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Code cleanup

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This commit is contained in:
Christoffer Martinsson 2023-05-27 23:31:10 +00:00
parent 86c205dcca
commit dceae922de
5 changed files with 512 additions and 601 deletions
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45
firmware/src/ElrsTx.cpp
View File

@ -34,13 +34,12 @@
* *
* @param serial The serial port to use * @param serial The serial port to use
*/ */
ElrsTx::ElrsTx(HardwareSerial& serial): _serial(serial) { } ElrsTx::ElrsTx(HardwareSerial &serial) : _serial(serial) {}
/** /**
* @brief Initialize the ELRS transmitter * @brief Initialize the ELRS transmitter
*/ */
void ElrsTx::begin(int packet_rate, int tx_power) void ElrsTx::begin(int packet_rate, int tx_power) {
{
const int ELRS_SERIAL_BAUDRATE = 400000; const int ELRS_SERIAL_BAUDRATE = 400000;
_serial.begin(ELRS_SERIAL_BAUDRATE); _serial.begin(ELRS_SERIAL_BAUDRATE);
@ -56,11 +55,9 @@ void ElrsTx::begin(int packet_rate, int tx_power)
* @param len The length of the packet * @param len The length of the packet
* @return The CRC8 of the packet * @return The CRC8 of the packet
*/ */
uint8_t ElrsTx::calculate_crsf_crc8(const uint8_t *ptr, uint8_t len) uint8_t ElrsTx::calculate_crsf_crc8(const uint8_t *ptr, uint8_t len) {
{
uint8_t crc = 0; uint8_t crc = 0;
for (uint8_t i = 0; i < len; i++) for (uint8_t i = 0; i < len; i++) {
{
crc = CRSF_CRC8TAB[crc ^ *ptr++]; crc = CRSF_CRC8TAB[crc ^ *ptr++];
} }
return crc; return crc;
@ -79,8 +76,7 @@ uint8_t ElrsTx::calculate_crsf_crc8(const uint8_t *ptr, uint8_t len)
* @param packet Resulting packet * @param packet Resulting packet
* @param channels Channel data * @param channels Channel data
*/ */
void ElrsTx::prepare_crsf_data_packet(uint8_t packet[], int16_t channels[]) void ElrsTx::prepare_crsf_data_packet(uint8_t packet[], int16_t channels[]) {
{
const int CRSF_TYPE_CHANNELS = 0x16; const int CRSF_TYPE_CHANNELS = 0x16;
packet[0] = ELRS_ADDRESS; packet[0] = ELRS_ADDRESS;
@ -136,8 +132,7 @@ void ElrsTx::prepare_crsf_data_packet(uint8_t packet[], int16_t channels[])
* @param command Command to be sent * @param command Command to be sent
* @param value Value to be sent * @param value Value to be sent
*/ */
void ElrsTx::prepare_crsf_cmd_packet(uint8_t packet_cmd[], uint8_t command, uint8_t value) void ElrsTx::prepare_crsf_cmd_packet(uint8_t packet_cmd[], uint8_t command, uint8_t value) {
{
const int ELRS_ADDR_RADIO = 0xEA; const int ELRS_ADDR_RADIO = 0xEA;
const int ELRS_TYPE_SETTINGS_WRITE = 0x2D; const int ELRS_TYPE_SETTINGS_WRITE = 0x2D;
@ -157,49 +152,37 @@ void ElrsTx::prepare_crsf_cmd_packet(uint8_t packet_cmd[], uint8_t command, uint
* @param value Value (0-2048) to be set * @param value Value (0-2048) to be set
* @param channel Channel (0-11) to be set * @param channel Channel (0-11) to be set
*/ */
void ElrsTx::set_data(int16_t value, uint8_t channel) void ElrsTx::set_data(int16_t value, uint8_t channel) { elrs_channels[channel] = value; }
{
elrs_channels[channel] = value;
}
/** /**
* @brief Send data to ERLS TX. This function should be called within the main loop with a 1.6ms interval * @brief Send data to ERLS TX. This function should be called within the main loop with a 1.6ms interval
*/ */
void ElrsTx::send_data() void ElrsTx::send_data() {
{
const int ELRS_PKT_RATE_COMMAND = 0x01; const int ELRS_PKT_RATE_COMMAND = 0x01;
const int ELRS_POWER_COMMAND = 0x06; const int ELRS_POWER_COMMAND = 0x06;
if (elrs_init_done == true) if (elrs_init_done == true) {
{
prepare_crsf_data_packet(crsf_packet, elrs_channels); prepare_crsf_data_packet(crsf_packet, elrs_channels);
_serial.write(crsf_packet, CRSF_PACKET_SIZE); _serial.write(crsf_packet, CRSF_PACKET_SIZE);
} } else {
else
{
// Setting up initial communication link between ERLS TX and Teensy (give ERLS TX time to auto detect Teensy) // Setting up initial communication link between ERLS TX and Teensy (give ERLS TX time to auto detect Teensy)
if (elrs_init_counter < 500) if (elrs_init_counter < 500) {
{
prepare_crsf_data_packet(crsf_packet, elrs_channels); prepare_crsf_data_packet(crsf_packet, elrs_channels);
_serial.write(crsf_packet, CRSF_PACKET_SIZE); _serial.write(crsf_packet, CRSF_PACKET_SIZE);
elrs_init_counter++; elrs_init_counter++;
} }
// Send command to update TX packet rate // Send command to update TX packet rate
else if (elrs_init_counter < 505) else if (elrs_init_counter < 505) {
{
prepare_crsf_cmd_packet(crsf_cmd_packet, ELRS_PKT_RATE_COMMAND, _packet_rate); prepare_crsf_cmd_packet(crsf_cmd_packet, ELRS_PKT_RATE_COMMAND, _packet_rate);
_serial.write(crsf_cmd_packet, CRSF_CMD_PACKET_SIZE); _serial.write(crsf_cmd_packet, CRSF_CMD_PACKET_SIZE);
elrs_init_counter++; elrs_init_counter++;
} }
// Send command to update TX power // Send command to update TX power
else if (elrs_init_counter < 510) else if (elrs_init_counter < 510) {
{
prepare_crsf_cmd_packet(crsf_cmd_packet, ELRS_POWER_COMMAND, _tx_power); prepare_crsf_cmd_packet(crsf_cmd_packet, ELRS_POWER_COMMAND, _tx_power);
_serial.write(crsf_cmd_packet, CRSF_CMD_PACKET_SIZE); _serial.write(crsf_cmd_packet, CRSF_CMD_PACKET_SIZE);
elrs_init_counter++; elrs_init_counter++;
} } else {
else
{
elrs_init_done = true; elrs_init_done = true;
} }
} }

38
firmware/src/ElrsTx.h
View File

@ -1,4 +1,4 @@
/* /*
* ======================================================================================================= * =======================================================================================================
* ------------------------------------------------------------------------------------------------------- * -------------------------------------------------------------------------------------------------------
* ---####################-----###########-------###########-----############--############-############-- * ---####################-----###########-------###########-----############--############-############--
@ -70,16 +70,15 @@ const int ELRS_TX_POWER_250mW = 3;
const int ELRS_TX_POWER_500mW = 4; const int ELRS_TX_POWER_500mW = 4;
const int ELRS_TX_POWER_1000mW = 5; const int ELRS_TX_POWER_1000mW = 5;
class ElrsTx class ElrsTx {
{ public:
public: ElrsTx(HardwareSerial &serial);
ElrsTx(HardwareSerial& serial);
void set_data(int16_t value, uint8_t channel); void set_data(int16_t value, uint8_t channel);
void send_data(); void send_data();
void begin(int packet_rate, int tx_power); void begin(int packet_rate, int tx_power);
private: private:
uint8_t crsf_packet[CRSF_PACKET_SIZE]; uint8_t crsf_packet[CRSF_PACKET_SIZE];
uint8_t crsf_cmd_packet[CRSF_CMD_PACKET_SIZE]; uint8_t crsf_cmd_packet[CRSF_CMD_PACKET_SIZE];
int16_t elrs_channels[CRSF_MAX_CHANNEL]; int16_t elrs_channels[CRSF_MAX_CHANNEL];
@ -87,33 +86,24 @@ class ElrsTx
bool elrs_init_done = false; bool elrs_init_done = false;
int elrs_init_counter = 0; int elrs_init_counter = 0;
HardwareSerial& _serial; HardwareSerial &_serial;
int _packet_rate; int _packet_rate;
int _tx_power; int _tx_power;
// crc implementation from CRSF protocol document rev7 // crc implementation from CRSF protocol document rev7
const uint8_t CRSF_CRC8TAB[256] = { const uint8_t CRSF_CRC8TAB[256] = {
0x00, 0xD5, 0x7F, 0xAA, 0xFE, 0x2B, 0x81, 0x54, 0x29, 0xFC, 0x56, 0x83, 0xD7, 0x02, 0xA8, 0x7D, 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,
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,
0xA4, 0x71, 0xDB, 0x0E, 0x5A, 0x8F, 0x25, 0xF0, 0x8D, 0x58, 0xF2, 0x27, 0x73, 0xA6, 0x0C, 0xD9, 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,
0xF6, 0x23, 0x89, 0x5C, 0x08, 0xDD, 0x77, 0xA2, 0xDF, 0x0A, 0xA0, 0x75, 0x21, 0xF4, 0x5E, 0x8B, 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,
0x9D, 0x48, 0xE2, 0x37, 0x63, 0xB6, 0x1C, 0xC9, 0xB4, 0x61, 0xCB, 0x1E, 0x4A, 0x9F, 0x35, 0xE0, 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,
0xCF, 0x1A, 0xB0, 0x65, 0x31, 0xE4, 0x4E, 0x9B, 0xE6, 0x33, 0x99, 0x4C, 0x18, 0xCD, 0x67, 0xB2, 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,
0x39, 0xEC, 0x46, 0x93, 0xC7, 0x12, 0xB8, 0x6D, 0x10, 0xC5, 0x6F, 0xBA, 0xEE, 0x3B, 0x91, 0x44, 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,
0x6B, 0xBE, 0x14, 0xC1, 0x95, 0x40, 0xEA, 0x3F, 0x42, 0x97, 0x3D, 0xE8, 0xBC, 0x69, 0xC3, 0x16, 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};
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};
uint8_t calculate_crsf_crc8(const uint8_t *ptr, uint8_t len); uint8_t calculate_crsf_crc8(const uint8_t *ptr, uint8_t len);
void prepare_crsf_data_packet(uint8_t packet[], int16_t channels[]); void prepare_crsf_data_packet(uint8_t packet[], int16_t channels[]);
void prepare_crsf_cmd_packet(uint8_t packet_cmd[], uint8_t command, uint8_t value); void prepare_crsf_cmd_packet(uint8_t packet_cmd[], uint8_t command, uint8_t value);
}; };
#endif #endif

7
firmware/src/IndicatorLed.h
View File

@ -36,9 +36,8 @@ const int LED_OFF = 0;
const int LED_ON = 1; const int LED_ON = 1;
const int LED_BLINK = 2; const int LED_BLINK = 2;
class IndicatorLed class IndicatorLed {
{ public:
public:
IndicatorLed(int pin); IndicatorLed(int pin);
void begin(); void begin();
void on(); void on();
@ -46,7 +45,7 @@ class IndicatorLed
void blink(); void blink();
void update(); void update();
private: private:
int _pin; int _pin;
int led_mode = LED_OFF; int led_mode = LED_OFF;
int current_state = LED_OFF; int current_state = LED_OFF;

161
firmware/src/cmdr_joystick.cpp
View File

@ -29,12 +29,11 @@
* Joystick based on standard teensy "usb_joystick" library for HID joystick usb data communication. * Joystick based on standard teensy "usb_joystick" library for HID joystick usb data communication.
*/ */
#include "ElrsTx.h"
#include "IndicatorLed.h"
#include <Arduino.h> #include <Arduino.h>
#include <EEPROM.h> #include <EEPROM.h>
#include <ResponsiveAnalogRead.h> #include <ResponsiveAnalogRead.h>
#include "ElrsTx.h"
#include "IndicatorLed.h"
IndicatorLed status_led(13); IndicatorLed status_led(13);
IndicatorLed button_led_1(22); IndicatorLed button_led_1(22);
@ -79,8 +78,7 @@ 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,
@ -146,8 +144,7 @@ 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);
@ -180,8 +177,7 @@ 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);
@ -219,25 +215,21 @@ 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) if (joystick_calibration_mode == CALIBRATION_INIT) {
{ if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED) {
if (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;
@ -252,15 +244,13 @@ 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;
@ -270,8 +260,7 @@ 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();
} }
@ -281,8 +270,7 @@ 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);
@ -290,8 +278,7 @@ 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);
} }
@ -308,8 +295,7 @@ 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);
@ -319,22 +305,17 @@ 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);
@ -342,33 +323,27 @@ 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);
@ -391,21 +366,16 @@ 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), 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);
} } 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), 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);
} }
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;
@ -418,30 +388,25 @@ 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;
} }
@ -453,42 +418,32 @@ 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();
@ -524,14 +479,12 @@ 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);
@ -539,8 +492,7 @@ 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;
} }
@ -548,8 +500,7 @@ 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();
@ -558,50 +509,38 @@ 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) || (joystick_x2_12bit != AXIS_12BIT_CENTER) || (joystick_y2_12bit != AXIS_12BIT_CENTER)) {
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))
{
button_led_1.on(); button_led_1.on();
button_led_2.on(); button_led_2.on();
} }