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cmdr-joystick/firmware/src/cmdr_joystick.cpp

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/*
* Project: CMtec CMDR Joystick RC
* Date: 2023-09-02
* Author: Christoffer Martinsson
* Email: cm@cmtec.se
* License: Please refer to LICENSE file in root folder
*/
#include <Arduino.h>
#include <EEPROM.h>
#include <ElrsTx.h>
#include <IndicatorLed.h>
#include <ResponsiveAnalogRead.h>
IndicatorLed status_led(13);
IndicatorLed button_led_1(22);
IndicatorLed button_led_2(23);
const int TIME_US_1ms = 1000;
const int TIME_US_5ms = 5000;
const uint64_t TIME_US_200ms = 200000;
uint64_t current_timestamp_micros = 0;
uint64_t process_data_timestamp_micros = 0;
uint64_t indicator_timestamp_micros = 0;
uint64_t send_usb_timestamp_micros = 0;
uint64_t send_elrs_timestamp_micros = 0;
const int BUTTON_PRESSED = LOW;
const int BUTTON_NOT_PRESSED = HIGH;
const int BUTTON_FRONT_LEFT_UPPER_PIN = 4;
const int BUTTON_FRONT_LEFT_LOWER_PIN = 5;
const int BUTTON_FRONT_RIGHT_UPPER_PIN = 6;
const int BUTTON_FRONT_RIGHT_LOWER_PIN = 7;
const int BUTTON_TOP_LEFT_UPPER_PIN = 9;
const int BUTTON_TOP_RIGHT_UPPER_PIN = 10;
const int BUTTON_TOP_LEFT_LOWER_PIN = 8;
const int BUTTON_TOP_RIGHT_LOWER_PIN = 11;
const int GIMBAL_MODE_FRSKY_M7 = 0;
const int GIMBAL_MODE_FRSKY_M10 = 1;
const int GIMBAL_MODE_PIN = 21;
int gimbal_mode = GIMBAL_MODE_FRSKY_M7;
bool toggle_button_arm = false;
bool toggle_button_mode = false;
int toggle_button_arm_previous_value = HIGH;
const int AXIS_10BIT_MAX = 1023;
const int AXIS_10BIT_MIN = 0;
const int AXIS_10BIT_CENTER = 512;
const int AXIS_12BIT_MAX = 4096;
const int AXIS_12BIT_MIN = 0;
const int AXIS_12BIT_CENTER = 2048;
const int DEADZONE_X = 50;
const int DEADZONE_Y = 50;
const int JOYSTICK_HAT_CENTER = -1;
enum EEPROM_ADR {
MAX_X1_ADR_HIGH,
MAX_X1_ADR_LOW,
MIN_X1_ADR_HIGH,
MIN_X1_ADR_LOW,
CNT_X1_ADR_HIGH,
CNT_X1_ADR_LOW,
MAX_Y1_ADR_HIGH,
MAX_Y1_ADR_LOW,
MIN_Y1_ADR_HIGH,
MIN_Y1_ADR_LOW,
CNT_Y1_ADR_HIGH,
CNT_Y1_ADR_LOW,
MAX_X2_ADR_HIGH,
MAX_X2_ADR_LOW,
MIN_X2_ADR_HIGH,
MIN_X2_ADR_LOW,
CNT_X2_ADR_HIGH,
CNT_X2_ADR_LOW,
MAX_Y2_ADR_HIGH,
MAX_Y2_ADR_LOW,
MIN_Y2_ADR_HIGH,
MIN_Y2_ADR_LOW,
CNT_Y2_ADR_HIGH,
CNT_Y2_ADR_LOW,
EEPROM_ADR_NBR_OF_BYTES
};
int joystick_counter = 0;
int joystick_x1_12bit = 0;
int joystick_x1_12bit_max = 4096;
int joystick_x1_12bit_min = 0;
int joystick_x1_12bit_center = joystick_x1_12bit_max / 2;
int joystick_y1_12bit = 0;
int joystick_y1_12bit_max = 4096;
int joystick_y1_12bit_min = 0;
int joystick_y1_12bit_center = joystick_y1_12bit_max / 2;
int joystick_x2_12bit = 0;
int joystick_x2_12bit_max = 4096;
int joystick_x2_12bit_min = 0;
int joystick_x2_12bit_center = joystick_x2_12bit_max / 2;
int joystick_y2_12bit = 0;
int joystick_y2_12bit_max = 4096;
int joystick_y2_12bit_min = 0;
int joystick_y2_12bit_center = joystick_y2_12bit_max / 2;
float exp_constant = 0.2;
int fn_mode = 0;
ResponsiveAnalogRead analog_x1(A0, true);
ResponsiveAnalogRead analog_y1(A1, true);
ResponsiveAnalogRead analog_x2(A3, true);
ResponsiveAnalogRead analog_y2(A2, true);
ElrsTx elrs(Serial1);
const int CALIBRATION_OFF = 0;
const int CALIBRATION_INIT = 1;
const int CALIBRATION_CENTER = 2;
const int CALIBRATION_MINMAX = 3;
int joystick_calibration_mode = CALIBRATION_OFF;
/**
* @brief Save calibration data to EEPROM
*/
void save_to_eeprom() {
EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_12bit_max);
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_HIGH, joystick_x1_12bit_min >> 8);
EEPROM.write(CNT_X1_ADR_LOW, joystick_x1_12bit_center);
EEPROM.write(CNT_X1_ADR_HIGH, joystick_x1_12bit_center >> 8);
EEPROM.write(MAX_Y1_ADR_LOW, joystick_y1_12bit_max);
EEPROM.write(MAX_Y1_ADR_HIGH, joystick_y1_12bit_max >> 8);
EEPROM.write(MIN_Y1_ADR_LOW, joystick_y1_12bit_min);
EEPROM.write(MIN_Y1_ADR_HIGH, joystick_y1_12bit_min >> 8);
EEPROM.write(CNT_Y1_ADR_LOW, joystick_y1_12bit_center);
EEPROM.write(CNT_Y1_ADR_HIGH, joystick_y1_12bit_center >> 8);
EEPROM.write(MAX_X2_ADR_LOW, joystick_x2_12bit_max);
EEPROM.write(MAX_X2_ADR_HIGH, joystick_x2_12bit_max >> 8);
EEPROM.write(MIN_X2_ADR_LOW, joystick_x2_12bit_min);
EEPROM.write(MIN_X2_ADR_HIGH, joystick_x2_12bit_min >> 8);
EEPROM.write(CNT_X2_ADR_LOW, joystick_x2_12bit_center);
EEPROM.write(CNT_X2_ADR_HIGH, joystick_x2_12bit_center >> 8);
EEPROM.write(MAX_Y2_ADR_LOW, joystick_y2_12bit_max);
EEPROM.write(MAX_Y2_ADR_HIGH, joystick_y2_12bit_max >> 8);
EEPROM.write(MIN_Y2_ADR_LOW, joystick_y2_12bit_min);
EEPROM.write(MIN_Y2_ADR_HIGH, joystick_y2_12bit_min >> 8);
EEPROM.write(CNT_Y2_ADR_LOW, joystick_y2_12bit_center);
EEPROM.write(CNT_Y2_ADR_HIGH, joystick_y2_12bit_center >> 8);
}
/**
* @brief Load calibration data 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_LOW);
joystick_x1_12bit_min = (EEPROM.read(MIN_X1_ADR_HIGH) << 8);
joystick_x1_12bit_min |= EEPROM.read(MIN_X1_ADR_LOW);
joystick_x1_12bit_center = (EEPROM.read(CNT_X1_ADR_HIGH) << 8);
joystick_x1_12bit_center |= EEPROM.read(CNT_X1_ADR_LOW);
joystick_y1_12bit_max = (EEPROM.read(MAX_Y1_ADR_HIGH) << 8);
joystick_y1_12bit_max |= EEPROM.read(MAX_Y1_ADR_LOW);
joystick_y1_12bit_min = (EEPROM.read(MIN_Y1_ADR_HIGH) << 8);
joystick_y1_12bit_min |= EEPROM.read(MIN_Y1_ADR_LOW);
joystick_y1_12bit_center = (EEPROM.read(CNT_Y1_ADR_HIGH) << 8);
joystick_y1_12bit_center |= EEPROM.read(CNT_Y1_ADR_LOW);
joystick_x2_12bit_max = (EEPROM.read(MAX_X2_ADR_HIGH) << 8);
joystick_x2_12bit_max |= EEPROM.read(MAX_X2_ADR_LOW);
joystick_x2_12bit_min = (EEPROM.read(MIN_X2_ADR_HIGH) << 8);
joystick_x2_12bit_min |= EEPROM.read(MIN_X2_ADR_LOW);
joystick_x2_12bit_center = (EEPROM.read(CNT_X2_ADR_HIGH) << 8);
joystick_x2_12bit_center |= EEPROM.read(CNT_X2_ADR_LOW);
joystick_y2_12bit_max = (EEPROM.read(MAX_Y2_ADR_HIGH) << 8);
joystick_y2_12bit_max |= EEPROM.read(MAX_Y2_ADR_LOW);
joystick_y2_12bit_min = (EEPROM.read(MIN_Y2_ADR_HIGH) << 8);
joystick_y2_12bit_min |= EEPROM.read(MIN_Y2_ADR_LOW);
joystick_y2_12bit_center = (EEPROM.read(CNT_Y2_ADR_HIGH) << 8);
joystick_y2_12bit_center |= EEPROM.read(CNT_Y2_ADR_LOW);
}
/**
* @brief Calibrate all joystick axis
*
* @param analog_x1
* @param analog_y1
* @param analog_x2
* @param analog_y2
*/
void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2) {
joystick_x1_12bit = AXIS_12BIT_CENTER;
joystick_y1_12bit = AXIS_12BIT_CENTER;
joystick_x2_12bit = AXIS_12BIT_CENTER;
joystick_y2_12bit = AXIS_12BIT_CENTER;
// Check for calibration mode
if (joystick_calibration_mode == CALIBRATION_INIT && digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED) {
joystick_calibration_mode = CALIBRATION_CENTER;
}
// Calibrate joystick center values
else if (joystick_calibration_mode == CALIBRATION_CENTER) {
joystick_x1_12bit_center = analog_x1;
joystick_y1_12bit_center = analog_y1;
joystick_x1_12bit_max = joystick_x1_12bit_center;
joystick_x1_12bit_min = joystick_x1_12bit_center;
joystick_y1_12bit_max = joystick_y1_12bit_center;
joystick_y1_12bit_min = joystick_y1_12bit_center;
joystick_x2_12bit_center = analog_x2;
joystick_y2_12bit_center = analog_y2;
joystick_x2_12bit_max = joystick_x2_12bit_center;
joystick_x2_12bit_min = joystick_x2_12bit_center;
joystick_y2_12bit_max = joystick_y2_12bit_center;
joystick_y2_12bit_min = joystick_y2_12bit_center;
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
joystick_calibration_mode = CALIBRATION_MINMAX;
}
}
// Calibrate joystick min/max values
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_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_min) joystick_y1_12bit_min = analog_y1;
if (analog_x2 > joystick_x2_12bit_max) joystick_x2_12bit_max = analog_x2;
if (analog_x2 < joystick_x2_12bit_min) joystick_x2_12bit_min = analog_x2;
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 (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
joystick_calibration_mode = CALIBRATION_OFF;
save_to_eeprom();
}
}
}
/**
* @brief Save joystick calibration values to EEPROM
*/
void send_elrs_data() {
// 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_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 1);
elrs.set_data(map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 2);
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
for (int i = 4; i < CRSF_MAX_CHANNEL; i++) {
elrs.set_data(CRSF_DIGITAL_CHANNEL_MIN, i);
}
if (toggle_button_arm) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 4);
if (toggle_button_mode) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 5);
if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 6);
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 7);
if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 8);
// Send ELRS data
elrs.send_data();
}
/**
* Send USB data to PC
*/
void send_usb_data() {
// 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_y1_10bit = map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
int joystick_x2_10bit = map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
int joystick_y2_10bit = map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
Joystick.Zrotate(joystick_x1_10bit);
Joystick.Z(joystick_y1_10bit);
if (fn_mode == 2) {
Joystick.X(AXIS_10BIT_CENTER);
Joystick.Y(AXIS_10BIT_CENTER);
Joystick.sliderRight(joystick_x2_10bit);
Joystick.sliderLeft(joystick_y2_10bit);
} else if (fn_mode == 1) {
Joystick.X(AXIS_10BIT_CENTER);
Joystick.Y(joystick_y2_10bit);
Joystick.sliderRight(joystick_x2_10bit);
Joystick.sliderLeft(AXIS_10BIT_CENTER);
} else {
Joystick.X(joystick_x2_10bit);
Joystick.Y(joystick_y2_10bit);
Joystick.sliderRight(AXIS_10BIT_CENTER);
Joystick.sliderLeft(AXIS_10BIT_CENTER);
}
// Set USB digital channels
for (int i = 1; i < 32; i++) {
Joystick.button(i, 0);
}
Joystick.hat(JOYSTICK_HAT_CENTER);
if (fn_mode == 2) {
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_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_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(16, 1);
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(17, 1);
} else if (fn_mode == 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_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_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
} else {
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_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(5, 1);
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(6, 1);
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(7, 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);
}
Joystick.send_now();
}
/**
* @brief Apply calibration to 12-bit gimbal value
*
* @param gimbal_value
* @param min_value
* @param max_value
* @param center_value
* @param deadband_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 calibrated_value = AXIS_12BIT_CENTER;
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);
} 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);
}
if (expo_value != 0) {
float joystick_x_float = calibrated_value / float(AXIS_12BIT_MAX);
/* 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;
calibrated_value = constrain(int(joystick_x_exp * float(AXIS_12BIT_MAX)), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
}
return calibrated_value;
}
/**
* @brief Process input data from gimbal and buttons
*/
void process_input_data() {
int analog_x1_gimbal_value = 0;
int analog_y1_gimbal_value = 0;
int analog_x2_gimbal_value = 0;
int analog_y2_gimbal_value = 0;
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_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_y2_gimbal_value = constrain(AXIS_12BIT_MAX - analog_y2.getValue(), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
} else if (gimbal_mode == GIMBAL_MODE_FRSKY_M7) {
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_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);
}
if (joystick_calibration_mode != CALIBRATION_OFF) {
calibrate_axis(analog_x1_gimbal_value, analog_y1_gimbal_value, analog_x2_gimbal_value, analog_y2_gimbal_value);
return;
}
joystick_x1_12bit = apply_calibration_12bit(analog_x1_gimbal_value, joystick_x1_12bit_min, joystick_x1_12bit_max,
joystick_x1_12bit_center, DEADZONE_X, exp_constant);
joystick_y1_12bit = apply_calibration_12bit(analog_y1_gimbal_value, joystick_y1_12bit_min, joystick_y1_12bit_max,
joystick_y1_12bit_center, DEADZONE_Y, 0);
joystick_x2_12bit = apply_calibration_12bit(analog_x2_gimbal_value, joystick_x2_12bit_min, joystick_x2_12bit_max,
joystick_x2_12bit_center, DEADZONE_X, exp_constant);
joystick_y2_12bit = apply_calibration_12bit(analog_y2_gimbal_value, joystick_y2_12bit_min, joystick_y2_12bit_max,
joystick_y2_12bit_center, DEADZONE_Y, exp_constant);
// Check fn mode
fn_mode = 0;
if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
fn_mode = 1;
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
fn_mode = 2;
}
}
// Check toggle mode buttons
if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) {
toggle_button_mode = true;
} else if (digitalRead(BUTTON_FRONT_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
toggle_button_mode = false;
}
// Check toggle arm button
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)) {
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_previous_value = digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN);
}
}
void setup() {
/* Init HW */
status_led.begin();
status_led.blink();
button_led_1.begin();
button_led_2.begin();
pinMode(BUTTON_FRONT_LEFT_LOWER_PIN, INPUT_PULLUP);
pinMode(BUTTON_FRONT_LEFT_UPPER_PIN, INPUT_PULLUP);
pinMode(BUTTON_FRONT_RIGHT_LOWER_PIN, INPUT_PULLUP);
pinMode(BUTTON_FRONT_RIGHT_UPPER_PIN, INPUT_PULLUP);
pinMode(BUTTON_TOP_LEFT_LOWER_PIN, INPUT_PULLUP);
pinMode(BUTTON_TOP_RIGHT_LOWER_PIN, INPUT_PULLUP);
pinMode(BUTTON_TOP_LEFT_UPPER_PIN, INPUT_PULLUP);
pinMode(BUTTON_TOP_RIGHT_UPPER_PIN, INPUT_PULLUP);
pinMode(GIMBAL_MODE_PIN, INPUT_PULLUP);
// Set ADC resolution to 12bit
analogReadResolution(12);
analogReadAveraging(32);
delay(500);
// Set analog (lib) resolution to 12bit
analog_x1.setAnalogResolution(4096);
analog_y1.setAnalogResolution(4096);
analog_x2.setAnalogResolution(4096);
analog_y2.setAnalogResolution(4096);
// Init EEPROM
load_from_eeprom();
// Init Joystick
Joystick.useManualSend(true);
// Check if calibration mode is enabled
if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) {
joystick_calibration_mode = CALIBRATION_INIT;
}
// Check if bootloader mode is enabled
if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) {
button_led_2.on();
button_led_2.update();
delay(200);
_reboot_Teensyduino_();
}
// Check what gimbal mode is selected
if (digitalRead(GIMBAL_MODE_PIN) == LOW) {
gimbal_mode = GIMBAL_MODE_FRSKY_M10;
}
// Init ELRS
elrs.begin(ELRS_PACKET_RATE_500Hz, ELRS_TX_POWER_25mW);
}
void loop() {
current_timestamp_micros = micros();
analog_x1.update();
analog_y1.update();
analog_x2.update();
analog_y2.update();
/* Process data with 1ms interval*/
if (current_timestamp_micros >= process_data_timestamp_micros) {
process_input_data();
process_data_timestamp_micros = current_timestamp_micros + TIME_US_1ms;
}
/* Update/Send USB data with 5ms interval*/
if (current_timestamp_micros >= send_usb_timestamp_micros) {
send_usb_data();
send_usb_timestamp_micros = current_timestamp_micros + TIME_US_5ms;
}
/* Update/Send ERLS data with about 1,6ms interval */
if (current_timestamp_micros >= send_elrs_timestamp_micros) {
send_elrs_data();
send_elrs_timestamp_micros = current_timestamp_micros + CRSF_TIME_BETWEEN_FRAMES_US;
}
/* Update indicator with 200ms interval */
if (current_timestamp_micros >= indicator_timestamp_micros) {
button_led_1.off();
button_led_2.off();
if (joystick_calibration_mode == CALIBRATION_INIT) {
button_led_1.blink();
button_led_2.blink();
} else if (joystick_calibration_mode == CALIBRATION_CENTER) {
button_led_1.blink();
button_led_2.off();
} else if (joystick_calibration_mode == CALIBRATION_MINMAX) {
button_led_1.off();
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)) {
button_led_1.on();
button_led_2.on();
}
status_led.update();
button_led_1.update();
button_led_2.update();
indicator_timestamp_micros = current_timestamp_micros + TIME_US_200ms;
}
}
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