Igor Martinovski
/
USBJoystick
N64 to USB HID interface
main.cpp@4:fee2d61ad6bc, 2011-09-30 (annotated)
- Committer:
- igor_m
- Date:
- Fri Sep 30 23:16:52 2011 +0000
- Revision:
- 4:fee2d61ad6bc
- Parent:
- 3:b9cecf3e2496
- Child:
- 5:eb93a4f91396
GCPad - Working
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
igor_m |
0:547c5459faa6 | 1 | |
igor_m |
0:547c5459faa6 | 2 | /* |
igor_m |
0:547c5459faa6 | 3 | N64 Controller Interface for the mbed. |
igor_m |
0:547c5459faa6 | 4 | |
igor_m |
0:547c5459faa6 | 5 | by Igor Martinovski |
igor_m |
0:547c5459faa6 | 6 | March, 2011. |
igor_m |
0:547c5459faa6 | 7 | |
igor_m |
0:547c5459faa6 | 8 | Function Mapping (from www.mixdown.ca/n64dev/) |
igor_m |
0:547c5459faa6 | 9 | |
igor_m |
0:547c5459faa6 | 10 | Bit Function |
igor_m |
0:547c5459faa6 | 11 | 0 A |
igor_m |
0:547c5459faa6 | 12 | 1 B |
igor_m |
0:547c5459faa6 | 13 | 2 Z |
igor_m |
0:547c5459faa6 | 14 | 3 Start |
igor_m |
0:547c5459faa6 | 15 | 4 Directional Up |
igor_m |
0:547c5459faa6 | 16 | 5 Directional Down |
igor_m |
0:547c5459faa6 | 17 | 6 Directional Left |
igor_m |
0:547c5459faa6 | 18 | 7 Directional Right |
igor_m |
0:547c5459faa6 | 19 | |
igor_m |
0:547c5459faa6 | 20 | 8 unknown (always 0) |
igor_m |
0:547c5459faa6 | 21 | 9 unknown (always 0) |
igor_m |
0:547c5459faa6 | 22 | 10 L |
igor_m |
0:547c5459faa6 | 23 | 11 R |
igor_m |
0:547c5459faa6 | 24 | 12 C Up |
igor_m |
0:547c5459faa6 | 25 | 13 C Down |
igor_m |
0:547c5459faa6 | 26 | 14 C Left |
igor_m |
0:547c5459faa6 | 27 | 15 C Right |
igor_m |
0:547c5459faa6 | 28 | |
igor_m |
0:547c5459faa6 | 29 | 16-23 X value (signed) |
igor_m |
0:547c5459faa6 | 30 | |
igor_m |
0:547c5459faa6 | 31 | 23-32 Y value (signed) |
igor_m |
0:547c5459faa6 | 32 | |
igor_m |
0:547c5459faa6 | 33 | Pinout: |
igor_m |
0:547c5459faa6 | 34 | Looking at the controller plug, flat side down. |
igor_m |
0:547c5459faa6 | 35 | Pin 1 (Left) Ground |
igor_m |
0:547c5459faa6 | 36 | Pin 2 (Center) Data** |
igor_m |
0:547c5459faa6 | 37 | Pin 3 (Right) +3.3V* |
igor_m |
0:547c5459faa6 | 38 | |
igor_m |
0:547c5459faa6 | 39 | (*)Note: The controller is supplied by 3.6V on the N64, but it seems to work fine on |
igor_m |
0:547c5459faa6 | 40 | the 3.3V provided by the mbed. |
igor_m |
0:547c5459faa6 | 41 | |
igor_m |
0:547c5459faa6 | 42 | (**)Warning: The N64 controller must be connected to an open drain pin with a |
igor_m |
0:547c5459faa6 | 43 | pull-up resistor. The line must never be driven high by the mbed! If you are not |
igor_m |
0:547c5459faa6 | 44 | sure how to connect the controller safely, you may damage the mbed and/or |
igor_m |
0:547c5459faa6 | 45 | controller. You have been warned. |
igor_m |
0:547c5459faa6 | 46 | */ |
igor_m |
0:547c5459faa6 | 47 | |
igor_m |
0:547c5459faa6 | 48 | #include "mbed.h" |
igor_m |
0:547c5459faa6 | 49 | #include "stdint.h" |
igor_m |
0:547c5459faa6 | 50 | #include "usbhid.h" |
igor_m |
3:b9cecf3e2496 | 51 | |
igor_m |
0:547c5459faa6 | 52 | |
igor_m |
0:547c5459faa6 | 53 | USBJoystick joystick; |
igor_m |
0:547c5459faa6 | 54 | |
igor_m |
0:547c5459faa6 | 55 | |
igor_m |
0:547c5459faa6 | 56 | /* |
igor_m |
0:547c5459faa6 | 57 | N64 Controller Interface for the mbed. |
igor_m |
0:547c5459faa6 | 58 | |
igor_m |
0:547c5459faa6 | 59 | by Igor Martinovski |
igor_m |
0:547c5459faa6 | 60 | March, 2011. |
igor_m |
0:547c5459faa6 | 61 | |
igor_m |
0:547c5459faa6 | 62 | Function Mapping (from www.mixdown.ca/n64dev/) |
igor_m |
0:547c5459faa6 | 63 | |
igor_m |
0:547c5459faa6 | 64 | Bit Function |
igor_m |
0:547c5459faa6 | 65 | 0 A |
igor_m |
0:547c5459faa6 | 66 | 1 B |
igor_m |
0:547c5459faa6 | 67 | 2 Z |
igor_m |
0:547c5459faa6 | 68 | 3 Start |
igor_m |
0:547c5459faa6 | 69 | 4 Directional Up |
igor_m |
0:547c5459faa6 | 70 | 5 Directional Down |
igor_m |
0:547c5459faa6 | 71 | 6 Directional Left |
igor_m |
0:547c5459faa6 | 72 | 7 Directional Right |
igor_m |
0:547c5459faa6 | 73 | |
igor_m |
0:547c5459faa6 | 74 | 8 unknown (always 0) |
igor_m |
0:547c5459faa6 | 75 | 9 unknown (always 0) |
igor_m |
0:547c5459faa6 | 76 | 10 L |
igor_m |
0:547c5459faa6 | 77 | 11 R |
igor_m |
0:547c5459faa6 | 78 | 12 C Up |
igor_m |
0:547c5459faa6 | 79 | 13 C Down |
igor_m |
0:547c5459faa6 | 80 | 14 C Left |
igor_m |
0:547c5459faa6 | 81 | 15 C Right |
igor_m |
0:547c5459faa6 | 82 | |
igor_m |
0:547c5459faa6 | 83 | 16-23 X value (signed) |
igor_m |
0:547c5459faa6 | 84 | |
igor_m |
0:547c5459faa6 | 85 | 23-32 Y value (signed) |
igor_m |
0:547c5459faa6 | 86 | |
igor_m |
0:547c5459faa6 | 87 | Pinout: |
igor_m |
0:547c5459faa6 | 88 | Looking at the controller plug, flat side down. |
igor_m |
0:547c5459faa6 | 89 | Pin 1 (Left) Ground |
igor_m |
0:547c5459faa6 | 90 | Pin 2 (Center) Data** |
igor_m |
0:547c5459faa6 | 91 | Pin 3 (Right) +3.3V* |
igor_m |
0:547c5459faa6 | 92 | |
igor_m |
0:547c5459faa6 | 93 | (*)Note: The controller is supplied by 3.6V on the N64, but it seems to work fine on |
igor_m |
0:547c5459faa6 | 94 | the 3.3V provided by the mbed. |
igor_m |
0:547c5459faa6 | 95 | |
igor_m |
0:547c5459faa6 | 96 | (**)Warning: The N64 controller must be connected to an open drain pin with a |
igor_m |
0:547c5459faa6 | 97 | pull-up resistor. The line must never be driven high by the mbed! If you are not |
igor_m |
0:547c5459faa6 | 98 | sure how to connect the controller safely, you may damage the mbed and/or |
igor_m |
0:547c5459faa6 | 99 | controller. You have been warned. |
igor_m |
0:547c5459faa6 | 100 | */ |
igor_m |
0:547c5459faa6 | 101 | |
igor_m |
0:547c5459faa6 | 102 | #include "mbed.h" |
igor_m |
0:547c5459faa6 | 103 | #include "stdint.h" |
igor_m |
0:547c5459faa6 | 104 | |
igor_m |
0:547c5459faa6 | 105 | // Controller Commands |
igor_m |
0:547c5459faa6 | 106 | |
igor_m |
0:547c5459faa6 | 107 | #define GET_STATUS 0x00 |
igor_m |
0:547c5459faa6 | 108 | #define REQUEST_CONTROLS 0x01 |
igor_m |
0:547c5459faa6 | 109 | #define READ_MEMPACK 0x02 |
igor_m |
0:547c5459faa6 | 110 | #define WRITE_MEMPACK 0x03 |
igor_m |
0:547c5459faa6 | 111 | #define READ_EEPROM 0x04 |
igor_m |
0:547c5459faa6 | 112 | #define WRITE_EEPROM 0x05 |
igor_m |
0:547c5459faa6 | 113 | #define RESET_CONTROLLER 0xff |
igor_m |
0:547c5459faa6 | 114 | |
igor_m |
4:fee2d61ad6bc | 115 | #define T1 22 // Corresponds to 1 us |
igor_m |
4:fee2d61ad6bc | 116 | #define T2 68 // Corresponds to 3 us |
igor_m |
0:547c5459faa6 | 117 | |
igor_m |
0:547c5459faa6 | 118 | DigitalInOut inout(p14); // Connect controller here |
igor_m |
0:547c5459faa6 | 119 | // using 220 ohm pull-up |
igor_m |
0:547c5459faa6 | 120 | Serial pc(USBTX, USBRX); |
igor_m |
3:b9cecf3e2496 | 121 | |
igor_m |
0:547c5459faa6 | 122 | uint8_t x, y; |
igor_m |
0:547c5459faa6 | 123 | union controls { /* A definition and a declaration */ |
igor_m |
4:fee2d61ad6bc | 124 | uint8_t array[8]; |
igor_m |
4:fee2d61ad6bc | 125 | uint32_t result[2]; |
igor_m |
0:547c5459faa6 | 126 | } controls; |
igor_m |
0:547c5459faa6 | 127 | |
igor_m |
0:547c5459faa6 | 128 | // Temp array for controller data |
igor_m |
0:547c5459faa6 | 129 | |
igor_m |
0:547c5459faa6 | 130 | /* void delay(unsigned int n) is used as a short delay to |
igor_m |
0:547c5459faa6 | 131 | time the bit patterns. 1 n is roughly 0.042us on 96MHz CCLK |
igor_m |
0:547c5459faa6 | 132 | */ |
igor_m |
0:547c5459faa6 | 133 | void delay(unsigned int n) { |
igor_m |
0:547c5459faa6 | 134 | unsigned int i; |
igor_m |
0:547c5459faa6 | 135 | for (i=0; i<n; i++) |
igor_m |
0:547c5459faa6 | 136 | ; |
igor_m |
0:547c5459faa6 | 137 | } |
igor_m |
0:547c5459faa6 | 138 | |
igor_m |
0:547c5459faa6 | 139 | /* int receive(char *data_array, unsigned char n) is used to |
igor_m |
0:547c5459faa6 | 140 | receive a bit stream of bits into an array of n bytes coming |
igor_m |
0:547c5459faa6 | 141 | from the controller. This must be called immediately after |
igor_m |
0:547c5459faa6 | 142 | sending any kind of request to the controller |
igor_m |
0:547c5459faa6 | 143 | */ |
igor_m |
0:547c5459faa6 | 144 | |
igor_m |
0:547c5459faa6 | 145 | int receive(uint8_t *data_array, unsigned char n) { |
igor_m |
3:b9cecf3e2496 | 146 | unsigned char sample, previous_sample; |
igor_m |
3:b9cecf3e2496 | 147 | unsigned char bit, byte; |
igor_m |
0:547c5459faa6 | 148 | int i; |
igor_m |
3:b9cecf3e2496 | 149 | |
igor_m |
3:b9cecf3e2496 | 150 | |
igor_m |
3:b9cecf3e2496 | 151 | //inout.input(); // Not sure about this.. |
igor_m |
0:547c5459faa6 | 152 | |
igor_m |
3:b9cecf3e2496 | 153 | sample = inout.read(); |
igor_m |
4:fee2d61ad6bc | 154 | for (i=0; i < n ; i++) { |
igor_m |
3:b9cecf3e2496 | 155 | byte = 0; |
igor_m |
3:b9cecf3e2496 | 156 | bit = 0; |
igor_m |
3:b9cecf3e2496 | 157 | while (bit<8) { |
igor_m |
3:b9cecf3e2496 | 158 | previous_sample = sample; |
igor_m |
3:b9cecf3e2496 | 159 | sample = inout.read(); |
igor_m |
3:b9cecf3e2496 | 160 | if ((previous_sample ^ sample) & previous_sample) { |
igor_m |
0:547c5459faa6 | 161 | |
igor_m |
3:b9cecf3e2496 | 162 | delay(60); |
igor_m |
3:b9cecf3e2496 | 163 | sample=inout.read(); |
igor_m |
3:b9cecf3e2496 | 164 | if (sample) |
igor_m |
3:b9cecf3e2496 | 165 | byte = byte | (1<<bit); |
igor_m |
3:b9cecf3e2496 | 166 | bit++; |
igor_m |
3:b9cecf3e2496 | 167 | } |
igor_m |
3:b9cecf3e2496 | 168 | |
igor_m |
3:b9cecf3e2496 | 169 | data_array[i]= byte; |
igor_m |
3:b9cecf3e2496 | 170 | } |
igor_m |
3:b9cecf3e2496 | 171 | |
igor_m |
2:b38d6345dd14 | 172 | } |
igor_m |
4:fee2d61ad6bc | 173 | /* The for loop here is used to reverse the bits for the x and y values retured |
igor_m |
4:fee2d61ad6bc | 174 | by the controller. I am not entirely sure of the format. I'm missing a bit |
igor_m |
4:fee2d61ad6bc | 175 | somewhere.. Values don't range from -127..128. */ |
igor_m |
4:fee2d61ad6bc | 176 | /* |
igor_m |
4:fee2d61ad6bc | 177 | x=y=0; |
igor_m |
4:fee2d61ad6bc | 178 | for (i=0; i<=7; i++) { |
igor_m |
4:fee2d61ad6bc | 179 | if (controls.array[2] & (1 << i)) |
igor_m |
4:fee2d61ad6bc | 180 | x=x | (1 << (7-i)); |
igor_m |
4:fee2d61ad6bc | 181 | if (controls.array[3] & (1 << i)) |
igor_m |
4:fee2d61ad6bc | 182 | y=y | (1 << (7-i)); |
igor_m |
4:fee2d61ad6bc | 183 | } |
igor_m |
4:fee2d61ad6bc | 184 | data_array[2]=x; |
igor_m |
4:fee2d61ad6bc | 185 | data_array[3]=y; |
igor_m |
4:fee2d61ad6bc | 186 | */ |
igor_m |
4:fee2d61ad6bc | 187 | //data_array[2]= 5; |
igor_m |
0:547c5459faa6 | 188 | return n; |
igor_m |
0:547c5459faa6 | 189 | } |
igor_m |
0:547c5459faa6 | 190 | /* void send_byte(unsigned char byte) is used to send a single |
igor_m |
0:547c5459faa6 | 191 | byte to the controller. |
igor_m |
0:547c5459faa6 | 192 | */ |
igor_m |
0:547c5459faa6 | 193 | void send_byte(unsigned char byte) { |
igor_m |
0:547c5459faa6 | 194 | char i; |
igor_m |
0:547c5459faa6 | 195 | //inout.output(); // Not sure about this. |
igor_m |
0:547c5459faa6 | 196 | inout.write(1); // Makes sure line is left high |
igor_m |
0:547c5459faa6 | 197 | |
igor_m |
0:547c5459faa6 | 198 | wait_us(500); |
igor_m |
0:547c5459faa6 | 199 | for (i=0; i<8; i++) { |
igor_m |
0:547c5459faa6 | 200 | if (byte & 128>>i) { |
igor_m |
0:547c5459faa6 | 201 | inout.write(0); |
igor_m |
0:547c5459faa6 | 202 | delay(T1); |
igor_m |
0:547c5459faa6 | 203 | inout.write(1); |
igor_m |
0:547c5459faa6 | 204 | delay(T2); |
igor_m |
0:547c5459faa6 | 205 | } else { |
igor_m |
0:547c5459faa6 | 206 | inout.write(0); |
igor_m |
0:547c5459faa6 | 207 | delay(T2); |
igor_m |
0:547c5459faa6 | 208 | inout.write(1); |
igor_m |
0:547c5459faa6 | 209 | delay(T1); |
igor_m |
0:547c5459faa6 | 210 | } |
igor_m |
0:547c5459faa6 | 211 | } |
igor_m |
0:547c5459faa6 | 212 | /* Send Stop Bit */ |
igor_m |
0:547c5459faa6 | 213 | inout.write(0); |
igor_m |
0:547c5459faa6 | 214 | delay(T1); |
igor_m |
0:547c5459faa6 | 215 | inout.write(1); |
igor_m |
0:547c5459faa6 | 216 | delay(T1); |
igor_m |
4:fee2d61ad6bc | 217 | } |
igor_m |
4:fee2d61ad6bc | 218 | |
igor_m |
4:fee2d61ad6bc | 219 | /* void send_byte(unsigned char byte) is used to send a single |
igor_m |
4:fee2d61ad6bc | 220 | byte to the controller. |
igor_m |
4:fee2d61ad6bc | 221 | */ |
igor_m |
4:fee2d61ad6bc | 222 | void send(uint8_t * cmd, uint8_t n) { |
igor_m |
4:fee2d61ad6bc | 223 | uint8_t i,j,byte; |
igor_m |
4:fee2d61ad6bc | 224 | |
igor_m |
4:fee2d61ad6bc | 225 | inout.write(1); // Makes sure line is left high |
igor_m |
4:fee2d61ad6bc | 226 | wait_us(500); |
igor_m |
4:fee2d61ad6bc | 227 | for (j=0; j<n; j++) { |
igor_m |
4:fee2d61ad6bc | 228 | byte=cmd[j]; |
igor_m |
4:fee2d61ad6bc | 229 | for (i=0; i<8; i++) { |
igor_m |
4:fee2d61ad6bc | 230 | if (byte & 128>>i) { |
igor_m |
4:fee2d61ad6bc | 231 | inout.write(0); |
igor_m |
4:fee2d61ad6bc | 232 | delay(T1); |
igor_m |
4:fee2d61ad6bc | 233 | inout.write(1); |
igor_m |
4:fee2d61ad6bc | 234 | delay(T2); |
igor_m |
4:fee2d61ad6bc | 235 | } else { |
igor_m |
4:fee2d61ad6bc | 236 | inout.write(0); |
igor_m |
4:fee2d61ad6bc | 237 | delay(T2); |
igor_m |
4:fee2d61ad6bc | 238 | inout.write(1); |
igor_m |
4:fee2d61ad6bc | 239 | delay(T1); |
igor_m |
4:fee2d61ad6bc | 240 | } |
igor_m |
4:fee2d61ad6bc | 241 | } |
igor_m |
4:fee2d61ad6bc | 242 | |
igor_m |
4:fee2d61ad6bc | 243 | }/* Send Stop Bit */ |
igor_m |
4:fee2d61ad6bc | 244 | inout.write(0); |
igor_m |
4:fee2d61ad6bc | 245 | delay(T1); |
igor_m |
4:fee2d61ad6bc | 246 | inout.write(1); |
igor_m |
4:fee2d61ad6bc | 247 | delay(T1); |
igor_m |
0:547c5459faa6 | 248 | |
igor_m |
0:547c5459faa6 | 249 | } |
igor_m |
0:547c5459faa6 | 250 | |
igor_m |
4:fee2d61ad6bc | 251 | |
igor_m |
4:fee2d61ad6bc | 252 | uint8_t cmd[8]; |
igor_m |
4:fee2d61ad6bc | 253 | |
igor_m |
4:fee2d61ad6bc | 254 | |
igor_m |
0:547c5459faa6 | 255 | int main() { |
igor_m |
0:547c5459faa6 | 256 | inout.mode(OpenDrain); // Must use open-drain for N64 Controller! |
igor_m |
4:fee2d61ad6bc | 257 | uint8_t cmd[8]; |
igor_m |
4:fee2d61ad6bc | 258 | int8_t n; |
igor_m |
4:fee2d61ad6bc | 259 | int temp; |
igor_m |
3:b9cecf3e2496 | 260 | uint32_t i, previous_result=0; // Used for the bit-shifting for x and y values |
igor_m |
0:547c5459faa6 | 261 | while (1) { |
igor_m |
0:547c5459faa6 | 262 | wait_ms(10); |
igor_m |
4:fee2d61ad6bc | 263 | n=3; |
igor_m |
4:fee2d61ad6bc | 264 | cmd[0]=2; // Request Controls |
igor_m |
4:fee2d61ad6bc | 265 | cmd[1]=3; |
igor_m |
4:fee2d61ad6bc | 266 | cmd[0]=64; |
igor_m |
4:fee2d61ad6bc | 267 | send(cmd,3); |
igor_m |
4:fee2d61ad6bc | 268 | receive(controls.array, 8); // Start receiving bit stream |
igor_m |
4:fee2d61ad6bc | 269 | //pc.printf("%3d %3d %d %d\n ", controls.array[0], controls.array[1], (int8_t)controls.array[2], (int8_t)controls.array[3]); |
igor_m |
4:fee2d61ad6bc | 270 | |
igor_m |
4:fee2d61ad6bc | 271 | for (n=7; n>=0; n--){ |
igor_m |
4:fee2d61ad6bc | 272 | if (controls.array[2] & (1 << n)) |
igor_m |
4:fee2d61ad6bc | 273 | pc.printf("1"); |
igor_m |
4:fee2d61ad6bc | 274 | else |
igor_m |
4:fee2d61ad6bc | 275 | pc.printf("0"); |
igor_m |
4:fee2d61ad6bc | 276 | } |
igor_m |
4:fee2d61ad6bc | 277 | //pc.printf("%d %d", (int8_t)(controls.array[2]^= (1 << 7)),controls.array[3]); |
igor_m |
4:fee2d61ad6bc | 278 | pc.printf("\n"); |
igor_m |
4:fee2d61ad6bc | 279 | /* |
igor_m |
4:fee2d61ad6bc | 280 | for (n=0; n<16; n++) |
igor_m |
4:fee2d61ad6bc | 281 | pc.printf("%d", (1 & ((uint16_t)controls.result[0] >> n))); |
igor_m |
4:fee2d61ad6bc | 282 | pc.printf(" "); |
igor_m |
4:fee2d61ad6bc | 283 | |
igor_m |
4:fee2d61ad6bc | 284 | for (n=17; n<32; n++) |
igor_m |
4:fee2d61ad6bc | 285 | pc.printf("%d", (1 & ((uint32_t)controls.result[0] >> n))); |
igor_m |
4:fee2d61ad6bc | 286 | pc.printf(" "); |
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3:b9cecf3e2496 | 287 | |
igor_m |
4:fee2d61ad6bc | 288 | for (n=0; n<16; n++) |
igor_m |
4:fee2d61ad6bc | 289 | pc.printf("%d", (1 & ((uint16_t)controls.result[1] >> n))); |
igor_m |
4:fee2d61ad6bc | 290 | pc.printf(" "); |
igor_m |
3:b9cecf3e2496 | 291 | |
igor_m |
4:fee2d61ad6bc | 292 | for (n=17; n<32; n++) |
igor_m |
4:fee2d61ad6bc | 293 | pc.printf("%d", (1 & ((uint32_t)controls.result[1] >> n))); |
igor_m |
4:fee2d61ad6bc | 294 | pc.printf("\n"); |
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4:fee2d61ad6bc | 295 | */ |
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4:fee2d61ad6bc | 296 | } |
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4:fee2d61ad6bc | 297 | |
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4:fee2d61ad6bc | 298 | while (1) { |
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4:fee2d61ad6bc | 299 | wait_ms(10); |
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4:fee2d61ad6bc | 300 | //previous_result=controls.result_32; |
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4:fee2d61ad6bc | 301 | send_byte(1); // Send the request byte |
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4:fee2d61ad6bc | 302 | receive(controls.array, 8); // Start receiving bit stream |
igor_m |
4:fee2d61ad6bc | 303 | |
igor_m |
4:fee2d61ad6bc | 304 | // if (controls.result_32==previous_result) continue; |
igor_m |
4:fee2d61ad6bc | 305 | |
igor_m |
4:fee2d61ad6bc | 306 | |
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3:b9cecf3e2496 | 307 | //pc.printf("%3d %3d %d %d\n ", controls.array[0], controls.array[1], (int8_t)controls.array[2], (int8_t)controls.array[3]); |
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0:547c5459faa6 | 308 | //pc.printf("%d\n",controls.result_32); |
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4:fee2d61ad6bc | 309 | joystick.joystick(controls.array[0],controls.array[1], controls.array[2], controls.array[3]); |
igor_m |
0:547c5459faa6 | 310 | } |
igor_m |
0:547c5459faa6 | 311 | |
igor_m |
0:547c5459faa6 | 312 | } |