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Updated documentation. Changed toggleswitches in throttle hold mode.

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This commit is contained in:
Christoffer Martinsson 2025-01-15 18:22:27 +01:00
parent 033b02a127
commit 69cd055d7f
1 changed files with 38 additions and 40 deletions
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78
rp2040/src/main.rs
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@ -4,7 +4,7 @@
//! Email: cm@cmtec.se //! Email: cm@cmtec.se
//! License: Please refer to LICENSE in root directory //! License: Please refer to LICENSE in root directory
// //
// Button index map: // HW Button index map:
// --------------------------------------------------------------- // ---------------------------------------------------------------
// | 0 L| 1 U| | 2 | | 3 L| 4 U| // | 0 L| 1 U| | 2 | | 3 L| 4 U|
// --------------------------------------------------------------- // ---------------------------------------------------------------
@ -18,7 +18,7 @@
// | | 18 | | 23 | | // | | 18 | | 23 | |
// --------------------------------------------------------------- // ---------------------------------------------------------------
// //
// USB HID joystick map: // USB HID joystick map (Enabled by pressing HW button 2+4):
// --------------------------------------------------------------- // ---------------------------------------------------------------
// | B1 L| B2 U| | B3 | | B4 L| B5 U| // | B1 L| B2 U| | B3 | | B4 L| B5 U|
// --------------------------------------------------------------- // ---------------------------------------------------------------
@ -31,15 +31,16 @@
// | | H1L | B18 | H1R | | H2L | B19 | H2R | | // | | H1L | B18 | H1R | | H2L | B19 | H2R | |
// | | H1D | | H2D | | // | | H1D | | H2D | |
// --------------------------------------------------------------- // ---------------------------------------------------------------
// Button (Switch) 0 changes following: // Press and hold HW button 0 (B1) changes following:
// * B1 => B21 // * B2 => B21
// * B3 => B22 // * B4 => B22
// * B10 => B23 // * B11 => B23
// * B11 => B24 // * B12 => B24
// * hat1 => hat3 (button press B20). // * hat1 => hat3 (button press B20).
// * hat2 => hat4 (button bpress B25) // * hat2 => hat4 (button bpress B25)
// //
// ELRS channel map (+ = ON, - = OFF, CHxP/M/Z = trim) // ELRS channel map (Enabled by pressing HW button 2+3):
// (+ = ON, - = OFF, CHxP/M/Z = trim)
// --------------------------------------------------------------- // ---------------------------------------------------------------
// |CH7-L|CH7+U| | - | |CH8-L|CH8+U| // |CH7-L|CH7+U| | - | |CH8-L|CH8+U|
// --------------------------------------------------------------- // ---------------------------------------------------------------
@ -346,7 +347,7 @@ fn main() -> ! {
let mut elrs_active: bool = false; let mut elrs_active: bool = false;
let _elrs_connected: bool = false; let _elrs_connected: bool = false;
let mut calibration_active: bool = false; let mut calibration_active: bool = false;
let mut throttle_hold: bool = false; let mut throttle_hold_enable: bool = false;
let mut axis: [GimbalAxis; NBR_OF_GIMBAL_AXIS] = [Default::default(); NBR_OF_GIMBAL_AXIS]; let mut axis: [GimbalAxis; NBR_OF_GIMBAL_AXIS] = [Default::default(); NBR_OF_GIMBAL_AXIS];
let mut buttons: [Button; NUMBER_OF_BUTTONS] = [Button::default(); NUMBER_OF_BUTTONS]; let mut buttons: [Button; NUMBER_OF_BUTTONS] = [Button::default(); NUMBER_OF_BUTTONS];
@ -505,7 +506,7 @@ fn main() -> ! {
&elrs.connected(), &elrs.connected(),
&safety_check, &safety_check,
&calibration_active, &calibration_active,
&throttle_hold, &throttle_hold_enable,
); );
} }
@ -540,11 +541,11 @@ fn main() -> ! {
} }
// ON/OFF switch for Throttle hold mode // ON/OFF switch for Throttle hold mode
if buttons[6].pressed && buttons[2].pressed && !throttle_hold { if buttons[6].pressed && buttons[2].pressed && !throttle_hold_enable {
throttle_hold = true; throttle_hold_enable = true;
axis[GIMBAL_AXIS_LEFT_Y].hold = 0; axis[GIMBAL_AXIS_LEFT_Y].hold = 0;
} else if buttons[5].pressed && buttons[2].pressed && throttle_hold { } else if buttons[5].pressed && buttons[2].pressed && throttle_hold_enable {
throttle_hold = false; throttle_hold_enable = false;
} }
// Calibration of center position (pressing all right hands buttons except // Calibration of center position (pressing all right hands buttons except
@ -614,7 +615,7 @@ fn main() -> ! {
} }
// Process throttle hold value // Process throttle hold value
if throttle_hold if throttle_hold_enable
&& axis[GIMBAL_AXIS_LEFT_Y].value < AXIS_CENTER && axis[GIMBAL_AXIS_LEFT_Y].value < AXIS_CENTER
&& !axis[GIMBAL_AXIS_LEFT_Y].hold_pending && !axis[GIMBAL_AXIS_LEFT_Y].hold_pending
{ {
@ -625,7 +626,7 @@ fn main() -> ! {
AXIS_MIN, AXIS_MIN,
axis[GIMBAL_AXIS_LEFT_Y].hold, axis[GIMBAL_AXIS_LEFT_Y].hold,
); );
} else if throttle_hold } else if throttle_hold_enable
&& axis[GIMBAL_AXIS_LEFT_Y].value > AXIS_CENTER && axis[GIMBAL_AXIS_LEFT_Y].value > AXIS_CENTER
&& !axis[GIMBAL_AXIS_LEFT_Y].hold_pending && !axis[GIMBAL_AXIS_LEFT_Y].hold_pending
{ {
@ -636,10 +637,10 @@ fn main() -> ! {
axis[GIMBAL_AXIS_LEFT_Y].hold, axis[GIMBAL_AXIS_LEFT_Y].hold,
AXIS_MAX, AXIS_MAX,
); );
} else if throttle_hold && axis[GIMBAL_AXIS_LEFT_Y].value == AXIS_CENTER { } else if throttle_hold_enable && axis[GIMBAL_AXIS_LEFT_Y].value == AXIS_CENTER {
axis[GIMBAL_AXIS_LEFT_Y].value = axis[GIMBAL_AXIS_LEFT_Y].hold; axis[GIMBAL_AXIS_LEFT_Y].value = axis[GIMBAL_AXIS_LEFT_Y].hold;
axis[GIMBAL_AXIS_LEFT_Y].hold_pending = false; axis[GIMBAL_AXIS_LEFT_Y].hold_pending = false;
} else if throttle_hold { } else if throttle_hold_enable {
axis[GIMBAL_AXIS_LEFT_Y].value = axis[GIMBAL_AXIS_LEFT_Y].hold; axis[GIMBAL_AXIS_LEFT_Y].value = axis[GIMBAL_AXIS_LEFT_Y].hold;
} }
@ -675,7 +676,10 @@ fn main() -> ! {
usb_activity = true; usb_activity = true;
} }
// Set throttle_hold_value // Set throttle_hold_value
if key.pressed != key.previous_pressed && key.pressed && throttle_hold && index == 5 if key.pressed != key.previous_pressed
&& key.pressed
&& throttle_hold_enable
&& index == 5
{ {
axis[GIMBAL_AXIS_LEFT_Y].hold = axis[GIMBAL_AXIS_LEFT_Y].value; axis[GIMBAL_AXIS_LEFT_Y].hold = axis[GIMBAL_AXIS_LEFT_Y].value;
axis[GIMBAL_AXIS_LEFT_Y].hold_pending = true; axis[GIMBAL_AXIS_LEFT_Y].hold_pending = true;
@ -708,10 +712,11 @@ fn main() -> ! {
// Dont send USB HID joystick report if there is no activity // Dont send USB HID joystick report if there is no activity
// This is to avoid preventing the computer from going to sleep // This is to avoid preventing the computer from going to sleep
if usb_update_count_down.wait().is_ok() && usb_activity { if usb_update_count_down.wait().is_ok() && usb_activity {
match usb_hid_joystick match usb_hid_joystick.device().write_report(&get_joystick_report(
.device() &mut buttons,
.write_report(&get_joystick_report(&mut buttons, &mut axis)) &mut axis,
{ &throttle_hold_enable,
)) {
Err(UsbHidError::WouldBlock) => {} Err(UsbHidError::WouldBlock) => {}
Ok(_) => {} Ok(_) => {}
Err(e) => { Err(e) => {
@ -744,7 +749,7 @@ fn update_status_led<P, SM, I>(
elrs_connected: &bool, elrs_connected: &bool,
safety_check: &bool, safety_check: &bool,
calibration_active: &bool, calibration_active: &bool,
throttle_hold: &bool, throttle_hold_enable: &bool,
) where ) where
P: PIOExt + FunctionConfig, P: PIOExt + FunctionConfig,
I: PinId, I: PinId,
@ -757,9 +762,9 @@ fn update_status_led<P, SM, I>(
status_led.update(StatusMode::Warning); status_led.update(StatusMode::Warning);
} else if !*usb_active && !*elrs_active { } else if !*usb_active && !*elrs_active {
status_led.update(StatusMode::NormalFlash); status_led.update(StatusMode::NormalFlash);
} else if *usb_active && !*elrs_active && *throttle_hold { } else if *usb_active && !*elrs_active && *throttle_hold_enable {
status_led.update(StatusMode::Activity); status_led.update(StatusMode::Activity);
} else if *usb_active && !*elrs_active && !*throttle_hold { } else if *usb_active && !*elrs_active && !*throttle_hold_enable {
status_led.update(StatusMode::Normal); status_led.update(StatusMode::Normal);
} else if *elrs_active && *elrs_connected { } else if *elrs_active && *elrs_connected {
status_led.update(StatusMode::Other); status_led.update(StatusMode::Other);
@ -778,27 +783,19 @@ fn update_status_led<P, SM, I>(
fn get_joystick_report( fn get_joystick_report(
matrix_keys: &mut [Button; NUMBER_OF_BUTTONS], matrix_keys: &mut [Button; NUMBER_OF_BUTTONS],
axis: &mut [GimbalAxis; 4], axis: &mut [GimbalAxis; 4],
throttle_hold_enable: &bool,
) -> JoystickReport { ) -> JoystickReport {
let mut x: u16 = axis[GIMBAL_AXIS_RIGHT_X].value; let x: u16 = axis[GIMBAL_AXIS_RIGHT_X].value;
let mut y: u16 = AXIS_MAX - axis[GIMBAL_AXIS_RIGHT_Y].value; let y: u16 = AXIS_MAX - axis[GIMBAL_AXIS_RIGHT_Y].value;
let z: u16 = axis[GIMBAL_AXIS_LEFT_X].value; let z: u16 = axis[GIMBAL_AXIS_LEFT_X].value;
let mut rx: u16 = AXIS_CENTER; let rx: u16 = AXIS_CENTER;
let mut ry: u16 = AXIS_CENTER; let ry: u16 = AXIS_CENTER;
let rz: u16 = axis[GIMBAL_AXIS_LEFT_Y].value; let rz: u16 = axis[GIMBAL_AXIS_LEFT_Y].value;
let (mut hat1, _hat_button1) = format_hat_value(0); let (mut hat1, _hat_button1) = format_hat_value(0);
let (mut hat2, _hat_button2) = format_hat_value(0); let (mut hat2, _hat_button2) = format_hat_value(0);
let (mut hat3, _hat_button3) = format_hat_value(0); let (mut hat3, _hat_button3) = format_hat_value(0);
let (mut hat4, _hat_button4) = format_hat_value(0); let (mut hat4, _hat_button4) = format_hat_value(0);
// Right Alt mode active (bit 5)
// Right gimbal control third joystick axis when right Fn mode is active
if matrix_keys[8].pressed {
x = AXIS_CENTER;
rx = axis[GIMBAL_AXIS_RIGHT_X].value;
y = AXIS_CENTER;
ry = AXIS_MAX - axis[GIMBAL_AXIS_RIGHT_Y].value;
}
// Store hat bits // Store hat bits
let mut hat_left: u8 = 0; let mut hat_left: u8 = 0;
let mut hat_right: u8 = 0; let mut hat_right: u8 = 0;
@ -889,13 +886,14 @@ fn get_joystick_report(
if key.pressed if key.pressed
&& key.usb_button != 0 && key.usb_button != 0
&& key.usb_button_toggle_enable && key.usb_button_toggle_enable
&& key.usb_release_timeout > 1 && (key.usb_release_timeout > 1 || *throttle_hold_enable)
{ {
buttons |= 1 << (key.usb_button - 1); buttons |= 1 << (key.usb_button - 1);
} else if !key.pressed } else if !key.pressed
&& key.usb_button_sec != 0 && key.usb_button_sec != 0
&& key.usb_button_toggle_enable && key.usb_button_toggle_enable
&& key.usb_release_timeout > 1 && key.usb_release_timeout > 1
&& !throttle_hold_enable
{ {
buttons |= 1 << (key.usb_button_sec - 1); buttons |= 1 << (key.usb_button_sec - 1);
// Sec button mode // Sec button mode