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Updated button and axis struct

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This commit is contained in:
Christoffer Martinsson 2024-07-26 12:33:55 +02:00
parent f3c2895810
commit b6d4b5ccee
1 changed files with 85 additions and 56 deletions
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141
rp2040/src/main.rs
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@ -149,16 +149,20 @@ pub struct Button {
pub pressed: bool,
pub previous_pressed: bool,
pub usb_changed: bool,
pub usb_changed_to: bool,
pub usb_changed_to_pressed: bool,
pub usb_button: usize,
pub usb_button_sec_enable: bool,
pub usb_button_sec: usize,
pub usb_button_sec_trigger_index: usize,
pub usb_button_sec_pressed: bool,
pub usb_button_toggle_enable: bool,
pub elrs_changed: bool,
pub elrs_changed_to: bool,
pub usb_release_timeout: u16,
pub elrs_changed: bool,
pub elrs_changed_to_pressed: bool,
pub elrs_channel: usize,
pub elrs_lock_enable: bool,
pub elrs_lock_state_on: bool,
pub elrs_lock_state: bool,
}
#[derive(Copy, Clone)]
@ -347,10 +351,9 @@ fn main() -> ! {
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 channel_locks: [bool; 12] = [false; 12];
let mut gimbal_mode: u8;
// Set up button layout
// Set up usb button layout
buttons[0].usb_button = 1;
buttons[1].usb_button = 2;
buttons[2].usb_button = 3;
@ -383,6 +386,36 @@ fn main() -> ! {
buttons[14].usb_button_sec = 24;
buttons[14].usb_button_sec_trigger_index = 12;
// Set up elrs button layout
buttons[0].elrs_channel = 7;
buttons[0].elrs_lock_enable = true;
buttons[1].elrs_channel = 7;
buttons[1].elrs_lock_enable = true;
buttons[1].elrs_lock_state_on = true;
buttons[3].elrs_channel = 8;
buttons[3].elrs_lock_enable = true;
buttons[4].elrs_channel = 8;
buttons[4].elrs_lock_enable = true;
buttons[4].elrs_lock_state_on = true;
buttons[6].elrs_channel = 9;
buttons[7].elrs_channel = 5;
buttons[8].elrs_channel = 10;
buttons[8].elrs_lock_enable = true;
buttons[9].elrs_channel = 10;
buttons[9].elrs_lock_enable = true;
buttons[9].elrs_lock_state_on = true;
buttons[10].elrs_channel = 11;
buttons[10].elrs_lock_enable = true;
buttons[11].elrs_channel = 11;
buttons[11].elrs_lock_enable = true;
buttons[11].elrs_lock_state_on = true;
buttons[12].elrs_channel = 6;
buttons[13].elrs_channel = 12;
buttons[13].elrs_lock_enable = true;
buttons[14].elrs_channel = 12;
buttons[14].elrs_lock_enable = true;
buttons[14].elrs_lock_state_on = true;
// Table for gimbal expo curve lookup insded of doing floating point math for every analog read
let expo_lut: [u16; AXIS_MAX as usize + 1] = generate_expo_lut(0.3);
@ -629,9 +662,9 @@ fn main() -> ! {
for (index, key) in buttons.iter_mut().enumerate() {
if key.pressed != key.previous_pressed {
key.usb_changed = true;
key.usb_changed_to = key.pressed;
key.usb_changed_to_pressed = key.pressed;
key.elrs_changed = true;
key.elrs_changed_to = key.pressed;
key.elrs_changed_to_pressed = key.pressed;
usb_activity = true;
}
// Set throttle_hold_value
@ -645,8 +678,11 @@ fn main() -> ! {
// Reset channel locks when calibration is active
if calibration_active {
for lock_active in channel_locks.iter_mut() {
*lock_active = false;
for axis in axis.iter_mut() {
axis.hold = 0;
}
for button in buttons.iter_mut() {
button.elrs_lock_state = false;
}
}
}
@ -655,11 +691,7 @@ fn main() -> ! {
// Send ELRS data
if elrs_active {
elrs_en_pin.set_high().unwrap();
elrs.send(get_elrs_channels(
&mut buttons,
&mut axis,
&mut channel_locks,
));
elrs.send(get_elrs_channels(&mut buttons, &mut axis));
} else {
elrs_en_pin.set_low().unwrap();
elrs.reset();
@ -810,7 +842,6 @@ fn get_joystick_report(
// Toggle mode button
if key.usb_changed && key.usb_button_toggle_enable {
key.usb_release_timeout = RELEASE_RIMEOUT;
key.usb_changed = false;
}
if key.pressed
&& key.usb_button != 0
@ -839,6 +870,11 @@ fn get_joystick_report(
}
}
// Reset changed flags
for key in matrix_keys.iter_mut() {
key.usb_changed = false;
}
JoystickReport {
x,
y,
@ -1005,7 +1041,6 @@ fn generate_expo_lut(expo: f32) -> [u16; AXIS_MAX as usize + 1] {
fn get_elrs_channels(
matrix_keys: &mut [Button; NUMBER_OF_BUTTONS],
axis: &mut [GimbalAxis; 4],
channel_locks: &mut [bool; 12],
) -> [u16; 12] {
let mut channels: [u16; 12] = [ELRS_MIN; 12];
@ -1062,14 +1097,17 @@ fn get_elrs_channels(
// Check and reset trim values
for (index, key) in matrix_keys.iter_mut().enumerate() {
if key.elrs_changed && key.elrs_changed_to && index == 15 && hat_left_button_only {
if key.elrs_changed && key.elrs_changed_to_pressed && index == 15 && hat_left_button_only {
axis[GIMBAL_AXIS_LEFT_X].trim = 0;
axis[GIMBAL_AXIS_LEFT_Y].trim = 0;
} else if key.elrs_changed && key.elrs_changed_to && index == 20 && hat_right_button_only {
} else if key.elrs_changed
&& key.elrs_changed_to_pressed
&& index == 20
&& hat_right_button_only
{
axis[GIMBAL_AXIS_RIGHT_X].trim = 0;
axis[GIMBAL_AXIS_RIGHT_Y].trim = 0;
}
key.elrs_changed = false;
}
// Match ELRS channel 1-4 to new min/max values
@ -1101,49 +1139,40 @@ fn get_elrs_channels(
}
// Update button state for ELRS channels
for (index, key) in matrix_keys.iter_mut().enumerate() {
if key.pressed && index == 1 {
channel_locks[6] = true;
} else if key.pressed && index == 0 {
channel_locks[6] = false;
}
if key.pressed && index == 4 {
channel_locks[7] = true;
} else if key.pressed && index == 3 {
channel_locks[7] = false;
}
if key.pressed && index == 8 {
channel_locks[9] = true;
} else if key.pressed && index == 9 {
channel_locks[9] = false;
}
if key.pressed && index == 10 {
channel_locks[10] = true;
} else if key.pressed && index == 11 {
channel_locks[10] = false;
}
if key.pressed && index == 13 {
channel_locks[11] = true;
} else if key.pressed && index == 14 {
channel_locks[11] = false;
}
if key.pressed && index == 7 {
channels[4] = ELRS_MAX;
}
if key.pressed && index == 12 {
channels[5] = ELRS_MAX;
}
if key.pressed && index == 6 {
channels[7] = ELRS_MAX;
for key in matrix_keys.iter_mut() {
if key.elrs_changed
&& key.elrs_changed_to_pressed
&& key.elrs_lock_enable
&& key.elrs_lock_state_on
&& key.elrs_channel != 0
{
key.elrs_lock_state = true;
} else if key.elrs_changed
&& !key.elrs_changed_to_pressed
&& key.elrs_lock_enable
&& !key.elrs_lock_state_on
&& key.elrs_channel != 0
{
key.elrs_lock_state = false;
} else if key.pressed && !key.elrs_lock_enable && key.elrs_channel != 0 {
channels[key.elrs_channel] = ELRS_MAX;
}
}
// Apply locking to ELRS channels
for (index, lock_active) in channel_locks.iter().enumerate() {
if *lock_active {
channels[index] = ELRS_MAX;
for key in matrix_keys.iter_mut() {
if key.elrs_lock_enable
&& key.elrs_lock_state
&& key.elrs_lock_state_on
&& key.elrs_channel != 0
{
channels[key.elrs_channel] = ELRS_MAX;
}
}
// Reset changed flags
for key in matrix_keys.iter_mut() {
key.elrs_changed = false;
}
channels
}