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diy-copter-remote
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implement usb

master
Schoenberger, Philipp 6 years ago
parent
75e5543ecf
commit
cd38d9cd06
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6 changed files with 89 additions and 57 deletions
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  1. 2
      remote/include/debug.h
  2. 3
      remote/include/input.h
  3. 5
      remote/src/Multiprotocol.cpp
  4. 20
      remote/src/input.cpp
  5. 52
      remote/src/state_fly.cpp
  6. 64
      remote/src/state_joy_usb.cpp

2
remote/include/debug.h
View File

@ -6,7 +6,7 @@
//********************
//** Debug messages **
//********************
#define ENABLE_DBEUG // ~1k
//#define ENABLE_DBEUG // ~1k
#ifdef ENABLE_DBEUG
#define debug(msg, ...) { char buf[256]; sprintf(buf, msg, ##__VA_ARGS__); Serial.print(buf);}
#define debugln(msg, ...) { char buf[256]; sprintf(buf, msg "\r\n", ##__VA_ARGS__); Serial.println(buf);}

3
remote/include/input.h
View File

@ -57,10 +57,11 @@ class Input {
void get_calibration(struct ch_config *curr_config);
uint16_t *get_channel_data(void);
uint16_t ch_raw[CH_COUNT];
private:
// raw sticks input
uint16_t ch_raw[CH_COUNT];
// calculated inputs (my be inverted
struct data {

5
remote/src/Multiprotocol.cpp
View File

@ -66,6 +66,10 @@ uint8_t crc8;
uint16_t failsafe_count;
uint8_t len;
#include <USBComposite.h>
USBHID HID;
HIDJoystick Joystick(HID);
// Telemetry
void setup()
{
@ -78,6 +82,7 @@ void setup()
debugln("Multiprotocol startup");
debugln("time %s ", __TIME__);
#endif
HID.begin(HID_JOYSTICK);
// all inputs
// outputs

20
remote/src/input.cpp
View File

@ -88,10 +88,11 @@ void Input::init() {
this->ch_config[CH_YAW].inverted = false;
this->ch_config[CH_ROLL].inverted = false;
this->ch_config[CH_PITCH].inverted = false;
this->ch_config[CH_AUX1].inverted = false;
this->ch_config[CH_AUX2].inverted = false;
this->ch_config[CH_AUX3].inverted = false;
this->ch_config[CH_AUX4].inverted = false;
this->ch_config[CH_AUX1].inverted = true;
this->ch_config[CH_AUX2].inverted = true;
this->ch_config[CH_AUX3].inverted = true;
this->ch_config[CH_AUX4].inverted = true;
this->ch_config[CH_AUX5].inverted = true;
}
bool Input::is_centered(void) {
@ -190,8 +191,13 @@ bool Input::calibration_update(void) {
}
void Input::calibration_reset(void) {
for (uint8_t ch = 0; ch < CH_COUNT; ch++) {
this->ch_config[ch].min = this->ch_raw[ch];
this->ch_config[ch].max = this->ch_raw[ch];
if (this->ch_config[ch].is_analog) {
this->ch_config[ch].min = this->ch_raw[ch];
this->ch_config[ch].max = this->ch_raw[ch];
}else {
this->ch_config[ch].min = CHANNEL_MIN_100;
this->ch_config[ch].max = CHANNEL_MAX_100;
}
}
}
void Input::set_calibration(struct ch_config *new_config)
@ -214,7 +220,7 @@ void Input::update(void) {
if (this->ch_config[ch].is_analog) {
this->ch_raw[ch] = analogRead(this->pins[ch]);
} else {
this->ch_raw[ch] = digitalRead(this->pins[ch]) == HIGH;
this->ch_raw[ch] = digitalRead(this->pins[ch]) == HIGH ? CHANNEL_MIN_100 : CHANNEL_MAX_100;
}
// do inverting

52
remote/src/state_fly.cpp
View File

@ -8,6 +8,9 @@
#include "eeprom.h"
#include "debug.h"
#include "tx_def.h"
#include "pins.h"
int16_t map16b(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
LCD_state_fly::LCD_state_fly(void) {
}
@ -45,8 +48,6 @@ void LCD_state_fly::enter(void) {
0b00101,
0b00101, };
lcd.createChar(rssiantenna, rssi_antenna_);
lcd.setCursor(6,1);
lcd.write(rssiantenna);
byte rssi_bars_[8];
@ -61,8 +62,6 @@ void LCD_state_fly::enter(void) {
lcd.createChar(rssi_bars, rssi_bars_);
lcd.setCursor(7,1);
lcd.write(rssi_bars);
byte battery_char_data[8];
battery_char_data[0] = 0b01110;
@ -75,11 +74,16 @@ void LCD_state_fly::enter(void) {
battery_char_data[7] = 0b11111;
lcd.createChar(battery_char, battery_char_data);
lcd.setCursor(12,1);
lcd.write(battery_char);
lcd.setCursor(12,0);
lcd.write(battery_char);
#if 0
lcd.setCursor(12,1);
lcd.write(battery_char);
lcd.setCursor(6,1);
lcd.write(rssiantenna);
lcd.setCursor(7,1);
lcd.write(rssi_bars);
#endif
}
void LCD_state_fly::print_time(uint16_t time)
@ -149,11 +153,6 @@ void LCD_state_fly::update(void)
unsigned long time_in_ms = millis() - this->time_enter;
unsigned long time_in_s = time_in_ms/1000; // to sec
this->print_time(time_in_s);
this->print_akku_quad(akku_quad);
this->print_akku_remote(akku_remote);
this->print_rssi(rssi_percent);
uint32_t end__ = micros();
uint32_t start = micros();
uint32_t next_callback_time;
@ -188,20 +187,23 @@ void LCD_state_fly::update(void)
switch(call)
{
case 10:
rssi_percent += 1;
if(rssi_percent > 100)
rssi_percent = 0;
this->print_rssi(rssi_percent);
break;
case 20:
case 10:
// update time
time_in_ms = millis() - this->time_enter;
time_in_s = time_in_ms/1000; // to sec
this->print_time(time_in_s);
break;
#if 0
case 20:
rssi_percent += 1;
if(rssi_percent > 100)
rssi_percent = 0;
this->print_rssi(rssi_percent);
break;
case 30:
// update akku
akku_quad += 1;
@ -210,11 +212,17 @@ void LCD_state_fly::update(void)
this->print_akku_quad(akku_quad);
break;
#endif
case 40:
// update akku
akku_remote += 2;
if(akku_remote > 100)
akku_remote = 0;
akku_remote = analogRead(Battery_pin);
if (akku_remote > 3830)
akku_remote = 3830;
if (akku_remote < 3450)
akku_remote = 3450;
akku_remote = map16b(akku_remote, 3450, 3830, 0, 100);
if (akku_remote > 100)
akku_remote = 100;
this->print_akku_remote(akku_remote);
break;

64
remote/src/state_joy_usb.cpp
View File

@ -5,13 +5,10 @@
#include "input.h"
#include "debug.h"
//#include <USBComposite.h>
/* USBHID* HID; */
/* HIDJoystick* Joystick; */
int16_t map16b( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
#include <USBComposite.h>
extern HIDJoystick Joystick;
LCD_state_joy_usb::LCD_state_joy_usb(void) {
}
void LCD_state_joy_usb::enter(void) {
lcd.setCursor(0,0);
@ -19,30 +16,45 @@ void LCD_state_joy_usb::enter(void) {
lcd.setCursor(0,1);
lcd.print(" ");
delay(500);
/* HID = new USBHID(); */
/* Joystick = new HIDJoystick(*HID); */
/* HID->begin(HID_JOYSTICK); */
}
void LCD_state_joy_usb::update(void) {
input.update();
input.print();
while(1) {
/* Joystick->X(0); */
/* delay(500); */
/* Joystick->X(1023); */
/* delay(500); */
input.update();
if (input.is_menu_triggered()) {
debug("%lu menu button trigger\n", millis());
input.print();
break;
}
uint16_t *ch_data= input.get_channel_data();
uint16_t x = map16b( ch_data[Input::CH_THROTTLE], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023);
uint16_t y = map16b( ch_data[Input::CH_YAW], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023);
uint16_t xr = map16b( ch_data[Input::CH_ROLL], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023);
uint16_t yr = map16b( ch_data[Input::CH_PITCH], CHANNEL_MIN_100, CHANNEL_MAX_100, 0, 1023);
bool bt0 = ch_data[Input::CH_AUX1] == CHANNEL_MIN_100;
bool bt1 = ch_data[Input::CH_AUX2] == CHANNEL_MIN_100;
bool bt2 = ch_data[Input::CH_AUX3] == CHANNEL_MIN_100;
bool bt3 = ch_data[Input::CH_AUX4] == CHANNEL_MIN_100;
bool bt4 = ch_data[Input::CH_AUX5] == CHANNEL_MIN_100;
delay(50);
Joystick.X(x);
Joystick.Y(y);
Joystick.Xrotate(xr);
Joystick.Yrotate(yr);
Joystick.button(0, bt0);
Joystick.button(1, bt1);
Joystick.button(2, bt2);
Joystick.button(3, bt3);
Joystick.button(4, bt4);
char line[17];
snprintf(line,sizeof(line),"%lu %lu", bt0 , input.ch_raw[Input::CH_AUX1]);
lcd.setCursor(0,1);
lcd.print(line);
if (input.is_menu_triggered()) {
debug("%lu menu button trigger\n", millis);
new_state = s_menu;
}
new_state = s_menu;
}
void LCD_state_joy_usb::leave(void) {
lcd.setCursor(0,0);

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