Revision 0:e0d0f401d8a4, committed 2018-10-18

Comitter:

Letme

Date:

Thu Oct 18 20:31:36 2018 +0000

Commit message:

Stable version

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmIn.lib	Thu Oct 18 20:31:36 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/simon/code/PwmIn/#6d68eb9b6bbb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Thu Oct 18 20:31:36 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/mbed_official/code/USBDevice/#53949e6131f6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBJoystick.lib	Thu Oct 18 20:31:36 2018 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/users/wim/code/USBJoystick/#e086541742c3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 18 20:31:36 2018 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include <math.h>
+#include "USBJoystick.h"
+#include "PwmIn.h"
+
+//InterruptIn button(USER_BUTTON);
+//#define DEBUG_PRINTF
+
+DigitalOut led(LED1);
+
+PwmIn a(PB_1); /**< Plug channel 1 from receiver to this pin */
+PwmIn b(PC_4); /**< Plug channel 2 from receiver to this pin */
+PwmIn c(PC_5); /**< Plug channel 3 from receiver to this pin */
+PwmIn d(PC_8); /**< Plug channel 4 from receiver to this pin */
+
+/**@note Do not forget to plug ground pin to GND of the board */
+
+/** Covert PWM output which is in floats in range of 0.000153231 to -127..128 range
+ *
+ * PWM pulse width is in float range which needs to be offset a bit and then
+ * converted to int8_t range for the PC joystick driver to understand
+ *
+ * @param[in] pwm PWM float value produced by PwmIn.pulseWidth function
+ *
+ * @return Converted signed integer value in range of -127..128
+ */
+int16_t covert_PWM_to_PC_range(float pwm)
+{
+    int32_t ipwm = pwm * 1000000;
+    if(ipwm != 0) {
+        ipwm = (((ipwm - 1100) * 255) / 870) - 127;   
+    }
+    
+    return (int16_t) ipwm;
+}
+
+int main(void)
+{
+#ifndef DEBUG_PRINTF
+    USBJoystick joystick; /**< Joystick object from USBJoystick library */
+#else
+    Serial pc(USBTX, USBRX); /**< USB interface through debugger (/dev/ttyACM0) */
+    pc.baud(115200); /** Set USB speed for the PC interface */
+#endif
+    uint16_t i = 0;
+    int16_t throttle = 0;
+    int16_t rudder = 0;
+    int16_t x = 0;
+    int16_t y = 0;
+    uint8_t tmp = 0;
+    uint32_t buttons = 0;
+    uint8_t hat = 0;
+
+    led = 1;
+#ifdef DEBUG_PRINTF
+    pc.printf("Hello World from Joystick!\r\n");
+#endif
+    
+    while (1) {
+        /** Get PWM pulsewidth via PwmIn library and covert that to simple
+         * int8_t range for all 4 channels */
+        x = covert_PWM_to_PC_range(a.pulsewidth());
+        y = covert_PWM_to_PC_range(b.pulsewidth());
+        throttle = covert_PWM_to_PC_range(c.pulsewidth());
+        rudder = covert_PWM_to_PC_range(d.pulsewidth());
+
+/*
+#if (BUTTONS4 == 1)
+        buttons = (i >> 8) & 0x0F;   // value    0 ..  15, one bit per button
+#endif
+#if (BUTTONS8 == 1)
+        buttons = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button
+#endif
+#if (BUTTONS32 == 1)
+        tmp     = (i >> 8) & 0xFF;   // value    0 .. 255, one bit per button
+        buttons =           (( tmp <<  0) & 0x000000FF);
+        buttons = buttons | ((~tmp <<  8) & 0x0000FF00);
+        buttons = buttons | (( tmp << 16) & 0x00FF0000);
+        buttons = buttons | ((~tmp << 24) & 0xFF000000);
+#endif
+
+#if (HAT4 == 1)
+        hat    = (i >> 8) & 0x03;   // value 0, 1, 2, 3 or 4 for neutral
+#endif
+#if (HAT8 == 1)
+        hat    = (i >> 8) & 0x07;   // value 0..7 or 8 for neutral
+#endif
+*/
+        
+#ifndef DEBUG_PRINTF
+        joystick.update(rudder, throttle, y, x, 0, 0);
+#else
+        pc.printf("x (CH1): %i\t\ty (CH2): %i\t\t throttle: %i\r\n", y, x,throttle);
+#endif
+        wait(0.005);
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Oct 18 20:31:36 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/a7c7b631e539
\ No newline at end of file