Merge branch 'main' of https://git.cmtec.se/cm/cmdr-joystick
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commit
2003b7d357
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|||||||
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firmware/.cache/clangd/index
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||||||
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firmware/compile_commands.json
|
||||||
339
LICENSE
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339
LICENSE
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|
|||||||
|
GNU GENERAL PUBLIC LICENSE
|
||||||
|
Version 2, June 1991
|
||||||
|
|
||||||
|
Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
Everyone is permitted to copy and distribute verbatim copies
|
||||||
|
of this license document, but changing it is not allowed.
|
||||||
|
|
||||||
|
Preamble
|
||||||
|
|
||||||
|
The licenses for most software are designed to take away your
|
||||||
|
freedom to share and change it. By contrast, the GNU General Public
|
||||||
|
License is intended to guarantee your freedom to share and change free
|
||||||
|
software--to make sure the software is free for all its users. This
|
||||||
|
General Public License applies to most of the Free Software
|
||||||
|
Foundation's software and to any other program whose authors commit to
|
||||||
|
using it. (Some other Free Software Foundation software is covered by
|
||||||
|
the GNU Lesser General Public License instead.) You can apply it to
|
||||||
|
your programs, too.
|
||||||
|
|
||||||
|
When we speak of free software, we are referring to freedom, not
|
||||||
|
price. Our General Public Licenses are designed to make sure that you
|
||||||
|
have the freedom to distribute copies of free software (and charge for
|
||||||
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this service if you wish), that you receive source code or can get it
|
||||||
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if you want it, that you can change the software or use pieces of it
|
||||||
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in new free programs; and that you know you can do these things.
|
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|
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|
To protect your rights, we need to make restrictions that forbid
|
||||||
|
anyone to deny you these rights or to ask you to surrender the rights.
|
||||||
|
These restrictions translate to certain responsibilities for you if you
|
||||||
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distribute copies of the software, or if you modify it.
|
||||||
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|
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|
For example, if you distribute copies of such a program, whether
|
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|
gratis or for a fee, you must give the recipients all the rights that
|
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you have. You must make sure that they, too, receive or can get the
|
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source code. And you must show them these terms so they know their
|
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rights.
|
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|
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|
We protect your rights with two steps: (1) copyright the software, and
|
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(2) offer you this license which gives you legal permission to copy,
|
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distribute and/or modify the software.
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|
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Also, for each author's protection and ours, we want to make certain
|
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|
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|
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|
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|
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|
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|
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Finally, any free program is threatened constantly by software
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|
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|
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|
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|
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|
The precise terms and conditions for copying, distribution and
|
||||||
|
modification follow.
|
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|
||||||
|
GNU GENERAL PUBLIC LICENSE
|
||||||
|
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
|
||||||
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|
||||||
|
0. This License applies to any program or other work which contains
|
||||||
|
a notice placed by the copyright holder saying it may be distributed
|
||||||
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under the terms of this General Public License. The "Program", below,
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Activities other than copying, distribution and modification are not
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Whether that is true depends on what the Program does.
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1. You may copy and distribute verbatim copies of the Program's
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|
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|
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along with the Program.
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You may charge a fee for the physical act of transferring a copy, and
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2. You may modify your copy or copies of the Program or any portion
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distribute such modifications or work under the terms of Section 1
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|
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a) You must cause the modified files to carry prominent notices
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b) You must cause any work that you distribute or publish, that in
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|
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c) If the modified program normally reads commands interactively
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|
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interactive use in the most ordinary way, to print or display an
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|
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|
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|
||||||
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|
||||||
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the Program is not required to print an announcement.)
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|
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These requirements apply to the modified work as a whole. If
|
||||||
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identifiable sections of that work are not derived from the Program,
|
||||||
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|
||||||
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|
||||||
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distribute the same sections as part of a whole which is a work based
|
||||||
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||||||
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|
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entire whole, and thus to each and every part regardless of who wrote it.
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Thus, it is not the intent of this section to claim rights or contest
|
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|
||||||
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|
||||||
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|
||||||
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In addition, mere aggregation of another work not based on the Program
|
||||||
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||||||
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a storage or distribution medium does not bring the other work under
|
||||||
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the scope of this License.
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||||||
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|
||||||
|
3. You may copy and distribute the Program (or a work based on it,
|
||||||
|
under Section 2) in object code or executable form under the terms of
|
||||||
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Sections 1 and 2 above provided that you also do one of the following:
|
||||||
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|
||||||
|
a) Accompany it with the complete corresponding machine-readable
|
||||||
|
source code, which must be distributed under the terms of Sections
|
||||||
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1 and 2 above on a medium customarily used for software interchange; or,
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||||||
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|
||||||
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b) Accompany it with a written offer, valid for at least three
|
||||||
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years, to give any third party, for a charge no more than your
|
||||||
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cost of physically performing source distribution, a complete
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||||||
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machine-readable copy of the corresponding source code, to be
|
||||||
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distributed under the terms of Sections 1 and 2 above on a medium
|
||||||
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customarily used for software interchange; or,
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||||||
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|
||||||
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c) Accompany it with the information you received as to the offer
|
||||||
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|
||||||
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||||||
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received the program in object code or executable form with such
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||||||
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an offer, in accord with Subsection b above.)
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||||||
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|
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The source code for a work means the preferred form of the work for
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||||||
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||||||
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control compilation and installation of the executable. However, as a
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special exception, the source code distributed need not include
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anything that is normally distributed (in either source or binary
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||||||
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If distribution of executable or object code is made by offering
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||||||
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|
||||||
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access to copy the source code from the same place counts as
|
||||||
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distribution of the source code, even though third parties are not
|
||||||
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compelled to copy the source along with the object code.
|
||||||
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|
||||||
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4. You may not copy, modify, sublicense, or distribute the Program
|
||||||
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except as expressly provided under this License. Any attempt
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||||||
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otherwise to copy, modify, sublicense or distribute the Program is
|
||||||
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void, and will automatically terminate your rights under this License.
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However, parties who have received copies, or rights, from you under
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parties remain in full compliance.
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||||||
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|
||||||
|
5. You are not required to accept this License, since you have not
|
||||||
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signed it. However, nothing else grants you permission to modify or
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||||||
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distribute the Program or its derivative works. These actions are
|
||||||
|
prohibited by law if you do not accept this License. Therefore, by
|
||||||
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modifying or distributing the Program (or any work based on the
|
||||||
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Program), you indicate your acceptance of this License to do so, and
|
||||||
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all its terms and conditions for copying, distributing or modifying
|
||||||
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the Program or works based on it.
|
||||||
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|
||||||
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6. Each time you redistribute the Program (or any work based on the
|
||||||
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Program), the recipient automatically receives a license from the
|
||||||
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original licensor to copy, distribute or modify the Program subject to
|
||||||
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these terms and conditions. You may not impose any further
|
||||||
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restrictions on the recipients' exercise of the rights granted herein.
|
||||||
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You are not responsible for enforcing compliance by third parties to
|
||||||
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this License.
|
||||||
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|
||||||
|
7. If, as a consequence of a court judgment or allegation of patent
|
||||||
|
infringement or for any other reason (not limited to patent issues),
|
||||||
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conditions are imposed on you (whether by court order, agreement or
|
||||||
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otherwise) that contradict the conditions of this License, they do not
|
||||||
|
excuse you from the conditions of this License. If you cannot
|
||||||
|
distribute so as to satisfy simultaneously your obligations under this
|
||||||
|
License and any other pertinent obligations, then as a consequence you
|
||||||
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may not distribute the Program at all. For example, if a patent
|
||||||
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license would not permit royalty-free redistribution of the Program by
|
||||||
|
all those who receive copies directly or indirectly through you, then
|
||||||
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the only way you could satisfy both it and this License would be to
|
||||||
|
refrain entirely from distribution of the Program.
|
||||||
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|
||||||
|
If any portion of this section is held invalid or unenforceable under
|
||||||
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any particular circumstance, the balance of the section is intended to
|
||||||
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apply and the section as a whole is intended to apply in other
|
||||||
|
circumstances.
|
||||||
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|
||||||
|
It is not the purpose of this section to induce you to infringe any
|
||||||
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patents or other property right claims or to contest validity of any
|
||||||
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such claims; this section has the sole purpose of protecting the
|
||||||
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|
||||||
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||||||
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||||||
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||||||
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to distribute software through any other system and a licensee cannot
|
||||||
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impose that choice.
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||||||
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|
||||||
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This section is intended to make thoroughly clear what is believed to
|
||||||
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be a consequence of the rest of this License.
|
||||||
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|
||||||
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8. If the distribution and/or use of the Program is restricted in
|
||||||
|
certain countries either by patents or by copyrighted interfaces, the
|
||||||
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original copyright holder who places the Program under this License
|
||||||
|
may add an explicit geographical distribution limitation excluding
|
||||||
|
those countries, so that distribution is permitted only in or among
|
||||||
|
countries not thus excluded. In such case, this License incorporates
|
||||||
|
the limitation as if written in the body of this License.
|
||||||
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|
||||||
|
9. The Free Software Foundation may publish revised and/or new versions
|
||||||
|
of the General Public License from time to time. Such new versions will
|
||||||
|
be similar in spirit to the present version, but may differ in detail to
|
||||||
|
address new problems or concerns.
|
||||||
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|
||||||
|
Each version is given a distinguishing version number. If the Program
|
||||||
|
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|
||||||
|
later version", you have the option of following the terms and conditions
|
||||||
|
either of that version or of any later version published by the Free
|
||||||
|
Software Foundation. If the Program does not specify a version number of
|
||||||
|
this License, you may choose any version ever published by the Free Software
|
||||||
|
Foundation.
|
||||||
|
|
||||||
|
10. If you wish to incorporate parts of the Program into other free
|
||||||
|
programs whose distribution conditions are different, write to the author
|
||||||
|
to ask for permission. For software which is copyrighted by the Free
|
||||||
|
Software Foundation, write to the Free Software Foundation; we sometimes
|
||||||
|
make exceptions for this. Our decision will be guided by the two goals
|
||||||
|
of preserving the free status of all derivatives of our free software and
|
||||||
|
of promoting the sharing and reuse of software generally.
|
||||||
|
|
||||||
|
NO WARRANTY
|
||||||
|
|
||||||
|
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
|
||||||
|
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
|
||||||
|
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
|
||||||
|
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
|
||||||
|
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
|
||||||
|
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
|
||||||
|
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
|
||||||
|
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
|
||||||
|
REPAIR OR CORRECTION.
|
||||||
|
|
||||||
|
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||||
|
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
|
||||||
|
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
|
||||||
|
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
|
||||||
|
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
|
||||||
|
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
|
||||||
|
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
|
||||||
|
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
|
||||||
|
POSSIBILITY OF SUCH DAMAGES.
|
||||||
|
|
||||||
|
END OF TERMS AND CONDITIONS
|
||||||
|
|
||||||
|
How to Apply These Terms to Your New Programs
|
||||||
|
|
||||||
|
If you develop a new program, and you want it to be of the greatest
|
||||||
|
possible use to the public, the best way to achieve this is to make it
|
||||||
|
free software which everyone can redistribute and change under these terms.
|
||||||
|
|
||||||
|
To do so, attach the following notices to the program. It is safest
|
||||||
|
to attach them to the start of each source file to most effectively
|
||||||
|
convey the exclusion of warranty; and each file should have at least
|
||||||
|
the "copyright" line and a pointer to where the full notice is found.
|
||||||
|
|
||||||
|
CMDR Joystick
|
||||||
|
Copyright (C) 2023 Christoffer Martinsson
|
||||||
|
|
||||||
|
This program is free software; you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation; either version 2 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
This program is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License along
|
||||||
|
with this program; if not, write to the Free Software Foundation, Inc.,
|
||||||
|
51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
|
||||||
|
|
||||||
|
Also add information on how to contact you by electronic and paper mail.
|
||||||
|
|
||||||
|
If the program is interactive, make it output a short notice like this
|
||||||
|
when it starts in an interactive mode:
|
||||||
|
|
||||||
|
Gnomovision version 69, Copyright (C) year name of author
|
||||||
|
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
|
||||||
|
This is free software, and you are welcome to redistribute it
|
||||||
|
under certain conditions; type `show c' for details.
|
||||||
|
|
||||||
|
The hypothetical commands `show w' and `show c' should show the appropriate
|
||||||
|
parts of the General Public License. Of course, the commands you use may
|
||||||
|
be called something other than `show w' and `show c'; they could even be
|
||||||
|
mouse-clicks or menu items--whatever suits your program.
|
||||||
|
|
||||||
|
You should also get your employer (if you work as a programmer) or your
|
||||||
|
school, if any, to sign a "copyright disclaimer" for the program, if
|
||||||
|
necessary. Here is a sample; alter the names:
|
||||||
|
|
||||||
|
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
|
||||||
|
`Gnomovision' (which makes passes at compilers) written by James Hacker.
|
||||||
|
|
||||||
|
<signature of Ty Coon>, 1 April 1989
|
||||||
|
Ty Coon, President of Vice
|
||||||
|
|
||||||
|
This General Public License does not permit incorporating your program into
|
||||||
|
proprietary programs. If your program is a subroutine library, you may
|
||||||
|
consider it more useful to permit linking proprietary applications with the
|
||||||
|
library. If this is what you want to do, use the GNU Lesser General
|
||||||
|
Public License instead of this License.
|
||||||
148
README.md
148
README.md
@ -1,92 +1,94 @@
|
|||||||
# CMDR Joystick
|
# CMDR Joystick
|
||||||
|
|
||||||
|
RC Joystick with 2 hall effect gimbals and 8 buttons for use both with simulators and ELRS Rx equipped quads.
|
||||||
|
|
||||||
|
## Layout
|
||||||
|
|
||||||
## Getting started
|
```cpp
|
||||||
|
USB Joystick Layer 0
|
||||||
|
|
||||||
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
|
| B3 | | B1 |
|
||||||
|
| Fn1 | | B2 |
|
||||||
|
--------------------------------------------
|
||||||
|
| | B4 | | B5 | |
|
||||||
|
| |
|
||||||
|
| X1,Y1 X2,Y2 |
|
||||||
|
| | B6 | | B7 | |
|
||||||
|
--------------------------------------------
|
||||||
|
|
||||||
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
|
USB Joystick Layer 1 (Fn1)
|
||||||
|
|
||||||
## Add your files
|
| Fn2 | | B1 |
|
||||||
|
| Fn1 | | B2 |
|
||||||
|
--------------------------------------------
|
||||||
|
| | B8 | | B9 | |
|
||||||
|
| |
|
||||||
|
| X1,Y1 X3,Y2 |
|
||||||
|
| | B10 | | B11 | |
|
||||||
|
--------------------------------------------
|
||||||
|
|
||||||
- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
|
USB Joystick Layer 2 (Fn2)
|
||||||
- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
|
|
||||||
|
|
||||||
```
|
| Fn2 | | B16 |
|
||||||
cd existing_repo
|
| Fn1 | | B17 |
|
||||||
git remote add origin https://git.cmtec.se/cm/cmdr-joystick.git
|
--------------------------------------------
|
||||||
git branch -M main
|
| | B12 | | B13 | |
|
||||||
git push -uf origin main
|
| |
|
||||||
|
| X1,Y1 X3,Y3 |
|
||||||
|
| | B14 | | B15 | |
|
||||||
|
--------------------------------------------
|
||||||
|
|
||||||
|
ELRS Layer
|
||||||
|
|
||||||
|
| CH6 on | | CH5 on |
|
||||||
|
| CH6 off | | CH5 off |
|
||||||
|
--------------------------------------------
|
||||||
|
| | CH7 | | CH8 | |
|
||||||
|
| |
|
||||||
|
| X,Y X,Y |
|
||||||
|
| CH1,CH2 | CH9 | | CH10 | CH3,CH4 |
|
||||||
|
--------------------------------------------
|
||||||
```
|
```
|
||||||
|
|
||||||
## Integrate with your tools
|
## Features
|
||||||
|
|
||||||
- [ ] [Set up project integrations](https://git.cmtec.se/cm/cmdr-joystick/-/settings/integrations)
|
- Ergonomic design (low profile)
|
||||||
|
- Hall effect gimbals
|
||||||
|
- Supports both USB HID joystick and ELRS Tx module
|
||||||
|
- Total 6x axis and 15x buttons (using Fn mode) implemented in USB HID mode
|
||||||
|
- 10 Channels implemented in ELRS mode (4x axis, 6x buttons)
|
||||||
|
- Low latency (1.6ms ELRS, 5ms USB)
|
||||||
|
|
||||||
## Collaborate with your team
|
## Build environment
|
||||||
|
|
||||||
- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
|
- Platformio
|
||||||
- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
|
- env: teensylc
|
||||||
- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
|
- platform: teensy
|
||||||
- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
|
- board: teensylc
|
||||||
- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
|
- framework: arduino
|
||||||
|
- Flashing via Teensy USB bootloader
|
||||||
|
- Pressing boot button on teensy
|
||||||
|
- Press and hold "top lower right button" when powering the unit
|
||||||
|
|
||||||
## Test and Deploy
|
## Hardware
|
||||||
|
|
||||||
Use the built-in continuous integration in GitLab.
|
- 1x TeensyLC MCU
|
||||||
|
- 2x FrSky M7 or M10 gimbals
|
||||||
|
- 6x Kailh choc low profile switches
|
||||||
|
- 2x Cherry MX switches
|
||||||
|
- 1x PCB
|
||||||
|
- 1x Bottom case
|
||||||
|
- 1x Top plate
|
||||||
|
- 2x Gimbal spacers
|
||||||
|
|
||||||
- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
|
## Calibration
|
||||||
- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
|
|
||||||
- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
|
|
||||||
- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
|
|
||||||
- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
|
|
||||||
|
|
||||||
***
|
_The button is from here reffered to "top lower left button"_
|
||||||
|
|
||||||
# Editing this README
|
1. Turn off the unit
|
||||||
|
2. Press and hold the button while powering the unit
|
||||||
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template.
|
3. Release the button and center the two gimbals
|
||||||
|
4. Press the button again
|
||||||
## Suggestions for a good README
|
5. Move the two gimbals to it maximux X and Y
|
||||||
Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
|
6. Press the button one mo time
|
||||||
|
7. Done!
|
||||||
## Name
|
|
||||||
Choose a self-explaining name for your project.
|
|
||||||
|
|
||||||
## Description
|
|
||||||
Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
|
|
||||||
|
|
||||||
## Badges
|
|
||||||
On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
|
|
||||||
|
|
||||||
## Visuals
|
|
||||||
Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
|
|
||||||
|
|
||||||
## Installation
|
|
||||||
Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
|
|
||||||
|
|
||||||
## Usage
|
|
||||||
Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
|
|
||||||
|
|
||||||
## Support
|
|
||||||
Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
|
|
||||||
|
|
||||||
## Roadmap
|
|
||||||
If you have ideas for releases in the future, it is a good idea to list them in the README.
|
|
||||||
|
|
||||||
## Contributing
|
|
||||||
State if you are open to contributions and what your requirements are for accepting them.
|
|
||||||
|
|
||||||
For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
|
|
||||||
|
|
||||||
You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
|
|
||||||
|
|
||||||
## Authors and acknowledgment
|
|
||||||
Show your appreciation to those who have contributed to the project.
|
|
||||||
|
|
||||||
## License
|
|
||||||
For open source projects, say how it is licensed.
|
|
||||||
|
|
||||||
## Project status
|
|
||||||
If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
|
|
||||||
|
|||||||
2
firmware/.gitignore
vendored
2
firmware/.gitignore
vendored
@ -1,2 +1,4 @@
|
|||||||
.pio
|
.pio
|
||||||
.vscode
|
.vscode
|
||||||
|
.cache
|
||||||
|
compile_commands.json
|
||||||
|
|||||||
@ -3,23 +3,11 @@
|
|||||||
#PATH := /usr/local/bin:$(PATH)
|
#PATH := /usr/local/bin:$(PATH)
|
||||||
|
|
||||||
all:
|
all:
|
||||||
platformio run
|
pio run && pio run -t compiledb
|
||||||
|
|
||||||
upload:
|
|
||||||
platformio run --target upload
|
|
||||||
|
|
||||||
clean:
|
clean:
|
||||||
platformio run --target clean
|
pio run -t clean
|
||||||
|
|
||||||
program:
|
upload:
|
||||||
platformio run --target program
|
pio run -t upload
|
||||||
|
|
||||||
uploadfs:
|
|
||||||
platformio run --target uploadfs
|
|
||||||
|
|
||||||
update:
|
|
||||||
platformio update
|
|
||||||
|
|
||||||
bear:
|
|
||||||
platformio run --target clean
|
|
||||||
bear make all
|
|
||||||
|
|||||||
5
firmware/extra_script.py
Normal file
5
firmware/extra_script.py
Normal file
@ -0,0 +1,5 @@
|
|||||||
|
import os
|
||||||
|
Import("env")
|
||||||
|
|
||||||
|
# include toolchain paths
|
||||||
|
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
|
||||||
1
firmware/lib/teensy-libc
Submodule
1
firmware/lib/teensy-libc
Submodule
@ -0,0 +1 @@
|
|||||||
|
Subproject commit 88cb7c10ca12ea33fb96aa10ae97a14d087da852
|
||||||
@ -12,5 +12,7 @@
|
|||||||
platform = teensy
|
platform = teensy
|
||||||
board = teensylc
|
board = teensylc
|
||||||
framework = arduino
|
framework = arduino
|
||||||
build_flags = -D USB_HID -D LAYOUT_SWEDISH -w
|
build_flags = -Isrc -Ilib -D USB_HID -D LAYOUT_SWEDISH -w
|
||||||
board_build.f_cpu = 48000000L
|
board_build.f_cpu = 48000000L
|
||||||
|
extra_scripts = pre:extra_script.py
|
||||||
|
upload_protocol = teensy-cli
|
||||||
|
|||||||
533
firmware/src/cmdr_joystick.cpp
Normal file
533
firmware/src/cmdr_joystick.cpp
Normal file
@ -0,0 +1,533 @@
|
|||||||
|
/*
|
||||||
|
* Project: CMtec CMDR Joystick RC
|
||||||
|
* Date: 2023-09-02
|
||||||
|
* Author: Christoffer Martinsson
|
||||||
|
* Email: cm@cmtec.se
|
||||||
|
* License: Please refer to LICENSE file in root folder
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <Arduino.h>
|
||||||
|
#include <EEPROM.h>
|
||||||
|
#include <ElrsTx.h>
|
||||||
|
#include <IndicatorLed.h>
|
||||||
|
#include <ResponsiveAnalogRead.h>
|
||||||
|
|
||||||
|
IndicatorLed status_led(13);
|
||||||
|
IndicatorLed button_led_1(22);
|
||||||
|
IndicatorLed button_led_2(23);
|
||||||
|
|
||||||
|
const int TIME_US_1ms = 1000;
|
||||||
|
const int TIME_US_5ms = 5000;
|
||||||
|
const uint64_t TIME_US_200ms = 200000;
|
||||||
|
uint64_t current_timestamp_micros = 0;
|
||||||
|
uint64_t process_data_timestamp_micros = 0;
|
||||||
|
uint64_t indicator_timestamp_micros = 0;
|
||||||
|
uint64_t send_usb_timestamp_micros = 0;
|
||||||
|
uint64_t send_elrs_timestamp_micros = 0;
|
||||||
|
|
||||||
|
const int BUTTON_PRESSED = LOW;
|
||||||
|
const int BUTTON_NOT_PRESSED = HIGH;
|
||||||
|
const int BUTTON_FRONT_LEFT_UPPER_PIN = 4;
|
||||||
|
const int BUTTON_FRONT_LEFT_LOWER_PIN = 5;
|
||||||
|
const int BUTTON_FRONT_RIGHT_UPPER_PIN = 6;
|
||||||
|
const int BUTTON_FRONT_RIGHT_LOWER_PIN = 7;
|
||||||
|
const int BUTTON_TOP_LEFT_UPPER_PIN = 9;
|
||||||
|
const int BUTTON_TOP_RIGHT_UPPER_PIN = 10;
|
||||||
|
const int BUTTON_TOP_LEFT_LOWER_PIN = 8;
|
||||||
|
const int BUTTON_TOP_RIGHT_LOWER_PIN = 11;
|
||||||
|
|
||||||
|
const int GIMBAL_MODE_FRSKY_M7 = 0;
|
||||||
|
const int GIMBAL_MODE_FRSKY_M10 = 1;
|
||||||
|
const int GIMBAL_MODE_PIN = 21;
|
||||||
|
int gimbal_mode = GIMBAL_MODE_FRSKY_M7;
|
||||||
|
|
||||||
|
bool toggle_button_arm = false;
|
||||||
|
bool toggle_button_mode = false;
|
||||||
|
|
||||||
|
const int AXIS_10BIT_MAX = 1023;
|
||||||
|
const int AXIS_10BIT_MIN = 0;
|
||||||
|
const int AXIS_10BIT_CENTER = 512;
|
||||||
|
const int AXIS_12BIT_MAX = 4096;
|
||||||
|
const int AXIS_12BIT_MIN = 0;
|
||||||
|
const int AXIS_12BIT_CENTER = 2048;
|
||||||
|
const int DEADZONE_X = 50;
|
||||||
|
const int DEADZONE_Y = 50;
|
||||||
|
const int JOYSTICK_HAT_CENTER = -1;
|
||||||
|
|
||||||
|
enum EEPROM_ADR {
|
||||||
|
MAX_X1_ADR_HIGH,
|
||||||
|
MAX_X1_ADR_LOW,
|
||||||
|
MIN_X1_ADR_HIGH,
|
||||||
|
MIN_X1_ADR_LOW,
|
||||||
|
CNT_X1_ADR_HIGH,
|
||||||
|
CNT_X1_ADR_LOW,
|
||||||
|
MAX_Y1_ADR_HIGH,
|
||||||
|
MAX_Y1_ADR_LOW,
|
||||||
|
MIN_Y1_ADR_HIGH,
|
||||||
|
MIN_Y1_ADR_LOW,
|
||||||
|
CNT_Y1_ADR_HIGH,
|
||||||
|
CNT_Y1_ADR_LOW,
|
||||||
|
MAX_X2_ADR_HIGH,
|
||||||
|
MAX_X2_ADR_LOW,
|
||||||
|
MIN_X2_ADR_HIGH,
|
||||||
|
MIN_X2_ADR_LOW,
|
||||||
|
CNT_X2_ADR_HIGH,
|
||||||
|
CNT_X2_ADR_LOW,
|
||||||
|
MAX_Y2_ADR_HIGH,
|
||||||
|
MAX_Y2_ADR_LOW,
|
||||||
|
MIN_Y2_ADR_HIGH,
|
||||||
|
MIN_Y2_ADR_LOW,
|
||||||
|
CNT_Y2_ADR_HIGH,
|
||||||
|
CNT_Y2_ADR_LOW,
|
||||||
|
EEPROM_ADR_NBR_OF_BYTES
|
||||||
|
};
|
||||||
|
|
||||||
|
int joystick_counter = 0;
|
||||||
|
int joystick_x1_12bit = 0;
|
||||||
|
int joystick_x1_12bit_max = 4096;
|
||||||
|
int joystick_x1_12bit_min = 0;
|
||||||
|
int joystick_x1_12bit_center = joystick_x1_12bit_max / 2;
|
||||||
|
int joystick_y1_12bit = 0;
|
||||||
|
int joystick_y1_12bit_max = 4096;
|
||||||
|
int joystick_y1_12bit_min = 0;
|
||||||
|
int joystick_y1_12bit_center = joystick_y1_12bit_max / 2;
|
||||||
|
int joystick_x2_12bit = 0;
|
||||||
|
int joystick_x2_12bit_max = 4096;
|
||||||
|
int joystick_x2_12bit_min = 0;
|
||||||
|
int joystick_x2_12bit_center = joystick_x2_12bit_max / 2;
|
||||||
|
int joystick_y2_12bit = 0;
|
||||||
|
int joystick_y2_12bit_max = 4096;
|
||||||
|
int joystick_y2_12bit_min = 0;
|
||||||
|
int joystick_y2_12bit_center = joystick_y2_12bit_max / 2;
|
||||||
|
|
||||||
|
float exp_constant = 0.2;
|
||||||
|
|
||||||
|
int fn_mode = 0;
|
||||||
|
|
||||||
|
ResponsiveAnalogRead analog_x1(A0, true);
|
||||||
|
ResponsiveAnalogRead analog_y1(A1, true);
|
||||||
|
ResponsiveAnalogRead analog_x2(A3, true);
|
||||||
|
ResponsiveAnalogRead analog_y2(A2, true);
|
||||||
|
|
||||||
|
ElrsTx elrs(Serial1);
|
||||||
|
|
||||||
|
const int CALIBRATION_OFF = 0;
|
||||||
|
const int CALIBRATION_INIT = 1;
|
||||||
|
const int CALIBRATION_CENTER = 2;
|
||||||
|
const int CALIBRATION_MINMAX = 3;
|
||||||
|
int joystick_calibration_mode = CALIBRATION_OFF;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Save calibration data to EEPROM
|
||||||
|
*/
|
||||||
|
void save_to_eeprom() {
|
||||||
|
EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_12bit_max);
|
||||||
|
EEPROM.write(MAX_X1_ADR_HIGH, joystick_x1_12bit_max >> 8);
|
||||||
|
EEPROM.write(MIN_X1_ADR_LOW, joystick_x1_12bit_min);
|
||||||
|
EEPROM.write(MIN_X1_ADR_HIGH, joystick_x1_12bit_min >> 8);
|
||||||
|
EEPROM.write(CNT_X1_ADR_LOW, joystick_x1_12bit_center);
|
||||||
|
EEPROM.write(CNT_X1_ADR_HIGH, joystick_x1_12bit_center >> 8);
|
||||||
|
|
||||||
|
EEPROM.write(MAX_Y1_ADR_LOW, joystick_y1_12bit_max);
|
||||||
|
EEPROM.write(MAX_Y1_ADR_HIGH, joystick_y1_12bit_max >> 8);
|
||||||
|
EEPROM.write(MIN_Y1_ADR_LOW, joystick_y1_12bit_min);
|
||||||
|
EEPROM.write(MIN_Y1_ADR_HIGH, joystick_y1_12bit_min >> 8);
|
||||||
|
EEPROM.write(CNT_Y1_ADR_LOW, joystick_y1_12bit_center);
|
||||||
|
EEPROM.write(CNT_Y1_ADR_HIGH, joystick_y1_12bit_center >> 8);
|
||||||
|
|
||||||
|
EEPROM.write(MAX_X2_ADR_LOW, joystick_x2_12bit_max);
|
||||||
|
EEPROM.write(MAX_X2_ADR_HIGH, joystick_x2_12bit_max >> 8);
|
||||||
|
EEPROM.write(MIN_X2_ADR_LOW, joystick_x2_12bit_min);
|
||||||
|
EEPROM.write(MIN_X2_ADR_HIGH, joystick_x2_12bit_min >> 8);
|
||||||
|
EEPROM.write(CNT_X2_ADR_LOW, joystick_x2_12bit_center);
|
||||||
|
EEPROM.write(CNT_X2_ADR_HIGH, joystick_x2_12bit_center >> 8);
|
||||||
|
|
||||||
|
EEPROM.write(MAX_Y2_ADR_LOW, joystick_y2_12bit_max);
|
||||||
|
EEPROM.write(MAX_Y2_ADR_HIGH, joystick_y2_12bit_max >> 8);
|
||||||
|
EEPROM.write(MIN_Y2_ADR_LOW, joystick_y2_12bit_min);
|
||||||
|
EEPROM.write(MIN_Y2_ADR_HIGH, joystick_y2_12bit_min >> 8);
|
||||||
|
EEPROM.write(CNT_Y2_ADR_LOW, joystick_y2_12bit_center);
|
||||||
|
EEPROM.write(CNT_Y2_ADR_HIGH, joystick_y2_12bit_center >> 8);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Load calibration data from EEPROM
|
||||||
|
*/
|
||||||
|
void load_from_eeprom() {
|
||||||
|
joystick_x1_12bit_max = (EEPROM.read(MAX_X1_ADR_HIGH) << 8);
|
||||||
|
joystick_x1_12bit_max |= EEPROM.read(MAX_X1_ADR_LOW);
|
||||||
|
joystick_x1_12bit_min = (EEPROM.read(MIN_X1_ADR_HIGH) << 8);
|
||||||
|
joystick_x1_12bit_min |= EEPROM.read(MIN_X1_ADR_LOW);
|
||||||
|
joystick_x1_12bit_center = (EEPROM.read(CNT_X1_ADR_HIGH) << 8);
|
||||||
|
joystick_x1_12bit_center |= EEPROM.read(CNT_X1_ADR_LOW);
|
||||||
|
|
||||||
|
joystick_y1_12bit_max = (EEPROM.read(MAX_Y1_ADR_HIGH) << 8);
|
||||||
|
joystick_y1_12bit_max |= EEPROM.read(MAX_Y1_ADR_LOW);
|
||||||
|
joystick_y1_12bit_min = (EEPROM.read(MIN_Y1_ADR_HIGH) << 8);
|
||||||
|
joystick_y1_12bit_min |= EEPROM.read(MIN_Y1_ADR_LOW);
|
||||||
|
joystick_y1_12bit_center = (EEPROM.read(CNT_Y1_ADR_HIGH) << 8);
|
||||||
|
joystick_y1_12bit_center |= EEPROM.read(CNT_Y1_ADR_LOW);
|
||||||
|
|
||||||
|
joystick_x2_12bit_max = (EEPROM.read(MAX_X2_ADR_HIGH) << 8);
|
||||||
|
joystick_x2_12bit_max |= EEPROM.read(MAX_X2_ADR_LOW);
|
||||||
|
joystick_x2_12bit_min = (EEPROM.read(MIN_X2_ADR_HIGH) << 8);
|
||||||
|
joystick_x2_12bit_min |= EEPROM.read(MIN_X2_ADR_LOW);
|
||||||
|
joystick_x2_12bit_center = (EEPROM.read(CNT_X2_ADR_HIGH) << 8);
|
||||||
|
joystick_x2_12bit_center |= EEPROM.read(CNT_X2_ADR_LOW);
|
||||||
|
|
||||||
|
joystick_y2_12bit_max = (EEPROM.read(MAX_Y2_ADR_HIGH) << 8);
|
||||||
|
joystick_y2_12bit_max |= EEPROM.read(MAX_Y2_ADR_LOW);
|
||||||
|
joystick_y2_12bit_min = (EEPROM.read(MIN_Y2_ADR_HIGH) << 8);
|
||||||
|
joystick_y2_12bit_min |= EEPROM.read(MIN_Y2_ADR_LOW);
|
||||||
|
joystick_y2_12bit_center = (EEPROM.read(CNT_Y2_ADR_HIGH) << 8);
|
||||||
|
joystick_y2_12bit_center |= EEPROM.read(CNT_Y2_ADR_LOW);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Calibrate all joystick axis
|
||||||
|
*
|
||||||
|
* @param analog_x1
|
||||||
|
* @param analog_y1
|
||||||
|
* @param analog_x2
|
||||||
|
* @param analog_y2
|
||||||
|
*/
|
||||||
|
void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2) {
|
||||||
|
joystick_x1_12bit = AXIS_12BIT_CENTER;
|
||||||
|
joystick_y1_12bit = AXIS_12BIT_CENTER;
|
||||||
|
joystick_x2_12bit = AXIS_12BIT_CENTER;
|
||||||
|
joystick_y2_12bit = AXIS_12BIT_CENTER;
|
||||||
|
|
||||||
|
// Check for calibration mode
|
||||||
|
if (joystick_calibration_mode == CALIBRATION_INIT && digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED) {
|
||||||
|
joystick_calibration_mode = CALIBRATION_CENTER;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Calibrate joystick center values
|
||||||
|
else if (joystick_calibration_mode == CALIBRATION_CENTER) {
|
||||||
|
joystick_x1_12bit_center = analog_x1;
|
||||||
|
joystick_y1_12bit_center = analog_y1;
|
||||||
|
joystick_x1_12bit_max = joystick_x1_12bit_center;
|
||||||
|
joystick_x1_12bit_min = joystick_x1_12bit_center;
|
||||||
|
joystick_y1_12bit_max = joystick_y1_12bit_center;
|
||||||
|
joystick_y1_12bit_min = joystick_y1_12bit_center;
|
||||||
|
|
||||||
|
joystick_x2_12bit_center = analog_x2;
|
||||||
|
joystick_y2_12bit_center = analog_y2;
|
||||||
|
joystick_x2_12bit_max = joystick_x2_12bit_center;
|
||||||
|
joystick_x2_12bit_min = joystick_x2_12bit_center;
|
||||||
|
joystick_y2_12bit_max = joystick_y2_12bit_center;
|
||||||
|
joystick_y2_12bit_min = joystick_y2_12bit_center;
|
||||||
|
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
joystick_calibration_mode = CALIBRATION_MINMAX;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Calibrate joystick min/max values
|
||||||
|
else if (joystick_calibration_mode == CALIBRATION_MINMAX) {
|
||||||
|
if (analog_x1 > joystick_x1_12bit_max) joystick_x1_12bit_max = analog_x1;
|
||||||
|
if (analog_x1 < joystick_x1_12bit_min) joystick_x1_12bit_min = analog_x1;
|
||||||
|
if (analog_y1 > joystick_y1_12bit_max) joystick_y1_12bit_max = analog_y1;
|
||||||
|
if (analog_y1 < joystick_y1_12bit_min) joystick_y1_12bit_min = analog_y1;
|
||||||
|
if (analog_x2 > joystick_x2_12bit_max) joystick_x2_12bit_max = analog_x2;
|
||||||
|
if (analog_x2 < joystick_x2_12bit_min) joystick_x2_12bit_min = analog_x2;
|
||||||
|
if (analog_y2 > joystick_y2_12bit_max) joystick_y2_12bit_max = analog_y2;
|
||||||
|
if (analog_y2 < joystick_y2_12bit_min) joystick_y2_12bit_min = analog_y2;
|
||||||
|
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
joystick_calibration_mode = CALIBRATION_OFF;
|
||||||
|
save_to_eeprom();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Save joystick calibration values to EEPROM
|
||||||
|
*/
|
||||||
|
void send_elrs_data() {
|
||||||
|
// Set ELRS analog channels
|
||||||
|
elrs.set_data(map(joystick_x1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 0);
|
||||||
|
elrs.set_data(map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 1);
|
||||||
|
elrs.set_data(map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 2);
|
||||||
|
elrs.set_data(map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 3);
|
||||||
|
|
||||||
|
// Set ELRS digital channels
|
||||||
|
for (int i = 4; i < CRSF_MAX_CHANNEL; i++) {
|
||||||
|
elrs.set_data(CRSF_DIGITAL_CHANNEL_MIN, i);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (toggle_button_arm) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 4);
|
||||||
|
if (toggle_button_mode) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 5);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 6);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 7);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 8);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 9);
|
||||||
|
|
||||||
|
// Send ELRS data
|
||||||
|
elrs.send_data();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Send USB data to PC
|
||||||
|
*/
|
||||||
|
void send_usb_data() {
|
||||||
|
// Set USB analog channels
|
||||||
|
int joystick_x1_10bit = map(joystick_x1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
|
||||||
|
int joystick_y1_10bit = map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
|
||||||
|
int joystick_x2_10bit = map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
|
||||||
|
int joystick_y2_10bit = map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
|
||||||
|
|
||||||
|
Joystick.Zrotate(joystick_x1_10bit);
|
||||||
|
Joystick.Z(joystick_y1_10bit);
|
||||||
|
|
||||||
|
if (fn_mode == 2) {
|
||||||
|
Joystick.X(AXIS_10BIT_CENTER);
|
||||||
|
Joystick.Y(AXIS_10BIT_CENTER);
|
||||||
|
Joystick.sliderRight(joystick_x2_10bit);
|
||||||
|
Joystick.sliderLeft(joystick_y2_10bit);
|
||||||
|
} else if (fn_mode == 1) {
|
||||||
|
Joystick.X(AXIS_10BIT_CENTER);
|
||||||
|
Joystick.Y(joystick_y2_10bit);
|
||||||
|
Joystick.sliderRight(joystick_x2_10bit);
|
||||||
|
Joystick.sliderLeft(AXIS_10BIT_CENTER);
|
||||||
|
} else {
|
||||||
|
Joystick.X(joystick_x2_10bit);
|
||||||
|
Joystick.Y(joystick_y2_10bit);
|
||||||
|
Joystick.sliderRight(AXIS_10BIT_CENTER);
|
||||||
|
Joystick.sliderLeft(AXIS_10BIT_CENTER);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set USB digital channels
|
||||||
|
for (int i = 1; i < 32; i++) {
|
||||||
|
Joystick.button(i, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
Joystick.hat(JOYSTICK_HAT_CENTER);
|
||||||
|
|
||||||
|
if (fn_mode == 2) {
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(12, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(13, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(14, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(15, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(16, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(17, 1);
|
||||||
|
} else if (fn_mode == 1) {
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(8, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(9, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(10, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(11, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
|
||||||
|
} else {
|
||||||
|
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(3, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(4, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(5, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(6, 1);
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(7, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
Joystick.send_now();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Apply calibration to 12-bit gimbal value
|
||||||
|
*
|
||||||
|
* @param gimbal_value
|
||||||
|
* @param min_value
|
||||||
|
* @param max_value
|
||||||
|
* @param center_value
|
||||||
|
* @param deadband_value
|
||||||
|
* @param expo_value
|
||||||
|
*/
|
||||||
|
int apply_calibration_12bit(int gimbal_value, int min_value, int max_value, int center_value, int deadband_value, int expo_value) {
|
||||||
|
int calibrated_value = AXIS_12BIT_CENTER;
|
||||||
|
|
||||||
|
if (gimbal_value > (center_value + deadband_value)) {
|
||||||
|
calibrated_value = constrain(map(gimbal_value, (center_value + deadband_value), max_value, AXIS_12BIT_CENTER, AXIS_12BIT_MAX),
|
||||||
|
AXIS_12BIT_CENTER, AXIS_12BIT_MAX);
|
||||||
|
} else if (gimbal_value < (center_value - deadband_value)) {
|
||||||
|
calibrated_value = constrain(map(gimbal_value, min_value, (center_value - deadband_value), AXIS_12BIT_MIN, AXIS_12BIT_CENTER),
|
||||||
|
AXIS_12BIT_MIN, AXIS_12BIT_CENTER);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (expo_value != 0) {
|
||||||
|
float joystick_x_float = calibrated_value / float(AXIS_12BIT_MAX);
|
||||||
|
/* Calculate expo using 9th order polynomial function with 0.5 as center point */
|
||||||
|
float joystick_x_exp = expo_value * (0.5 + 256 * pow((joystick_x_float - 0.5), 9)) + (1 - expo_value) * joystick_x_float;
|
||||||
|
calibrated_value = constrain(int(joystick_x_exp * float(AXIS_12BIT_MAX)), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
}
|
||||||
|
|
||||||
|
return calibrated_value;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Process input data from gimbal and buttons
|
||||||
|
*/
|
||||||
|
void process_input_data() {
|
||||||
|
int analog_x1_gimbal_value = 0;
|
||||||
|
int analog_y1_gimbal_value = 0;
|
||||||
|
int analog_x2_gimbal_value = 0;
|
||||||
|
int analog_y2_gimbal_value = 0;
|
||||||
|
|
||||||
|
if (gimbal_mode == GIMBAL_MODE_FRSKY_M10) {
|
||||||
|
analog_x1_gimbal_value = constrain(AXIS_12BIT_MAX - analog_x1.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_y1_gimbal_value = constrain(analog_y1.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_x2_gimbal_value = constrain(analog_x2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_y2_gimbal_value = constrain(AXIS_12BIT_MAX - analog_y2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
} else if (gimbal_mode == GIMBAL_MODE_FRSKY_M7) {
|
||||||
|
analog_x1_gimbal_value = constrain(analog_x1.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_y1_gimbal_value = constrain(AXIS_12BIT_MAX - analog_y1.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_x2_gimbal_value = constrain(AXIS_12BIT_MAX - analog_x2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
analog_y2_gimbal_value = constrain(analog_y2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (joystick_calibration_mode != CALIBRATION_OFF) {
|
||||||
|
calibrate_axis(analog_x1_gimbal_value, analog_y1_gimbal_value, analog_x2_gimbal_value, analog_y2_gimbal_value);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
joystick_x1_12bit = apply_calibration_12bit(analog_x1_gimbal_value, joystick_x1_12bit_min, joystick_x1_12bit_max,
|
||||||
|
joystick_x1_12bit_center, DEADZONE_X, exp_constant);
|
||||||
|
joystick_y1_12bit = apply_calibration_12bit(analog_y1_gimbal_value, joystick_y1_12bit_min, joystick_y1_12bit_max,
|
||||||
|
joystick_y1_12bit_center, DEADZONE_Y, 0);
|
||||||
|
joystick_x2_12bit = apply_calibration_12bit(analog_x2_gimbal_value, joystick_x2_12bit_min, joystick_x2_12bit_max,
|
||||||
|
joystick_x2_12bit_center, DEADZONE_X, exp_constant);
|
||||||
|
joystick_y2_12bit = apply_calibration_12bit(analog_y2_gimbal_value, joystick_y2_12bit_min, joystick_y2_12bit_max,
|
||||||
|
joystick_y2_12bit_center, DEADZONE_Y, exp_constant);
|
||||||
|
|
||||||
|
// Check fn mode
|
||||||
|
fn_mode = 0;
|
||||||
|
if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
fn_mode = 1;
|
||||||
|
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
|
||||||
|
fn_mode = 2;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check toggle mode buttons
|
||||||
|
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
|
||||||
|
toggle_button_mode = true;
|
||||||
|
} else if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
toggle_button_mode = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check toggle arm button
|
||||||
|
if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) {
|
||||||
|
toggle_button_arm = true;
|
||||||
|
} else if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
toggle_button_arm = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void setup() {
|
||||||
|
/* Init HW */
|
||||||
|
status_led.begin();
|
||||||
|
status_led.blink();
|
||||||
|
button_led_1.begin();
|
||||||
|
button_led_2.begin();
|
||||||
|
|
||||||
|
pinMode(BUTTON_FRONT_LEFT_LOWER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_FRONT_LEFT_UPPER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_FRONT_RIGHT_LOWER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_FRONT_RIGHT_UPPER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_TOP_LEFT_LOWER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_TOP_RIGHT_LOWER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_TOP_LEFT_UPPER_PIN, INPUT_PULLUP);
|
||||||
|
pinMode(BUTTON_TOP_RIGHT_UPPER_PIN, INPUT_PULLUP);
|
||||||
|
|
||||||
|
pinMode(GIMBAL_MODE_PIN, INPUT_PULLUP);
|
||||||
|
|
||||||
|
// Set ADC resolution to 12bit
|
||||||
|
analogReadResolution(12);
|
||||||
|
analogReadAveraging(32);
|
||||||
|
delay(500);
|
||||||
|
|
||||||
|
// Set analog (lib) resolution to 12bit
|
||||||
|
analog_x1.setAnalogResolution(4096);
|
||||||
|
analog_y1.setAnalogResolution(4096);
|
||||||
|
analog_x2.setAnalogResolution(4096);
|
||||||
|
analog_y2.setAnalogResolution(4096);
|
||||||
|
|
||||||
|
// Init EEPROM
|
||||||
|
load_from_eeprom();
|
||||||
|
|
||||||
|
// Init Joystick
|
||||||
|
Joystick.useManualSend(true);
|
||||||
|
|
||||||
|
// Check if calibration mode is enabled
|
||||||
|
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
joystick_calibration_mode = CALIBRATION_INIT;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check if bootloader mode is enabled
|
||||||
|
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
|
||||||
|
button_led_2.on();
|
||||||
|
button_led_2.update();
|
||||||
|
delay(200);
|
||||||
|
_reboot_Teensyduino_();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Check what gimbal mode is selected
|
||||||
|
if (digitalRead(GIMBAL_MODE_PIN) == LOW) {
|
||||||
|
gimbal_mode = GIMBAL_MODE_FRSKY_M10;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Init ELRS
|
||||||
|
elrs.begin(ELRS_PACKET_RATE_500Hz, ELRS_TX_POWER_25mW);
|
||||||
|
}
|
||||||
|
|
||||||
|
void loop() {
|
||||||
|
current_timestamp_micros = micros();
|
||||||
|
|
||||||
|
analog_x1.update();
|
||||||
|
analog_y1.update();
|
||||||
|
analog_x2.update();
|
||||||
|
analog_y2.update();
|
||||||
|
|
||||||
|
/* Process data with 1ms interval*/
|
||||||
|
if (current_timestamp_micros >= process_data_timestamp_micros) {
|
||||||
|
process_input_data();
|
||||||
|
process_data_timestamp_micros = current_timestamp_micros + TIME_US_1ms;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Update/Send USB data with 5ms interval*/
|
||||||
|
if (current_timestamp_micros >= send_usb_timestamp_micros) {
|
||||||
|
send_usb_data();
|
||||||
|
send_usb_timestamp_micros = current_timestamp_micros + TIME_US_5ms;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Update/Send ERLS data with about 1,6ms interval */
|
||||||
|
if (current_timestamp_micros >= send_elrs_timestamp_micros) {
|
||||||
|
send_elrs_data();
|
||||||
|
send_elrs_timestamp_micros = current_timestamp_micros + CRSF_TIME_BETWEEN_FRAMES_US;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Update indicator with 200ms interval */
|
||||||
|
if (current_timestamp_micros >= indicator_timestamp_micros) {
|
||||||
|
button_led_1.off();
|
||||||
|
button_led_2.off();
|
||||||
|
|
||||||
|
if (joystick_calibration_mode == CALIBRATION_INIT) {
|
||||||
|
button_led_1.blink();
|
||||||
|
button_led_2.blink();
|
||||||
|
} else if (joystick_calibration_mode == CALIBRATION_CENTER) {
|
||||||
|
button_led_1.blink();
|
||||||
|
button_led_2.off();
|
||||||
|
} else if (joystick_calibration_mode == CALIBRATION_MINMAX) {
|
||||||
|
button_led_1.off();
|
||||||
|
button_led_2.blink();
|
||||||
|
} else if ((joystick_x1_12bit != AXIS_12BIT_CENTER) || (joystick_y1_12bit != AXIS_12BIT_MIN) ||
|
||||||
|
(joystick_x2_12bit != AXIS_12BIT_CENTER) || (joystick_y2_12bit != AXIS_12BIT_CENTER)) {
|
||||||
|
button_led_1.on();
|
||||||
|
button_led_2.on();
|
||||||
|
}
|
||||||
|
|
||||||
|
status_led.update();
|
||||||
|
button_led_1.update();
|
||||||
|
button_led_2.update();
|
||||||
|
|
||||||
|
indicator_timestamp_micros = current_timestamp_micros + TIME_US_200ms;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -1,863 +0,0 @@
|
|||||||
/*
|
|
||||||
* =======================================================================================================
|
|
||||||
* -------------------------------------------------------------------------------------------------------
|
|
||||||
* ---####################-----###########-------###########-----############--############-############--
|
|
||||||
* --######################---#############-----#############---- -- - ---
|
|
||||||
* --###### ##---##### ###-----### #####---------##-------#######------#-------------
|
|
||||||
* -- -------------- --- ----- --- ----- ---------##-------#------------#-------------
|
|
||||||
* --#####--------------------#####------####-####------#####---------##-------###########--############--
|
|
||||||
* -- -------------------- ------ ------ --------- ------- -- --
|
|
||||||
* --#####--------------------#####--------#####--------#####---------------------------------------------
|
|
||||||
* -- -------------------- -------- -------- ---------------------------------------------
|
|
||||||
* --######--------------##---#####---------------------#####---------- CMtec CMDR Joystick RC -----------
|
|
||||||
* --##################### ---#####---------------------#####---------------------------------------------
|
|
||||||
* ---################### ----#####---------------------#####---------------------------------------------
|
|
||||||
* --- ----- --------------------- ---------------------------------------------
|
|
||||||
* -------------------------------------------------------------------------------------------------------
|
|
||||||
* =======================================================================================================
|
|
||||||
*
|
|
||||||
* Copyright 2022 Christoffer Martinsson <cm@cmtec.se>
|
|
||||||
*
|
|
||||||
* CMtec CMDR Joystick RC can be redistributed and/or modified under the terms of the GNU General
|
|
||||||
* Public License (Version 2), as published by the Free Software Foundation.
|
|
||||||
* A copy of the license can be found online at www.gnu.o urg/licenses.
|
|
||||||
*
|
|
||||||
* CMtec CMDR Joystick RC is distributed in the hope that it will be useful, but WITHOUT ANY
|
|
||||||
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
|
|
||||||
* A PARTICULAR PURPOSE. See the GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* Joystick based on standard teensy "Keypad" library for button scanning, standard teensy
|
|
||||||
* "usb_joystick" library for HID joystick usb data communication.
|
|
||||||
*
|
|
||||||
* Layer 0
|
|
||||||
*
|
|
||||||
* | B7 | | B9 |
|
|
||||||
* ---------------------------------------------
|
|
||||||
* | B8 | | | B1 | B2 | | | B10 |
|
|
||||||
* | X1,Y1 | | B3 | B4 | | X2,Y2 |
|
|
||||||
* | Fn1 | | B5 |Y1 offset| B6 | | Fn2 |
|
|
||||||
* ---------------------------------------------
|
|
||||||
*
|
|
||||||
* Layer 1 (Fn1)
|
|
||||||
*
|
|
||||||
* | B17| | B19|
|
|
||||||
* ---------------------------------------------
|
|
||||||
* | B18 | | | B11| B12| | | B20 |
|
|
||||||
* | X1,Y1 | | B13| B14| | X3,Y2 |
|
|
||||||
* | Fn1 | | B15|Y1 offset| B16| | Fn2 |
|
|
||||||
* ---------------------------------------------
|
|
||||||
*
|
|
||||||
* Layer 2 (Fn2)
|
|
||||||
*
|
|
||||||
* | B27| | B29|
|
|
||||||
* ---------------------------------------------
|
|
||||||
* | B28 | | | B21| B22| | | B30 |
|
|
||||||
* | X1,Y1 | | B23| B24| | X3,Y3 |
|
|
||||||
* | Fn1 | | B25|Y1 offset| B26| | Fn2 |
|
|
||||||
* ---------------------------------------------
|
|
||||||
*
|
|
||||||
* Features:
|
|
||||||
*
|
|
||||||
* * 5 physical axis.
|
|
||||||
* * 6 joystick axis using layers.
|
|
||||||
* * 12 physical buttons.
|
|
||||||
* * 32 joystick buttons using three layers (Fn1 and Fn2).
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <Arduino.h>
|
|
||||||
#include <Keypad.h>
|
|
||||||
#include <EEPROM.h>
|
|
||||||
|
|
||||||
#define USB_LED_NUM_LOCK 0
|
|
||||||
#define USB_LED_CAPS_LOCK 1
|
|
||||||
#define USB_LED_SCROLL_LOCK 2
|
|
||||||
|
|
||||||
#define KEY_OFFSET 0xAA00 // Offset to apply for not interfere with already defined keyboard keys
|
|
||||||
|
|
||||||
#define NO_JOY 0
|
|
||||||
|
|
||||||
#define JOY_A1 1 + KEY_OFFSET
|
|
||||||
#define JOY_A2 2 + KEY_OFFSET
|
|
||||||
#define JOY_A3 3 + KEY_OFFSET
|
|
||||||
#define JOY_A4 4 + KEY_OFFSET
|
|
||||||
#define JOY_A5 5 + KEY_OFFSET
|
|
||||||
#define JOY_A6 6 + KEY_OFFSET
|
|
||||||
#define JOY_A7 7 + KEY_OFFSET
|
|
||||||
#define JOY_A8 8 + KEY_OFFSET
|
|
||||||
#define JOY_A9 9 + KEY_OFFSET
|
|
||||||
#define JOY_A10 10 + KEY_OFFSET
|
|
||||||
#define JOY_A11 11 + KEY_OFFSET
|
|
||||||
#define JOY_A12 12 + KEY_OFFSET
|
|
||||||
#define JOY_A13 13 + KEY_OFFSET
|
|
||||||
#define JOY_A14 14 + KEY_OFFSET
|
|
||||||
#define JOY_A15 15 + KEY_OFFSET
|
|
||||||
#define JOY_A16 16 + KEY_OFFSET
|
|
||||||
#define JOY_A17 17 + KEY_OFFSET
|
|
||||||
#define JOY_A18 18 + KEY_OFFSET
|
|
||||||
#define JOY_A19 19 + KEY_OFFSET
|
|
||||||
#define JOY_A20 20 + KEY_OFFSET
|
|
||||||
#define JOY_A21 21 + KEY_OFFSET
|
|
||||||
#define JOY_A22 22 + KEY_OFFSET
|
|
||||||
#define JOY_A23 23 + KEY_OFFSET
|
|
||||||
#define JOY_A24 24 + KEY_OFFSET
|
|
||||||
#define JOY_A25 25 + KEY_OFFSET
|
|
||||||
#define JOY_A26 26 + KEY_OFFSET
|
|
||||||
#define JOY_A27 27 + KEY_OFFSET
|
|
||||||
#define JOY_A28 28 + KEY_OFFSET
|
|
||||||
#define JOY_A29 29 + KEY_OFFSET
|
|
||||||
#define JOY_A30 30 + KEY_OFFSET
|
|
||||||
#define JOY_A31 31 + KEY_OFFSET
|
|
||||||
#define JOY_A32 32 + KEY_OFFSET
|
|
||||||
|
|
||||||
#define JOY_AHU1 49 + KEY_OFFSET
|
|
||||||
#define JOY_AHR1 50 + KEY_OFFSET
|
|
||||||
#define JOY_AHD1 51 + KEY_OFFSET
|
|
||||||
#define JOY_AHL1 52 + KEY_OFFSET
|
|
||||||
|
|
||||||
#define KEY_FN1 61 + KEY_OFFSET // Function layer 1 button
|
|
||||||
#define KEY_FN2 62 + KEY_OFFSET // Function layer 2 button
|
|
||||||
|
|
||||||
#define TAP_TIMEOUT 150 // Key tap timeout (ms)
|
|
||||||
#define NBR_OF_BUTTONS 12 // Number of buttons used (12 in this case)
|
|
||||||
|
|
||||||
#define HID_AXIS_MAX 1023
|
|
||||||
#define HID_AXIS_MIN 0
|
|
||||||
#define HID_AXIS_CENTER 512
|
|
||||||
#define AXIS_MAX 4096
|
|
||||||
#define AXIS_MIN 0
|
|
||||||
#define AXIS_CENTER 2048
|
|
||||||
#define DEADZONE_X 50
|
|
||||||
#define DEADZONE_Y 50
|
|
||||||
|
|
||||||
struct Button
|
|
||||||
{
|
|
||||||
int keypad_kchar = 0;
|
|
||||||
uint16_t keycode = NO_KEY;
|
|
||||||
uint16_t tap_keycode = NO_KEY;
|
|
||||||
uint16_t fn1_keycode = NO_KEY;
|
|
||||||
uint16_t fn2_keycode = NO_KEY;
|
|
||||||
bool hold_direct = true;
|
|
||||||
int kstate = IDLE;
|
|
||||||
uint16_t last_keycode = NO_KEY;
|
|
||||||
bool run_keycode = false;
|
|
||||||
int tap_state = 0;
|
|
||||||
bool tap_timeout_enable = false;
|
|
||||||
bool tap_release_enable = false;
|
|
||||||
unsigned long tap_timeout_timestamp = 0;
|
|
||||||
unsigned long tap_release_timestamp = 0;
|
|
||||||
bool tap_inhibit = false;
|
|
||||||
};
|
|
||||||
|
|
||||||
const byte KP_ROWS = 3;
|
|
||||||
const byte KP_COLS = 4;
|
|
||||||
|
|
||||||
byte kp_rowPins[KP_ROWS] = {6, 7, 8};
|
|
||||||
byte kp_colPins[KP_COLS] = {9, 10, 11, 12};
|
|
||||||
|
|
||||||
char kp_keys[KP_ROWS][KP_COLS] = {
|
|
||||||
{1, 2, 3, 4},
|
|
||||||
{5, 6, 7, 8},
|
|
||||||
{9, 10, 11, 12}};
|
|
||||||
|
|
||||||
Keypad kp_keypad = Keypad(makeKeymap(kp_keys), kp_rowPins, kp_colPins, KP_ROWS, KP_COLS);
|
|
||||||
|
|
||||||
|
|
||||||
/* Valid "Fn0 (hold) key" when using tap mode are: KEY_LEFT_SHIFT, KEY_RIGHT_SHIFT, KEY_LEFT_CTRL, KEY_RIGHT_CTRL, KEY_RIGHT_ALT, KEY_LEFT_GUI, KEY_RIGHT_GUI, KEY_FN1, KEY_FN2
|
|
||||||
|
|
||||||
* "Button ID" corresponding with the physical design of the actual keyboard. DO NOT CHANGE BTN ID!
|
|
||||||
|
|
||||||
| 1 | | 4 |
|
|
||||||
---------------------------------------------
|
|
||||||
| 5 | | | 2 | 3 | | | 8 |
|
|
||||||
| X1,Y1 | | 6 | 7 | | X3,Y3 |
|
|
||||||
| 9 | | 10 |Y1 offset| 11 | | 12 |
|
|
||||||
---------------------------------------------
|
|
||||||
|
|
||||||
* "Fn0 hold key" is normal key in non tap mode. In tap mode this key is the hold key.
|
|
||||||
* "Fn0 tap key" enables tap mode.
|
|
||||||
* "Fn1 key" is the layer 1 key to use. Don NOT add KEY_FN1 or KEY_FN2 to this layer.
|
|
||||||
* "Fn2 key" is the layer 2 key to use. Don NOT add KEY_FN1 or KEY_FN2 to this layer.
|
|
||||||
"Fn1 key" and "Fn2 key" are N/A when using tap mode and should me defined as NO_KEY.
|
|
||||||
* "Hold direct" enables sending PRESS command as soon as the hold key is pressed (regardless if you intend to press the tap key).
|
|
||||||
|
|
||||||
/* Keymap config ----------------------------------------------------------------------------------------------------------------------------------- */
|
|
||||||
// clang-format off
|
|
||||||
Button buttons[NBR_OF_BUTTONS] =
|
|
||||||
{
|
|
||||||
/* Btn ID Fn0 (hold) key Fn1 key Fn2 key */
|
|
||||||
{1, JOY_A7, JOY_A17, JOY_A27, IDLE, NO_KEY, false},
|
|
||||||
{2, JOY_A1, JOY_A11, JOY_A21, IDLE, NO_KEY, false},
|
|
||||||
{3, JOY_A2, JOY_A12, JOY_A22, IDLE, NO_KEY, false},
|
|
||||||
{4, JOY_A9, JOY_A19, JOY_A29, IDLE, NO_KEY, false},
|
|
||||||
{5, JOY_A8, JOY_A18, JOY_A28, IDLE, NO_KEY, false},
|
|
||||||
{6, JOY_A3, JOY_A13, JOY_A23, IDLE, NO_KEY, false},
|
|
||||||
{7, JOY_A4, JOY_A14, JOY_A24, IDLE, NO_KEY, false},
|
|
||||||
{8, JOY_A10, JOY_A20, JOY_A30, IDLE, NO_KEY, false},
|
|
||||||
{9, KEY_FN1, NO_KEY, NO_KEY, IDLE, NO_KEY, false},
|
|
||||||
{10, JOY_A5, JOY_A15, JOY_A25, IDLE, NO_KEY, false},
|
|
||||||
{11, JOY_A6, JOY_A16, JOY_A26, IDLE, NO_KEY, false},
|
|
||||||
{12, KEY_FN2, NO_KEY, NO_KEY, IDLE, NO_KEY, false}};
|
|
||||||
|
|
||||||
// clang-format on
|
|
||||||
/* End of keymap config ----------------------------------------------------------------------------------------------------------------------------- */
|
|
||||||
|
|
||||||
const int STATUS_LED = 13;
|
|
||||||
bool status_led_on = false;
|
|
||||||
int status_led_mode = 0;
|
|
||||||
|
|
||||||
unsigned long current_timestamp = 0;
|
|
||||||
unsigned long button_timestamp = 0;
|
|
||||||
unsigned long indicator_timestamp = 0;
|
|
||||||
|
|
||||||
bool key_pressed = false;
|
|
||||||
|
|
||||||
int fn_mode = 0;
|
|
||||||
|
|
||||||
// USB HID data variables
|
|
||||||
int xy_x1 = HID_AXIS_CENTER;
|
|
||||||
int xy_y1 = HID_AXIS_CENTER;
|
|
||||||
int xy_x2 = HID_AXIS_CENTER;
|
|
||||||
int xy_y2 = HID_AXIS_CENTER;
|
|
||||||
int xy_x3 = HID_AXIS_CENTER;
|
|
||||||
int xy_y3 = HID_AXIS_CENTER;
|
|
||||||
|
|
||||||
enum EEPROM_ADR
|
|
||||||
{
|
|
||||||
MAX_X1_ADR_HIGH,
|
|
||||||
MAX_X1_ADR_LOW,
|
|
||||||
MIN_X1_ADR_HIGH,
|
|
||||||
MIN_X1_ADR_LOW,
|
|
||||||
CNT_X1_ADR_HIGH,
|
|
||||||
CNT_X1_ADR_LOW,
|
|
||||||
MAX_Y1_ADR_HIGH,
|
|
||||||
MAX_Y1_ADR_LOW,
|
|
||||||
MIN_Y1_ADR_HIGH,
|
|
||||||
MIN_Y1_ADR_LOW,
|
|
||||||
CNT_Y1_ADR_HIGH,
|
|
||||||
CNT_Y1_ADR_LOW,
|
|
||||||
MAX_X2_ADR_HIGH,
|
|
||||||
MAX_X2_ADR_LOW,
|
|
||||||
MIN_X2_ADR_HIGH,
|
|
||||||
MIN_X2_ADR_LOW,
|
|
||||||
CNT_X2_ADR_HIGH,
|
|
||||||
CNT_X2_ADR_LOW,
|
|
||||||
MAX_Y2_ADR_HIGH,
|
|
||||||
MAX_Y2_ADR_LOW,
|
|
||||||
MIN_Y2_ADR_HIGH,
|
|
||||||
MIN_Y2_ADR_LOW,
|
|
||||||
CNT_Y2_ADR_HIGH,
|
|
||||||
CNT_Y2_ADR_LOW,
|
|
||||||
MAX_X3_ADR_HIGH,
|
|
||||||
MAX_X3_ADR_LOW,
|
|
||||||
MIN_X3_ADR_HIGH,
|
|
||||||
MIN_X3_ADR_LOW,
|
|
||||||
CNT_X3_ADR_HIGH,
|
|
||||||
CNT_X3_ADR_LOW,
|
|
||||||
EEPROM_ADR_NBR_OF_BYTES
|
|
||||||
};
|
|
||||||
|
|
||||||
int joystick_counter = 0;
|
|
||||||
int joystick_x1 = 0;
|
|
||||||
int joystick_x1_raw = 0;
|
|
||||||
int joystick_x1_max = 4096;
|
|
||||||
int joystick_x1_min = 0;
|
|
||||||
int joystick_x1_center = joystick_x1_max/2;
|
|
||||||
int joystick_y1 = 0;
|
|
||||||
int joystick_y1_raw = 0;
|
|
||||||
int joystick_y1_max = 4096;
|
|
||||||
int joystick_y1_min = 0;
|
|
||||||
int joystick_y1_center = joystick_y1_max/2;
|
|
||||||
int joystick_x2 = 0;
|
|
||||||
int joystick_x2_raw = 0;
|
|
||||||
int joystick_x2_max = 4096;
|
|
||||||
int joystick_x2_min = 0;
|
|
||||||
int joystick_x2_center = joystick_x2_max/2;
|
|
||||||
int joystick_y2 = 0;
|
|
||||||
int joystick_y2_raw = 0;
|
|
||||||
int joystick_y2_max = 4096;
|
|
||||||
int joystick_y2_min = 0;
|
|
||||||
int joystick_y2_center = joystick_y2_max/2;
|
|
||||||
int joystick_x3 = 0;
|
|
||||||
int joystick_x3_raw = 0;
|
|
||||||
int joystick_x3_max = 4096;
|
|
||||||
int joystick_x3_min = 0;
|
|
||||||
int joystick_x3_center = joystick_x3_max/2;
|
|
||||||
|
|
||||||
float exp_constant = 0.2;
|
|
||||||
|
|
||||||
#define CALIBRATION_OFF 0
|
|
||||||
#define CALIBRATION_CENTER 1
|
|
||||||
#define CALIBRATION_MINMAX 2
|
|
||||||
int joystick_calibration_mode = 0;
|
|
||||||
|
|
||||||
void save_to_eeprom(){
|
|
||||||
EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_max);
|
|
||||||
EEPROM.write(MAX_X1_ADR_HIGH, joystick_x1_max >> 8);
|
|
||||||
EEPROM.write(MIN_X1_ADR_LOW, joystick_x1_min);
|
|
||||||
EEPROM.write(MIN_X1_ADR_HIGH, joystick_x1_min >> 8);
|
|
||||||
EEPROM.write(CNT_X1_ADR_LOW, joystick_x1_center);
|
|
||||||
EEPROM.write(CNT_X1_ADR_HIGH, joystick_x1_center >> 8);
|
|
||||||
|
|
||||||
EEPROM.write(MAX_Y1_ADR_LOW, joystick_y1_max);
|
|
||||||
EEPROM.write(MAX_Y1_ADR_HIGH, joystick_y1_max >> 8);
|
|
||||||
EEPROM.write(MIN_Y1_ADR_LOW, joystick_y1_min);
|
|
||||||
EEPROM.write(MIN_Y1_ADR_HIGH, joystick_y1_min >> 8);
|
|
||||||
EEPROM.write(CNT_Y1_ADR_LOW, joystick_y1_center);
|
|
||||||
EEPROM.write(CNT_Y1_ADR_HIGH, joystick_y1_center >> 8);
|
|
||||||
|
|
||||||
EEPROM.write(MAX_X2_ADR_LOW, joystick_x2_max);
|
|
||||||
EEPROM.write(MAX_X2_ADR_HIGH, joystick_x2_max >> 8);
|
|
||||||
EEPROM.write(MIN_X2_ADR_LOW, joystick_x2_min);
|
|
||||||
EEPROM.write(MIN_X2_ADR_HIGH, joystick_x2_min >> 8);
|
|
||||||
EEPROM.write(CNT_X2_ADR_LOW, joystick_x2_center);
|
|
||||||
EEPROM.write(CNT_X2_ADR_HIGH, joystick_x2_center >> 8);
|
|
||||||
|
|
||||||
EEPROM.write(MAX_Y2_ADR_LOW, joystick_y2_max);
|
|
||||||
EEPROM.write(MAX_Y2_ADR_HIGH, joystick_y2_max >> 8);
|
|
||||||
EEPROM.write(MIN_Y2_ADR_LOW, joystick_y2_min);
|
|
||||||
EEPROM.write(MIN_Y2_ADR_HIGH, joystick_y2_min >> 8);
|
|
||||||
EEPROM.write(CNT_Y2_ADR_LOW, joystick_y2_center);
|
|
||||||
EEPROM.write(CNT_Y2_ADR_HIGH, joystick_y2_center >> 8);
|
|
||||||
|
|
||||||
EEPROM.write(MAX_X3_ADR_LOW, joystick_x3_max);
|
|
||||||
EEPROM.write(MAX_X3_ADR_HIGH, joystick_x3_max >> 8);
|
|
||||||
EEPROM.write(MIN_X3_ADR_LOW, joystick_x3_min);
|
|
||||||
EEPROM.write(MIN_X3_ADR_HIGH, joystick_x3_min >> 8);
|
|
||||||
EEPROM.write(CNT_X3_ADR_LOW, joystick_x3_center);
|
|
||||||
EEPROM.write(CNT_X3_ADR_HIGH, joystick_x3_center >> 8);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void load_from_eeprom(){
|
|
||||||
joystick_x1_max = (EEPROM.read(MAX_X1_ADR_HIGH) << 8);
|
|
||||||
joystick_x1_max |= EEPROM.read(MAX_X1_ADR_LOW);
|
|
||||||
joystick_x1_min = (EEPROM.read(MIN_X1_ADR_HIGH) << 8);
|
|
||||||
joystick_x1_min |= EEPROM.read(MIN_X1_ADR_LOW);
|
|
||||||
joystick_x1_center = (EEPROM.read(CNT_X1_ADR_HIGH) << 8);
|
|
||||||
joystick_x1_center |= EEPROM.read(CNT_X1_ADR_LOW);
|
|
||||||
|
|
||||||
joystick_y1_max = (EEPROM.read(MAX_Y1_ADR_HIGH) << 8);
|
|
||||||
joystick_y1_max |= EEPROM.read(MAX_Y1_ADR_LOW);
|
|
||||||
joystick_y1_min = (EEPROM.read(MIN_Y1_ADR_HIGH) << 8);
|
|
||||||
joystick_y1_min |= EEPROM.read(MIN_Y1_ADR_LOW);
|
|
||||||
joystick_y1_center = (EEPROM.read(CNT_Y1_ADR_HIGH) << 8);
|
|
||||||
joystick_y1_center |= EEPROM.read(CNT_Y1_ADR_LOW);
|
|
||||||
|
|
||||||
joystick_x2_max = (EEPROM.read(MAX_X2_ADR_HIGH) << 8);
|
|
||||||
joystick_x2_max |= EEPROM.read(MAX_X2_ADR_LOW);
|
|
||||||
joystick_x2_min = (EEPROM.read(MIN_X2_ADR_HIGH) << 8);
|
|
||||||
joystick_x2_min |= EEPROM.read(MIN_X2_ADR_LOW);
|
|
||||||
joystick_x2_center = (EEPROM.read(CNT_X2_ADR_HIGH) << 8);
|
|
||||||
joystick_x2_center |= EEPROM.read(CNT_X2_ADR_LOW);
|
|
||||||
|
|
||||||
joystick_y2_max = (EEPROM.read(MAX_Y2_ADR_HIGH) << 8);
|
|
||||||
joystick_y2_max |= EEPROM.read(MAX_Y2_ADR_LOW);
|
|
||||||
joystick_y2_min = (EEPROM.read(MIN_Y2_ADR_HIGH) << 8);
|
|
||||||
joystick_y2_min |= EEPROM.read(MIN_Y2_ADR_LOW);
|
|
||||||
joystick_y2_center = (EEPROM.read(CNT_Y2_ADR_HIGH) << 8);
|
|
||||||
joystick_y2_center |= EEPROM.read(CNT_Y2_ADR_LOW);
|
|
||||||
|
|
||||||
joystick_x3_max = (EEPROM.read(MAX_X3_ADR_HIGH) << 8);
|
|
||||||
joystick_x3_max |= EEPROM.read(MAX_X3_ADR_LOW);
|
|
||||||
joystick_x3_min = (EEPROM.read(MIN_X3_ADR_HIGH) << 8);
|
|
||||||
joystick_x3_min |= EEPROM.read(MIN_X3_ADR_LOW);
|
|
||||||
joystick_x3_center = (EEPROM.read(CNT_X3_ADR_HIGH) << 8);
|
|
||||||
joystick_x3_center |= EEPROM.read(CNT_X2_ADR_LOW);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void update_analog(){
|
|
||||||
|
|
||||||
if(joystick_counter == 0){
|
|
||||||
joystick_x1_raw = analogRead(0);
|
|
||||||
joystick_counter++;
|
|
||||||
}
|
|
||||||
else if(joystick_counter == 1){
|
|
||||||
joystick_y1_raw = analogRead(1);
|
|
||||||
joystick_counter++;
|
|
||||||
}
|
|
||||||
else if(joystick_counter == 2){
|
|
||||||
joystick_x2_raw = analogRead(2);
|
|
||||||
joystick_counter++;
|
|
||||||
}
|
|
||||||
else if(joystick_counter == 3){
|
|
||||||
joystick_y2_raw = analogRead(3);
|
|
||||||
joystick_counter++;
|
|
||||||
}
|
|
||||||
else if(joystick_counter == 4){
|
|
||||||
joystick_x3_raw = analogRead(4);
|
|
||||||
joystick_counter = 0;
|
|
||||||
|
|
||||||
if (joystick_calibration_mode == CALIBRATION_OFF){
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Map X1 joystick values to proper HID values
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
if(joystick_x1_raw > (joystick_x1_center + DEADZONE_X)){
|
|
||||||
joystick_x1 = constrain(map(joystick_x1_raw, (joystick_x1_center + DEADZONE_X), joystick_x1_max, AXIS_CENTER, AXIS_MAX), AXIS_CENTER, AXIS_MAX);
|
|
||||||
}
|
|
||||||
else if(joystick_x1_raw < (joystick_x1_center - DEADZONE_X)){
|
|
||||||
joystick_x1 = constrain(map(joystick_x1_raw, joystick_x1_min, (joystick_x1_center - DEADZONE_X), AXIS_MIN, AXIS_CENTER), AXIS_MIN, AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x1 = AXIS_CENTER;
|
|
||||||
}
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Map Y1 joystick values to proper HID values
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
if(joystick_y1_raw > (joystick_y1_center + DEADZONE_Y)){
|
|
||||||
joystick_y1 = constrain(map(joystick_y1_raw, (joystick_y1_center + DEADZONE_Y), joystick_y1_max, AXIS_CENTER, AXIS_MAX), AXIS_CENTER, AXIS_MAX);
|
|
||||||
}
|
|
||||||
else if(joystick_y1_raw < (joystick_y1_center - DEADZONE_Y)){
|
|
||||||
joystick_y1 = constrain(map(joystick_y1_raw, joystick_y1_min, (joystick_y1_center - DEADZONE_Y), AXIS_MIN, AXIS_CENTER), AXIS_MIN, AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_y1 = AXIS_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Map X2 joystick values to proper HID values
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
if(joystick_x2_raw > (joystick_x2_center + DEADZONE_X)){
|
|
||||||
joystick_x2 = constrain(map(joystick_x2_raw, (joystick_x2_center + DEADZONE_X), joystick_x2_max, AXIS_CENTER, AXIS_MAX), AXIS_CENTER, AXIS_MAX);
|
|
||||||
}
|
|
||||||
else if(joystick_x2_raw < (joystick_x2_center - DEADZONE_X)){
|
|
||||||
joystick_x2 = constrain(map(joystick_x2_raw, joystick_x2_min, (joystick_x2_center - DEADZONE_X), AXIS_MIN, AXIS_CENTER), AXIS_MIN, AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x2 = AXIS_CENTER;
|
|
||||||
}
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Map Y1 joystick values to proper HID values
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
if(joystick_y2_raw > (joystick_y2_center + DEADZONE_Y)){
|
|
||||||
joystick_y2 = constrain(map(joystick_y2_raw, (joystick_y2_center + DEADZONE_Y), joystick_y2_max, AXIS_CENTER, AXIS_MAX), AXIS_CENTER, AXIS_MAX);
|
|
||||||
}
|
|
||||||
else if(joystick_y2_raw < (joystick_y2_center - DEADZONE_Y)){
|
|
||||||
joystick_y2 = constrain(map(joystick_y2_raw, joystick_y2_min, (joystick_y2_center - DEADZONE_Y), AXIS_MIN, AXIS_CENTER), AXIS_MIN, AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_y2 = AXIS_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Map X3 joystick values to proper HID values
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
if(joystick_x3_raw > (joystick_x3_center + DEADZONE_X)){
|
|
||||||
joystick_x3 = constrain(map(joystick_x3_raw, (joystick_x3_center + DEADZONE_X), joystick_x3_max, AXIS_CENTER, AXIS_MAX), AXIS_CENTER, AXIS_MAX);
|
|
||||||
}
|
|
||||||
else if(joystick_x3_raw < (joystick_x3_center - DEADZONE_X)){
|
|
||||||
joystick_x3 = constrain(map(joystick_x3_raw, joystick_x3_min, (joystick_x3_center - DEADZONE_X), AXIS_MIN, AXIS_CENTER), AXIS_MIN, AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x3 = AXIS_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Calculate new axis values after applying exp curve
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Normal mode
|
|
||||||
exp_constant = 0.2;
|
|
||||||
|
|
||||||
if (joystick_x1 != AXIS_CENTER){
|
|
||||||
float joystick_x_float = joystick_x1 / float(AXIS_MAX);
|
|
||||||
float joystick_x_exp = exp_constant * (0.5 + 256 * pow((joystick_x_float - 0.5),9)) + (1 - exp_constant) * joystick_x_float;
|
|
||||||
joystick_x1 = int(joystick_x_exp * float(HID_AXIS_MAX));
|
|
||||||
joystick_x1 = constrain(joystick_x1, HID_AXIS_MIN, HID_AXIS_MAX);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x1 = HID_AXIS_CENTER;
|
|
||||||
}
|
|
||||||
if (joystick_y1 != AXIS_CENTER){
|
|
||||||
float joystick_y_float = joystick_y1 / float(AXIS_MAX);
|
|
||||||
float joystick_y_exp = exp_constant * (0.5 + 256 * pow((joystick_y_float - 0.5),9)) + (1 - exp_constant) * joystick_y_float;
|
|
||||||
joystick_y1 = int(joystick_y_exp * float(HID_AXIS_MAX));
|
|
||||||
joystick_y1 = constrain(joystick_y1, HID_AXIS_MIN, HID_AXIS_MAX);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_y1 = HID_AXIS_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (joystick_x2 != AXIS_CENTER){
|
|
||||||
float joystick_x_float = joystick_x2 / float(AXIS_MAX);
|
|
||||||
float joystick_x_exp = exp_constant * (0.5 + 256 * pow((joystick_x_float - 0.5),9)) + (1 - exp_constant) * joystick_x_float;
|
|
||||||
joystick_x2 = int(joystick_x_exp * float(HID_AXIS_MAX));
|
|
||||||
joystick_x2 = constrain(joystick_x2, HID_AXIS_MIN, HID_AXIS_MAX);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x2 = HID_AXIS_CENTER;
|
|
||||||
}
|
|
||||||
if (joystick_y2 != AXIS_CENTER){
|
|
||||||
float joystick_y_float = joystick_y2 / float(AXIS_MAX);
|
|
||||||
float joystick_y_exp = exp_constant * (0.5 + 256 * pow((joystick_y_float - 0.5),9)) + (1 - exp_constant) * joystick_y_float;
|
|
||||||
joystick_y2 = int(joystick_y_exp * float(HID_AXIS_MAX));
|
|
||||||
joystick_y2 = constrain(joystick_y2, HID_AXIS_MIN, HID_AXIS_MAX);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_y2 = HID_AXIS_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (joystick_x3 != AXIS_CENTER){
|
|
||||||
float joystick_x_float = joystick_x3 / float(AXIS_MAX);
|
|
||||||
float joystick_x_exp = exp_constant * (0.5 + 256 * pow((joystick_x_float - 0.5),9)) + (1 - exp_constant) * joystick_x_float;
|
|
||||||
joystick_x3 = int(joystick_x_exp * float(HID_AXIS_MAX));
|
|
||||||
joystick_x3 = constrain(joystick_x3, HID_AXIS_MIN, HID_AXIS_MAX);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
joystick_x3 = HID_AXIS_CENTER;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Calibration mode.
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
joystick_x1 = HID_AXIS_CENTER;
|
|
||||||
joystick_x1 = HID_AXIS_CENTER;
|
|
||||||
joystick_x2 = HID_AXIS_CENTER;
|
|
||||||
joystick_y2 = HID_AXIS_CENTER;
|
|
||||||
joystick_x3 = HID_AXIS_CENTER;
|
|
||||||
|
|
||||||
if (joystick_calibration_mode == CALIBRATION_CENTER){
|
|
||||||
joystick_x1_center = joystick_x1_raw;
|
|
||||||
joystick_y1_center = joystick_y1_raw;
|
|
||||||
joystick_x1_max = joystick_x1_center;
|
|
||||||
joystick_x1_min = joystick_x1_center;
|
|
||||||
joystick_y1_max = joystick_y1_center;
|
|
||||||
joystick_y1_min = joystick_y1_center;
|
|
||||||
|
|
||||||
joystick_x2_center = joystick_x2_raw;
|
|
||||||
joystick_y2_center = joystick_y2_raw;
|
|
||||||
joystick_x2_max = joystick_x2_center;
|
|
||||||
joystick_x2_min = joystick_x2_center;
|
|
||||||
joystick_y2_max = joystick_y2_center;
|
|
||||||
joystick_y2_min = joystick_y2_center;
|
|
||||||
|
|
||||||
joystick_x3_center = joystick_x3_raw;
|
|
||||||
joystick_x3_max = joystick_x3_center;
|
|
||||||
joystick_x3_min = joystick_x3_center;
|
|
||||||
}
|
|
||||||
else if (joystick_calibration_mode == CALIBRATION_MINMAX){
|
|
||||||
if(joystick_x1_raw > joystick_x1_max){
|
|
||||||
joystick_x1_max = joystick_x1_raw;
|
|
||||||
}
|
|
||||||
if(joystick_x1_raw < joystick_x1_min){
|
|
||||||
joystick_x1_min = joystick_x1_raw;
|
|
||||||
}
|
|
||||||
if(joystick_y1_raw > joystick_y1_max){
|
|
||||||
joystick_y1_max = joystick_y1_raw;
|
|
||||||
}
|
|
||||||
if(joystick_y1_raw < joystick_y1_min){
|
|
||||||
joystick_y1_min = joystick_y1_raw;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(joystick_x2_raw > joystick_x2_max){
|
|
||||||
joystick_x2_max = joystick_x2_raw;
|
|
||||||
}
|
|
||||||
if(joystick_x2_raw < joystick_x2_min){
|
|
||||||
joystick_x2_min = joystick_x2_raw;
|
|
||||||
}
|
|
||||||
if(joystick_y2_raw > joystick_y2_max){
|
|
||||||
joystick_y2_max = joystick_y2_raw;
|
|
||||||
}
|
|
||||||
if(joystick_y2_raw < joystick_y2_min){
|
|
||||||
joystick_y2_min = joystick_y2_raw;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(joystick_x3_raw > joystick_x3_max){
|
|
||||||
joystick_x3_max = joystick_x3_raw;
|
|
||||||
}
|
|
||||||
if(joystick_x3_raw < joystick_x3_min){
|
|
||||||
joystick_x3_min = joystick_x3_raw;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
|
||||||
Perform key action.
|
|
||||||
|
|
||||||
@param keycode code to apply action.
|
|
||||||
@param kstate PRESSED or RELEASED.
|
|
||||||
@return Action applied.
|
|
||||||
*/
|
|
||||||
bool set_key(uint16_t keycode, uint8_t kstate)
|
|
||||||
{
|
|
||||||
/* Abort if keycode is invalid */
|
|
||||||
if (keycode == NO_KEY || keycode == KEY_FN1 || keycode == KEY_FN2)
|
|
||||||
{
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Joystick buttons */
|
|
||||||
else if (keycode >= JOY_A1 && keycode <= JOY_A32) {
|
|
||||||
if (kstate == RELEASED) {
|
|
||||||
Joystick.button(keycode-KEY_OFFSET, false);
|
|
||||||
} else if (kstate == PRESSED) {
|
|
||||||
Joystick.button(keycode-KEY_OFFSET, true);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Joystick hat */
|
|
||||||
else if (keycode >= JOY_AHU1 && keycode <= JOY_AHL1) {
|
|
||||||
if (kstate == RELEASED) {
|
|
||||||
Joystick.hat(-1);
|
|
||||||
} else if (kstate == PRESSED) {
|
|
||||||
Joystick.hat(((keycode-KEY_OFFSET)-(JOY_AHU1-KEY_OFFSET)) * 90);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
Scan key matrix and perform processing for each key.
|
|
||||||
|
|
||||||
@return void.
|
|
||||||
*/
|
|
||||||
void scan_buttons()
|
|
||||||
{
|
|
||||||
/* Scan keypad */
|
|
||||||
if (kp_keypad.getKeys())
|
|
||||||
{
|
|
||||||
|
|
||||||
/* Enter bootloader if all reboot-buttons is pressed together */
|
|
||||||
int reboot = 0;
|
|
||||||
for (int i = 0; i < LIST_MAX; i++)
|
|
||||||
{
|
|
||||||
if ((kp_keypad.key[i].kchar == 1) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
reboot += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 4) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
reboot += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 10) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
reboot += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 11) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
reboot += 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (reboot == 4)
|
|
||||||
{
|
|
||||||
_reboot_Teensyduino_();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Enter calibration mode if all calibration-buttons is pressed together */
|
|
||||||
int calibrate = 0;
|
|
||||||
for (int i = 0; i < LIST_MAX; i++)
|
|
||||||
{
|
|
||||||
if ((kp_keypad.key[i].kchar == 2) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
calibrate += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 3) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
calibrate += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 10) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
calibrate += 1;
|
|
||||||
}
|
|
||||||
if ((kp_keypad.key[i].kchar == 11) && (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD))
|
|
||||||
{
|
|
||||||
calibrate += 1;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (calibrate == 4)
|
|
||||||
{
|
|
||||||
joystick_calibration_mode = CALIBRATION_CENTER;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Check for Fn mode */
|
|
||||||
fn_mode = 0;
|
|
||||||
for (int i = 0; i < LIST_MAX; i++)
|
|
||||||
{
|
|
||||||
if (kp_keypad.key[i].kstate == PRESSED || kp_keypad.key[i].kstate == HOLD)
|
|
||||||
{
|
|
||||||
for (int j = 0; j < NBR_OF_BUTTONS; j++)
|
|
||||||
{
|
|
||||||
if (buttons[j].keypad_kchar == kp_keypad.key[i].kchar)
|
|
||||||
{
|
|
||||||
/* Check if FN1 key are defined to this button (Layer 0 and first position in combo array)*/
|
|
||||||
if (buttons[j].keycode == KEY_FN1)
|
|
||||||
{
|
|
||||||
fn_mode++;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Process key press/release */
|
|
||||||
for (int i = 0; i < LIST_MAX; i++)
|
|
||||||
{
|
|
||||||
if (kp_keypad.key[i].kstate == PRESSED)
|
|
||||||
{
|
|
||||||
for (int j = 0; j < NBR_OF_BUTTONS; j++)
|
|
||||||
{
|
|
||||||
if (buttons[j].keypad_kchar == kp_keypad.key[i].kchar && kp_keypad.key[i].stateChanged == true)
|
|
||||||
{
|
|
||||||
buttons[j].run_keycode = true;
|
|
||||||
buttons[j].kstate = PRESSED;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if (kp_keypad.key[i].kstate == RELEASED)
|
|
||||||
{
|
|
||||||
for (int j = 0; j < NBR_OF_BUTTONS; j++)
|
|
||||||
{
|
|
||||||
if (buttons[j].keypad_kchar == kp_keypad.key[i].kchar && kp_keypad.key[i].stateChanged == true)
|
|
||||||
{
|
|
||||||
buttons[j].run_keycode = true;
|
|
||||||
buttons[j].kstate = RELEASED;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
/* Check if any "non tap keys" has been pressed */
|
|
||||||
for (int i = 0; i < NBR_OF_BUTTONS; i++)
|
|
||||||
{
|
|
||||||
if (buttons[i].run_keycode == true && buttons[i].tap_keycode == NO_KEY && buttons[i].kstate == PRESSED)
|
|
||||||
{
|
|
||||||
for (int j = 0; j < NBR_OF_BUTTONS; j++)
|
|
||||||
{
|
|
||||||
if (buttons[j].tap_keycode != NO_KEY)
|
|
||||||
{
|
|
||||||
buttons[j].tap_inhibit = true;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Execute key commands */
|
|
||||||
for (int i = 0; i < NBR_OF_BUTTONS; i++)
|
|
||||||
{
|
|
||||||
/* Check if key should be processed */
|
|
||||||
if (buttons[i].run_keycode == true)
|
|
||||||
{
|
|
||||||
/* Check if key pressed or released */
|
|
||||||
if (buttons[i].kstate == PRESSED)
|
|
||||||
{
|
|
||||||
if (fn_mode == 0)
|
|
||||||
{
|
|
||||||
set_key(buttons[i].keycode, PRESSED);
|
|
||||||
buttons[i].last_keycode = buttons[i].keycode;
|
|
||||||
}
|
|
||||||
else if (fn_mode == 1)
|
|
||||||
{
|
|
||||||
set_key(buttons[i].fn1_keycode, PRESSED);
|
|
||||||
buttons[i].last_keycode = buttons[i].fn1_keycode;
|
|
||||||
}
|
|
||||||
else if (fn_mode == 2)
|
|
||||||
{
|
|
||||||
set_key(buttons[i].fn2_keycode, PRESSED);
|
|
||||||
buttons[i].last_keycode = buttons[i].fn2_keycode;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else if (buttons[i].kstate == RELEASED)
|
|
||||||
{
|
|
||||||
/* Sending release command for last keycode related to this button */
|
|
||||||
set_key(buttons[i].last_keycode, RELEASED);
|
|
||||||
}
|
|
||||||
/* Reset run_keycode flag */
|
|
||||||
buttons[i].run_keycode = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void setup()
|
|
||||||
{
|
|
||||||
/* Init HW */
|
|
||||||
pinMode(STATUS_LED, OUTPUT);
|
|
||||||
digitalWrite(STATUS_LED, LOW);
|
|
||||||
|
|
||||||
// Set ADC resolution to 12bit
|
|
||||||
analogReadResolution(12);
|
|
||||||
analogReadAveraging(32);
|
|
||||||
delay(500);
|
|
||||||
|
|
||||||
// Init Joystick
|
|
||||||
Joystick.useManualSend(true);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop()
|
|
||||||
{
|
|
||||||
/* Update current time (ms) */
|
|
||||||
current_timestamp = millis();
|
|
||||||
|
|
||||||
/* Scan buttons 1ms */
|
|
||||||
if (current_timestamp >= button_timestamp)
|
|
||||||
{
|
|
||||||
button_timestamp = current_timestamp + 100;
|
|
||||||
update_analog();
|
|
||||||
//scan_buttons();
|
|
||||||
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
// Update joystick axis data
|
|
||||||
// ----------------------------------------------------------
|
|
||||||
Joystick.X(joystick_x1);
|
|
||||||
Joystick.Y(joystick_y1);
|
|
||||||
|
|
||||||
if (fn_mode == 2){
|
|
||||||
Joystick.Z(HID_AXIS_CENTER);
|
|
||||||
Joystick.Zrotate(HID_AXIS_CENTER);
|
|
||||||
Joystick.sliderLeft(joystick_x2);
|
|
||||||
Joystick.sliderRight(joystick_y2);
|
|
||||||
}
|
|
||||||
else if (fn_mode == 1){
|
|
||||||
Joystick.Z(HID_AXIS_CENTER);
|
|
||||||
Joystick.Zrotate(joystick_y2);
|
|
||||||
Joystick.sliderLeft(joystick_x2);
|
|
||||||
Joystick.sliderRight(HID_AXIS_CENTER);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
Joystick.Z(joystick_x2);
|
|
||||||
Joystick.Zrotate(joystick_y2);
|
|
||||||
Joystick.sliderLeft(joystick_x3);
|
|
||||||
Joystick.sliderRight(joystick_x3);
|
|
||||||
}
|
|
||||||
Joystick.send_now();
|
|
||||||
}
|
|
||||||
|
|
||||||
/* Update indicator 200ms */
|
|
||||||
if (current_timestamp >= indicator_timestamp)
|
|
||||||
{
|
|
||||||
if (status_led_mode == 2 && status_led_on == false)
|
|
||||||
{
|
|
||||||
digitalWrite(STATUS_LED, HIGH);
|
|
||||||
status_led_on = true;
|
|
||||||
}
|
|
||||||
else if (status_led_mode == 2 && status_led_on == true)
|
|
||||||
{
|
|
||||||
digitalWrite(STATUS_LED, LOW);
|
|
||||||
status_led_on = false;
|
|
||||||
}
|
|
||||||
else if (status_led_mode == 1)
|
|
||||||
{
|
|
||||||
digitalWrite(STATUS_LED, HIGH);
|
|
||||||
status_led_on = true;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
digitalWrite(STATUS_LED, LOW);
|
|
||||||
status_led_on = false;
|
|
||||||
}
|
|
||||||
|
|
||||||
indicator_timestamp = current_timestamp + 200;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
Loading…
x
Reference in New Issue
Block a user