Crt Mori / Mbed 2 deprecated USBJoyFromRC

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Dependencies:   PwmIn USBDevice USBJoystick mbed

main.cpp@0:e0d0f401d8a4, 2018-10-18 (annotated)

Committer:
Letme
Date:
Thu Oct 18 20:31:36 2018 +0000
Revision:
0:e0d0f401d8a4
Stable version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Letme 0:e0d0f401d8a4 1 #include "mbed.h"
Letme 0:e0d0f401d8a4 2 #include <math.h>
Letme 0:e0d0f401d8a4 3 #include "USBJoystick.h"
Letme 0:e0d0f401d8a4 4 #include "PwmIn.h"
Letme 0:e0d0f401d8a4 5
Letme 0:e0d0f401d8a4 6 //InterruptIn button(USER_BUTTON);
Letme 0:e0d0f401d8a4 7 //#define DEBUG_PRINTF
Letme 0:e0d0f401d8a4 8
Letme 0:e0d0f401d8a4 9 DigitalOut led(LED1);
Letme 0:e0d0f401d8a4 10
Letme 0:e0d0f401d8a4 11 PwmIn a(PB_1); /**< Plug channel 1 from receiver to this pin */
Letme 0:e0d0f401d8a4 12 PwmIn b(PC_4); /**< Plug channel 2 from receiver to this pin */
Letme 0:e0d0f401d8a4 13 PwmIn c(PC_5); /**< Plug channel 3 from receiver to this pin */
Letme 0:e0d0f401d8a4 14 PwmIn d(PC_8); /**< Plug channel 4 from receiver to this pin */
Letme 0:e0d0f401d8a4 15
Letme 0:e0d0f401d8a4 16 /**@note Do not forget to plug ground pin to GND of the board */
Letme 0:e0d0f401d8a4 17
Letme 0:e0d0f401d8a4 18 /** Covert PWM output which is in floats in range of 0.000153231 to -127..128 range
Letme 0:e0d0f401d8a4 19 *
Letme 0:e0d0f401d8a4 20 * PWM pulse width is in float range which needs to be offset a bit and then
Letme 0:e0d0f401d8a4 21 * converted to int8_t range for the PC joystick driver to understand
Letme 0:e0d0f401d8a4 22 *
Letme 0:e0d0f401d8a4 23 * @param[in] pwm PWM float value produced by PwmIn.pulseWidth function
Letme 0:e0d0f401d8a4 24 *
Letme 0:e0d0f401d8a4 25 * @return Converted signed integer value in range of -127..128
Letme 0:e0d0f401d8a4 26 */
Letme 0:e0d0f401d8a4 27 int16_t covert_PWM_to_PC_range(float pwm)
Letme 0:e0d0f401d8a4 28 {
Letme 0:e0d0f401d8a4 29 int32_t ipwm = pwm * 1000000;
Letme 0:e0d0f401d8a4 30 if(ipwm != 0) {
Letme 0:e0d0f401d8a4 31 ipwm = (((ipwm - 1100) * 255) / 870) - 127;
Letme 0:e0d0f401d8a4 32 }
Letme 0:e0d0f401d8a4 33
Letme 0:e0d0f401d8a4 34 return (int16_t) ipwm;
Letme 0:e0d0f401d8a4 35 }
Letme 0:e0d0f401d8a4 36
Letme 0:e0d0f401d8a4 37 int main(void)
Letme 0:e0d0f401d8a4 38 {
Letme 0:e0d0f401d8a4 39 #ifndef DEBUG_PRINTF
Letme 0:e0d0f401d8a4 40 USBJoystick joystick; /**< Joystick object from USBJoystick library */
Letme 0:e0d0f401d8a4 41 #else
Letme 0:e0d0f401d8a4 42 Serial pc(USBTX, USBRX); /**< USB interface through debugger (/dev/ttyACM0) */
Letme 0:e0d0f401d8a4 43 pc.baud(115200); /** Set USB speed for the PC interface */
Letme 0:e0d0f401d8a4 44 #endif
Letme 0:e0d0f401d8a4 45 uint16_t i = 0;
Letme 0:e0d0f401d8a4 46 int16_t throttle = 0;
Letme 0:e0d0f401d8a4 47 int16_t rudder = 0;
Letme 0:e0d0f401d8a4 48 int16_t x = 0;
Letme 0:e0d0f401d8a4 49 int16_t y = 0;
Letme 0:e0d0f401d8a4 50 uint8_t tmp = 0;
Letme 0:e0d0f401d8a4 51 uint32_t buttons = 0;
Letme 0:e0d0f401d8a4 52 uint8_t hat = 0;
Letme 0:e0d0f401d8a4 53
Letme 0:e0d0f401d8a4 54 led = 1;
Letme 0:e0d0f401d8a4 55 #ifdef DEBUG_PRINTF
Letme 0:e0d0f401d8a4 56 pc.printf("Hello World from Joystick!\r\n");
Letme 0:e0d0f401d8a4 57 #endif
Letme 0:e0d0f401d8a4 58
Letme 0:e0d0f401d8a4 59 while (1) {
Letme 0:e0d0f401d8a4 60 /** Get PWM pulsewidth via PwmIn library and covert that to simple
Letme 0:e0d0f401d8a4 61 * int8_t range for all 4 channels */
Letme 0:e0d0f401d8a4 62 x = covert_PWM_to_PC_range(a.pulsewidth());
Letme 0:e0d0f401d8a4 63 y = covert_PWM_to_PC_range(b.pulsewidth());
Letme 0:e0d0f401d8a4 64 throttle = covert_PWM_to_PC_range(c.pulsewidth());
Letme 0:e0d0f401d8a4 65 rudder = covert_PWM_to_PC_range(d.pulsewidth());
Letme 0:e0d0f401d8a4 66
Letme 0:e0d0f401d8a4 67 /*
Letme 0:e0d0f401d8a4 68 #if (BUTTONS4 == 1)
Letme 0:e0d0f401d8a4 69 buttons = (i >> 8) & 0x0F; // value 0 .. 15, one bit per button
Letme 0:e0d0f401d8a4 70 #endif
Letme 0:e0d0f401d8a4 71 #if (BUTTONS8 == 1)
Letme 0:e0d0f401d8a4 72 buttons = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button
Letme 0:e0d0f401d8a4 73 #endif
Letme 0:e0d0f401d8a4 74 #if (BUTTONS32 == 1)
Letme 0:e0d0f401d8a4 75 tmp = (i >> 8) & 0xFF; // value 0 .. 255, one bit per button
Letme 0:e0d0f401d8a4 76 buttons = (( tmp << 0) & 0x000000FF);
Letme 0:e0d0f401d8a4 77 buttons = buttons | ((~tmp << 8) & 0x0000FF00);
Letme 0:e0d0f401d8a4 78 buttons = buttons | (( tmp << 16) & 0x00FF0000);
Letme 0:e0d0f401d8a4 79 buttons = buttons | ((~tmp << 24) & 0xFF000000);
Letme 0:e0d0f401d8a4 80 #endif
Letme 0:e0d0f401d8a4 81
Letme 0:e0d0f401d8a4 82 #if (HAT4 == 1)
Letme 0:e0d0f401d8a4 83 hat = (i >> 8) & 0x03; // value 0, 1, 2, 3 or 4 for neutral
Letme 0:e0d0f401d8a4 84 #endif
Letme 0:e0d0f401d8a4 85 #if (HAT8 == 1)
Letme 0:e0d0f401d8a4 86 hat = (i >> 8) & 0x07; // value 0..7 or 8 for neutral
Letme 0:e0d0f401d8a4 87 #endif
Letme 0:e0d0f401d8a4 88 */
Letme 0:e0d0f401d8a4 89
Letme 0:e0d0f401d8a4 90 #ifndef DEBUG_PRINTF
Letme 0:e0d0f401d8a4 91 joystick.update(rudder, throttle, y, x, 0, 0);
Letme 0:e0d0f401d8a4 92 #else
Letme 0:e0d0f401d8a4 93 pc.printf("x (CH1): %i\t\ty (CH2): %i\t\t throttle: %i\r\n", y, x,throttle);
Letme 0:e0d0f401d8a4 94 #endif
Letme 0:e0d0f401d8a4 95 wait(0.005);
Letme 0:e0d0f401d8a4 96 }
Letme 0:e0d0f401d8a4 97 }