v1 Stable
Dependencies: F401RE-USBHost USBHostXpad mbed
main.cpp
- Committer:
- Ownasaurus
- Date:
- 2017-04-15
- Revision:
- 13:d7c1aae2b48f
- Parent:
- 12:0cc5d9260495
File content as of revision 13:d7c1aae2b48f:
#include "mbed.h" #include "USBHostXpad.h" #include "stm32f4xx_flash.h" DigitalOut myled(LED1); Serial pc(USBTX, USBRX); // tx, rx DigitalInOut data(PA_8); DigitalIn button(PC_13); // eventually code to set controls /** @namespace AXYB @brief Integer for storing the hex of the A X Y B buttons @brief XPad returns a 4 digit hex for all buttons- AXYB buttons are stored in first value @param A - given as a 1 @param B - given as a 2 @param X - given as a 4 @param Y - given as a 8 */ uint8_t AXYB=0x0; /** @namespace XLBRB @brief Integer for storing the hex of the LB,RB and center X buttons @brief XPad returns a 4 digit hex for all buttons- XLBRB buttons are stored in second value @param LB - given as a 1 @param R - given as a 2 @param X - given as a 4 */ uint8_t XLBRB=0x0; /** @namespace bkStrtLCRC @brief Integer for storing the hex of the Left analog button,Right analog button,back and start buttons @brief XPad returns a 4 digit hex for all buttons- bkStrtLCRC buttons are stored in third value @param start - given as a 1 @param back - given as a 2 @param LC - given as a 4 @param RC - given as a 8 */ uint8_t bkStrtLCRC=0x0; /** @namespace DPad @brief Integer for storing the hex of the Directional buttons @brief XPad returns a 4 digit hex for all buttons- DPad buttons are stored in fourth value @param Up - given as a 1 @param Down - given as a 2 @param Left - given as a 4 @param Right - given as a 8 */ uint8_t DPad=0x0; /** @namespace LSY @brief float for storing the value of the Left Analogue Stick's Y axis @brief XPad returns a value between -32768(down) and 32767(up) @there is a deadzone between around -4000 and 4000 where the value returned is not consistent when in the fixed position(assummed 0,0 point) */ char LSY=0x0; /** @namespace LSX @brief float for storing the value of the Left Analogue Stick's X axis @brief XPad returns a value between -32768(left) and 32767(right) @there is a deadzone between around -4000 and 4000 where the value returned is not consistent when in the fixed position(assummed 0,0 point) */ char LSX=0x0; /** @namespace RSY @brief float for storing the value of the Right Analogue Stick's Y axis @brief XPad returns a value between -32768() and 32767(up) @there is a deadzone between around -4000 and 4000 where the value returned is not consistent when in the fixed position(assummed 0,0 point) */ float RSY=0x0; /** @namespace RSX @brief float for storing the value of the Right Analogue Stick's X axis @brief XPad returns a value between -32768(left) and 32767(right) @there is a deadzone between around -4000 and 4000 where the value returned is not consistent when in the fixed position(assummed 0,0 point) */ float RSX=0x0; /** @namespace sN @brief float for storing the stick Normalising value @brief makes the range of the sticks -80 to 80 */ const float sN=0.00244140625;//(80/32768) /** @namespace Lt @brief float for storing the value of the Left trigger @brief XPad returns a value between 0(not pressed) and 255(fully pressed) @ */ float Lt=0x0; /** @namespace Rt @brief float for storing the value of the Left trigger @brief XPad returns a value between 0(not pressed) and 255(fully pressed) @ */ float Rt=0x0; /** @namespace tN @brief float for storing the trigger Normalising value @brief makes the range of the triggers 0 to 10 */ const float tN=0.03921568627;//(10/255) const int dead_zone = 5; const int sensitivity = 66; const int TRIGGER_THRESHOLD = 5; char reverse(char b) { b = (b & 0xF0) >> 4 | (b & 0x0F) << 4; b = (b & 0xCC) >> 2 | (b & 0x33) << 2; b = (b & 0xAA) >> 1 | (b & 0x55) << 1; return b; } enum STATE {NORMAL=0, DPAD_UP, DPAD_DOWN, DPAD_LEFT, DPAD_RIGHT, BUTTON_START, BUTTON_B, BUTTON_A, C_UP, C_DOWN, C_LEFT, C_RIGHT, BUTTON_L, BUTTON_R, BUTTON_Z}; enum XPAD_BUTTON {XPAD_DUP, XPAD_DDOWN, XPAD_DLEFT, XPAD_DRIGHT, XPAD_X, XPAD_Y, XPAD_A, XPAD_B, XPAD_LB, XPAD_RB, XPAD_LT, XPAD_RT, XPAD_BACK, XPAD_START, XPAD_LAB, XPAD_RAB}; uint8_t state = NORMAL; bool XpadButtonPressed = false; const uint64_t A_MASK = 0x00001000, B_MASK = 0x00002000, X_MASK = 0x00004000, Y_MASK = 0x00008000, LB_MASK = 0x00000100, RB_MASK = 0x00000200, START_MASK = 0x00000010, BACK_MASK = 0x00000020, LAB_MASK = 0x00000040, RAB_MASK = 0x00000080, DUP_MASK = 0x00000001, DDOWN_MASK = 0x00000002, DLEFT_MASK = 0x00000004, DRIGHT_MASK = 0x00000008, // the next two masks are special extensions to support triggers LT_MASK = 0x00010000, RT_MASK = 0x00020000; extern "C" void my_wait_us_asm (int n); void LoadControls(); void SaveControls(); struct __attribute__((packed)) N64ControllerData // all bits are in the correct order... except for the analog { unsigned int a : 1; // 1 bit wide unsigned int b : 1; unsigned int z : 1; unsigned int start : 1; unsigned int up : 1; unsigned int down : 1; unsigned int left : 1; unsigned int right : 1; unsigned int dummy1 : 1; unsigned int dummy2 : 1; unsigned int l : 1; unsigned int r : 1; unsigned int c_up : 1; unsigned int c_down : 1; unsigned int c_left : 1; unsigned int c_right : 1; char x_axis; char y_axis; } n64_data; struct __attribute__((packed)) XpadControls { uint64_t a; uint64_t b; uint64_t z; uint64_t start; uint64_t up; uint64_t down; uint64_t left; uint64_t right; uint64_t l; uint64_t r; uint64_t c_up; uint64_t c_down; uint64_t c_left; uint64_t c_right; XpadControls() { LoadControls(); } void PrintControls() { pc.printf("The mask for a is: 0x%X\r\n",a); pc.printf("The mask for start is: 0x%X\r\n",start); } } xpc; const int SAVE_ADDR = 0x0800C000; // sector 3 XpadControls* saveData = (XpadControls*)SAVE_ADDR; // linear search, find first button pressed // if the user pressed 2 buttons, its the user's fault uint64_t DetectButton() { if(AXYB != 0) { if(AXYB & 0x01) // a { return A_MASK; } else if((AXYB >> 1) & 0x01) // b { return B_MASK; } else if((AXYB >> 2) & 0x01) // x { return X_MASK; } else if((AXYB >> 3) & 0x01) // y { return Y_MASK; } } else if(XLBRB != 0) { if((XLBRB >> 1) & 0x01) // right bumper { return RB_MASK; } else if(XLBRB & 0x01) // left bumper { return LB_MASK; } // the Xbox ("X") button is ignored in this firmware } else if(bkStrtLCRC != 0) { if(bkStrtLCRC & 0x01) // start { return START_MASK; } else if(bkStrtLCRC & 0x02) // back { return BACK_MASK; } else if(bkStrtLCRC & 0x04) // L analog button { return LAB_MASK; } else if(bkStrtLCRC & 0x08) // R analog button { return RAB_MASK; } } else if(DPad != 0) { if(DPad & 0x01) // DPad Up { return DUP_MASK; } else if(DPad & 0x02) // DPad Down { return DDOWN_MASK; } else if(DPad & 0x04) // DPad Left { return DLEFT_MASK; } else if(DPad & 0x08) // DPad Right { return DRIGHT_MASK; } } else if(Lt > TRIGGER_THRESHOLD) { return LT_MASK; } else if(Rt > TRIGGER_THRESHOLD) { return RT_MASK; } return 0; // no button was pressed } void ChangeButtonMapping(uint64_t bt) { // analog settings must be hardcoded, cannot change on the fly if(state == DPAD_UP) // state = 1 --> dpad up { xpc.up = bt; } else if(state == DPAD_DOWN) // state = 2 --> dpad down { xpc.down = bt; } else if(state == DPAD_LEFT) // state = 3 --> dpad left { xpc.left = bt; } else if(state == DPAD_RIGHT) // state = 4 --> dpad right { xpc.right = bt; } else if(state == BUTTON_START) // state = 5 --> start { xpc.start = bt; } else if(state == BUTTON_B) // state = 6 --> B { xpc.b = bt; } else if(state == BUTTON_A) // state = 7 --> A { xpc.a = bt; } else if(state == C_UP) // state = 8 --> c up { xpc.c_up = bt; } else if(state == C_DOWN) // state = 9 --> c down { xpc.c_down = bt; } else if(state == C_LEFT) // state = 10 --> c left { xpc.c_left = bt; } else if(state == C_RIGHT) // state = 11 --> c right { xpc.c_right = bt; } else if(state == BUTTON_L) // state = 12 --> L { xpc.l = bt; } else if(state == BUTTON_R) // state = 13 --> R { xpc.r = bt; } else if(state == BUTTON_Z) // state = 14 --> Z { xpc.z = bt; } } void SaveControls() { FLASH_Unlock(); //unlock flash writing FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR|FLASH_FLAG_PGSERR); FLASH_EraseSector(FLASH_Sector_3,VoltageRange_3); // 0x0800C000 - 0x0800FFFF uint32_t* data = (uint32_t*)&xpc; // Total size is 112 bytes // Each word is 4 bytes, so the total size is 28 words // Note: ProgramDoubleWord requires a higher voltage, so we must do one word at a time for(int ct = 0;ct < 28;ct++) { FLASH_ProgramWord(SAVE_ADDR+(ct*4),*data); //each SAVE_ADDR+4 is 4 bytes because it is a memory address data++; // each data+1 is 4 bytes because it is a 32 bit data type } FLASH_Lock(); // lock it back up } void LoadControls() { memcpy(&xpc,saveData,sizeof(XpadControls)); pc.printf("Controls have been loaded!\r\n"); } void AdvanceState() { state++; if(state >= 15) // we're done mapping the controls { SaveControls(); // write directly to flash state = NORMAL; // back to normal controller operation } } void onXpadEvent (int buttons, int stick_lx, int stick_ly, int stick_rx, int stick_ry, int trigger_l, int trigger_r) { //pc.printf("A button was pressed!\r\n",state); // DEBUG AXYB=buttons>>12; XLBRB=(buttons&0x0f00)>>8; bkStrtLCRC=(buttons&0x00f0)>>4; DPad=buttons&0x000f; //pc.printf("AXYB: %u, XLBRB, %u, bkStrtLCRC %u, DPad, %u\r\n",AXYB,XLBRB,bkStrtLCRC,DPad); // normalize the analog stick values to be 80 max //LSY=(char)((int)(stick_ly*sN)); //LSX=(char)((int)(stick_lx*sN)); //RSY=stick_ry*sN; //RSX=stick_rx*sN; // normalize the trigger values to be 10 max Lt=trigger_l*tN; Rt=trigger_r*tN; if(state == 0) { memset(&n64_data,0,4); // clear controller state uint64_t buttons_and_triggers = buttons; if(Lt > TRIGGER_THRESHOLD) { buttons_and_triggers |= LT_MASK; } if(Rt > TRIGGER_THRESHOLD) { buttons_and_triggers |= RT_MASK; } if(buttons_and_triggers & xpc.up) { n64_data.up = 1; } if(buttons_and_triggers & xpc.down) { n64_data.down = 1; } if(buttons_and_triggers & xpc.left) { n64_data.left = 1; } if(buttons_and_triggers & xpc.right) { n64_data.right = 1; } if(buttons_and_triggers & xpc.c_up) { n64_data.c_up = 1; } if(buttons_and_triggers & xpc.c_down) { n64_data.c_down = 1; } if(buttons_and_triggers & xpc.c_left) { n64_data.c_left = 1; } if(buttons_and_triggers & xpc.c_right) { n64_data.c_right = 1; } if(buttons_and_triggers & xpc.l) { n64_data.l = 1; } if(buttons_and_triggers & xpc.r) { n64_data.r = 1; } if(buttons_and_triggers & xpc.z) { n64_data.z = 1; } if(buttons_and_triggers & xpc.a) { n64_data.a = 1; } if(buttons_and_triggers & xpc.b) { n64_data.b = 1; } if(buttons_and_triggers & xpc.start) { n64_data.start = 1; } // LD code, val is the x_axis value from -32k to +32k // seems pretty inefficient but hopefully its fast enough // ----- begin LD analog code ----- /*int val = stick_lx; float X1_norm; if(val > 0) X1_norm = val / 32767.f; else X1_norm = val / -32767.f; X1_norm = (X1_norm - dead_zone / 100.0) * 100.0 / (100.0 - dead_zone); if (X1_norm < 0) X1_norm = 0; char ans = (char)(127 * X1_norm * sensitivity / 100); if (val < 0) ans = -ans; n64_data.x_axis = reverse(ans); // repeat for y values val = stick_ly; if(val > 0) X1_norm = val / 32767.f; else X1_norm = val / -32767.f; X1_norm = (X1_norm - dead_zone / 100.0) * 100.0 / (100.0 - dead_zone); if (X1_norm < 0) X1_norm = 0; ans = (char)(127 * X1_norm * sensitivity / 100); if (val < 0) ans = -ans; n64_data.y_axis = reverse(ans);*/ // ----- end of LD analog code ----- // ----- begin nrage replication analog code ----- const float XPAD_MAX = 32768; const float N64_MAX = (sensitivity > 0) ? 127*(sensitivity/100.0f) : 0; //const float N64_MAX = 127; float deadzoneValue = (dead_zone/100.0f) * XPAD_MAX; float deadzoneRelation = XPAD_MAX / (XPAD_MAX - deadzoneValue); LSX = LSY = 0; // -128 to +127... float unscaled_result = 0; if(stick_lx >= deadzoneValue) // positive = right { unscaled_result = (stick_lx - deadzoneValue) * deadzoneRelation; LSX = (char)(unscaled_result * (N64_MAX / XPAD_MAX)); } else if(stick_lx <= (-deadzoneValue)) // negative = left { stick_lx = -stick_lx; // compute as positive, then negate at the end unscaled_result = (stick_lx - deadzoneValue) * deadzoneRelation; LSX = (char)(unscaled_result * (N64_MAX / XPAD_MAX)); LSX = -LSX; } if(stick_ly >= deadzoneValue) // positive = up { unscaled_result = (stick_ly - deadzoneValue) * deadzoneRelation; LSY = (char)(unscaled_result * (N64_MAX / XPAD_MAX)); } else if(stick_ly <= (-deadzoneValue)) // negative = down { stick_ly = -stick_ly; // compute as positive, then negate at the end unscaled_result = (stick_ly - deadzoneValue) * deadzoneRelation; LSY = (char)(unscaled_result * (N64_MAX / XPAD_MAX)); LSY = -LSY; } n64_data.x_axis = reverse(LSX); n64_data.y_axis = reverse(LSY); // ----- end nrage replication analog code ----- // Generic analog stick code /*if(LSX > dead_zone) { n64_data.x_axis = reverse(LSX); } if(LSY > dead_zone) { n64_data.y_axis = reverse(LSY); }*/ // end of general code } else // state > 0 so we are in the process of changing controls { uint64_t b = DetectButton(); // read for button presses (just do linear search) if(b != 0) /*button was actually is pressed*/ { //pc.printf("PRESSED\r\n",state); // DEBUG if(XpadButtonPressed == false) { XpadButtonPressed = true; ChangeButtonMapping(b); AdvanceState(); } } else { //pc.printf("NADA\r\n",state); // DEBUG XpadButtonPressed = false; } } } // 0 is 3 microseconds low followed by 1 microsecond high // 1 is 1 microsecond low followed by 3 microseconds high unsigned int GetMiddleOfPulse() { // wait for line to go high while(1) { if(data.read() == 1) break; } // wait for line to go low while(1) { if(data.read() == 0) break; } // now we have the falling edge // wait 2 microseconds to be in the middle of the pulse, and read. high --> 1. low --> 0. my_wait_us_asm(2); return (unsigned int) data.read(); } // continuously read bits until at least 9 are read, confirm valid command, return without stop bit unsigned int readCommand() { unsigned int command = GetMiddleOfPulse(), bits_read = 1; while(1) // read at least 9 bits (2 bytes + stop bit) { //my_wait_us_asm(4); command = command << 1; // make room for the new bit //command += data.read(); // place the new bit into the command command += GetMiddleOfPulse(); command &= 0x1FF; // remove all except the last 9 bits bits_read++; if(bits_read >= 9) // only consider when at least a whole command's length has been read { if(command == 0x3 || command == 0x1 || command == 0x1FF || command == 0x5 || command == 0x7) { // 0x3 = 0x1 + stop bit --> get controller state // 0x1 = 0x0 + stop bit --> who are you? // 0x1FF = 0xFF + stop bit --> reset signal // 0x5 = 0x10 + stop bit --> read // 0x7 = 0x11 + stop bit --> write command = command >> 1; // get rid of the stop bit return command; } } } } void write_1() { data = 0; my_wait_us_asm(1); data = 1; my_wait_us_asm(3); //pc.printf("1"); } void write_0() { data = 0; my_wait_us_asm(3); data = 1; my_wait_us_asm(1); //pc.printf("0"); } void SendStop() { data = 0; my_wait_us_asm(1); data = 1; } // send a byte from LSB to MSB (proper serialization) void SendByte(unsigned char b) { for(int i = 0;i < 8;i++) // send all 8 bits, one at a time { if((b >> i) & 1) { write_1(); } else { write_0(); } } } void SendIdentity() { // reply 0x05, 0x00, 0x02 SendByte(0x05); SendByte(0x00); SendByte(0x02); SendStop(); } void SendControllerData() { unsigned long data = *(unsigned long*)&n64_data; unsigned int size = sizeof(data) * 8; // should be 4 bytes * 8 = 32 bits for(unsigned int i = 0;i < size;i++) { if((data >> i) & 1) { write_1(); } else { write_0(); } } SendStop(); } int main() { bool buttonPressed = false; pc.printf("\r\nNow loaded! SystemCoreClock = %d Hz\r\n", SystemCoreClock); USBHostXpad xpad; if (!xpad.connect()) { pc.printf("Error: XBox controller not found.\n"); } xpad.attachEvent(onXpadEvent); xpad.led(USBHostXpad::LED1_ON); while(1) { if(state == NORMAL) { if(!button) // user wants to change controls { if(!buttonPressed) // make sure it's a separate button press { myled = true; buttonPressed = true; state++; continue; } } else { buttonPressed = false; } // Set pin mode to input data.input(); USBHost::poll(); __disable_irq(); // Disable Interrupts // Read 64 command unsigned int cmd = readCommand(); my_wait_us_asm(2); // wait a small amount of time before replying //-------- SEND RESPONSE // Set pin mode to output data.output(); //pc.printf("cmd = 0x%02X\r\n",cmd); switch(cmd) { case 0x00: // identity //pc.printf("I got an 0x00!\r\n"); SendIdentity(); break; case 0xFF: // reset //pc.printf("I got an 0xFF!\r\n"); SendIdentity(); break; case 0x01: // poll for state SendControllerData(); break; default: // we do not process the read and write commands (memory pack) break; } __enable_irq(); // Enable Interrupts //-------- DONE SENDING RESPOSE } else { if(!button) // user wants to cancel and return to regular mode { if(!buttonPressed) // make sure it's a separate button press { state = NORMAL; myled = false; buttonPressed = true; continue; } } else { buttonPressed = false; } //pc.printf("State = %d\r\n",state); // DEBUG USBHost::poll(); //wait(0.1); // too long of a wait. caused xbone controller issues due to timeouts if(state == NORMAL) // about to return to normal operation, make sure the LED turns off { myled = false; XpadButtonPressed = false; } } } }