595 lines
21 KiB
C++
595 lines
21 KiB
C++
/*
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* Project: CMtec CMDR Joystick RC
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* Date: 2023-09-02
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* Author: Christoffer Martinsson
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* Email: cm@cmtec.se
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* License: Please refer to LICENSE file in root folder
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*/
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#include "ElrsTx.h"
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#include "IndicatorLed.h"
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#include <Arduino.h>
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#include <EEPROM.h>
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#include <ResponsiveAnalogRead.h>
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IndicatorLed status_led(13);
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IndicatorLed button_led_1(22);
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IndicatorLed button_led_2(23);
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const int TIME_US_1ms = 1000;
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const int TIME_US_5ms = 5000;
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const uint64_t TIME_US_200ms = 200000;
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uint64_t current_timestamp_micros = 0;
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uint64_t process_data_timestamp_micros = 0;
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uint64_t indicator_timestamp_micros = 0;
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uint64_t send_usb_timestamp_micros = 0;
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uint64_t send_elrs_timestamp_micros = 0;
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const int BUTTON_PRESSED = LOW;
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const int BUTTON_NOT_PRESSED = HIGH;
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const int BUTTON_FRONT_LEFT_UPPER_PIN = 4;
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const int BUTTON_FRONT_LEFT_LOWER_PIN = 5;
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const int BUTTON_FRONT_RIGHT_UPPER_PIN = 6;
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const int BUTTON_FRONT_RIGHT_LOWER_PIN = 7;
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const int BUTTON_TOP_LEFT_UPPER_PIN = 9;
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const int BUTTON_TOP_RIGHT_UPPER_PIN = 10;
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const int BUTTON_TOP_LEFT_LOWER_PIN = 8;
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const int BUTTON_TOP_RIGHT_LOWER_PIN = 11;
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const int GIMBAL_MODE_FRSKY_M7 = 0;
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const int GIMBAL_MODE_FRSKY_M10 = 1;
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const int GIMBAL_MODE_PIN = 21;
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int gimbal_mode = GIMBAL_MODE_FRSKY_M7;
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bool toggle_button_arm = false;
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bool toggle_button_mode = false;
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int toggle_button_arm_previous_value = HIGH;
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const int AXIS_10BIT_MAX = 1023;
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const int AXIS_10BIT_MIN = 0;
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const int AXIS_10BIT_CENTER = 512;
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const int AXIS_12BIT_MAX = 4096;
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const int AXIS_12BIT_MIN = 0;
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const int AXIS_12BIT_CENTER = 2048;
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const int DEADZONE_X = 50;
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const int DEADZONE_Y = 50;
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const int JOYSTICK_HAT_CENTER = -1;
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enum EEPROM_ADR
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{
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MAX_X1_ADR_HIGH,
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MAX_X1_ADR_LOW,
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MIN_X1_ADR_HIGH,
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MIN_X1_ADR_LOW,
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CNT_X1_ADR_HIGH,
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CNT_X1_ADR_LOW,
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MAX_Y1_ADR_HIGH,
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MAX_Y1_ADR_LOW,
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MIN_Y1_ADR_HIGH,
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MIN_Y1_ADR_LOW,
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CNT_Y1_ADR_HIGH,
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CNT_Y1_ADR_LOW,
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MAX_X2_ADR_HIGH,
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MAX_X2_ADR_LOW,
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MIN_X2_ADR_HIGH,
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MIN_X2_ADR_LOW,
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CNT_X2_ADR_HIGH,
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CNT_X2_ADR_LOW,
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MAX_Y2_ADR_HIGH,
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MAX_Y2_ADR_LOW,
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MIN_Y2_ADR_HIGH,
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MIN_Y2_ADR_LOW,
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CNT_Y2_ADR_HIGH,
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CNT_Y2_ADR_LOW,
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EEPROM_ADR_NBR_OF_BYTES
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};
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int joystick_counter = 0;
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int joystick_x1_12bit = 0;
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int joystick_x1_12bit_max = 4096;
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int joystick_x1_12bit_min = 0;
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int joystick_x1_12bit_center = joystick_x1_12bit_max / 2;
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int joystick_y1_12bit = 0;
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int joystick_y1_12bit_max = 4096;
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int joystick_y1_12bit_min = 0;
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int joystick_y1_12bit_center = joystick_y1_12bit_max / 2;
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int joystick_x2_12bit = 0;
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int joystick_x2_12bit_max = 4096;
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int joystick_x2_12bit_min = 0;
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int joystick_x2_12bit_center = joystick_x2_12bit_max / 2;
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int joystick_y2_12bit = 0;
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int joystick_y2_12bit_max = 4096;
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int joystick_y2_12bit_min = 0;
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int joystick_y2_12bit_center = joystick_y2_12bit_max / 2;
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float exp_constant = 0.2;
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int fn_mode = 0;
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ResponsiveAnalogRead analog_x1(A0, true);
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ResponsiveAnalogRead analog_y1(A1, true);
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ResponsiveAnalogRead analog_x2(A3, true);
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ResponsiveAnalogRead analog_y2(A2, true);
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ElrsTx elrs(Serial1);
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const int CALIBRATION_OFF = 0;
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const int CALIBRATION_INIT = 1;
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const int CALIBRATION_CENTER = 2;
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const int CALIBRATION_MINMAX = 3;
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int joystick_calibration_mode = CALIBRATION_OFF;
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/**
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* @brief Save calibration data to EEPROM
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*/
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void save_to_eeprom()
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{
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EEPROM.write(MAX_X1_ADR_LOW, joystick_x1_12bit_max);
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EEPROM.write(MAX_X1_ADR_HIGH, joystick_x1_12bit_max >> 8);
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EEPROM.write(MIN_X1_ADR_LOW, joystick_x1_12bit_min);
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EEPROM.write(MIN_X1_ADR_HIGH, joystick_x1_12bit_min >> 8);
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EEPROM.write(CNT_X1_ADR_LOW, joystick_x1_12bit_center);
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EEPROM.write(CNT_X1_ADR_HIGH, joystick_x1_12bit_center >> 8);
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EEPROM.write(MAX_Y1_ADR_LOW, joystick_y1_12bit_max);
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EEPROM.write(MAX_Y1_ADR_HIGH, joystick_y1_12bit_max >> 8);
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EEPROM.write(MIN_Y1_ADR_LOW, joystick_y1_12bit_min);
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EEPROM.write(MIN_Y1_ADR_HIGH, joystick_y1_12bit_min >> 8);
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EEPROM.write(CNT_Y1_ADR_LOW, joystick_y1_12bit_center);
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EEPROM.write(CNT_Y1_ADR_HIGH, joystick_y1_12bit_center >> 8);
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EEPROM.write(MAX_X2_ADR_LOW, joystick_x2_12bit_max);
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EEPROM.write(MAX_X2_ADR_HIGH, joystick_x2_12bit_max >> 8);
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EEPROM.write(MIN_X2_ADR_LOW, joystick_x2_12bit_min);
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EEPROM.write(MIN_X2_ADR_HIGH, joystick_x2_12bit_min >> 8);
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EEPROM.write(CNT_X2_ADR_LOW, joystick_x2_12bit_center);
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EEPROM.write(CNT_X2_ADR_HIGH, joystick_x2_12bit_center >> 8);
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EEPROM.write(MAX_Y2_ADR_LOW, joystick_y2_12bit_max);
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EEPROM.write(MAX_Y2_ADR_HIGH, joystick_y2_12bit_max >> 8);
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EEPROM.write(MIN_Y2_ADR_LOW, joystick_y2_12bit_min);
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EEPROM.write(MIN_Y2_ADR_HIGH, joystick_y2_12bit_min >> 8);
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EEPROM.write(CNT_Y2_ADR_LOW, joystick_y2_12bit_center);
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EEPROM.write(CNT_Y2_ADR_HIGH, joystick_y2_12bit_center >> 8);
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}
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/**
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* @brief Load calibration data from EEPROM
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*/
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void load_from_eeprom()
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{
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joystick_x1_12bit_max = (EEPROM.read(MAX_X1_ADR_HIGH) << 8);
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joystick_x1_12bit_max |= EEPROM.read(MAX_X1_ADR_LOW);
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joystick_x1_12bit_min = (EEPROM.read(MIN_X1_ADR_HIGH) << 8);
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joystick_x1_12bit_min |= EEPROM.read(MIN_X1_ADR_LOW);
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joystick_x1_12bit_center = (EEPROM.read(CNT_X1_ADR_HIGH) << 8);
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joystick_x1_12bit_center |= EEPROM.read(CNT_X1_ADR_LOW);
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joystick_y1_12bit_max = (EEPROM.read(MAX_Y1_ADR_HIGH) << 8);
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joystick_y1_12bit_max |= EEPROM.read(MAX_Y1_ADR_LOW);
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joystick_y1_12bit_min = (EEPROM.read(MIN_Y1_ADR_HIGH) << 8);
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joystick_y1_12bit_min |= EEPROM.read(MIN_Y1_ADR_LOW);
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joystick_y1_12bit_center = (EEPROM.read(CNT_Y1_ADR_HIGH) << 8);
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joystick_y1_12bit_center |= EEPROM.read(CNT_Y1_ADR_LOW);
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joystick_x2_12bit_max = (EEPROM.read(MAX_X2_ADR_HIGH) << 8);
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joystick_x2_12bit_max |= EEPROM.read(MAX_X2_ADR_LOW);
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joystick_x2_12bit_min = (EEPROM.read(MIN_X2_ADR_HIGH) << 8);
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joystick_x2_12bit_min |= EEPROM.read(MIN_X2_ADR_LOW);
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joystick_x2_12bit_center = (EEPROM.read(CNT_X2_ADR_HIGH) << 8);
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joystick_x2_12bit_center |= EEPROM.read(CNT_X2_ADR_LOW);
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joystick_y2_12bit_max = (EEPROM.read(MAX_Y2_ADR_HIGH) << 8);
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joystick_y2_12bit_max |= EEPROM.read(MAX_Y2_ADR_LOW);
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joystick_y2_12bit_min = (EEPROM.read(MIN_Y2_ADR_HIGH) << 8);
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joystick_y2_12bit_min |= EEPROM.read(MIN_Y2_ADR_LOW);
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joystick_y2_12bit_center = (EEPROM.read(CNT_Y2_ADR_HIGH) << 8);
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joystick_y2_12bit_center |= EEPROM.read(CNT_Y2_ADR_LOW);
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}
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/**
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* @brief Calibrate all joystick axis
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*
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* @param analog_x1
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* @param analog_y1
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* @param analog_x2
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* @param analog_y2
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*/
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void calibrate_axis(int analog_x1, int analog_y1, int analog_x2, int analog_y2)
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{
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joystick_x1_12bit = AXIS_12BIT_CENTER;
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joystick_y1_12bit = AXIS_12BIT_CENTER;
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joystick_x2_12bit = AXIS_12BIT_CENTER;
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joystick_y2_12bit = AXIS_12BIT_CENTER;
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// Check for calibration mode
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if (joystick_calibration_mode == CALIBRATION_INIT && digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_NOT_PRESSED)
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{
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joystick_calibration_mode = CALIBRATION_CENTER;
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}
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// Calibrate joystick center values
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else if (joystick_calibration_mode == CALIBRATION_CENTER)
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{
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joystick_x1_12bit_center = analog_x1;
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joystick_y1_12bit_center = analog_y1;
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joystick_x1_12bit_max = joystick_x1_12bit_center;
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joystick_x1_12bit_min = joystick_x1_12bit_center;
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joystick_y1_12bit_max = joystick_y1_12bit_center;
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joystick_y1_12bit_min = joystick_y1_12bit_center;
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joystick_x2_12bit_center = analog_x2;
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joystick_y2_12bit_center = analog_y2;
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joystick_x2_12bit_max = joystick_x2_12bit_center;
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joystick_x2_12bit_min = joystick_x2_12bit_center;
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joystick_y2_12bit_max = joystick_y2_12bit_center;
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joystick_y2_12bit_min = joystick_y2_12bit_center;
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if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED)
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{
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joystick_calibration_mode = CALIBRATION_MINMAX;
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}
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}
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// Calibrate joystick min/max values
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else if (joystick_calibration_mode == CALIBRATION_MINMAX)
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{
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if (analog_x1 > joystick_x1_12bit_max) joystick_x1_12bit_max = analog_x1;
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if (analog_x1 < joystick_x1_12bit_min) joystick_x1_12bit_min = analog_x1;
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if (analog_y1 > joystick_y1_12bit_max) joystick_y1_12bit_max = analog_y1;
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if (analog_y1 < joystick_y1_12bit_min) joystick_y1_12bit_min = analog_y1;
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if (analog_x2 > joystick_x2_12bit_max) joystick_x2_12bit_max = analog_x2;
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if (analog_x2 < joystick_x2_12bit_min) joystick_x2_12bit_min = analog_x2;
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if (analog_y2 > joystick_y2_12bit_max) joystick_y2_12bit_max = analog_y2;
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if (analog_y2 < joystick_y2_12bit_min) joystick_y2_12bit_min = analog_y2;
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if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED)
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{
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joystick_calibration_mode = CALIBRATION_OFF;
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save_to_eeprom();
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}
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}
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}
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/**
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* @brief Save joystick calibration values to EEPROM
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*/
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void send_elrs_data()
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{
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// Set ELRS analog channels
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elrs.set_data(map(joystick_x1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 0);
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elrs.set_data(map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 1);
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elrs.set_data(map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 2);
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elrs.set_data(map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, CRSF_DIGITAL_CHANNEL_MIN, CRSF_DIGITAL_CHANNEL_MAX), 3);
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// Set ELRS digital channels
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for (int i = 4; i < CRSF_MAX_CHANNEL; i++)
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{
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elrs.set_data(CRSF_DIGITAL_CHANNEL_MIN, i);
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}
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if (toggle_button_arm) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 4);
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if (toggle_button_mode) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 5);
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if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 6);
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if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 7);
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if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) elrs.set_data(CRSF_DIGITAL_CHANNEL_MAX, 8);
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// Send ELRS data
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elrs.send_data();
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}
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/**
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* Send USB data to PC
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*/
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void send_usb_data()
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{
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// Set USB analog channels
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int joystick_x1_10bit = map(joystick_x1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
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int joystick_y1_10bit = map(joystick_y1_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
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int joystick_x2_10bit = map(joystick_x2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
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int joystick_y2_10bit = map(joystick_y2_12bit, AXIS_12BIT_MIN, AXIS_12BIT_MAX, AXIS_10BIT_MIN, AXIS_10BIT_MAX);
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Joystick.Zrotate(joystick_x1_10bit);
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Joystick.Z(joystick_y1_10bit);
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if (fn_mode == 2)
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{
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Joystick.X(AXIS_10BIT_CENTER);
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Joystick.Y(AXIS_10BIT_CENTER);
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Joystick.sliderRight(joystick_x2_10bit);
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Joystick.sliderLeft(joystick_y2_10bit);
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}
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else if (fn_mode == 1)
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{
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Joystick.X(AXIS_10BIT_CENTER);
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Joystick.Y(joystick_y2_10bit);
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Joystick.sliderRight(joystick_x2_10bit);
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Joystick.sliderLeft(AXIS_10BIT_CENTER);
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}
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else
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{
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Joystick.X(joystick_x2_10bit);
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Joystick.Y(joystick_y2_10bit);
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Joystick.sliderRight(AXIS_10BIT_CENTER);
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Joystick.sliderLeft(AXIS_10BIT_CENTER);
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}
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// Set USB digital channels
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for (int i = 1; i < 32; i++)
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{
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Joystick.button(i, 0);
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}
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Joystick.hat(JOYSTICK_HAT_CENTER);
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if (fn_mode == 2)
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{
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if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(12, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(13, 1);
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if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(14, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(15, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(16, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(17, 1);
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}
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else if (fn_mode == 1)
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{
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if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(8, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(9, 1);
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if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(10, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(11, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
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}
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else
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{
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if (digitalRead(BUTTON_FRONT_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(3, 1);
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if (digitalRead(BUTTON_TOP_LEFT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(4, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(5, 1);
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if (digitalRead(BUTTON_TOP_LEFT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(6, 1);
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if (digitalRead(BUTTON_TOP_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(7, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_UPPER_PIN) == BUTTON_PRESSED) Joystick.button(1, 1);
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if (digitalRead(BUTTON_FRONT_RIGHT_LOWER_PIN) == BUTTON_PRESSED) Joystick.button(2, 1);
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}
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Joystick.send_now();
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}
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/**
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* @brief Apply calibration to 12-bit gimbal value
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*
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* @param gimbal_value
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* @param min_value
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* @param max_value
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* @param center_value
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* @param deadband_value
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* @param expo_value
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*/
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int apply_calibration_12bit(int gimbal_value, int min_value, int max_value, int center_value, int deadband_value, int expo_value)
|
|
{
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int calibrated_value = AXIS_12BIT_CENTER;
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|
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if (gimbal_value > (center_value + deadband_value))
|
|
{
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calibrated_value = constrain(map(gimbal_value, (center_value + deadband_value), max_value, AXIS_12BIT_CENTER, AXIS_12BIT_MAX),
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AXIS_12BIT_CENTER, AXIS_12BIT_MAX);
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}
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else if (gimbal_value < (center_value - deadband_value))
|
|
{
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calibrated_value = constrain(map(gimbal_value, min_value, (center_value - deadband_value), AXIS_12BIT_MIN, AXIS_12BIT_CENTER),
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|
AXIS_12BIT_MIN, AXIS_12BIT_CENTER);
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}
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|
|
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if (expo_value != 0)
|
|
{
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|
float joystick_x_float = calibrated_value / float(AXIS_12BIT_MAX);
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|
/* Calculate expo using 9th order polynomial function with 0.5 as center point */
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float joystick_x_exp = expo_value * (0.5 + 256 * pow((joystick_x_float - 0.5), 9)) + (1 - expo_value) * joystick_x_float;
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calibrated_value = constrain(int(joystick_x_exp * float(AXIS_12BIT_MAX)), AXIS_12BIT_MIN, AXIS_12BIT_MAX);
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}
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|
|
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return calibrated_value;
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|
}
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|
|
|
/**
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* @brief Process input data from gimbal and buttons
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|
*/
|
|
void process_input_data()
|
|
{
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|
int analog_x1_gimbal_value = 0;
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|
int analog_y1_gimbal_value = 0;
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|
int analog_x2_gimbal_value = 0;
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|
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);
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|
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;
|
|
}
|
|
}
|