# CMDR Joystick 25 USB HID joystick firmware + hardware: 2 hall‑effect gimbals, 2 physical hat switches, and a 5x5 button matrix (plus 2 extra buttons). The firmware exposes 7 HID axes (X, Y, Z, Rx, Ry, Rz, Slider), 32 buttons and one 8‑way HAT. ## Layout ```cpp 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 | | --------------------------------------------------------------- USB HID joystick map : --------------------------------------------------------------- | Fn L| B19 U| B7 U| | B32 | | B8 U| B1 U| B2 L| --------------------------------------------------------------- | | B5 | B14 | B9 | | B10 | B15 | B6 | | | | | | B13 | | B17 | | | | B16 | | B18 | | | X1/Y1 X2/Y2 | | | H1U | | H2U | | | | H1L | B11 | H1R | | H2L | B12 | H2R | | | | H1D | | H2D | | --------------------------------------------------------------- USB HID joystick map (Fn): --------------------------------------------------------------- | Fn L| B21 U| B27 U| | B32 | | B8 U| B3 U| B4 L| --------------------------------------------------------------- | | TH | B22 | B26 | | B28 | B24 | B23 | | | | | | B29 | | B31 | | | | B16 | | B18 | | | X1/Y1 X2/Y2 | | | H3U | | H4U | | | | H3L | B20 | H3R | | H4L | B25 | H4R | | | | H3D | | H4D | | --------------------------------------------------------------- Config Layer (holding CONFIG button) --------------------------------------------------------------- |BOOT L| CAL U| | CONFIG | | - | - | --------------------------------------------------------------- | | - | - | - | | - | - | - | | | | | | - | | - | | | | - | | - | | | -/- -/- | | | - | | - | | | | - | - | - | | - | - | - | | | | - | | - | | --------------------------------------------------------------- ``` ## Features - Ergonomic design (low profile) - Hall‑effect gimbals (FrSky M7/M10) - USB HID joystick device - 7 axes: X, Y, Z, Rx, Ry, Rz, Slider - 32 buttons - 1× 8‑way HAT - Advanced input pipeline - Digital smoothing for stable axes - Per‑axis calibration (min/center/max) with EEPROM persistence - Optional exponential response curves (LUT based) - Throttle hold (capture + remap around center) - Virtual throttle mode (map right‑X to Slider; disable Z) - Status LED (WS2812 via PIO) for mode/health indication ## Hardware - 2x FrSky M7 or M10 gimbals [M7 datasheet](https://www.frsky-rc.com/product/m7/) - 7x Kailh choc low profile switches [Brown](http://www.kailh.com/en/Products/Ks/CS/) - 8x Cherry MX switches [Brown](https://www.cherrymx.de/en/cherry-mx/mx-original/mx-brown.html) - 2x Miniature Toggle Switch (M6 shaft, 7-8mm wide body. Ex Apem 5636) [Apem 5000 series](https://www.farnell.com/datasheets/2626614.pdf?_ga=2.22934718.461231604.1570510103-1672862477.1542183430) - 2x Alpine RKJXM1015004 hat switches [pdf](https://www.mouser.se/datasheet/2/15/RKJXM-1662398.pdf) - 1x Bottom case (3D printed) - 1x Top plate (3D printed) - 2x Hat swith top (3D printed) [stl](/mCAD/Hat_Castle_Short_scale_99_99_130.stl) - 1x Custom PCB (CMDR Joystick 25 rev A) - ![pcb_top](/eCAD/cmdr-joystick/cmdr-joystick_rev_a_board_top.png) - ![pcb_bottom](/eCAD/cmdr-joystick/cmdr-joystick_rev_a_board_bottom.png) - Gerber files: [zip](/eCAD/cmdr-joystick/cmdr-joystick_rev_a_gerber.zip) - Schematics: [pdf](/eCAD/cmdr-joystick/cmdr-joystick_rev_a_schematics.pdf) - rp2040zero pinout: [jpg](https://www.waveshare.com/w/upload/2/2b/RP2040-Zero-details-7.jpg) - rp2040zero schematic: [pdf](https://www.waveshare.com/w/upload/4/4c/RP2040_Zero.pdf) - eeprom 24C32LV: [pdf](https://www.mouser.se/datasheet/2/308/1/NV24C32LV_D-2319484.pdf) - P-Fet si2372eds: [pdf](https://www.vishay.com/docs/63924/si2371eds.pdf) - N-Fet 2N7002: [pdf](https://www.mouser.se/datasheet/2/408/T2N7002AK_datasheet_en_20150401-1916411.pdf) - Small signal diod 1N4148W: [pdf](https://www.diodes.com/assets/Datasheets/BAV16W_1N4148W.pdf) ## Build, test, and flash (install.sh) Use the top‑level `install.sh` to run tests, build, and flash. It handles prerequisites, target setup, UF2 conversion, and optional SSH deployment. Common commands ``` # Run comprehensive tests (host + embedded checks + clippy + release build) ./install.sh test # Build and flash locally (copies UF2 to RPI-RP2 mass storage) ./install.sh flash --local # Build and transfer UF2 via SSH to a remote machine ./install.sh flash --ssh --target user@host --mount /Volumes/RPI-RP2 # Clean build artifacts and temporary files ./install.sh clean ``` Entering bootloader - Hardware: hold BOOTSEL while plugging USB - Firmware shortcut (at power‑on): hold the front‑left‑lower button - In‑firmware combo: Front‑left‑lower + Top‑left‑mode + Top‑right‑mode ## References - rp2040 datasheet: [pdf](https://datasheets.raspberrypi.com/rp2040/rp2040-datasheet.pdf) ## Calibration 1. Center both gimbals. 2. Start calibration (LED will flash): press Front‑left‑upper + Top‑left‑mode + Top‑right‑mode. 3. Move both gimbals through full travel (all corners). 4. Optional: select gimbal mode while calibrating - M10: press Top‑left‑UP - M7: press Top‑left‑DOWN 5. Save calibration to EEPROM: press the right hat center button. 6. Exit calibration: repeat step 2 combination (toggles off). Notes - During calibration, min/max are tracked from the smoothed ADC values. - On mode change (M10/M7) centers are reset from the current position. ## Runtime controls - Throttle hold: press the Top‑left‑mode button to capture the current throttle value - Press again at center to clear hold - Virtual throttle mode: press the Top‑right‑mode button to toggle - Disables Z axis and maps right‑X to the Slider (symmetric around center) ## Development and testing Run unit tests on host (uses `std` for test modules): ``` cd rp2040 cargo test --features std ``` Repo structure - `rp2040/src/*.rs`: firmware modules (axis, buttons, matrix, calibration, storage, HID) - `rp2040/memory.x`: linker script - `rp2040/uf2conv.py`: UF2 converter (alternative to elf2uf2‑rs) - `install.sh`: unified helper to test, build, and flash (local or via SSH)