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Changed to new clang format

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This commit is contained in:
Christoffer Martinsson 2023-06-06 17:27:44 +02:00
parent 985b0d43f3
commit 727d76a25c
2 changed files with 49 additions and 107 deletions
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2
firmware/lib/teensy-libc

@ -1 +1 @@
Subproject commit 6a2b179d8f624d69b41a5d30df7b46080a1deec6 Subproject commit 88cb7c10ca12ea33fb96aa10ae97a14d087da852

154
firmware/src/cmdr_joystick.cpp
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@ -55,8 +55,7 @@ const int DEADZONE_X = 50;
const int DEADZONE_Y = 50; const int DEADZONE_Y = 50;
const int JOYSTICK_HAT_CENTER = -1; const int JOYSTICK_HAT_CENTER = -1;
enum EEPROM_ADR enum EEPROM_ADR {
{
MAX_X1_ADR_HIGH, MAX_X1_ADR_HIGH,
MAX_X1_ADR_LOW, MAX_X1_ADR_LOW,
MIN_X1_ADR_HIGH, MIN_X1_ADR_HIGH,
@ -122,8 +121,7 @@ int joystick_calibration_mode = CALIBRATION_OFF;
/** /**
* @brief Save calibration data to EEPROM * @brief Save calibration data to EEPROM
*/ */
void save_to_eeprom() void save_to_eeprom() {
{
EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_12bit_max); EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_12bit_max);
EEPROM.write(MAX_X1_ADR_HIGH, joystick_x1_12bit_max >> 8); 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_LOW, joystick_x1_12bit_min);
@ -156,8 +154,7 @@ void save_to_eeprom()
/** /**
* @brief Load calibration data from EEPROM * @brief Load calibration data from EEPROM
*/ */
void load_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_HIGH) << 8);
joystick_x1_12bit_max |= EEPROM.read(MAX_X1_ADR_LOW); 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_HIGH) << 8);
@ -195,22 +192,19 @@ void load_from_eeprom()
* @param analog_x2 * @param analog_x2
* @param analog_y2 * @param analog_y2
*/ */
void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2) void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2) {
{
joystick_x1_12bit = AXIS_12BIT_CENTER; joystick_x1_12bit = AXIS_12BIT_CENTER;
joystick_y1_12bit = AXIS_12BIT_CENTER; joystick_y1_12bit = AXIS_12BIT_CENTER;
joystick_x2_12bit = AXIS_12BIT_CENTER; joystick_x2_12bit = AXIS_12BIT_CENTER;
joystick_y2_12bit = AXIS_12BIT_CENTER; joystick_y2_12bit = AXIS_12BIT_CENTER;
// Check for calibration mode // Check for calibration mode
if (joystick_calibration_mode == CALIBRATION_INIT && digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED) if (joystick_calibration_mode == CALIBRATION_INIT && digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED) {
{
joystick_calibration_mode = CALIBRATION_CENTER; joystick_calibration_mode = CALIBRATION_CENTER;
} }
// Calibrate joystick center values // Calibrate joystick center values
else if (joystick_calibration_mode == CALIBRATION_CENTER) else if (joystick_calibration_mode == CALIBRATION_CENTER) {
{
joystick_x1_12bit_center = analog_x1; joystick_x1_12bit_center = analog_x1;
joystick_y1_12bit_center = analog_y1; joystick_y1_12bit_center = analog_y1;
joystick_x1_12bit_max = joystick_x1_12bit_center; joystick_x1_12bit_max = joystick_x1_12bit_center;
@ -225,15 +219,13 @@ void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2)
joystick_y2_12bit_max = joystick_y2_12bit_center; joystick_y2_12bit_max = joystick_y2_12bit_center;
joystick_y2_12bit_min = joystick_y2_12bit_center; joystick_y2_12bit_min = joystick_y2_12bit_center;
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
{
joystick_calibration_mode = CALIBRATION_MINMAX; joystick_calibration_mode = CALIBRATION_MINMAX;
} }
} }
// Calibrate joystick min/max values // Calibrate joystick min/max values
else if (joystick_calibration_mode == CALIBRATION_MINMAX) 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_max) joystick_x1_12bit_max = analog_x1;
if (analog_x1 < joystick_x1_12bit_min) joystick_x1_12bit_min = 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_max) joystick_y1_12bit_max = analog_y1;
@ -243,8 +235,7 @@ void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2)
if (analog_y2 > joystick_y2_12bit_max) joystick_y2_12bit_max = analog_y2; 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 (analog_y2 < joystick_y2_12bit_min) joystick_y2_12bit_min = analog_y2;
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
{
joystick_calibration_mode = CALIBRATION_OFF; joystick_calibration_mode = CALIBRATION_OFF;
save_to_eeprom(); save_to_eeprom();
} }
@ -254,8 +245,7 @@ void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2)
/** /**
* @brief Save joystick calibration values to EEPROM * @brief Save joystick calibration values to EEPROM
*/ */
void send_elrs_data() void send_elrs_data() {
{
// Set ELRS analog channels // 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_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_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 1);
@ -263,8 +253,7 @@ void send_elrs_data()
elrs.set_data(map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 3); 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 // Set ELRS digital channels
for (int i = 4; i < CRSF_MAX_CHANNEL; i++) for (int i = 4; i < CRSF_MAX_CHANNEL; i++) {
{
elrs.set_data(CRSF_DIGITAL_CHANNEL_MIN, i); elrs.set_data(CRSF_DIGITAL_CHANNEL_MIN, i);
} }
@ -281,8 +270,7 @@ void send_elrs_data()
/** /**
* Send USB data to PC * Send USB data to PC
*/ */
void send_usb_data() void send_usb_data() {
{
// Set USB analog channels // 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_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_y1_10bit = map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
@ -292,22 +280,17 @@ void send_usb_data()
Joystick.Zrotate(joystick_x1_10bit); Joystick.Zrotate(joystick_x1_10bit);
Joystick.Z(joystick_y1_10bit); Joystick.Z(joystick_y1_10bit);
if (fn_mode == 2) if (fn_mode == 2) {
{
Joystick.X(AXIS_10BIT_CENTER); Joystick.X(AXIS_10BIT_CENTER);
Joystick.Y(AXIS_10BIT_CENTER); Joystick.Y(AXIS_10BIT_CENTER);
Joystick.sliderRight(joystick_x2_10bit); Joystick.sliderRight(joystick_x2_10bit);
Joystick.sliderLeft(joystick_y2_10bit); Joystick.sliderLeft(joystick_y2_10bit);
} } else if (fn_mode == 1) {
else if (fn_mode == 1)
{
Joystick.X(AXIS_10BIT_CENTER); Joystick.X(AXIS_10BIT_CENTER);
Joystick.Y(joystick_y2_10bit); Joystick.Y(joystick_y2_10bit);
Joystick.sliderRight(joystick_x2_10bit); Joystick.sliderRight(joystick_x2_10bit);
Joystick.sliderLeft(AXIS_10BIT_CENTER); Joystick.sliderLeft(AXIS_10BIT_CENTER);
} } else {
else
{
Joystick.X(joystick_x2_10bit); Joystick.X(joystick_x2_10bit);
Joystick.Y(joystick_y2_10bit); Joystick.Y(joystick_y2_10bit);
Joystick.sliderRight(AXIS_10BIT_CENTER); Joystick.sliderRight(AXIS_10BIT_CENTER);
@ -315,33 +298,27 @@ void send_usb_data()
} }
// Set USB digital channels // Set USB digital channels
for (int i = 1; i < 32; i++) for (int i = 1; i < 32; i++) {
{
Joystick.button(i, 0); Joystick.button(i, 0);
} }
Joystick.hat(JOYSTICK_HAT_CENTER); Joystick.hat(JOYSTICK_HAT_CENTER);
if (fn_mode == 2) if (fn_mode == 2) {
{
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(12, 1); 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_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_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_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_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(16, 1);
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(17, 1); if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(17, 1);
} } else if (fn_mode == 1) {
else if (fn_mode == 1)
{
if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(8, 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_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_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_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_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1); if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
} } else {
else
{
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(3, 1); 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_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_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(5, 1);
@ -364,23 +341,18 @@ void send_usb_data()
* @param deadband_value * @param deadband_value
* @param expo_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 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; int calibrated_value = AXIS_12BIT_CENTER;
if (gimbal_value > (center_value + deadband_value)) 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), calibrated_value = constrain(map(gimbal_value, (center_value + deadband_value), max_value, AXIS_12BIT_CENTER, AXIS_12BIT_MAX),
AXIS_12BIT_CENTER, AXIS_12BIT_MAX); AXIS_12BIT_CENTER, AXIS_12BIT_MAX);
} } else if (gimbal_value < (center_value - deadband_value)) {
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), calibrated_value = constrain(map(gimbal_value, min_value, (center_value - deadband_value), AXIS_12BIT_MIN, AXIS_12BIT_CENTER),
AXIS_12BIT_MIN, AXIS_12BIT_CENTER); AXIS_12BIT_MIN, AXIS_12BIT_CENTER);
} }
if (expo_value != 0) if (expo_value != 0) {
{
float joystick_x_float = calibrated_value / float(AXIS_12BIT_MAX); float joystick_x_float = calibrated_value / float(AXIS_12BIT_MAX);
/* Calculate expo using 9th order polynomial function with 0.5 as center point */ /* 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; float joystick_x_exp = expo_value * (0.5 + 256 * pow((joystick_x_float - 0.5), 9)) + (1 - expo_value) * joystick_x_float;
@ -393,30 +365,25 @@ int apply_calibration_12bit(int gimbal_value, int min_value, int max_value, int
/** /**
* @brief Process input data from gimbal and buttons * @brief Process input data from gimbal and buttons
*/ */
void process_input_data() void process_input_data() {
{
int analog_x1_gimbal_value = 0; int analog_x1_gimbal_value = 0;
int analog_y1_gimbal_value = 0; int analog_y1_gimbal_value = 0;
int analog_x2_gimbal_value = 0; int analog_x2_gimbal_value = 0;
int analog_y2_gimbal_value = 0; int analog_y2_gimbal_value = 0;
if (gimbal_mode == GIMBAL_MODE_FRSKY_M10) 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_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_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_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); 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) {
else if (gimbal_mode == GIMBAL_MODE_FRSKY_M7)
{
analog_x1_gimbal_value = constrain(analog_x1.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX); 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_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_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); analog_y2_gimbal_value = constrain(analog_y2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
} }
if (joystick_calibration_mode != CALIBRATION_OFF) if (joystick_calibration_mode != CALIBRATION_OFF) {
{
calibrate_axis(analog_x1_gimbal_value, analog_y1_gimbal_value, analog_x2_gimbal_value, analog_y2_gimbal_value); calibrate_axis(analog_x1_gimbal_value, analog_y1_gimbal_value, analog_x2_gimbal_value, analog_y2_gimbal_value);
return; return;
} }
@ -432,42 +399,32 @@ void process_input_data()
// Check fn mode // Check fn mode
fn_mode = 0; fn_mode = 0;
if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
{
fn_mode = 1; fn_mode = 1;
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
{
fn_mode = 2; fn_mode = 2;
} }
} }
// Check toggle mode buttons // Check toggle mode buttons
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
{
toggle_button_mode = true; toggle_button_mode = true;
} } else if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
else if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED)
{
toggle_button_mode = false; toggle_button_mode = false;
} }
// Check toggle arm button // Check toggle arm button
if ((fn_mode == 1) && (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) != toggle_button_arm_previous_value)) if ((fn_mode == 1) && (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) != toggle_button_arm_previous_value)) {
{ if ((digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) && (toggle_button_arm == false)) {
if ((digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) && (toggle_button_arm == false))
{
toggle_button_arm = true; toggle_button_arm = true;
} } else if ((digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) && (toggle_button_arm == true)) {
else if ((digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) && (toggle_button_arm == true))
{
toggle_button_arm = false; toggle_button_arm = false;
} }
toggle_button_arm_previous_value = digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN); toggle_button_arm_previous_value = digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN);
} }
} }
void setup() void setup() {
{
/* Init HW */ /* Init HW */
status_led.begin(); status_led.begin();
status_led.blink(); status_led.blink();
@ -503,14 +460,12 @@ void setup()
Joystick.useManualSend(true); Joystick.useManualSend(true);
// Check if calibration mode is enabled // Check if calibration mode is enabled
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
{
joystick_calibration_mode = CALIBRATION_INIT; joystick_calibration_mode = CALIBRATION_INIT;
} }
// Check if bootloader mode is enabled // Check if bootloader mode is enabled
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
{
button_led_2.on(); button_led_2.on();
button_led_2.update(); button_led_2.update();
delay(200); delay(200);
@ -518,8 +473,7 @@ void setup()
} }
// Check what gimbal mode is selected // Check what gimbal mode is selected
if (digitalRead(GIMBAL_MODE_PIN) == LOW) if (digitalRead(GIMBAL_MODE_PIN) == LOW) {
{
gimbal_mode = GIMBAL_MODE_FRSKY_M10; gimbal_mode = GIMBAL_MODE_FRSKY_M10;
} }
@ -527,8 +481,7 @@ void setup()
elrs.begin(ELRS_PACKET_RATE_500Hz, ELRS_TX_POWER_25mW); elrs.begin(ELRS_PACKET_RATE_500Hz, ELRS_TX_POWER_25mW);
} }
void loop() void loop() {
{
current_timestamp_micros = micros(); current_timestamp_micros = micros();
analog_x1.update(); analog_x1.update();
@ -537,50 +490,39 @@ void loop()
analog_y2.update(); analog_y2.update();
/* Process data with 1ms interval*/ /* Process data with 1ms interval*/
if (current_timestamp_micros >= process_data_timestamp_micros) if (current_timestamp_micros >= process_data_timestamp_micros) {
{
process_input_data(); process_input_data();
process_data_timestamp_micros = current_timestamp_micros + TIME_US_1ms; process_data_timestamp_micros = current_timestamp_micros + TIME_US_1ms;
} }
/* Update/Send USB data with 5ms interval*/ /* Update/Send USB data with 5ms interval*/
if (current_timestamp_micros >= send_usb_timestamp_micros) if (current_timestamp_micros >= send_usb_timestamp_micros) {
{
send_usb_data(); send_usb_data();
send_usb_timestamp_micros = current_timestamp_micros + TIME_US_5ms; send_usb_timestamp_micros = current_timestamp_micros + TIME_US_5ms;
} }
/* Update/Send ERLS data with about 1,6ms interval */ /* Update/Send ERLS data with about 1,6ms interval */
if (current_timestamp_micros >= send_elrs_timestamp_micros) if (current_timestamp_micros >= send_elrs_timestamp_micros) {
{
send_elrs_data(); send_elrs_data();
send_elrs_timestamp_micros = current_timestamp_micros + CRSF_TIME_BETWEEN_FRAMES_US; send_elrs_timestamp_micros = current_timestamp_micros + CRSF_TIME_BETWEEN_FRAMES_US;
} }
/* Update indicator with 200ms interval */ /* Update indicator with 200ms interval */
if (current_timestamp_micros >= indicator_timestamp_micros) if (current_timestamp_micros >= indicator_timestamp_micros) {
{
button_led_1.off(); button_led_1.off();
button_led_2.off(); button_led_2.off();
if (joystick_calibration_mode == CALIBRATION_INIT) if (joystick_calibration_mode == CALIBRATION_INIT) {
{
button_led_1.blink(); button_led_1.blink();
button_led_2.blink(); button_led_2.blink();
} } else if (joystick_calibration_mode == CALIBRATION_CENTER) {
else if (joystick_calibration_mode == CALIBRATION_CENTER)
{
button_led_1.blink(); button_led_1.blink();
button_led_2.off(); button_led_2.off();
} } else if (joystick_calibration_mode == CALIBRATION_MINMAX) {
else if (joystick_calibration_mode == CALIBRATION_MINMAX)
{
button_led_1.off(); button_led_1.off();
button_led_2.blink(); button_led_2.blink();
} } else if ((joystick_x1_12bit != AXIS_12BIT_CENTER) || (joystick_y1_12bit != AXIS_12BIT_MIN) ||
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)) {
(joystick_x2_12bit != AXIS_12BIT_CENTER) || (joystick_y2_12bit != AXIS_12BIT_CENTER))
{
button_led_1.on(); button_led_1.on();
button_led_2.on(); button_led_2.on();
} }