Revision 0:33bc88c4ab31, committed 2013-08-28

Comitter:

rvt

Date:

Wed Aug 28 02:33:03 2013 +0000

Child:

1:5b2ab44eb31f

Commit message:

Initial release with RTOS

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AnalogFilterInterface.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,14 @@
+#include "AnalogFilterInterface.h"
+
+AnalogFilterInterface::AnalogFilterInterface(AnalogFilterInterface *chain) {
+    _chain = chain;
+}
+AnalogFilterInterface::AnalogFilterInterface() {
+}
+
+void AnalogFilterInterface::setData(long data){    
+            _data = data;
+        };
+long AnalogFilterInterface::getData(){
+            return _data;
+        };
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AnalogFilterInterface.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,21 @@
+#ifndef ANALOGFILTERINTERFACE_H
+#define ANALOGFILTERINTERFACE_H
+
+
+class AnalogFilterInterface
+{
+    private:
+        AnalogFilterInterface *_chain;
+        long _data;
+    public:
+        AnalogFilterInterface(AnalogFilterInterface *chain);
+        AnalogFilterInterface();
+        virtual void setData(long data);
+        virtual long getData();
+        virtual AnalogFilterInterface * getChain(){return _chain;};
+};
+
+#endif
+
+
+                                               
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AnalogInFiltered.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,32 @@
+#include "AnalogInFiltered.h"
+
+
+AnalogInFiltered::AnalogInFiltered(AnalogFilterInterface *filter, PinName pin) {
+    _ain = new AnalogIn(pin);
+    _filter = filter;
+    _lastValue=0;
+}
+
+AnalogInFiltered::~AnalogInFiltered() {
+    delete(_ain);
+    delete(_filter);
+}
+
+long AnalogInFiltered::getValue() {
+    return _filter->getData();
+}
+
+void AnalogInFiltered::measure () {
+    _filter->setData(_ain->read_u16() - 32768);
+}
+
+
+bool AnalogInFiltered::getIsChanged(int offSet) {
+    _filter->setData(_ain->read_u16() - 32768);
+    if (abs(_filter->getData() - _lastValue) > offSet) {
+        _lastValue = _filter->getData();
+        return true;
+    }
+    return false;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AnalogInFiltered.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,20 @@
+#ifndef ANALOGINFILTERED_H
+#define ANALOGINFILTERED_H
+
+#include "mbed.h"
+#include "AnalogFilterInterface.h"
+
+class AnalogInFiltered {
+    private:
+        AnalogIn *_ain;
+        long   _lastValue;
+        AnalogFilterInterface   *_filter;
+    public:   
+        AnalogInFiltered(AnalogFilterInterface *filter, PinName pin);
+        ~AnalogInFiltered();
+        void measure ();
+        long getValue();
+        bool getIsChanged(int offSet);
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AntiLog.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,21 @@
+#include "AntiLog.h"
+
+//#include "mbed.h"
+//Serial pc2(USBTX, USBRX); // tx, rx
+
+
+AntiLog::AntiLog(AnalogFilterInterface *chain, double _curve) : AnalogFilterInterface(chain) {
+
+}
+
+AntiLog::~AntiLog() {
+}
+
+void AntiLog::setData(long dataPoint) {
+    getChain()->setData(dataPoint);
+    antiLog = getChain()->getData();
+}
+
+long AntiLog::getData() {
+    return antiLog;
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AntiLog.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,21 @@
+#ifndef ANTILOG_H
+#define ANTILOG_H
+#include "mbed.h"
+#include "AnalogFilterInterface.h"
+
+/**
+Class to remove the logaritmic function of a potentiometer
+**/
+class AntiLog : public AnalogFilterInterface  {
+    private:
+        long antiLog;
+        double curve;
+        int* _filterData;
+    public:   
+        AntiLog(AnalogFilterInterface *chain, double curve);
+        ~AntiLog();
+        virtual void setData(long data);
+        virtual long getData(); 
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LowPassFilter.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,21 @@
+#include "LowPassFilter.h"
+
+LowPassFilter::LowPassFilter(AnalogFilterInterface *chain,double alpha) :  AnalogFilterInterface(chain) {
+        _alpha = alpha;
+        _beta = 1.0 - _alpha;
+        smoothedValue = 0.0;
+}
+
+LowPassFilter::~LowPassFilter() {
+}
+
+
+void LowPassFilter::setData(long dataPoint) {
+    getChain()->setData(dataPoint);
+    smoothedValue = (getChain()->getData() * _beta) + (smoothedValue * _alpha);
+}
+
+long LowPassFilter::getData() {
+    return smoothedValue;
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LowPassFilter.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,18 @@
+#ifndef LOWPASSFILTER_H
+#define LOWPASSFILTER_H
+#include "mbed.h"
+#include "AnalogFilterInterface.h"
+
+class LowPassFilter : public AnalogFilterInterface  {
+    private:
+        double _alpha;
+        double _beta;
+        double smoothedValue;
+    public:   
+        LowPassFilter(AnalogFilterInterface *chain, double alpha);
+        ~LowPassFilter();
+        virtual void setData(long data);
+        virtual long getData();
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MovingAverage.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,28 @@
+#include "MovingAverage.h"
+
+
+MovingAverage::MovingAverage(uint8_t size) {
+        _size = size;
+        _filterData=(double *)malloc(_size * sizeof(double));
+        for (uint8_t i=0; i<_size; i++) {
+            _filterData[ i ] = 0.0;
+        }
+}
+
+MovingAverage::~MovingAverage() {
+    delete(_filterData);
+}
+
+void MovingAverage::setData(long dataPoint) {
+        memmove (&_filterData[1], &_filterData[0], (_size * sizeof(double)) - sizeof(double));
+        _filterData[0] = dataPoint;
+}
+
+long MovingAverage::getData() {
+    double total=0.0;
+    for (uint8_t i=0; i<_size; i++) {
+        total += _filterData[ i ];
+    }
+    return (total / (double)_size);
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MovingAverage.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,18 @@
+#ifndef MOVINGAVERAGE_H
+#define MOVINGAVERAGE_H
+#include "mbed.h"
+#include "AnalogFilterInterface.h"
+
+class MovingAverage : public AnalogFilterInterface  {
+    protected:
+        double* _filterData;
+        uint8_t _size;
+ 
+    public:   
+        MovingAverage(uint8_t size);
+        ~MovingAverage();
+        virtual void setData(long data);
+        virtual long getData();
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBDevice.lib	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/USBDevice/#1e3d126a322b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBJoystick.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,179 @@
+/* Copyright (c) 2010-2011 mbed.org, MIT License
+* Modified Mouse code for Joystick - WH 2012
+*
+* Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+* and associated documentation files (the "Software"), to deal in the Software without
+* restriction, including without limitation the rights to use, copy, modify, merge, publish,
+* distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included in all copies or
+* substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+* BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#include "stdint.h"
+#include "USBJoystick.h"
+
+bool USBJoystick::update(int16_t t, int16_t r, int16_t x, int16_t y, uint8_t button, uint8_t hat) {
+             HID_REPORT report;
+   _t = t;
+   _r = r;   
+   _x = x;
+   _y = y;
+   _button = button;     
+   _hat = hat;
+
+   // Fill the report according to the Joystick Descriptor
+   report.data[0] = _t & 0xff;
+   report.data[1] = (_t >> 8) & 0xff;
+   report.data[2] = _r & 0xff;
+   report.data[3] = (_r >> 8) & 0xff;
+   report.data[4] = _x & 0xff;
+   report.data[5] = (_x >> 8) & 0xff;
+   report.data[6] = _y & 0xff;
+   report.data[7] = (_y >> 8) & 0xff;
+   report.data[8] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;                                      
+   report.length = 9;
+   
+   return send(&report);
+}
+ 
+bool USBJoystick::update() {
+   HID_REPORT report;
+
+   // Fill the report according to the Joystick Descriptor
+   report.data[0] = _t & 0xff;
+   report.data[1] = (_t >> 8) & 0xff;
+   report.data[2] = _r & 0xff;
+   report.data[3] = (_r >> 8) & 0xff;
+   report.data[4] = _x & 0xff;
+   report.data[5] = (_x >> 8) & 0xff;
+   report.data[6] = _y & 0xff;
+   report.data[7] = (_y >> 8) & 0xff;
+   report.data[8] = ((_button & 0x0f) << 4) | (_hat & 0x0f) ;                                      
+   report.length = 9;
+
+   return send(&report);
+}
+
+bool USBJoystick::throttle(int16_t t) {
+     _t = t;
+     return update();
+}
+
+bool USBJoystick::rudder(int16_t r) {
+     _r = r;
+     return update();
+}
+
+bool USBJoystick::move(int16_t x, int16_t y) {
+     _x = x;
+     _y = y;
+     return update();
+}
+
+bool USBJoystick::button(uint8_t button) {
+     _button = button;
+     return update();
+}
+
+bool USBJoystick::hat(uint8_t hat) {
+     _hat = hat;
+     return update();
+}
+
+
+void USBJoystick::_init() {
+
+   _t = 0;
+   _r = 0;    
+   _x = 0;                       
+   _y = 0;     
+   _button = 0x00;
+   _hat = 0x00;              
+}
+
+
+uint8_t * USBJoystick::reportDesc() {    
+         static uint8_t reportDescriptor[] = {
+
+             USAGE_PAGE(1), 0x01,           // Generic Desktop           
+             LOGICAL_MINIMUM(1), 0x00,      // Logical_Minimum (0)             
+             USAGE(1), 0x04,                // Usage (Joystick)
+             COLLECTION(1), 0x01,           // Application
+                          
+               USAGE_PAGE(1), 0x02,            // Simulation Controls
+               USAGE(1), 0xBB,                 // Throttle             
+               USAGE(1), 0xBA,                 // Rudder               
+               LOGICAL_MINIMUM(2), 0x01, 0x80,       // -32767
+                 LOGICAL_MAXIMUM(2), 0xff, 0x7f, // 32767
+               REPORT_SIZE(1), 0x10,
+               REPORT_COUNT(1), 0x02,
+               INPUT(1), 0x02,                 // Data, Variable, Absolute               
+
+               USAGE_PAGE(1), 0x01,            // Generic Desktop
+               USAGE(1), 0x01,                 // Usage (Pointer)
+               COLLECTION(1), 0x00,            // Physical
+                 USAGE(1), 0x30,                 // X
+                 USAGE(1), 0x31,                 // Y
+//  8 bit values
+//                 LOGICAL_MINIMUM(1), 0x81,       // -127
+//                 LOGICAL_MAXIMUM(1), 0x7f,       // 127
+//                 REPORT_SIZE(1), 0x08,
+//                 REPORT_COUNT(1), 0x02,
+//                 INPUT(1), 0x02,                 // Data, Variable, Absolute                  
+// 16 bit values
+               LOGICAL_MINIMUM(2), 0x01, 0x80,       // -32767
+                 LOGICAL_MAXIMUM(2), 0xff, 0x7f, // 32767
+                 REPORT_SIZE(1), 0x10,
+                 REPORT_COUNT(1), 0x02,
+                 INPUT(1), 0x02,                 // Data, Variable, Absolute                
+
+
+               END_COLLECTION(0),               
+// 4 Position Hat Switch
+//               USAGE(1), 0x39,                 // Usage (Hat switch)
+//               LOGICAL_MINIMUM(1), 0x00,       // 0
+//               LOGICAL_MAXIMUM(1), 0x03,       // 3
+//               PHYSICAL_MINIMUM(1), 0x00,      // Physical_Minimum (0)
+//               PHYSICAL_MAXIMUM(2), 0x0E, 0x01, // Physical_Maximum (270)
+//               UNIT(1), 0x14,                  // Unit (Eng Rot:Angular Pos)                            
+//               REPORT_SIZE(1), 0x04,
+//               REPORT_COUNT(1), 0x01,
+//               INPUT(1), 0x02,                 // Data, Variable, Absolute               
+// 8 Position Hat Switch
+               USAGE(1), 0x39,                 // Usage (Hat switch)
+               LOGICAL_MINIMUM(1), 0x00,       // 0
+               LOGICAL_MAXIMUM(1), 0x07,       // 7
+               PHYSICAL_MINIMUM(1), 0x00,      // Physical_Minimum (0)
+               PHYSICAL_MAXIMUM(2), 0x3B, 0x01, // Physical_Maximum (315)
+               UNIT(1), 0x14,                  // Unit (Eng Rot:Angular Pos)                            
+               REPORT_SIZE(1), 0x04,
+               REPORT_COUNT(1), 0x01,
+               INPUT(1), 0x02,                 // Data, Variable, Absolute               
+//
+               USAGE_PAGE(1), 0x09,            // Buttons
+               USAGE_MINIMUM(1), 0x01,         // 1
+               USAGE_MAXIMUM(1), 0x04,         // 4
+               LOGICAL_MINIMUM(1), 0x00,       // 0
+               LOGICAL_MAXIMUM(1), 0x01,       // 1
+               REPORT_SIZE(1), 0x01,
+               REPORT_COUNT(1), 0x04,
+               UNIT_EXPONENT(1), 0x00,         // Unit_Exponent (0)
+               UNIT(1), 0x00,                  // Unit (None)                                           
+               INPUT(1), 0x02,                 // Data, Variable, Absolute
+             END_COLLECTION(0)
+
+        };
+
+      reportLength = sizeof(reportDescriptor);
+      return reportDescriptor;
+}
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/USBJoystick.h	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,210 @@
+/* USBJoystick.h */
+/* USB device example: Joystick*/
+/* Copyright (c) 2011 ARM Limited. All rights reserved. */
+/* Modified Mouse code for Joystick - WH 2012 */
+
+#ifndef USBJOYSTICK_H
+#define USBJOYSTICK_H
+
+#include "USBHID.h"
+
+#define REPORT_ID_JOYSTICK  4
+
+/* Common usage */
+enum JOY_BUTTON {
+     JOY_B0 = 1,
+     JOY_B1 = 2,
+     JOY_B2 = 4,
+     JOY_B3 = 8,     
+};
+
+#if(0)
+enum JOY_HAT {
+     JOY_HAT_UP      = 0,
+     JOY_HAT_RIGHT   = 1,
+     JOY_HAT_DOWN    = 2,
+     JOY_HAT_LEFT    = 3,     
+     JOY_HAT_NEUTRAL = 4,          
+};
+#else
+enum JOY_HAT {
+     JOY_HAT_UP         = 0,     
+     JOY_HAT_UP_RIGHT   = 1,
+     JOY_HAT_RIGHT      = 2,
+     JOY_HAT_RIGHT_DOWN = 3,
+     JOY_HAT_DOWN       = 4,
+     JOY_HAT_DOWN_LEFT  = 5,     
+     JOY_HAT_LEFT       = 6,     
+     JOY_HAT_LEFT_UP    = 7,          
+     JOY_HAT_NEUTRAL    = 8,          
+};
+#endif
+
+/* X, Y and T limits */
+/* These values do not directly map to screen pixels */
+/* Zero may be interpreted as meaning 'no movement' */
+#define JX_MIN_ABS    (-127)     /*!< The maximum value that we can move to the left on the x-axis */
+#define JY_MIN_ABS    (-127)     /*!< The maximum value that we can move up on the y-axis */
+#define JT_MIN_ABS    (-127)     /*!< The minimum value for the throttle */
+#define JX_MAX_ABS    (127)      /*!< The maximum value that we can move to the right on the x-axis */
+#define JY_MAX_ABS    (127)      /*!< The maximum value that we can move down on the y-axis */
+#define JT_MAX_ABS    (127)      /*!< The maximum value for the throttle */
+
+/**
+ *
+ * USBJoystick example
+ * @code
+ * #include "mbed.h"
+ * #include "USBJoystick.h"
+ *
+ * USBJoystick joystick;
+ *
+ * int main(void)
+ * {
+ *   while (1)
+ *   {
+ *      joystick.move(20, 0);
+ *      wait(0.5);
+ *   }
+ * }
+ *
+ * @endcode
+ *
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "USBJoystick.h"
+ * #include <math.h>
+ *
+ * USBJoystick joystick;
+ *
+ * int main(void)
+ * {
+ *   int16_t i = 0;
+ *   int16_t throttle = 0;
+ *   int16_t rudder = 0;    
+ *   int16_t x = 0;
+ *   int16_t y = 0;
+ *   int32_t radius = 120;
+ *   int32_t angle = 0;
+ *   int8_t button = 0;    
+ *   int8_t hat = 0;    
+ *   
+ *   while (1) {
+ *       // Basic Joystick
+ *       throttle = (i >> 8) & 0xFF; // value -127 .. 128
+ *       rudder = (i >> 8) & 0xFF;   // value -127 .. 128        
+ *       button = (i >> 8) & 0x0F;   // value    0 .. 15, one bit per button     
+ *        hat    = (i >> 8) & 0x07;   // value 0..7 or 8 for neutral         
+ *       i++;        
+ *       
+ *       x = cos((double)angle*3.14/180.0)*radius;  // value -127 .. 128
+ *       y = sin((double)angle*3.14/180.0)*radius;  // value -127 .. 128
+ *       angle += 3;        
+ *
+ *       joystick.update(throttle, rudder, x, y, button, hat);
+ *
+ *       wait(0.001);
+ *   }
+ * }
+ * @endcode
+ */
+
+
+class USBJoystick: public USBHID {
+   public:
+
+        /**
+         *   Constructor
+         *
+         * @param vendor_id Your vendor_id (default: 0x1234)
+         * @param product_id Your product_id (default: 0x0002)
+         * @param product_release Your product_release (default: 0x0001)
+         */
+         USBJoystick(uint16_t vendor_id = 0x1234, uint16_t product_id = 0x0100, uint16_t product_release = 0x0001): 
+             USBHID(0, 0, vendor_id, product_id, product_release, false)
+             { 
+                 _init();
+                 connect();
+             };
+         
+         /**
+         * Write a state of the mouse
+         *
+         * @param t throttle position
+         * @param r rudder position         
+         * @param x x-axis position
+         * @param y y-axis position
+         * @param buttons buttons state
+         * @param hat hat state 0 (up), 1 (right, 2 (down), 3 (left) or 4 (neutral)
+         * @returns true if there is no error, false otherwise
+         */
+         bool update(int16_t t, int16_t r, int16_t x, int16_t y, uint8_t buttons, uint8_t hat);
+
+         /**
+         * Write a state of the mouse
+         *
+         * @returns true if there is no error, false otherwise
+         */
+         bool update();
+
+         /**
+         * Move the throttle position
+         *
+         * @param t throttle position
+         * @returns true if there is no error, false otherwise
+         */
+         bool throttle(int16_t t);
+         
+         /**
+         * Move the rudder position
+         *
+         * @param r rudder position
+         * @returns true if there is no error, false otherwise
+         */        
+         bool rudder(int16_t r);         
+
+         /**
+         * Move the cursor to (x, y)
+         *
+         * @param x-axis position
+         * @param y-axis position
+         * @returns true if there is no error, false otherwise
+         */
+         bool move(int16_t x, int16_t y);
+         
+         /**
+         * Press one or several buttons
+         *
+         * @param button button state
+         * @returns true if there is no error, false otherwise
+         */
+         bool button(uint8_t button);
+         
+         /**
+         * Press hat
+         *
+         * @param hat hat state
+         * @returns true if there is no error, false otherwise
+         */
+         bool hat(uint8_t hat);
+         
+         /*
+         * To define the report descriptor. Warning: this method has to store the length of the report descriptor in reportLength.
+         *
+         * @returns pointer to the report descriptor
+         */
+         virtual uint8_t * reportDesc();
+
+     private:
+         int16_t _t;     
+         int16_t _r;              
+         int16_t _x;                       
+         int16_t _y;     
+         uint8_t _button;
+         uint8_t _hat; 
+         
+         void _init();                 
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "USBHID.h"
+#include "USBJoystick.h"
+#include "MovingAverage.h"
+#include "LowPassFilter.h"
+#include "AntiLog.h"
+#include "AnalogInFiltered.h"
+#include "rtos.h"
+
+
+#define TTY_DEBUG
+
+// Value that defines when to start sending data this prevents the noise sending loads's of data over HID
+#define DATA_CHANGE_TRIGGER 64
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+// Activity led for HID data transmissions
+DigitalOut HIDActivity(LED3);
+
+//This report will contain data to be sent
+HID_REPORT send_report;
+HID_REPORT recv_report;
+
+//USBJoyStick;
+USBJoystick joystick;
+
+// Structure that hold's the dataset of the input's
+Mutex analogValueMutex;
+struct AnalogData {
+    long value1;
+    long value2;
+    long value3;
+    long value4;
+    long value5;
+} analogData;
+
+void debug_thread(void const *args)
+{
+    while (true) {
+        // Make a local copy
+        AnalogData localCopy;
+        AnalogData previous;
+        analogValueMutex.lock();
+        memcpy (&localCopy, &analogData, sizeof(AnalogData));
+        analogValueMutex.unlock();
+
+        // Send to USB
+        pc.printf("\x1B[0;0H");
+        pc.printf("Yoke and Pedals!\n\r");
+        pc.printf("Analog in p20: %d  diff: %d    \n\r",localCopy.value1,localCopy.value1-previous.value1);
+        pc.printf("Analog in p19: %d  diff: %d    \n\r",localCopy.value2,localCopy.value2-previous.value2);
+        pc.printf("Analog in p18: %d  diff: %d    \n\r",localCopy.value3,localCopy.value3-previous.value3);
+        pc.printf("Analog in p17: %d  diff: %d    \n\r",localCopy.value4,localCopy.value4-previous.value4);
+        pc.printf("Analog in p16: %d  diff: %d    \n\r",localCopy.value5,localCopy.value5-previous.value5);
+        
+        memcpy (&previous, &localCopy, sizeof(AnalogData));
+
+
+        Thread::wait(1000);
+    }
+}
+
+void hid_thread(void const *args)
+{
+    while (true) {
+
+        // TODO read buttons
+        uint8_t buttons=0;
+        uint8_t hat=0;
+        AnalogData localCopy;
+
+        // Wait for analog in to have some data
+        Thread::signal_wait(0x1);
+
+        // Make a local copy of the data
+        analogValueMutex.lock();
+        memcpy (&localCopy, &analogData, sizeof(AnalogData));
+        analogValueMutex.unlock();
+
+        // Update joystick's info
+        joystick.update(
+            localCopy.value2,
+            localCopy.value3,
+            localCopy.value4,
+            localCopy.value5,
+            buttons,
+            hat);
+
+        HIDActivity=!HIDActivity;
+
+        // Wait 50 ms to send a other USB update
+        Thread::wait(50);
+    }
+}
+
+
+
+int main()
+{
+    analogData.value1=0;
+    analogData.value2=0;
+    analogData.value3=0;
+    analogData.value4=0;
+    analogData.value5=0;
+
+#ifdef TTY_DEBUG
+    Thread _debugThread(debug_thread);
+#endif
+    Thread _hid_thread(hid_thread);
+
+    // Initialise moving average filters
+    LowPassFilter lowPassFilter1(new AntiLog(new AnalogFilterInterface(),-5.0),0.95f);   // The close the alpha value is to 1, the lower the cut-off frequency
+    LowPassFilter lowPassFilter2(new AntiLog(new AnalogFilterInterface(),-5.0),0.95f);
+    LowPassFilter lowPassFilter3(new AntiLog(new AnalogFilterInterface(),-5.0),0.95f);
+    LowPassFilter lowPassFilter4(new AntiLog(new AnalogFilterInterface(),-5.0),0.95f);
+    LowPassFilter lowPassFilter5(new AntiLog(new AnalogFilterInterface(),-5.0),0.95f);
+
+    // Initialise analog input and tell it what fulters to use
+    AnalogInFiltered ai1(&lowPassFilter1, p20);
+    AnalogInFiltered ai2(&lowPassFilter2, p19);
+    AnalogInFiltered ai3(&lowPassFilter3, p18);
+    AnalogInFiltered ai4(&lowPassFilter4, p17);
+    AnalogInFiltered ai5(&lowPassFilter5, p16);
+
+    while (true) {
+        // Measure analog in's
+        ai1.measure();
+        ai2.measure();
+        ai3.measure();
+        ai4.measure();
+        ai5.measure();
+
+        // test of any of the values have been changed, so we only update when data was actually changed
+        if (
+                false
+                || ai1.getIsChanged(DATA_CHANGE_TRIGGER) // Value of 4 seems to wobble a bit, 8 is good
+                || ai2.getIsChanged(DATA_CHANGE_TRIGGER)
+                || ai3.getIsChanged(DATA_CHANGE_TRIGGER)
+                || ai4.getIsChanged(DATA_CHANGE_TRIGGER)
+//                || ai5.getIsChanged(8)
+           ) {
+            // Copy analog data to global data
+            analogValueMutex.lock();
+            analogData.value1 = ai1.getValue();
+            analogData.value2 = ai2.getValue();
+            analogData.value3 = ai3.getValue();
+            analogData.value4 = ai4.getValue();
+            analogData.value5 = ai5.getValue();
+            analogValueMutex.unlock();
+
+            // Signal that data has been changed
+            _hid_thread.signal_set(0x1);
+        }
+        Thread::wait(1);
+    }
+}
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-rtos.lib	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed-rtos/#869ef732a8a2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Aug 28 02:33:03 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/9c8f0e3462fb
\ No newline at end of file