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OpenFlightTX
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Added many features

master
Englebert 4 years ago
parent
bdf06b62d0
commit
8dbd5a9f74
3 changed files with 699 additions and 23 deletions
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  1. 10
      OpenFlightTX.h
  2. 696
      OpenFlightTX.ino
  3. 2
      TODO.md

10
OpenFlightTX.h
View File

@ -18,5 +18,15 @@ void intro(void);
void read_all_voltage(void);
void battery_management(void);
void bluetooth_gamepad(void);
void stick_calibration(void);
void draw_gimbalbox(uint8_t x, uint8_t y);
void save_settings(void);
void commit_all(void);
void write_data(uint16_t addr, uint8_t val);
void read_settings(void);
void reset_default(void);
void reset_settings(void);
void reboot(void);
void stick_position_and_limit_settings(void);
#endif

696
OpenFlightTX.ino
View File

@ -9,6 +9,7 @@
#include <LoRa.h>
#include <U8g2lib.h>
#include <Wire.h>
#include <EEPROM.h>
#include <BleGamepad.h>
BleGamepad bleGamepad;
@ -49,22 +50,30 @@ struct menu_state {
};
struct menu_entry_type menu_entry_alpha_list[] = {
{ u8g2_font_open_iconic_all_4x_t, 184, "Main"},
{ u8g2_font_open_iconic_all_4x_t, 224, "RC Controller"},
{ u8g2_font_open_iconic_all_4x_t, 94, "Bluetooth"},
{ u8g2_font_open_iconic_all_4x_t, 129, "Configuration"},
{ u8g2_font_open_iconic_all_4x_t, 155, "Stick Calibration"},
{ u8g2_font_open_iconic_all_4x_t, 246, "Stick Settings"},
{ u8g2_font_open_iconic_all_4x_t, 253, "RF Modules"},
{ u8g2_font_open_iconic_all_4x_t, 207, "RF Scanners"},
{ u8g2_font_open_iconic_all_4x_t, 104, "Debug"},
{ u8g2_font_open_iconic_all_4x_t, 90, "Battery"},
{ u8g2_font_open_iconic_all_4x_t, 65, "Exit"},
{ u8g2_font_open_iconic_all_4x_t, 142, "Save Settings"},
{ u8g2_font_open_iconic_all_4x_t, 205, "Reset Default"},
{ NULL, 0, NULL }
};
struct menu_entry_type menu_entry_alpha_huge_list[] = {
{ u8g2_font_open_iconic_all_8x_t, 184, "Main"},
{ u8g2_font_open_iconic_all_8x_t, 224, "RC Controller"},
{ u8g2_font_open_iconic_all_8x_t, 94, "Bluetooth"},
{ u8g2_font_open_iconic_all_8x_t, 129, "Configuration"},
{ u8g2_font_open_iconic_all_8x_t, 155, "Stick Calibration"},
{ u8g2_font_open_iconic_all_8x_t, 246, "Stick Settings"},
{ u8g2_font_open_iconic_all_8x_t, 253, "RF Modules"},
{ u8g2_font_open_iconic_all_8x_t, 207, "RF Scanners"},
{ u8g2_font_open_iconic_all_8x_t, 104, "Debug"},
{ u8g2_font_open_iconic_all_8x_t, 90, "Battery"},
{ u8g2_font_open_iconic_all_8x_t, 65, "Exit"},
{ u8g2_font_open_iconic_all_8x_t, 142, "Save Settings"},
{ u8g2_font_open_iconic_all_8x_t, 205, "Reset Default"},
{ NULL, 0, NULL }
};
@ -142,13 +151,17 @@ uint8_t towards(struct menu_state *current, struct menu_state *destination) {
#define MENU_STICK_ROLL_MIN 800
#define MENU_STICK_PITCH_MAX 3000
#define MENU_STICK_PITCH_MIN 800
#define MENU_STICK_YAW_MAX 3000
#define MENU_STICK_YAW_MIN 800
typedef enum {
MENU_NONE = 0,
MENU_LEFT,
MENU_RIGHT,
MENU_BACK,
MENU_OK
MENU_OK,
MENU_EXTEND_LEFT,
MENU_EXTEND_RIGHT
} MENU_NAVIGATION;
MENU_NAVIGATION stick_navigation_position;
@ -196,6 +209,16 @@ uint16_t yaw_value = 0;
uint16_t pitch_value = 0;
uint16_t roll_value = 0;
// For Center sticks trim
uint16_t throttle_max = 0;
uint16_t throttle_min = 4096;
uint16_t yaw_max = 0;
uint16_t yaw_min = 4096;
uint16_t pitch_max = 0;
uint16_t pitch_min = 4096;
uint16_t roll_max = 0;
uint16_t roll_min = 4096;
uint64_t vbat_value = 0;
bool sw1 = 0;
@ -205,6 +228,15 @@ bool sw4 = 0;
bool sw5 = 0;
bool sw6 = 0;
bool invert_throttle = false;
bool invert_yaw = false;
bool invert_pitch = false;
bool invert_roll = false;
int8_t trim_throttle = 0;
int8_t trim_yaw = 0;
int8_t trim_pitch = 0;
int8_t trim_roll = 0;
#define MEDIAN_TOTAL 11
#define MEDIAN_POS MEDIAN_TOTAL/2
@ -438,9 +470,25 @@ void read_all_voltage() {
sw6 = !digitalRead(SW6_PIN);
throttle_value = pool_insert(THROTTLE, throttle_raw);
yaw_value = pool_insert(YAW, yaw_raw);
pitch_value = pool_insert(PITCH, pitch_raw);
roll_value = pool_insert(ROLL, roll_raw);
if(!invert_throttle)
throttle_value = throttle_value + (trim_throttle << 3);
else
throttle_value = throttle_value - (trim_throttle << 3);
if(!invert_yaw)
yaw_value = pool_insert(YAW, yaw_raw) + (trim_yaw << 3);
else
yaw_value = pool_insert(YAW, yaw_raw) - (trim_yaw << 3);
if(!invert_pitch)
pitch_value = pool_insert(PITCH, pitch_raw) + (trim_pitch << 3);
else
pitch_value = pool_insert(PITCH, pitch_raw) - (trim_pitch << 3);
if(!invert_roll)
roll_value = pool_insert(ROLL, roll_raw) + (trim_roll << 3);
else
roll_value = pool_insert(ROLL, roll_raw) - (trim_roll << 3);
vbat_value = pool_insert(VBAT, vbat_raw);
}
@ -448,6 +496,9 @@ void read_all_voltage() {
void setup() {
Serial.begin(115200);
// EEPROM initializing
EEPROM.begin(512);
// PIN Initialization
pinMode(BUZZER_PIN, OUTPUT);
pinMode(SW1_PIN, INPUT_PULLUP);
@ -504,14 +555,17 @@ void setup() {
Serial.println("LoRa Initializing OK!");
*/
// Reading all settings
read_settings();
u8g2_right.firstPage();
u8g2_right.setFontMode(1);
// u8g2_right.setFont(u8g2_font_helvB10_tr);
u8g2_right.setFont(u8g2_font_VCR_OSD_tr);
u8g2_right.setCursor(0,15);
// u8g2_right.setFont(u8g2_font_VCR_OSD_tr);
u8g2_right.setFont(u8g2_font_ImpactBits_tr);
u8g2_right.setCursor(48, 40);
u8g2_right.print(F("READY"));
u8g2_right.nextPage();
}
void loop() {
@ -558,6 +612,10 @@ void loop() {
stick_navigation_position = MENU_OK;
} else if(pitch_value < MENU_STICK_PITCH_MIN) {
stick_navigation_position = MENU_BACK;
} else if(yaw_value > MENU_STICK_YAW_MAX) {
stick_navigation_position = MENU_EXTEND_RIGHT;
} else if(yaw_value < MENU_STICK_YAW_MIN) {
stick_navigation_position = MENU_EXTEND_LEFT;
} else {
stick_navigation_position = MENU_NONE;
}
@ -584,7 +642,8 @@ void loop() {
u8g2_left.firstPage();
draw_menu(&current_alpha_state);
u8g2_left.setFont(u8g2_font_helvB10_tr);
// u8g2_left.setFont(u8g2_font_helvB10_tr);
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor((u8g2_left.getDisplayWidth()-u8g2_left.getStrWidth(menu_entry_alpha_list[destination_alpha_state.position].name))/2, u8g2_left.getDisplayHeight()-5);
u8g2_left.print(menu_entry_alpha_list[destination_alpha_state.position].name);
@ -611,6 +670,18 @@ void loop() {
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Bluetooth") {
require_unlock = true;
bluetooth_gamepad();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Stick Calibration") {
require_unlock = true;
stick_calibration();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Save Settings") {
require_unlock = false;
save_settings();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Reset Default") {
require_unlock = false;
reset_default();
} else if(menu_entry_alpha_list[destination_alpha_state.position].name == "Stick Settings") {
require_unlock = true;
stick_position_and_limit_settings();
}
//// u8g2_right.clearBuffer();
@ -654,6 +725,594 @@ void loop() {
*/
}
void stick_position_and_limit_settings(void) {
static int8_t stick_position_pointer = 0;
// Data processing
if(stick_navigation_position == MENU_LEFT) {
if(stick_position_pointer == 0) {
trim_throttle--;
} else if(stick_position_pointer == 1) {
trim_yaw--;
} else if(stick_position_pointer == 2) {
trim_pitch--;
} else if(stick_position_pointer == 3) {
trim_roll--;
}
} else if(stick_navigation_position == MENU_RIGHT) {
if(stick_position_pointer == 0) {
trim_throttle++;
} else if(stick_position_pointer == 1) {
trim_yaw++;
} else if(stick_position_pointer == 2) {
trim_pitch++;
} else if(stick_position_pointer == 3) {
trim_roll++;
}
} else if(stick_navigation_position == MENU_EXTEND_LEFT) {
if(stick_position_pointer == 0) {
invert_throttle = false;
} else if(stick_position_pointer == 1) {
invert_yaw = false;
} else if(stick_position_pointer == 2) {
invert_pitch = false;
} else if(stick_position_pointer == 3) {
invert_roll = false;
}
} else if(stick_navigation_position == MENU_EXTEND_RIGHT) {
if(stick_position_pointer == 0) {
invert_throttle = true;
} else if(stick_position_pointer == 1) {
invert_yaw = true;
} else if(stick_position_pointer == 2) {
invert_pitch = true;
} else if(stick_position_pointer == 3) {
invert_roll = true;
}
} else if(stick_navigation_position == MENU_OK) {
stick_position_pointer++;
}
// Done...Lets wait for next
stick_navigation_position = MENU_NONE;
// Limit counts
if(stick_position_pointer > 3) stick_position_pointer = 0;
if(trim_throttle < -15) trim_throttle = -15;
if(trim_throttle > 15) trim_throttle = 15;
if(trim_yaw < -15) trim_yaw = -15;
if(trim_yaw > 15) trim_yaw = 15;
if(trim_pitch < -15) trim_pitch = -15;
if(trim_pitch > 15) trim_pitch = 15;
if(trim_roll < -15) trim_roll = -15;
if(trim_roll > 15) trim_roll = 15;
// Displaying...
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(10, 15);
u8g2_left.print(F("Stick Positions"));
u8g2_left.setFont(u8g2_font_5x7_tf);
u8g2_left.setCursor(0, 25);
u8g2_left.print(F("THR: "));
if(invert_throttle) {
u8g2_left.print(F("INVERT"));
} else {
u8g2_left.print(F("NORMAL"));
}
u8g2_left.setCursor(0, 35);
u8g2_left.print(F("YAW: "));
if(invert_yaw) {
u8g2_left.print(F("INVERT"));
} else {
u8g2_left.print(F("NORMAL"));
}
u8g2_left.setCursor(0, 45);
u8g2_left.print(F("PIT: "));
if(invert_pitch) {
u8g2_left.print(F("INVERT"));
} else {
u8g2_left.print(F("NORMAL"));
}
u8g2_left.setCursor(0, 55);
u8g2_left.print(F("ROL: "));
if(invert_roll) {
u8g2_left.print(F("INVERT"));
} else {
u8g2_left.print(F("NORMAL"));
}
// Drawing the Bars
// Throttle Trims
int8_t trim_values = trim_throttle;
u8g2_left.drawFrame(65, 17, 34, 9);
if(trim_throttle >= 0) {
u8g2_left.drawBox(82, 19, trim_throttle, 5);
} else {
u8g2_left.drawBox(82 + trim_throttle, 19, -(trim_throttle), 5);
}
u8g2_left.drawFrame(65, 27, 34, 9);
if(trim_yaw >= 0) {
u8g2_left.drawBox(82, 29, trim_yaw, 5);
} else {
u8g2_left.drawBox(82 + trim_yaw, 29, -(trim_yaw), 5);
}
u8g2_left.drawFrame(65, 37, 34, 9);
if(trim_pitch >= 0) {
u8g2_left.drawBox(82, 39, trim_pitch, 5);
} else {
u8g2_left.drawBox(82 + trim_pitch, 39, -(trim_pitch), 5);
}
u8g2_left.drawFrame(65, 47, 34, 9);
if(trim_roll >= 0) {
u8g2_left.drawBox(82, 49, trim_roll, 5);
} else {
u8g2_left.drawBox(82 + trim_roll, 49, -(trim_roll), 5);
}
// Pointers
u8g2_left.setCursor(110, 25 + (stick_position_pointer * 10));
u8g2_left.print(F("<"));
/*
static char buf[6];
strcpy(buf, ltoa(trim_throttle, buf, 10));
u8g2_right.drawStr(100, 35,buf);
if(reset_selections) {
u8g2_left.drawFrame(26, 40, 30, 20);
} else {
u8g2_left.drawFrame(62, 40, 30, 20);
}
*/
u8g2_left.nextPage();
u8g2_right.clearBuffer();
u8g2_right.firstPage();
draw_gimbalbox(0, 0);
draw_gimbalbox(64, 0);
// Mapping based on the live values
uint16_t gimbal_y_raw = throttle_value;
uint16_t gimbal_x_raw = yaw_value;
if(gimbal_y_raw < throttle_min) gimbal_y_raw = throttle_min;
if(gimbal_y_raw > throttle_max) gimbal_y_raw = throttle_max;
if(gimbal_x_raw < yaw_min) gimbal_x_raw = yaw_min;
if(gimbal_x_raw > yaw_max) gimbal_x_raw = yaw_max;
uint8_t gimbal_y;
if(!invert_throttle)
gimbal_y = map(gimbal_y_raw, throttle_min, throttle_max, 0, 63); // Throttle
else
gimbal_y = map(gimbal_y_raw, throttle_max, throttle_min, 0, 63); // Throttle
uint8_t gimbal_x;
if(!invert_yaw)
gimbal_x = map(gimbal_x_raw, yaw_min, yaw_max, 0, 63); // Yaw
else
gimbal_x = map(gimbal_x_raw, yaw_max, yaw_min, 0, 63); // Yaw
u8g2_right.drawFilledEllipse(gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
// Mapping based on the live values
gimbal_y_raw = pitch_value;
gimbal_x_raw = roll_value;
if(gimbal_y_raw < pitch_min) gimbal_y_raw = pitch_min;
if(gimbal_y_raw > pitch_max) gimbal_y_raw = pitch_max;
if(gimbal_x_raw < roll_min) gimbal_x_raw = roll_min;
if(gimbal_x_raw > roll_max) gimbal_x_raw = roll_max;
if(!invert_pitch)
gimbal_y = map(gimbal_y_raw, pitch_min, pitch_max, 0, 63); // Pitch
else
gimbal_y = map(gimbal_y_raw, pitch_max, pitch_min, 0, 63); // Pitch
if(!invert_roll)
gimbal_x = map(gimbal_x_raw, roll_min, roll_max, 0, 63); // Roll
else
gimbal_x = map(gimbal_x_raw, roll_max, roll_min, 0, 63); // Roll
u8g2_right.drawFilledEllipse(64 + gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
u8g2_right.nextPage();
}
void read_settings(void) {
uint16_t addr = 0x00;
// Throttle Max
throttle_max = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// New unit / reset.... dont need to read....
if(throttle_max == 0) return;
// Throttle Min
addr = 2;
throttle_min = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Yaw Max
addr = 4;
yaw_max = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Yaw Min
addr = 6;
yaw_min = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Pitch Max
addr = 8;
pitch_max = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Pitch Min
addr = 10;
pitch_min = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Roll Max
addr = 12;
roll_max = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Roll Min
addr = 14;
roll_min = EEPROM.read(addr) | EEPROM.read(addr + 1) << 8;
// Inverted Values
addr = 16;
int8_t val = EEPROM.read(addr);
invert_throttle = ((val & 0b00001000) >> 3) ? true : false;
invert_yaw = ((val & 0b00000100) >> 2) ? true : false;
invert_pitch = ((val & 0b00000010) >> 1) ? true : false;
invert_roll = ((val & 0b00000001) >> 0) ? true : false;
// Throttle Trim
addr = 17;
trim_throttle = EEPROM.read(addr);
// Yaw Trim
addr = 18;
trim_yaw = EEPROM.read(addr);
// Pitch Trim
addr = 19;
trim_pitch = EEPROM.read(addr);
// Roll Trim
addr = 20;
trim_roll = EEPROM.read(addr);
}
void commit_all(void) {
/*
* Memory Format:
*
* TTttYYyyPPppRRrrPABCD
*
* TT: Throttle Max
* tt: Throttle Min
* YY: Yaw Max
* yy: Yaw Min
* PP: Pitch Max
* pp: Pitch Min
* RR: Roll Max
* rr: Roll Min
* P : Invert Gimbals (0000TYPR)
* A : Throttle Trim
* B : Yaw Trim
* C : Pitch Trim
* D : Roll Trim
*/
uint16_t addr = 0x00;
// Throttle Max
write_data(addr++, throttle_max & 0xFF); // Low bits
write_data(addr++, throttle_max >> 8 & 0xFF); // High bits
// Throttle Min
write_data(addr++, throttle_min & 0xFF); // Low bits
write_data(addr++, throttle_min >> 8 & 0xFF); // High bits
// Yaw Max
write_data(addr++, yaw_max & 0xFF); // Low bits
write_data(addr++, yaw_max >> 8 & 0xFF); // High bits
// Yaw Min
write_data(addr++, yaw_min & 0xFF); // Low bits
write_data(addr++, yaw_min >> 8 & 0xFF); // High bits
// Pitch Max
write_data(addr++, pitch_max & 0xFF); // Low bits
write_data(addr++, pitch_max >> 8 & 0xFF); // High bits
// Pitch Min
write_data(addr++, pitch_min & 0xFF); // Low bits
write_data(addr++, pitch_min >> 8 & 0xFF); // High bits
// Roll Max
write_data(addr++, roll_max & 0xFF); // Low bits
write_data(addr++, roll_max >> 8 & 0xFF); // High bits
// Roll Min
write_data(addr++, roll_min & 0xFF); // Low bits
write_data(addr++, roll_min >> 8 & 0xFF); // High bits
// Inverted Gimbals
// uint8_t val = invert_throttle << 3 || invert_yaw << 2 || invert_pitch << 1 || invert_roll;
uint8_t val = ((invert_throttle) ? 1 << 3 : 0) + ((invert_yaw) ? 1 << 2 : 0) + ((invert_pitch) ? 1 << 1 : 0) + ((invert_roll) ? 1 : 0);
Serial.println(val);
write_data(addr++, val);
// Throttle Trim
write_data(addr++, trim_throttle);
// Yaw Trim
write_data(addr++, trim_yaw);
// Pitch Trim
write_data(addr++, trim_pitch);
// Roll Trim
write_data(addr++, trim_roll);
}
void write_data(uint16_t addr, uint8_t val) {
// timerAlarmDisable(timer);
EEPROM.write(addr, val);
EEPROM.commit();
// timerAlarmEnable(timer);
}
void reset_settings(void) {
for(int i = 0; i < 255; i++) {
write_data(i, 0x00);
}
// Reboot
reboot();
}
void reboot(void) {
ESP.restart();
}
void reset_default(void) {
static bool reset_selections = false;
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(10, 25);
u8g2_left.print(F("Reset Settings?"));
u8g2_left.setCursor(30, 55);
u8g2_left.print(F("Yes No"));
if(stick_navigation_position == MENU_LEFT) {
reset_selections = true;
} else if(stick_navigation_position == MENU_RIGHT) {
reset_selections = false;
} else if(stick_navigation_position == MENU_OK) {
// Reset Settings..
if(reset_selections)
reset_settings();
// Simulate...so it will return back..
menu_entry_alpha_selected = false;
last_menu_stick_read = millis() + 200;
}
if(reset_selections) {
u8g2_left.drawFrame(26, 40, 30, 20);
} else {
u8g2_left.drawFrame(62, 40, 30, 20);
}
u8g2_left.nextPage();
u8g2_right.clearBuffer();
u8g2_right.firstPage();
u8g2_right.nextPage();
}
void save_settings(void) {
static bool save_selections = false;
u8g2_left.clearBuffer();
u8g2_left.firstPage();
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.setCursor(10, 25);
u8g2_left.print(F("Save Settings?"));
u8g2_left.setCursor(30, 55);
u8g2_left.print(F("Yes No"));
if(stick_navigation_position == MENU_LEFT) {
save_selections = true;
} else if(stick_navigation_position == MENU_RIGHT) {
save_selections = false;
} else if(stick_navigation_position == MENU_OK) {
// Save settings
if(save_selections)
commit_all();
// Simulate...so it will return back..
menu_entry_alpha_selected = false;
last_menu_stick_read = millis() + 200;
}
if(save_selections) {
u8g2_left.drawFrame(26, 40, 30, 20);
} else {
u8g2_left.drawFrame(62, 40, 30, 20);
}
u8g2_left.nextPage();
u8g2_right.clearBuffer();
u8g2_right.firstPage();
u8g2_right.nextPage();
}
// Draw the gimbal box
void draw_gimbalbox(uint8_t x, uint8_t y) {
uint8_t w = 63;
uint8_t hm = 31;
uint8_t vm = x + hm;
// showing the gimbal range
u8g2_left.drawFrame(x, y, w, w);
// showing the crosshair
// horizontal
for(uint8_t i = x; i < (x+w); i+=5) {
u8g2_left.drawPixel(i, hm);
}
// vertical
for(uint8_t i = y; i < (y+w); i+=5) {
u8g2_left.drawPixel(vm, i);
}
}
void stick_calibration() {
static char buf[6];
u8g2_left.clearBuffer();
u8g2_left.firstPage();
// showing the gimbal range
draw_gimbalbox(64, 0);
// Getting the throttle minimum
if(throttle_value < throttle_min) {
throttle_min = throttle_value;
}
if(throttle_value > throttle_max) {
throttle_max = throttle_value;
}
if(yaw_value < yaw_min) {
yaw_min = yaw_value;
}
if(yaw_value > yaw_max) {
yaw_max = yaw_value;
}
if(pitch_value < pitch_min) pitch_min = pitch_value;
if(pitch_value > pitch_max) pitch_max = pitch_value;
if(roll_value < roll_min) roll_min = roll_value;
if(roll_value > roll_max) roll_max = roll_value;
// Mapping based on the live values
uint16_t gimbal_y_raw = throttle_value;
uint16_t gimbal_x_raw = yaw_value;
if(gimbal_y_raw < throttle_min) gimbal_y_raw = throttle_min;
if(gimbal_y_raw > throttle_max) gimbal_y_raw = throttle_max;
if(gimbal_x_raw < yaw_min) gimbal_x_raw = yaw_min;
if(gimbal_x_raw > yaw_max) gimbal_x_raw = yaw_max;
uint8_t gimbal_y;
if(!invert_throttle)
gimbal_y = map(gimbal_y_raw, throttle_min, throttle_max, 0, 63); // Throttle
else
gimbal_y = map(gimbal_y_raw, throttle_max, throttle_min, 0, 63); // Throttle
uint8_t gimbal_x;
if(!invert_yaw)
gimbal_x = map(gimbal_x_raw, yaw_min, yaw_max, 0, 63); // Yaw
else
gimbal_x = map(gimbal_x_raw, yaw_max, yaw_min, 0, 63); // Yaw
u8g2_left.drawFilledEllipse(64 + gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
// Throttle
u8g2_left.setCursor(0, 12);
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.print(F("Throttle:"));
u8g2_left.setFont(u8g2_font_TimesNewPixel_tr);
strcpy(buf, ltoa(throttle_min, buf, 10));
u8g2_left.drawStr(0, 25, buf);
strcpy(buf, ltoa(throttle_max, buf, 10));
u8g2_left.drawStr(30, 25, buf);
// Yaw
u8g2_left.setCursor(0, 45);
u8g2_left.setFont(u8g2_font_ImpactBits_tr);
u8g2_left.print(F("Yaw:"));
u8g2_left.setFont(u8g2_font_TimesNewPixel_tr);
strcpy(buf, ltoa(yaw_min, buf, 10));
u8g2_left.drawStr(0, 60, buf);
strcpy(buf, ltoa(yaw_max, buf, 10));
u8g2_left.drawStr(30, 60, buf);
u8g2_left.nextPage();
u8g2_right.clearBuffer();
u8g2_right.firstPage();
// showing the gimbal range
draw_gimbalbox(0, 0);
// Getting the pitch minimum
if(pitch_value < pitch_min) {
pitch_min = pitch_value;
}
if(pitch_value > pitch_max) {
pitch_max = pitch_value;
}
if(roll_value < roll_min) {
roll_min = roll_value;
}
if(roll_value > roll_max) {
roll_max = roll_value;
}
if(pitch_value < pitch_min) pitch_min = pitch_value;
if(pitch_value > pitch_max) pitch_max = pitch_value;
if(roll_value < roll_min) roll_min = roll_value;
if(roll_value > roll_max) roll_max = roll_value;
// Mapping based on the live values
gimbal_y_raw = pitch_value;
gimbal_x_raw = roll_value;
if(gimbal_y_raw < pitch_min) gimbal_y_raw = pitch_min;
if(gimbal_y_raw > pitch_max) gimbal_y_raw = pitch_max;
if(gimbal_x_raw < roll_min) gimbal_x_raw = roll_min;
if(gimbal_x_raw > roll_max) gimbal_x_raw = roll_max;
if(!invert_pitch)
gimbal_y = map(gimbal_y_raw, pitch_min, pitch_max, 0, 63); // Pitch
else
gimbal_y = map(gimbal_y_raw, pitch_max, pitch_min, 0, 63); // Pitch
if(!invert_roll)
gimbal_x = map(gimbal_x_raw, roll_min, roll_max, 0, 63); // Roll
else
gimbal_x = map(gimbal_x_raw, roll_max, roll_min, 0, 63); // Roll
u8g2_right.drawFilledEllipse(gimbal_x, gimbal_y, 3, 3, U8G2_DRAW_ALL);
// Pitch
u8g2_right.setCursor(65, 12);
u8g2_right.setFont(u8g2_font_ImpactBits_tr);
u8g2_right.print(F("Pitch:"));
u8g2_right.setFont(u8g2_font_TimesNewPixel_tr);
strcpy(buf, ltoa(pitch_min, buf, 10));
u8g2_left.drawStr(65, 25, buf);
strcpy(buf, ltoa(pitch_max, buf, 10));
u8g2_right.drawStr(95, 25, buf);
// Roll
u8g2_right.setCursor(65, 45);
u8g2_right.setFont(u8g2_font_ImpactBits_tr);
u8g2_right.print(F("Roll:"));
u8g2_right.setFont(u8g2_font_TimesNewPixel_tr);
strcpy(buf, ltoa(roll_min, buf, 10));
u8g2_right.drawStr(65, 60, buf);
strcpy(buf, ltoa(roll_max, buf, 10));
u8g2_right.drawStr(95, 60, buf);
u8g2_right.nextPage();
}
void bluetooth_gamepad() {
u8g2_left.clearBuffer();
u8g2_left.firstPage();
@ -675,8 +1334,8 @@ void bluetooth_gamepad() {
u8g2_right.setCursor(15,15);
u8g2_right.print(F("Bluetooth PAD"));
u8g2_right.setFont(u8g2_font_TimesNewPixel_tr);
u8g2_right.setFont(u8g2_font_TimesNewPixel_tr);
u8g2_right.setCursor(0,30);
u8g2_right.print(F("T:"));
strcpy(buf, ltoa(throttle, buf, 10));
@ -702,7 +1361,12 @@ void bluetooth_gamepad() {
u8g2_right.setCursor(0,60);
u8g2_right.print(F("Rate:"));
strcpy(buf, ltoa(ble_profiling, buf, 10));
u8g2_right.drawStr(0,40,buf);
u8g2_right.drawStr(35,60,buf);
if(!sw6) {
u8g2_right.setCursor(60,60);
u8g2_right.print(F("LOCKED"));
}
u8g2_right.nextPage();

2
TODO.md
View File

@ -0,0 +1,2 @@
### TASKS
1. Test all Analog input
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