Control program for FzeroX controller via USBHID interface.
Dependencies: Radio USBDevice mbed
Fork of FzeroXcontroller by
USBJoystick.cpp
00001 /* Copyright (c) 2010-2011 mbed.org, MIT License 00002 * Modified Mouse code for Joystick - WH 2012 00003 * 00004 * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 00005 * and associated documentation files (the "Software"), to deal in the Software without 00006 * restriction, including without limitation the rights to use, copy, modify, merge, publish, 00007 * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the 00008 * Software is furnished to do so, subject to the following conditions: 00009 * 00010 * The above copyright notice and this permission notice shall be included in all copies or 00011 * substantial portions of the Software. 00012 * 00013 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 00014 * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 00015 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 00016 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00017 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00018 */ 00019 00020 #include "stdint.h" 00021 #include "USBJoystick.h" 00022 00023 bool USBJoystick::update(int16_t t, int16_t r, int16_t x, int16_t y, uint8_t button, uint8_t hat) { 00024 HID_REPORT report; 00025 _t = t; 00026 _r = r; 00027 _x = x; 00028 _y = y; 00029 _button = button; 00030 _hat = hat; 00031 00032 // Fill the report according to the Joystick Descriptor 00033 report.data[0] = _t & 0xff; 00034 report.data[1] = _r & 0xff; 00035 report.data[2] = _x & 0xff; 00036 report.data[3] = _y & 0xff; 00037 report.data[4] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ; 00038 report.length = 5; 00039 00040 return send(&report); 00041 } 00042 00043 bool USBJoystick::update() { 00044 HID_REPORT report; 00045 00046 // Fill the report according to the Joystick Descriptor 00047 report.data[0] = _t & 0xff; 00048 report.data[1] = _r & 0xff; 00049 report.data[2] = _x & 0xff; 00050 report.data[3] = _y & 0xff; 00051 report.data[4] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ; 00052 report.length = 5; 00053 00054 return send(&report); 00055 } 00056 00057 bool USBJoystick::throttle(int16_t t) { 00058 _t = t; 00059 return update(); 00060 } 00061 00062 bool USBJoystick::rudder(int16_t r) { 00063 _r = r; 00064 return update(); 00065 } 00066 00067 bool USBJoystick::move(int16_t x, int16_t y) { 00068 _x = x; 00069 _y = y; 00070 return update(); 00071 } 00072 00073 bool USBJoystick::button(uint8_t button) { 00074 _button = button; 00075 return update(); 00076 } 00077 00078 bool USBJoystick::hat(uint8_t hat) { 00079 _hat = hat; 00080 return update(); 00081 } 00082 00083 00084 void USBJoystick::_init() { 00085 00086 _t = -127; 00087 _r = -127; 00088 _x = 0; 00089 _y = 0; 00090 _button = 0x00; 00091 _hat = 0x00; 00092 } 00093 00094 00095 uint8_t * USBJoystick::reportDesc() { 00096 static uint8_t reportDescriptor[] = { 00097 00098 USAGE_PAGE(1), 0x01, // Generic Desktop 00099 LOGICAL_MINIMUM(1), 0x00, // Logical_Minimum (0) 00100 USAGE(1), 0x04, // Usage (Joystick) 00101 COLLECTION(1), 0x01, // Application 00102 USAGE_PAGE(1), 0x02, // Simulation Controls 00103 USAGE(1), 0xBB, // Throttle 00104 USAGE(1), 0xBA, // Rudder 00105 LOGICAL_MINIMUM(1), 0x81, // -127 00106 LOGICAL_MAXIMUM(1), 0x7f, // 127 00107 REPORT_SIZE(1), 0x08, 00108 REPORT_COUNT(1), 0x02, 00109 INPUT(1), 0x02, // Data, Variable, Absolute 00110 USAGE_PAGE(1), 0x01, // Generic Desktop 00111 USAGE(1), 0x01, // Usage (Pointer) 00112 COLLECTION(1), 0x00, // Physical 00113 USAGE(1), 0x30, // X 00114 USAGE(1), 0x31, // Y 00115 // 8 bit values 00116 LOGICAL_MINIMUM(1), 0x81, // -127 00117 LOGICAL_MAXIMUM(1), 0x7f, // 127 00118 REPORT_SIZE(1), 0x08, 00119 REPORT_COUNT(1), 0x02, 00120 INPUT(1), 0x02, // Data, Variable, Absolute 00121 // 16 bit values 00122 // LOGICAL_MINIMUM(1), 0x00, // 0 00123 // LOGICAL_MAXIMUM(2), 0xff, 0x7f, // 32767 00124 // REPORT_SIZE(1), 0x10, 00125 // REPORT_COUNT(1), 0x02, 00126 // INPUT(1), 0x02, // Data, Variable, Absolute 00127 00128 END_COLLECTION(0), 00129 // 4 Position Hat Switch 00130 // USAGE(1), 0x39, // Usage (Hat switch) 00131 // LOGICAL_MINIMUM(1), 0x00, // 0 00132 // LOGICAL_MAXIMUM(1), 0x03, // 3 00133 // PHYSICAL_MINIMUM(1), 0x00, // Physical_Minimum (0) 00134 // PHYSICAL_MAXIMUM(2), 0x0E, 0x01, // Physical_Maximum (270) 00135 // UNIT(1), 0x14, // Unit (Eng Rot:Angular Pos) 00136 // REPORT_SIZE(1), 0x04, 00137 // REPORT_COUNT(1), 0x01, 00138 // INPUT(1), 0x02, // Data, Variable, Absolute 00139 // 8 Position Hat Switch 00140 USAGE(1), 0x39, // Usage (Hat switch) 00141 LOGICAL_MINIMUM(1), 0x00, // 0 00142 LOGICAL_MAXIMUM(1), 0x07, // 7 00143 PHYSICAL_MINIMUM(1), 0x00, // Physical_Minimum (0) 00144 PHYSICAL_MAXIMUM(2), 0x3B, 0x01, // Physical_Maximum (315) 00145 UNIT(1), 0x14, // Unit (Eng Rot:Angular Pos) 00146 REPORT_SIZE(1), 0x04, 00147 REPORT_COUNT(1), 0x01, 00148 INPUT(1), 0x02, // Data, Variable, Absolute 00149 // 00150 USAGE_PAGE(1), 0x09, // Buttons 00151 USAGE_MINIMUM(1), 0x01, // 1 00152 USAGE_MAXIMUM(1), 0x04, // 4 00153 LOGICAL_MINIMUM(1), 0x00, // 0 00154 LOGICAL_MAXIMUM(1), 0x01, // 1 00155 REPORT_SIZE(1), 0x01, 00156 REPORT_COUNT(1), 0x04, 00157 UNIT_EXPONENT(1), 0x00, // Unit_Exponent (0) 00158 UNIT(1), 0x00, // Unit (None) 00159 INPUT(1), 0x02, // Data, Variable, Absolute 00160 END_COLLECTION(0) 00161 00162 }; 00163 00164 reportLength = sizeof(reportDescriptor); 00165 return reportDescriptor; 00166 } 00167 00168
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