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# 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)
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