Changed to 7 axis and added back one HAT swith

This commit is contained in:
Christoffer Martinsson 2025-07-17 19:03:56 +02:00
parent 6243f552c3
commit 9572df9e3b
3 changed files with 434 additions and 1145 deletions

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@ -1,200 +1,6 @@
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View File

@ -49,6 +49,73 @@ pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
const XTAL_FREQ_HZ: u32 = 12_000_000u32;
// Public constants
// HW Button index map:
// ---------------------------------------------------------------
// | 0 L| 1 U| 25 U | | 2 | | 26 U | 4 U| 3 L|
// ---------------------------------------------------------------
// | | 5 | 6 | 7 | | 12 | 11 | 10 | |
// | |
// | | 8 | | 13 | |
// | | 9 | | 14 | |
// | X1/Y1 X2/Y2 |
// | | 16 | | 21 | |
// | | 19 | 15 | 17 | | 24 | 20 | 22 | |
// | | 18 | | 23 | |
// ---------------------------------------------------------------
// Config Layer (holding CONFIG button)
// ---------------------------------------------------------------
// |BOOT L| CAL U| | CONFIG | | - | - |
// ---------------------------------------------------------------
// | | - | - | - | | - | - | - | |
// | |
// | |C M10| | - | |
// | |C M7 | | - | |
// | -/- -/- |
// | | - | | - | |
// | | - | - | - | | - |C OK | - | |
// | | - | | - | |
// ---------------------------------------------------------------
//
pub const CONFIG_BUTTON: usize = 2;
pub const BOOT_BUTTON: usize = 0;
pub const CAL_BUTTON: usize = 1;
pub const CAL_DONE_BUTTON: usize = 20;
pub const CAL_M10_GIMBLE_BUTTON: usize = 8;
pub const CAL_M7_GIMBLE_BUTTON: usize = 9;
pub const BUTTON_FRONT_LEFT_LOWER: usize = 0;
pub const BUTTON_FRONT_LEFT_UPPER: usize = 1;
pub const BUTTON_FRONT_LEFT_EXTRA: usize = 25;
pub const BUTTON_FRONT_CONFIG: usize = 2;
pub const BUTTON_FRONT_RIGHT_LOWER: usize = 3;
pub const BUTTON_FRONT_RIGHT_UPPER: usize = 4;
pub const BUTTON_FRONT_RIGHT_EXTRA: usize = 26;
pub const BUTTON_TOP_LEFT_LOW: usize = 5;
pub const BUTTON_TOP_LEFT_HIGH: usize = 6;
pub const BUTTON_TOP_LEFT_MODE: usize = 7;
pub const BUTTON_TOP_LEFT_UP: usize = 8;
pub const BUTTON_TOP_LEFT_DOWN: usize = 9;
pub const BUTTON_TOP_LEFT_HAT: usize = 15;
pub const BUTTON_TOP_LEFT_HAT_UP: usize = 16;
pub const BUTTON_TOP_LEFT_HAT_RIGHT: usize = 17;
pub const BUTTON_TOP_LEFT_HAT_DOWN: usize = 18;
pub const BUTTON_TOP_LEFT_HAT_LEFT: usize = 19;
pub const BUTTON_TOP_RIGHT_LOW: usize = 10;
pub const BUTTON_TOP_RIGHT_HIGH: usize = 11;
pub const BUTTON_TOP_RIGHT_MODE: usize = 12;
pub const BUTTON_TOP_RIGHT_UP: usize = 13;
pub const BUTTON_TOP_RIGHT_DOWN: usize = 14;
pub const BUTTON_TOP_RIGHT_HAT: usize = 20;
pub const BUTTON_TOP_RIGHT_HAT_UP: usize = 21;
pub const BUTTON_TOP_RIGHT_HAT_RIGHT: usize = 22;
pub const BUTTON_TOP_RIGHT_HAT_DOWN: usize = 23;
pub const BUTTON_TOP_RIGHT_HAT_LEFT: usize = 24;
// Special button functions
// Throttle hold:
pub const TH_BUTTON: usize = 7;
pub const VT_BUTTON: usize = 12;
pub const BUTTON_ROWS: usize = 5;
pub const BUTTON_COLS: usize = 5;
pub const NUMBER_OF_BUTTONS: usize = BUTTON_ROWS * BUTTON_COLS;
@ -81,7 +148,17 @@ pub struct Button {
pub previous_pressed: bool,
pub usb_changed: bool,
pub usb_changed_to_pressed: bool,
pub usb_button: usize,
pub usb_button: usize, // For short press
pub usb_button_long: usize, // For long press
pub enable_long_press: bool, // Flag to enable special behavior
pub enable_long_hold: bool, // Flag to enable special behavior
// Internals
pub press_start_time: u32, // When physical press started
pub long_press_handled: bool, // True if long press activated
pub active_usb_button: usize, // Currently active USB button
pub usb_press_active: bool, // Is USB press currently "down"
pub usb_press_start_time: u32, // When USB press was sent
}
#[derive(Copy, Clone)]
@ -235,6 +312,9 @@ fn main() -> ! {
let mut status_led_count_down = timer.count_down();
status_led_count_down.start(250.millis());
let mut ms_count_down = timer.count_down();
ms_count_down.start(1.millis());
let mut scan_count_down = timer.count_down();
scan_count_down.start(200u32.micros());
@ -248,6 +328,7 @@ fn main() -> ! {
let mut usb_active: bool = false;
let mut calibration_active: bool = false;
let mut throttle_hold_enable: bool = false;
let mut vt_enable: bool = false;
let mut axis: [GimbalAxis; NBR_OF_GIMBAL_AXIS] = [Default::default(); NBR_OF_GIMBAL_AXIS];
let mut buttons: [Button; NUMBER_OF_BUTTONS + 2] = [Button::default(); NUMBER_OF_BUTTONS + 2];
@ -255,84 +336,58 @@ fn main() -> ! {
let mut virtual_rz: u16 = AXIS_CENTER;
let mut gimbal_mode: u8;
// HW Button index map:
// ---------------------------------------------------------------
// | 0 L| 1 U| 25 U | | 2 | | 26 U | 4 U| 3 L|
// ---------------------------------------------------------------
// | | 5 | 6 | 7 | | 12 | 11 | 10 | |
// | |
// | | 8 | | 13 | |
// | | 9 | | 14 | |
// | X1/Y1 X2/Y2 |
// | | 16 | | 21 | |
// | | 19 | 15 | 17 | | 24 | 20 | 22 | |
// | | 18 | | 23 | |
// ---------------------------------------------------------------
// Config Layer (holding CONFIG button)
// ---------------------------------------------------------------
// |BOOT L| CAL U| | CONFIG | | - | - |
// ---------------------------------------------------------------
// | | - | - | - | | - | - | - | |
// | |
// | |C M10| | - | |
// | |C M7 | | - | |
// | -/- -/- |
// | | - | | - | |
// | | - | - | - | | - |C OK | - | |
// | | - | | - | |
// ---------------------------------------------------------------
// USB HID joystick map :
// ---------------------------------------------------------------
// | Ry- L| Ry+ U| Rz- U| | B26 | | Rz+ U| B1 U| B2 L|
// ---------------------------------------------------------------
// | | B5 | B14 | B9 | | B10 | B15 | B6 | |
// | |
// | | B13 | | B17 | |
// | | B16 | | B12 | |
// | X1/Y1 X2/Y2 |
// | | B18 | | B22 | |
// | | B21 | B11 | B19 | | B25 | TH | B23 | |
// | | B20 | | B24 | |
// ---------------------------------------------------------------
//
pub const CONFIG_BUTTON: usize = 2;
pub const BOOT_BUTTON: usize = 0;
pub const CAL_BUTTON: usize = 1;
pub const CAL_DONE_BUTTON: usize = 20;
pub const CAL_M10_GIMBLE_BUTTON: usize = 8;
pub const CAL_M7_GIMBLE_BUTTON: usize = 9;
// Special button functions
// Throttle hold:
pub const TH_BUTTON: usize = 20;
// Set up usb button layout
buttons[0].usb_button = 4;
buttons[1].usb_button = 3;
buttons[2].usb_button = 26; // Button used as global config. Do not define secondary USB button!
buttons[3].usb_button = 2;
buttons[4].usb_button = 1;
buttons[5].usb_button = 5;
buttons[6].usb_button = 14;
buttons[7].usb_button = 9;
buttons[8].usb_button = 13;
buttons[9].usb_button = 16;
buttons[10].usb_button = 6;
buttons[11].usb_button = 15;
buttons[12].usb_button = 10;
buttons[13].usb_button = 17;
buttons[14].usb_button = 12;
buttons[15].usb_button = 11;
buttons[16].usb_button = 18;
buttons[17].usb_button = 19;
buttons[18].usb_button = 20;
buttons[19].usb_button = 21;
buttons[20].usb_button = 0;
buttons[21].usb_button = 22;
buttons[22].usb_button = 23;
buttons[23].usb_button = 24;
buttons[24].usb_button = 25;
buttons[25].usb_button = 7;
buttons[26].usb_button = 8;
buttons[BUTTON_FRONT_LEFT_LOWER].usb_button = 29;
buttons[BUTTON_FRONT_LEFT_UPPER].usb_button = 28;
buttons[BUTTON_FRONT_CONFIG].usb_button = 32; // Button used as global config.
buttons[BUTTON_FRONT_CONFIG].usb_button_long = 3;
buttons[BUTTON_FRONT_CONFIG].enable_long_press = true;
buttons[BUTTON_FRONT_RIGHT_LOWER].usb_button = 2;
buttons[BUTTON_FRONT_RIGHT_UPPER].usb_button = 1;
buttons[BUTTON_TOP_LEFT_LOW].usb_button = 4;
buttons[BUTTON_TOP_LEFT_LOW].usb_button_long = 5;
buttons[BUTTON_TOP_LEFT_LOW].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_LOW].enable_long_hold = true;
buttons[BUTTON_TOP_LEFT_HIGH].usb_button = 6;
buttons[BUTTON_TOP_LEFT_HIGH].usb_button_long = 7;
buttons[BUTTON_TOP_LEFT_HIGH].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_MODE].usb_button = 0;
buttons[BUTTON_TOP_LEFT_UP].usb_button = 12;
buttons[BUTTON_TOP_LEFT_UP].usb_button_long = 13;
buttons[BUTTON_TOP_LEFT_UP].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_DOWN].usb_button = 16;
buttons[BUTTON_TOP_LEFT_DOWN].usb_button_long = 17;
buttons[BUTTON_TOP_LEFT_DOWN].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_DOWN].enable_long_hold = true;
buttons[BUTTON_TOP_RIGHT_LOW].usb_button = 10;
buttons[BUTTON_TOP_RIGHT_LOW].usb_button_long = 11;
buttons[BUTTON_TOP_RIGHT_LOW].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_HIGH].usb_button = 8;
buttons[BUTTON_TOP_RIGHT_HIGH].usb_button_long = 9;
buttons[BUTTON_TOP_RIGHT_HIGH].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_MODE].usb_button = 0;
buttons[BUTTON_TOP_RIGHT_UP].usb_button = 14;
buttons[BUTTON_TOP_RIGHT_UP].usb_button_long = 15;
buttons[BUTTON_TOP_RIGHT_UP].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_DOWN].usb_button = 18;
buttons[BUTTON_TOP_RIGHT_DOWN].usb_button_long = 19;
buttons[BUTTON_TOP_RIGHT_DOWN].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_HAT].usb_button = 20;
buttons[BUTTON_TOP_LEFT_HAT].usb_button_long = 21;
buttons[BUTTON_TOP_LEFT_HAT].enable_long_press = true;
buttons[BUTTON_TOP_LEFT_HAT_UP].usb_button = 22;
buttons[BUTTON_TOP_LEFT_HAT_RIGHT].usb_button = 23;
buttons[BUTTON_TOP_LEFT_HAT_DOWN].usb_button = 24;
buttons[BUTTON_TOP_LEFT_HAT_LEFT].usb_button = 25;
buttons[BUTTON_TOP_RIGHT_HAT].usb_button = 26;
buttons[BUTTON_TOP_RIGHT_HAT].usb_button_long = 27;
buttons[BUTTON_TOP_RIGHT_HAT].enable_long_press = true;
buttons[BUTTON_TOP_RIGHT_HAT_UP].usb_button = 33;
buttons[BUTTON_TOP_RIGHT_HAT_RIGHT].usb_button = 34;
buttons[BUTTON_TOP_RIGHT_HAT_DOWN].usb_button = 35;
buttons[BUTTON_TOP_RIGHT_HAT_LEFT].usb_button = 36;
buttons[BUTTON_FRONT_LEFT_EXTRA].usb_button = 30;
buttons[BUTTON_FRONT_RIGHT_EXTRA].usb_button = 31;
// Table for gimbal expo curve lookup insded of doing floating point math for every analog read
let expo_lut: [u16; ADC_MAX as usize + 1] = generate_expo_lut(0.3);
@ -418,6 +473,7 @@ fn main() -> ! {
&usb_active,
&calibration_active,
&throttle_hold_enable,
&vt_enable,
);
}
@ -428,28 +484,40 @@ fn main() -> ! {
}
// Updated extra buttons
buttons[25].pressed = left_extra_button.is_low().unwrap();
buttons[26].pressed = right_extra_button.is_low().unwrap();
buttons[BUTTON_FRONT_LEFT_EXTRA].pressed = left_extra_button.is_low().unwrap();
buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed = right_extra_button.is_low().unwrap();
// Filter left hat swith buttons
for i in 16..=19 {
if (16..=19).filter(|&j| j != i).any(|j| buttons[j].pressed) {
for i in BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT {
if (BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT)
.filter(|&j| j != i)
.any(|j| buttons[j].pressed)
{
buttons[i].pressed = false;
}
}
// Fix button state for center hat press on hat
if buttons[16..=19].iter().any(|b| b.pressed) {
buttons[15].pressed = false;
if buttons[BUTTON_TOP_LEFT_HAT_UP..=BUTTON_TOP_LEFT_HAT_LEFT]
.iter()
.any(|b| b.pressed)
{
buttons[BUTTON_TOP_LEFT_HAT].pressed = false;
}
// Filter right hat swith buttons
for i in 21..=24 {
if (21..=24).filter(|&j| j != i).any(|j| buttons[j].pressed) {
for i in BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT {
if (BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT)
.filter(|&j| j != i)
.any(|j| buttons[j].pressed)
{
buttons[i].pressed = false;
}
}
// Fix button state for center hat press on hat
if buttons[21..=24].iter().any(|b| b.pressed) {
buttons[20].pressed = false;
if buttons[BUTTON_TOP_RIGHT_HAT_UP..=BUTTON_TOP_RIGHT_HAT_LEFT]
.iter()
.any(|b| b.pressed)
{
buttons[BUTTON_TOP_RIGHT_HAT].pressed = false;
}
// Secondary way to enter bootloader (pressing all left hands buttons except the hat
@ -564,25 +632,37 @@ fn main() -> ! {
}
// Update Virtual RY
let virtual_step: u16 = 5;
let virtual_step: u16 = 2;
// Compensate value when changing direction
if buttons[1].pressed && !buttons[0].pressed && virtual_ry < AXIS_CENTER {
virtual_ry = AXIS_CENTER + (AXIS_CENTER - virtual_ry);
} else if buttons[0].pressed && !buttons[1].pressed && virtual_ry > AXIS_CENTER {
virtual_ry = AXIS_CENTER - (virtual_ry - AXIS_CENTER);
if buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& virtual_ry < AXIS_CENTER
{
virtual_ry = AXIS_CENTER + (AXIS_CENTER - virtual_ry) / 2;
} else if buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& virtual_ry > AXIS_CENTER
{
virtual_ry = AXIS_CENTER - (virtual_ry - AXIS_CENTER) / 2;
}
// Move virtual axis
if buttons[1].pressed && !buttons[0].pressed && virtual_ry < ADC_MAX - virtual_step {
if buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& virtual_ry < ADC_MAX - virtual_step
{
virtual_ry = virtual_ry + virtual_step;
usb_activity = true;
} else if buttons[0].pressed
&& !buttons[1].pressed
} else if buttons[BUTTON_FRONT_LEFT_LOWER].pressed
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& virtual_ry > ADC_MIN + virtual_step
{
virtual_ry = virtual_ry - virtual_step;
usb_activity = true;
} else if (virtual_ry != AXIS_CENTER && !buttons[1].pressed && !buttons[0].pressed)
|| (buttons[1].pressed && buttons[0].pressed)
} else if (virtual_ry != AXIS_CENTER
&& !buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& !buttons[BUTTON_FRONT_LEFT_LOWER].pressed)
|| (buttons[BUTTON_FRONT_LEFT_UPPER].pressed
&& buttons[BUTTON_FRONT_LEFT_LOWER].pressed)
{
if virtual_ry < AXIS_CENTER + virtual_step {
virtual_ry = virtual_ry + virtual_step;
@ -594,23 +674,35 @@ fn main() -> ! {
// Update Virtual RZ
// Compensate value when changing direction
if buttons[25].pressed && !buttons[26].pressed && virtual_rz < AXIS_CENTER {
virtual_rz = AXIS_CENTER + (AXIS_CENTER - virtual_rz);
} else if buttons[26].pressed && !buttons[25].pressed && virtual_rz > AXIS_CENTER {
virtual_rz = AXIS_CENTER - (virtual_rz - AXIS_CENTER);
if buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& virtual_rz < AXIS_CENTER
{
virtual_rz = AXIS_CENTER + (AXIS_CENTER - virtual_rz) / 2;
} else if buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& virtual_rz > AXIS_CENTER
{
virtual_rz = AXIS_CENTER - (virtual_rz - AXIS_CENTER) / 2;
}
// Move virtual axis
if buttons[25].pressed && !buttons[26].pressed && virtual_rz < ADC_MAX - virtual_step {
if buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& virtual_rz < ADC_MAX - virtual_step
{
virtual_rz = virtual_rz + virtual_step;
usb_activity = true;
} else if buttons[26].pressed
&& !buttons[25].pressed
} else if buttons[BUTTON_FRONT_LEFT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& virtual_rz > ADC_MIN + virtual_step
{
virtual_rz = virtual_rz - virtual_step;
usb_activity = true;
} else if (virtual_rz != AXIS_CENTER && !buttons[25].pressed && !buttons[26].pressed)
|| (buttons[25].pressed && buttons[26].pressed)
} else if (virtual_rz != AXIS_CENTER
&& !buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& !buttons[BUTTON_FRONT_LEFT_EXTRA].pressed)
|| (buttons[BUTTON_FRONT_RIGHT_EXTRA].pressed
&& buttons[BUTTON_FRONT_LEFT_EXTRA].pressed)
{
if virtual_rz < AXIS_CENTER + virtual_step {
virtual_rz = virtual_rz + virtual_step;
@ -630,10 +722,10 @@ fn main() -> ! {
// Generate led activity when a button is pressed
for (index, key) in buttons.iter_mut().enumerate() {
update_button_press_type(key, (timer.get_counter().ticks() / 1000) as u32);
if key.pressed != key.previous_pressed {
key.usb_changed = true;
key.usb_changed_to_pressed = key.pressed;
usb_activity = true;
}
// Set throttle_hold_value
if key.pressed != key.previous_pressed
@ -650,6 +742,12 @@ fn main() -> ! {
{
axis[GIMBAL_AXIS_LEFT_Y].hold = AXIS_CENTER;
axis[GIMBAL_AXIS_LEFT_Y].hold_pending = true;
} else if key.pressed != key.previous_pressed && key.pressed && index == VT_BUTTON {
vt_enable = !vt_enable;
}
if key.usb_changed {
usb_activity = true;
}
key.previous_pressed = key.pressed;
}
@ -686,6 +784,7 @@ fn main() -> ! {
true,
&expo_lut_virtual,
),
&vt_enable,
)) {
Err(UsbHidError::WouldBlock) => {}
Ok(_) => {}
@ -699,6 +798,60 @@ fn main() -> ! {
}
}
fn update_button_press_type(button: &mut Button, current_time: u32) {
const LONG_PRESS_THRESHOLD: u32 = 200;
const USB_MIN_HOLD_MS: u32 = 50;
// Pressing button
if button.pressed && !button.previous_pressed {
button.press_start_time = current_time;
button.long_press_handled = false;
}
// While held: trigger long press if applicable
if button.pressed && button.enable_long_press && !button.long_press_handled {
if current_time - button.press_start_time >= LONG_PRESS_THRESHOLD {
button.active_usb_button = button.usb_button_long;
button.usb_press_start_time = current_time;
button.usb_press_active = true;
button.usb_changed = true;
button.long_press_handled = true;
}
}
// Releasing button
if !button.pressed && button.previous_pressed {
// If long press wasn't triggered, it's a short press
if (!button.enable_long_press || !button.long_press_handled) && button.usb_button != 0 {
button.active_usb_button = button.usb_button;
button.usb_press_start_time = current_time;
button.usb_press_active = true;
button.usb_changed = true;
}
// If long press was active, release now
if button.long_press_handled && button.usb_press_active {
button.usb_changed = true;
button.usb_press_active = false;
button.active_usb_button = 0;
}
}
// Auto-release for short press after minimum hold time
if button.usb_press_active
&& (!button.pressed
&& !button.long_press_handled
&& current_time - button.usb_press_start_time >= USB_MIN_HOLD_MS)
|| (!button.enable_long_hold
&& button.long_press_handled
&& current_time - button.usb_press_start_time >= USB_MIN_HOLD_MS)
{
button.usb_changed = true;
button.usb_press_active = false;
button.active_usb_button = 0;
}
}
/// Update status LED colour
///
/// Waiting for USB enumerate = flashing green
@ -715,6 +868,7 @@ fn update_status_led<P, SM, I>(
usb_active: &bool,
calibration_active: &bool,
throttle_hold_enable: &bool,
vt_enable: &bool,
) where
I: AnyPin<Function = P::PinFunction>,
P: PIOExt,
@ -724,6 +878,8 @@ fn update_status_led<P, SM, I>(
status_led.update(StatusMode::ActivityFlash);
} else if !*usb_active {
status_led.update(StatusMode::NormalFlash);
} else if *usb_active && *vt_enable {
status_led.update(StatusMode::Activity);
} else if *usb_active && *throttle_hold_enable {
status_led.update(StatusMode::Other);
} else if *usb_active && !*throttle_hold_enable {
@ -743,21 +899,64 @@ fn get_joystick_report(
axis: &mut [GimbalAxis; 4],
virtual_ry: u16,
virtual_rz: u16,
vt_enable: &bool,
) -> JoystickReport {
let x: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_LEFT_X].value);
let y: i16 = axis_12bit_to_i16(ADC_MAX - axis[GIMBAL_AXIS_LEFT_Y].value);
let z: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_RIGHT_X].value);
let y: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_LEFT_Y].value);
let mut z: i16 = axis_12bit_to_i16(axis[GIMBAL_AXIS_RIGHT_X].value);
let rx: i16 = axis_12bit_to_i16(ADC_MAX - axis[GIMBAL_AXIS_RIGHT_Y].value);
let ry: i16 = axis_12bit_to_i16(virtual_ry);
let rz: i16 = axis_12bit_to_i16(virtual_rz);
let slider: i16 = 0;
let dial: i16 = 0;
let mut slider: i16 = axis_12bit_to_i16(ADC_MIN);
let mut hat: u8 = 8; // Hat center position
// Virtual axix control. Disables z and rx axis and using girght gimbal Y axis to control
// slider axis. Values from center stick to max or min will be recalculated to min to max.
if *vt_enable {
if axis[GIMBAL_AXIS_RIGHT_X].value >= AXIS_CENTER {
slider = axis_12bit_to_i16(remap(
axis[GIMBAL_AXIS_RIGHT_X].value,
AXIS_CENTER,
ADC_MAX,
ADC_MIN,
ADC_MAX,
));
} else {
slider = axis_12bit_to_i16(
ADC_MAX
- remap(
axis[GIMBAL_AXIS_RIGHT_X].value,
ADC_MIN,
AXIS_CENTER,
ADC_MIN,
ADC_MAX,
),
);
}
z = 0;
}
// Update button state for joystick buttons
let mut buttons: u32 = 0;
for key in matrix_keys.iter_mut() {
if key.pressed && key.usb_button != 0 {
buttons |= 1 << (key.usb_button - 1);
if key.enable_long_press {
if key.active_usb_button != 0 {
// Check if key is assigned as hat switch
if key.active_usb_button >= 33 && key.active_usb_button <= 36 {
hat = (key.active_usb_button as u8 - 33) * 2;
} else {
buttons |= 1 << (key.active_usb_button - 1);
}
}
} else {
if key.pressed && key.usb_button != 0 {
// Check if key is assigned as hat switch
if key.usb_button >= 33 && key.usb_button <= 36 {
hat = (key.usb_button as u8 - 33) * 2;
} else {
buttons |= 1 << (key.usb_button - 1);
}
}
}
}
@ -774,7 +973,7 @@ fn get_joystick_report(
ry,
rz,
slider,
dial,
hat,
buttons,
}
}

View File

@ -67,7 +67,7 @@ pub const JOYSTICK_DESCRIPTOR: &[u8] = &[
0x09, 0x04, // Usage (Joystick)
0xA1, 0x01, // Collection (Application)
// 8 signed 16-bit axes: X, Y, Z, Rx, Ry, Rz, Slider, Dial
// 7 signed 16-bit axes: X, Y, Z, Rx, Ry, Rz, Slider
0x09, 0x30, // Usage (X)
0x09, 0x31, // Usage (Y)
0x09, 0x32, // Usage (Z)
@ -75,28 +75,38 @@ pub const JOYSTICK_DESCRIPTOR: &[u8] = &[
0x09, 0x34, // Usage (Ry)
0x09, 0x35, // Usage (Rz)
0x09, 0x36, // Usage (Slider)
0x09, 0x37, // Usage (Dial)
0x16, 0x00, 0x80, // Logical Minimum (-32768)
0x26, 0xFF, 0x7F, // Logical Maximum (32767)
0x75, 0x10, // Report Size (16)
0x95, 0x08, // Report Count (8)
0x95, 0x07, // Report Count (7)
0x81, 0x02, // Input (Data,Var,Abs)
// 26 Buttons (1-bit each)
// 1 Hat Switch
0x09, 0x39, // Usage (Hat switch)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x07, // Logical Maximum (7)
0x35, 0x00, // Physical Minimum (0)
0x46, 0x3B, 0x01, // Physical Maximum (315)
0x65, 0x14, // Unit (Eng Rot: Degrees)
0x75, 0x04, // Report Size (4)
0x95, 0x01, // Report Count (1)
0x81, 0x42, // Input (Data,Var,Abs,Null)
// Padding for 4 bits to align to byte
0x75, 0x04, // Report Size (4)
0x95, 0x01, // Report Count (1)
0x81, 0x03, // Input (Const,Var,Abs) padding
// 32 Buttons (1-bit each)
0x05, 0x09, // Usage Page (Button)
0x19, 0x01, // Usage Minimum (1)
0x29, 0x1A, // Usage Maximum (26)
0x29, 0x20, // Usage Maximum (32)
0x15, 0x00, // Logical Minimum (0)
0x25, 0x01, // Logical Maximum (1)
0x75, 0x01, // Report Size (1)
0x95, 0x1A, // Report Count (26)
0x95, 0x20, // Report Count (32)
0x81, 0x02, // Input (Data,Var,Abs)
// Padding to align buttons to byte boundary (26 bits → +6 bits padding)
0x75, 0x01, // Report Size (1)
0x95, 0x06, // Report Count (6)
0x81, 0x03, // Input (Const,Var,Abs)
0xC0 // End Collection
];
@ -109,7 +119,7 @@ pub struct JoystickReport {
pub ry: i16, // 16bit
pub rz: i16, // 16bit
pub slider: i16, // 16bit
pub dial: i16, // 16bit
pub hat: u8, // 8bit
pub buttons: u32, // 32bit
}
@ -119,7 +129,7 @@ pub struct Joystick<'a, B: UsbBus> {
impl<B: UsbBus> Joystick<'_, B> {
pub fn write_report(&mut self, report: &JoystickReport) -> Result<(), UsbHidError> {
let mut data: [u8; 20] = [0; 20];
let mut data: [u8; 19] = [0; 19];
// Did not make the packed struct work, so doing it manually
data[0] = report.x as u8;
@ -136,12 +146,11 @@ impl<B: UsbBus> Joystick<'_, B> {
data[11] = (report.rz >> 8) as u8;
data[12] = report.slider as u8;
data[13] = (report.slider >> 8) as u8;
data[14] = report.dial as u8;
data[15] = (report.dial >> 8) as u8;
data[16] = report.buttons as u8;
data[17] = (report.buttons >> 8) as u8;
data[18] = (report.buttons >> 16) as u8;
data[19] = (report.buttons >> 24) as u8;
data[14] = report.hat;
data[15] = report.buttons as u8;
data[16] = (report.buttons >> 8) as u8;
data[17] = (report.buttons >> 16) as u8;
data[18] = (report.buttons >> 24) as u8;
self.interface
.write_report(&data)