to_i16(remap(
axis[GIMBAL_AXIS_RIGHT_X].value,
AXIS_CENTER,
ADC_MAX,
ADC_MIN,
ADC_MAX,
));
} else {
slider = axis_12bit_to_i16(
ADC_MAX
- remap(
axis[GIMBAL_AXIS_RIGHT_X].value,
ADC_MIN,
AXIS_CENTER,
ADC_MIN,
ADC_MAX,
),
);
}
z = 0;
}
// Update button state for joystick buttons
let mut buttons: u32 = 0;
for key in matrix_keys.iter_mut() {
// Toggle mode button
if key.usb_changed && key.usb_button_toggle_enable {
key.usb_release_timeout = RELEASE_RIMEOUT;
}
if key.pressed
&& key.usb_button != 0
&& key.usb_button_toggle_enable
&& key.usb_release_timeout > 1
{
buttons |= 1 << (key.usb_button - 1);
} else if !key.pressed
&& key.usb_button_sec != 0
&& key.usb_button_toggle_enable
&& key.usb_release_timeout > 1
{
buttons |= 1 << (key.usb_button_sec - 1);
// Sec button mode
} else if key.pressed && key.usb_button_sec != 0 && key.usb_button_sec_pressed {
buttons |= 1 << (key.usb_button_sec - 1);
// Standard mode
} else if key.pressed
&& key.usb_button != 0
&& !key.usb_button_toggle_enable
&& !key.usb_button_sec_pressed
{
buttons |= 1 << (key.usb_button - 1);
}
}
// Auto release button when in toggle mode
for key in matrix_keys.iter_mut() {
if key.usb_release_timeout > 0 {
key.usb_release_timeout -= 1;
if key.enable_long_press {
if key.active_usb_button != 0 {
// Check if key is assigned as hat switch
if key.active_usb_button >= USB_HAT_UP && key.active_usb_button <= USB_HAT_LEFT {
hat = (key.active_usb_button as u8 - USB_HAT_UP as u8) * 2;
} else {
buttons |= 1 << (key.active_usb_button - 1);
}
}
} else {
if key.pressed && key.usb_button != 0 {
// Check if key is assigned as hat switch
if key.usb_button >= USB_HAT_UP && key.usb_button <= USB_HAT_LEFT {
hat = (key.usb_button as u8 - USB_HAT_UP as u8) * 2;
} else {
buttons |= 1 << (key.usb_button - 1);
}
}
}
}
@ -864,54 +977,14 @@ fn get_joystick_report(
y,
z,
rx,
hat1,
hat2,
hat3,
hat4,
ry,
rz,
slider,
hat,
buttons,
}
}
/// Format hat value from 5 switches to USB HID coded value and button state
///
/// # Arguments
/// * `input` - Hat value coded as
/// bit 2-5: direction (U L R D)
/// bit 1: button state
/// 0 = not pressed
/// 1 = pressed
fn format_hat_value(input: u8) -> (u8, u8) {
const HAT_CENTER: u8 = 8; //8 or 15 (OS-dependent; usually 8)
const HAT_UP: u8 = 0;
const HAT_UP_RIGHT: u8 = 1;
const HAT_RIGHT: u8 = 2;
const HAT_DOWN_RIGHT: u8 = 3;
const HAT_DOWN: u8 = 4;
const HAT_DOWN_LEFT: u8 = 5;
const HAT_LEFT: u8 = 6;
const HAT_UP_LEFT: u8 = 7;
let direction: u8 = match input & 0xFE {
2 => HAT_UP,
4 => HAT_RIGHT,
6 => HAT_UP_RIGHT,
8 => HAT_DOWN,
12 => HAT_DOWN_RIGHT,
16 => HAT_LEFT,
24 => HAT_DOWN_LEFT,
18 => HAT_UP_LEFT,
_ => HAT_CENTER,
};
// Alpine hat switch button filter
let mut button_state: u8 = 0;
if input & 0x01 == 0x01 && direction == HAT_CENTER {
button_state = 1;
}
(direction, button_state)
}
/// Calculate value for joystick axis
///
/// # Arguments

114
rp2040/src/usb_joystick_device.rs
View File

@ -63,42 +63,51 @@ impl<T, E> Try for Result<T, E> {
// Updated to 6x 12bit axis, 32x buttons and 4x hat switches
#[rustfmt::skip]
pub const JOYSTICK_DESCRIPTOR: &[u8] = &[
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x04, // Usage (Joystick)
0xA1, 0x01, // Collection (Application)
// 4 signed 16-bit axes: X, Y, Z, Rx
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x32, // Usage (Z)
0x09, 0x33, // Usage (Rx)
0x16, 0x00, 0x80,// Logical Minimum (-32768)
0x26, 0xFF, 0x7F,// Logical Maximum (32767)
0x75, 0x10, // Report Size (16)
0x95, 0x04, // Report Count (4)
0x81, 0x02, // Input (Data,Var,Abs)
// 4 Hat Switches (4-bit)
0x09, 0x39, // Usage (Hat switch)
0x09, 0x39,
0x09, 0x39,
0x09, 0x39,
0x15, 0x00, // Logical Minimum (0)
0x25, 0x07, // Logical Maximum (7)
0x35, 0x00, // Physical Minimum (0)
0x46, 0x3B, 0x01,// Physical Maximum (315)
0x65, 0x14, // Unit (Degrees)
0x75, 0x04, // Report Size (4)
0x95, 0x04, // Report Count (4)
0x81, 0x02, // Input (Data,Var,Abs)
0x05, 0x01, // Usage Page (Generic Desktop)
0x09, 0x04, // Usage (Joystick)
0xA1, 0x01, // Collection (Application)
// 7 signed 16-bit axes: X, Y, Z, Rx, Ry, Rz, Slider
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x32, // Usage (Z)
0x09, 0x33, // Usage (Rx)
0x09, 0x34, // Usage (Ry)
0x09, 0x35, // Usage (Rz)
0x09, 0x36, // Usage (Slider)
0x16, 0x00, 0x80, // Logical Minimum (-32768)
0x26, 0xFF, 0x7F, // Logical Maximum (32767)
0x75, 0x10, // Report Size (16)
0x95, 0x07, // Report Count (7)
0x81, 0x02, // Input (Data,Var,Abs)
// 1 Hat Switch
0x09, 0x39, // Usage (Hat switch)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x07, // Logical Maximum (7)
0x35, 0x00, // Physical Minimum (0)
0x46, 0x3B, 0x01, // Physical Maximum (315)
0x65, 0x14, // Unit (Eng Rot: Degrees)
0x75, 0x04, // Report Size (4)
0x95, 0x01, // Report Count (1)
0x81, 0x42, // Input (Data,Var,Abs,Null)
// Padding for 4 bits to align to byte
0x75, 0x04, // Report Size (4)
0x95, 0x01, // Report Count (1)
0x81, 0x03, // Input (Const,Var,Abs) – padding
// 32 Buttons (1-bit each)
0x05, 0x09, // Usage Page (Button)
0x19, 0x01, // Usage Minimum (1)
0x29, 0x20, // Usage Maximum (32)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x75, 0x01, // Report Size (1)
0x95, 0x20, // Report Count (32)
0x81, 0x02, // Input (Data,Var,Abs)
0xC0 // End Collection
0x05, 0x09, // Usage Page (Button)
0x19, 0x01, // Usage Minimum (1)
0x29, 0x20, // Usage Maximum (32)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x75, 0x01, // Report Size (1)
0x95, 0x20, // Report Count (32)
0x81, 0x02, // Input (Data,Var,Abs)
0xC0 // End Collection
];
#[derive(Clone, Copy, Debug, Eq, PartialEq, Default)]
@ -107,20 +116,20 @@ pub struct JoystickReport {
pub y: i16, // 16bit
pub z: i16, // 16bit
pub rx: i16, // 16bit
pub hat1: u8, // 4bit
pub hat2: u8, // 4bit
pub hat3: u8, // 4bit
pub hat4: u8, // 4bit
pub ry: i16, // 16bit
pub rz: i16, // 16bit
pub slider: i16, // 16bit
pub hat: u8, // 8bit
pub buttons: u32, // 32bit
}
pub struct Joystick<'a, B: UsbBus> {
interface: Interface<'a, B, InBytes16, OutNone, ReportSingle>,
interface: Interface<'a, B, InBytes32, OutNone, ReportSingle>,
}
impl<B: UsbBus> Joystick<'_, B> {
pub fn write_report(&mut self, report: &JoystickReport) -> Result<(), UsbHidError> {
let mut data: [u8; 14] = [0; 14];
let mut data: [u8; 19] = [0; 19];
// Did not make the packed struct work, so doing it manually
data[0] = report.x as u8;
@ -131,12 +140,17 @@ impl<B: UsbBus> Joystick<'_, B> {
data[5] = (report.z >> 8) as u8;
data[6] = report.rx as u8;
data[7] = (report.rx >> 8) as u8;
data[8] = (report.hat3) | (report.hat4 << 4);
data[9] = (report.hat1) | (report.hat2 << 4);
data[10] = report.buttons as u8;
data[11] = (report.buttons >> 8) as u8;
data[12] = (report.buttons >> 16) as u8;
data[13] = (report.buttons >> 24) as u8;
data[8] = report.ry as u8;
data[9] = (report.ry >> 8) as u8;
data[10] = report.rz as u8;
data[11] = (report.rz >> 8) as u8;
data[12] = report.slider as u8;
data[13] = (report.slider >> 8) as u8;
data[14] = report.hat;
data[15] = report.buttons as u8;
data[16] = (report.buttons >> 8) as u8;
data[17] = (report.buttons >> 16) as u8;
data[18] = (report.buttons >> 24) as u8;
self.interface
.write_report(&data)
@ -146,7 +160,7 @@ impl<B: UsbBus> Joystick<'_, B> {
}
impl<'a, B: UsbBus> DeviceClass<'a> for Joystick<'a, B> {
type I = Interface<'a, B, InBytes16, OutNone, ReportSingle>;
type I = Interface<'a, B, InBytes32, OutNone, ReportSingle>;
fn interface(&mut self) -> &mut Self::I {
&mut self.interface
@ -160,7 +174,7 @@ impl<'a, B: UsbBus> DeviceClass<'a> for Joystick<'a, B> {
}
pub struct JoystickConfig<'a> {
interface: InterfaceConfig<'a, InBytes16, OutNone, ReportSingle>,
interface: InterfaceConfig<'a, InBytes32, OutNone, ReportSingle>,
}
impl Default for JoystickConfig<'_> {
@ -181,7 +195,7 @@ impl Default for JoystickConfig<'_> {
impl<'a> JoystickConfig<'a> {
#[must_use]
pub fn new(interface: InterfaceConfig<'a, InBytes16, OutNone, ReportSingle>) -> Self {
pub fn new(interface: InterfaceConfig<'a, InBytes32, OutNone, ReportSingle>) -> Self {
Self { interface }
}
}