cm/cmdr-joystick
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added ELRS support

Browse Source
This commit is contained in:
Christoffer Martinsson 2023-08-25 09:39:23 +02:00
parent 9218f0a6a1
commit d59cbfa7b0
2 changed files with 225 additions and 94 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

131
rp2040/src/elrs.rs Normal file
View File

@ -0,0 +1,131 @@
//! Project: CMtec CMDR joystick 24
//! Date: 2023-08-01
//! Author: Christoffer Martinsson
//! Email: cm@cmtec.se
//! License: Please refer to LICENSE in root directory
use rp2040_hal::uart::{Enabled, State, UartDevice, UartPeripheral, ValidUartPinout};
const CRSF_CRC8TAB: [u8; 256] = [
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D,
0x52, 0x87, 0x2D, 0xF8, 0xAC, 0x79, 0xD3, 0x06, 0x7B, 0xAE, 0x04, 0xD1, 0x85, 0x50, 0xFA, 0x2F,
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9,
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B,
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0,
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2,
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44,
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16,
0xEF, 0x3A, 0x90, 0x45, 0x11, 0xC4, 0x6E, 0xBB, 0xC6, 0x13, 0xB9, 0x6C, 0x38, 0xED, 0x47, 0x92,
0xBD, 0x68, 0xC2, 0x17, 0x43, 0x96, 0x3C, 0xE9, 0x94, 0x41, 0xEB, 0x3E, 0x6A, 0xBF, 0x15, 0xC0,
0x4B, 0x9E, 0x34, 0xE1, 0xB5, 0x60, 0xCA, 0x1F, 0x62, 0xB7, 0x1D, 0xC8, 0x9C, 0x49, 0xE3, 0x36,
0x19, 0xCC, 0x66, 0xB3, 0xE7, 0x32, 0x98, 0x4D, 0x30, 0xE5, 0x4F, 0x9A, 0xCE, 0x1B, 0xB1, 0x64,
0x72, 0xA7, 0x0D, 0xD8, 0x8C, 0x59, 0xF3, 0x26, 0x5B, 0x8E, 0x24, 0xF1, 0xA5, 0x70, 0xDA, 0x0F,
0x20, 0xF5, 0x5F, 0x8A, 0xDE, 0x0B, 0xA1, 0x74, 0x09, 0xDC, 0x76, 0xA3, 0xF7, 0x22, 0x88, 0x5D,
0xD6, 0x03, 0xA9, 0x7C, 0x28, 0xFD, 0x57, 0x82, 0xFF, 0x2A, 0x80, 0x55, 0x01, 0xD4, 0x7E, 0xAB,
0x84, 0x51, 0xFB, 0x2E, 0x7A, 0xAF, 0x05, 0xD0, 0xAD, 0x78, 0xD2, 0x07, 0x53, 0x86, 0x2C, 0xF9,
];
pub struct Elrs<S: State, D: UartDevice, P>
where
S: State,
D: UartDevice,
P: ValidUartPinout<D>,
{
uart: UartPeripheral<S, D, P>,
elsr_init_done: bool,
elrs_init_counter: u16,
}
impl<S, D, P> Elrs<S, D, P>
where
S: State,
D: UartDevice,
P: ValidUartPinout<D>,
{
pub fn new(uart: UartPeripheral<S, D, P>) -> Self {
let elsr_init_done = false;
let elrs_init_counter = 0;
Self {
uart,
elsr_init_done,
elrs_init_counter,
}
}
}
impl<D, P> Elrs<Enabled, D, P>
where
D: UartDevice,
P: ValidUartPinout<D>,
{
pub fn send(&mut self, data: [u16; 12]) {
if self.elsr_init_done {
self.uart
.write_full_blocking(&self.prepare_crsf_data_packet(data));
return;
}
if self.elrs_init_counter < 500 {
self.uart
.write_full_blocking(&self.prepare_crsf_data_packet(data));
self.elrs_init_counter += 1;
} else if self.elrs_init_counter < 505 {
self.uart
.write_full_blocking(&self.prepare_crsf_cmd_packet(0x01, 0x00));
self.elrs_init_counter += 1;
} else if self.elrs_init_counter < 510 {
self.uart
.write_full_blocking(&self.prepare_crsf_cmd_packet(0x06, 0x00));
self.elrs_init_counter += 1;
} else {
self.elsr_init_done = true;
}
}
fn prepare_crsf_data_packet(&self, data: [u16; 12]) -> [u8; 26] {
let mut packet: [u8; 26] = [0; 26];
let mut crc: u8 = 0;
packet[0] = 0xEE;
packet[1] = 0x18;
packet[2] = 0x16;
packet[3] = data[0] as u8;
packet[4] = ((data[0] >> 8) | (data[1] << 3)) as u8;
packet[5] = ((data[1] >> 5) | (data[2] << 6)) as u8;
packet[6] = (data[2] >> 2) as u8;
packet[7] = ((data[2] >> 10) | (data[3] << 1)) as u8;
packet[8] = ((data[3] >> 7) | (data[4] << 4)) as u8;
packet[9] = ((data[4] >> 4) | (data[5] << 7)) as u8;
packet[10] = (data[5] >> 1) as u8;
packet[11] = ((data[5] >> 9) | (data[6] << 2)) as u8;
packet[12] = ((data[6] >> 6) | (data[7] << 5)) as u8;
packet[13] = (data[7] >> 3) as u8;
packet[14] = data[8] as u8;
packet[15] = ((data[8] >> 8) | (data[9] << 3)) as u8;
packet[16] = ((data[9] >> 5) | (data[10] << 6)) as u8;
packet[17] = (data[10] >> 2) as u8;
packet[18] = ((data[10] >> 10) | (data[11] << 1)) as u8;
packet[19] = (data[11] >> 7) as u8;
// Channel 13-16 are not used in ELRS
for i in 2..25 {
crc = CRSF_CRC8TAB[(crc ^ packet[i]) as usize];
}
packet[25] = crc;
packet
}
fn prepare_crsf_cmd_packet(&self, command: u8, value: u8) -> [u8; 8] {
let mut packet: [u8; 8] = [0; 8];
let mut crc: u8 = 0;
packet[0] = 0xEE;
packet[1] = 0x06;
packet[2] = 0x2D;
packet[3] = 0xEE;
packet[4] = 0xEA;
packet[5] = command;
packet[6] = value;
for i in 2..7 {
crc = CRSF_CRC8TAB[(crc ^ packet[i]) as usize];
}
packet[7] = crc;
packet
}
}

188
rp2040/src/layout.rs
View File

@ -22,31 +22,31 @@ pub enum ElrsButton {
CH11 = 10, CH11 = 10,
CH12 = 11, CH12 = 11,
CH5ON = 12, CH5ON = 12,
CH5OFF = 13, CH6ON = 13,
CH6ON = 14, CH7ON = 14,
CH6OFF = 15, CH8ON = 15,
CH7ON = 16, CH9ON = 16,
CH7OFF = 17, CH10ON = 17,
CH8ON = 18, CH11ON = 18,
CH8OFF = 19, CH12ON = 19,
CH9ON = 20, CH5OFF = 20,
CH9OFF = 21, CH6OFF = 21,
CH10ON = 22, CH7OFF = 22,
CH10OFF = 23, CH8OFF = 23,
CH11ON = 24, CH9OFF = 24,
CH11OFF = 25, CH10OFF = 25,
CH12ON = 26, CH11OFF = 26,
CH12OFF = 27, CH12OFF = 27,
XY1TU = 28, CH1P = 28,
XY1TR = 29, CH2P = 29,
XY1TD = 30, CH3P = 30,
XY1TL = 31, CH4P = 31,
XY1TRESET = 32, CH1M = 32,
XY2TU = 33, CH2M = 33,
XY2TR = 34, CH3M = 34,
XY2TD = 35, CH4M = 35,
XY2TL = 36, CH12Z = 36,
XY2TRESET = 37, CH34Z = 37,
NoEventIndicated = 38, NoEventIndicated = 38,
} }
#[allow(dead_code)] #[allow(dead_code)]
@ -77,26 +77,26 @@ pub enum HidButton {
FnR = 22, FnR = 22,
ModeL = 23, ModeL = 23,
ModeR = 24, ModeR = 24,
Hat1U = 25, H1U = 25,
Hat1R = 26, H1R = 26,
Hat1D = 27, H1D = 27,
Hat1L = 28, H1L = 28,
Hat1B = 29, H1B = 29,
Hat2U = 30, H2U = 30,
Hat2R = 31, H2R = 31,
Hat2D = 32, H2D = 32,
Hat2L = 33, H2L = 33,
Hat2B = 34, H2B = 34,
Hat3U = 35, H3U = 35,
Hat3R = 36, H3R = 36,
Hat3D = 37, H3D = 37,
Hat3L = 38, H3L = 38,
Hat3B = 39, H3B = 39,
Hat4U = 40, H4U = 40,
Hat4R = 41, H4R = 41,
Hat4D = 42, H4D = 42,
Hat4L = 43, H4L = 43,
Hat4B = 44, H4B = 44,
NoEventIndicated = 45, NoEventIndicated = 45,
} }
#[warn(dead_code)] #[warn(dead_code)]
@ -138,16 +138,16 @@ pub const HID_MAP: [[HidButton; NUMBER_OF_BUTTONS]; 4] = [
HidButton::ModeR, // 12 HidButton::ModeR, // 12
HidButton::B9, // 13 HidButton::B9, // 13
HidButton::B10, // 14 HidButton::B10, // 14
HidButton::Hat1B, // 15 button 22 HidButton::H1B, // 15 button 22
HidButton::Hat1U, // 16 HidButton::H1U, // 16
HidButton::Hat1R, // 17 HidButton::H1R, // 17
HidButton::Hat1D, // 18 HidButton::H1D, // 18
HidButton::Hat1L, // 19 HidButton::H1L, // 19
HidButton::Hat2B, // 20 button 23 HidButton::H2B, // 20 button 23
HidButton::Hat2U, // 21 HidButton::H2U, // 21
HidButton::Hat2R, // 22 HidButton::H2R, // 22
HidButton::Hat2D, // 23 HidButton::H2D, // 23
HidButton::Hat2L, // 24 HidButton::H2L, // 24
], ],
[ [
// Function layer 1 (left Fn button pressed) // Function layer 1 (left Fn button pressed)
@ -168,16 +168,16 @@ pub const HID_MAP: [[HidButton; NUMBER_OF_BUTTONS]; 4] = [
HidButton::ModeR, // 12 HidButton::ModeR, // 12
HidButton::B9, // 13 HidButton::B9, // 13
HidButton::B10, // 14 HidButton::B10, // 14
HidButton::Hat3B, // 15 button 24 HidButton::H3B, // 15 button 24
HidButton::Hat3U, // 16 HidButton::H3U, // 16
HidButton::Hat3R, // 17 HidButton::H3R, // 17
HidButton::Hat3D, // 18 HidButton::H3D, // 18
HidButton::Hat3L, // 19 HidButton::H3L, // 19
HidButton::Hat2B, // 20 button 23 HidButton::H2B, // 20 button 23
HidButton::Hat2U, // 21 HidButton::H2U, // 21
HidButton::Hat2R, // 22 HidButton::H2R, // 22
HidButton::Hat2D, // 23 HidButton::H2D, // 23
HidButton::Hat2L, // 24 HidButton::H2L, // 24
], ],
[ [
// Function layer 2 (right Fn button pressed) // Function layer 2 (right Fn button pressed)
@ -198,16 +198,16 @@ pub const HID_MAP: [[HidButton; NUMBER_OF_BUTTONS]; 4] = [
HidButton::ModeR, // 12 HidButton::ModeR, // 12
HidButton::B19, // 13 HidButton::B19, // 13
HidButton::B20, // 14 HidButton::B20, // 14
HidButton::Hat1B, // 15 button 22 HidButton::H1B, // 15 button 22
HidButton::Hat1U, // 16 HidButton::H1U, // 16
HidButton::Hat1R, // 17 HidButton::H1R, // 17
HidButton::Hat1D, // 18 HidButton::H1D, // 18
HidButton::Hat1L, // 19 HidButton::H1L, // 19
HidButton::Hat4B, // 20 button 25 HidButton::H4B, // 20 button 25
HidButton::Hat4U, // 21 HidButton::H4U, // 21
HidButton::Hat4R, // 22 HidButton::H4R, // 22
HidButton::Hat4D, // 23 HidButton::H4D, // 23
HidButton::Hat4L, // 24 HidButton::H4L, // 24
], ],
[ [
// Function layer 3 (left + right Fn button pressed) // Function layer 3 (left + right Fn button pressed)
@ -228,16 +228,16 @@ pub const HID_MAP: [[HidButton; NUMBER_OF_BUTTONS]; 4] = [
HidButton::ModeR, // 12 HidButton::ModeR, // 12
HidButton::B19, // 13 HidButton::B19, // 13
HidButton::B20, // 14 HidButton::B20, // 14
HidButton::Hat3B, // 15 button 24 HidButton::H3B, // 15 button 24
HidButton::Hat3U, // 16 HidButton::H3U, // 16
HidButton::Hat3R, // 17 HidButton::H3R, // 17
HidButton::Hat3D, // 18 HidButton::H3D, // 18
HidButton::Hat3L, // 19 HidButton::H3L, // 19
HidButton::Hat4B, // 20 button 25 HidButton::H4B, // 20 button 25
HidButton::Hat4U, // 21 HidButton::H4U, // 21
HidButton::Hat4R, // 22 HidButton::H4R, // 22
HidButton::Hat4D, // 23 HidButton::H4D, // 23
HidButton::Hat4L, // 24 HidButton::H4L, // 24
], ],
]; ];
@ -260,14 +260,14 @@ pub const ELRS_MAP: [ElrsButton; NUMBER_OF_BUTTONS] = [
ElrsButton::CH6, // 12 ElrsButton::CH6, // 12
ElrsButton::CH12ON, // 13 ElrsButton::CH12ON, // 13
ElrsButton::CH12OFF, // 14 ElrsButton::CH12OFF, // 14
ElrsButton::XY1TRESET, // 15 ElrsButton::CH12Z, // 15
ElrsButton::XY1TU, // 16 ElrsButton::CH2P, // 16
ElrsButton::XY1TR, // 17 ElrsButton::CH1P, // 17
ElrsButton::XY1TD, // 18 ElrsButton::CH2M, // 18
ElrsButton::XY1TL, // 19 ElrsButton::CH1M, // 19
ElrsButton::XY2TRESET, // 20 ElrsButton::CH34Z, // 20
ElrsButton::XY2TU, // 21 ElrsButton::CH4P, // 21
ElrsButton::XY2TR, // 22 ElrsButton::CH3P, // 22
ElrsButton::XY2TD, // 23 ElrsButton::CH4M, // 23
ElrsButton::XY2TL, // 24 ElrsButton::CH3M, // 24
]; ];