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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2105 | - | 1 | #include <linux/joystick.h> |
| 2 | #include "main.h" |
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| 3 | #include "gamepad.h" |
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| 4 | #include "frame.h" |
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| 5 | |||
| 6 | volatile int *Axis = NULL; |
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| 7 | volatile char *Button = NULL; |
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| 8 | volatile float Sensitivity = 1.0; |
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| 9 | int NumberOfAxesAvailiable; |
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| 10 | int NumberOfButtonsAvailiable; |
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| 11 | char GamepadConnected[30]; |
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| 12 | u8 IsActive = 0; |
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| 13 | u8 ProgramSelect = 0; |
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| 14 | |||
| 15 | int recordingButtonTemp = 125; |
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| 16 | int padFd; |
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| 17 | struct js_event js; |
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| 18 | |||
| 19 | struct str_ExternControl externControl; //struct for controlling MikroKopter |
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| 20 | struct str_ExternControl externControlGier; //struct for controlling Yaw (Gier) only |
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| 21 | |||
| 22 | u8 gamepad_values_convert_for_cam(int tmpvalue){ |
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| 23 | u8 tmp; |
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| 24 | double tmpdouble = tmpvalue; |
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| 25 | tmp = ((((tmpdouble/(MaxAxisValue))-1)*125)-131)*-1; |
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| 26 | if(tmp == 0){tmp = 255;} |
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| 27 | return(tmp); |
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| 28 | } |
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| 29 | |||
| 30 | //>> Converting gamepad values to values readable by a MikroKopter |
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| 31 | //------------------------------------------------------------------------------------------------------ |
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| 32 | u8 gamepad_values_convert_for_kopter(int tmpvalue){ |
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| 33 | u8 tmp; |
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| 34 | double tmpdouble = tmpvalue; |
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| 35 | tmp = ((((tmpdouble/(MaxAxisValue*Sensitivity))-1)*125)-131)*-1; |
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| 36 | /*Increase values exponentially |
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| 37 | if(tmpvalue < 0){ |
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| 38 | tmpdouble = tmpvalue*-1; |
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| 39 | }else{tmpdouble = tmpvalue;} |
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| 40 | tmp = ((30497*tmpdouble*tmpdouble*tmpdouble)/11187226521286200+(10667778*tmpdouble*tmpdouble)/532725072442200+(2592340312*tmpdouble)/11187226521286); |
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| 41 | if(tmpvalue < 0){ |
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| 42 | tmp = (tmp*-1)+255; |
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| 43 | } |
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| 44 | */ |
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| 45 | return(tmp); |
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| 46 | } |
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| 47 | |||
| 48 | u8 gamepad_values_convert_for_kopter_gas(int tmpvalue){ |
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| 49 | u8 tmp; |
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| 50 | double tmpdouble = tmpvalue; |
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| 51 | tmp = ((((tmpdouble/(MaxAxisValue))-1)*125)-131)*-1; |
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| 52 | return(tmp); |
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| 53 | } |
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| 54 | |||
| 55 | int check_if_button_pushed(){ |
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| 56 | read_gamepad_data(); |
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| 57 | int buttonpushed = -1; |
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| 58 | for (int i = 0; i < NumberOfButtonsAvailiable; i++) |
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| 59 | { |
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| 60 | if(Button[i] != 0){ |
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| 61 | buttonpushed = i; |
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| 62 | } |
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| 63 | } |
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| 64 | return(buttonpushed); |
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| 65 | } |
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| 66 | |||
| 67 | //>> Check if controls are active |
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| 68 | //------------------------------------------------------------------------------------------------------ |
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| 69 | void check_if_controls_active(){ |
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| 70 | if(check_if_button_pushed() == GamepadLayout[17] && IsActive == 0){ |
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| 71 | IsActive = 1; |
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| 72 | while(1){if(!value_sum(0)){break;};} |
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| 73 | }else if(check_if_button_pushed() == GamepadLayout[17] && IsActive == 1){ |
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| 74 | IsActive = 0; |
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| 75 | while(1){if(!value_sum(0)){break;};} |
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| 76 | } |
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| 77 | } |
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| 78 | //>> Check if program has been switched |
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| 79 | //------------------------------------------------------------------------------------------------------ |
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| 80 | void check_program_switch(){ |
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| 81 | if(check_if_button_pushed() == GamepadLayout[11]){ |
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| 82 | frame_print("", 1, 0); |
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| 83 | ProgramSelect = 1; |
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| 84 | }else if(check_if_button_pushed() == GamepadLayout[12]){ |
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| 85 | frame_print("", 1, 0); |
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| 86 | ProgramSelect = 2; |
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| 87 | } |
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| 88 | } |
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| 89 | |||
| 90 | //>> Check if sensitivity of the controls has been adjusted |
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| 91 | //------------------------------------------------------------------------------------------------------ |
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| 92 | void get_sensitivity(){ |
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| 93 | if(check_if_button_pushed() == GamepadLayout[15] && Sensitivity <= 2.0){ |
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| 94 | if(Sensitivity < 2){buzzer_short(1);} |
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| 95 | Sensitivity += 0.2; |
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| 96 | while(1){if(!value_sum(0)){break;};} |
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| 97 | }else if(check_if_button_pushed() == GamepadLayout[16] && Sensitivity > 1.0){ |
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| 98 | if(Sensitivity > 1){buzzer_short(1);} |
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| 99 | Sensitivity -= 0.2; |
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| 100 | while(1){if(!value_sum(0)){break;};} |
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| 101 | } |
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| 102 | } |
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| 103 | |||
| 104 | //>> Preparing Data for remotely controlling a Camera-Gimbal |
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| 105 | //------------------------------------------------------------------------------------------------------ |
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| 106 | /* |
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| 107 | void create_data_camera(serial_data_struct* pdata_package_camera_control, serial_data_struct* pdata_package_camera_control_gier){ |
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| 108 | pdata_package_camera_control->data[0] = gamepad_values_convert_for_cam(Axis[GamepadLayout[0]]); //Nick |
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| 109 | pdata_package_camera_control->data[1] = gamepad_values_convert_for_cam(Axis[GamepadLayout[1]]); //Roll |
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| 110 | pdata_package_camera_control->data[2] = gamepad_values_convert_for_cam(Axis[GamepadLayout[3]]); // |
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| 111 | if(Button[GamepadLayout[8]] > 0){recordingButtonTemp = 131;}else if(Button[GamepadLayout[9]] > 0){recordingButtonTemp = 125;} |
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| 112 | pdata_package_camera_control->data[3] = recordingButtonTemp; |
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| 113 | if(Button[GamepadLayout[10]]){pdata_package_camera_control->data[4] = 131;}else{pdata_package_camera_control->data[4] = 125;} |
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| 114 | int i = 5; |
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| 115 | while(i < 12){ |
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| 116 | pdata_package_camera_control->data[i] = 0; |
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| 117 | i++; |
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| 118 | } |
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| 119 | //Add Yaw (Gier)-funcionality |
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| 120 | externControlGier.Gier = gamepad_values_convert_for_kopter(Axis[GamepadLayout[2]]); |
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| 121 | externControlGier.Config = EC_VALID | EC_GAS_ADD; |
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| 122 | externControlGier.Frame = 'z'; //character for echo |
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| 123 | u8 *tmpData = (unsigned char *) &externControlGier; |
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| 124 | for (int i = 0; i < pdata_package_camera_control_gier->cmdLength; ++i) |
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| 125 | { |
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| 126 | pdata_package_camera_control_gier->data[i] = tmpData[i]; |
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| 127 | } |
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| 128 | |||
| 129 | //Print out values on screen |
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| 130 | char tmpbuffer[255]; |
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| 131 | sprintf(tmpbuffer, "Nick: %d \n Roll: %d \n Gier: %d \n Zoom: %d \n Aufnahme: %d \n Auslösung: %d", pdata_package_camera_control->data[0], pdata_package_camera_control->data[1], pdata_package_camera_control_gier->data[2], pdata_package_camera_control->data[2], pdata_package_camera_control->data[3], pdata_package_camera_control->data[4]); |
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| 132 | frame_values("VALUES", 5, 2); |
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| 133 | frame_values(tmpbuffer, 5, 4); |
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| 134 | } |
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| 135 | */ |
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| 136 | |||
| 137 | //>> Preparing Data for remotely controlling a Camera-Gimbal (CAM CONTROL ONLY) |
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| 138 | //------------------------------------------------------------------------------------------------------ |
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| 139 | void create_data_camera(serial_data_struct* pdata_package_camera_control, serial_data_struct* pdata_package_camera_control_gier){ |
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| 140 | pdata_package_camera_control->data[0] = gamepad_values_convert_for_cam(Axis[GamepadLayout[0]]); //Nick |
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| 141 | pdata_package_camera_control->data[1] = gamepad_values_convert_for_cam(Axis[GamepadLayout[1]]); //Roll |
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| 142 | pdata_package_camera_control->data[2] = gamepad_values_convert_for_cam(Axis[GamepadLayout[3]]); // |
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| 143 | if(Button[GamepadLayout[4]] > 0){recordingButtonTemp = 131;}else if(Button[GamepadLayout[5]] > 0){recordingButtonTemp = 125;} |
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| 144 | pdata_package_camera_control->data[3] = recordingButtonTemp; |
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| 145 | if(Button[GamepadLayout[6]]){pdata_package_camera_control->data[4] = 131;}else{pdata_package_camera_control->data[4] = 125;} |
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| 146 | int i = 5; |
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| 147 | while(i < 12){ |
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| 148 | pdata_package_camera_control->data[i] = 0; |
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| 149 | i++; |
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| 150 | } |
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| 151 | //Add Yaw (Gier)-funcionality |
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| 152 | externControlGier.Gier = gamepad_values_convert_for_kopter(Axis[GamepadLayout[2]]); |
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| 153 | externControlGier.Config = EC_VALID | EC_GAS_ADD; |
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| 154 | externControlGier.Frame = 'z'; //character for echo |
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| 155 | u8 *tmpData = (unsigned char *) &externControlGier; |
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| 156 | for (int i = 0; i < pdata_package_camera_control_gier->cmdLength; ++i) |
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| 157 | { |
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| 158 | pdata_package_camera_control_gier->data[i] = tmpData[i]; |
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| 159 | } |
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| 160 | |||
| 161 | //Print out values on screen |
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| 162 | char tmpbuffer[255]; |
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| 163 | sprintf(tmpbuffer, "Nick: %d \n Roll: %d \n Gier: %d \n Zoom: %d \n Aufnahme: %d \n Auslösung: %d", pdata_package_camera_control->data[0], pdata_package_camera_control->data[1], pdata_package_camera_control_gier->data[2], pdata_package_camera_control->data[2], pdata_package_camera_control->data[3], pdata_package_camera_control->data[4]); |
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| 164 | frame_values("VALUES", 5, 2); |
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| 165 | frame_values(tmpbuffer, 5, 4); |
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| 166 | } |
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| 167 | |||
| 168 | //>> Preparing Data for remotely controlling a MikroKopter |
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| 169 | //------------------------------------------------------------------------------------------------------ |
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| 170 | void create_data_kopter(serial_data_struct* pdata_package_kopter_control){ |
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| 171 | if(check_if_button_pushed() == GamepadLayout[13]){ //Motor start |
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| 172 | externControl.Nick = 131; |
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| 173 | externControl.Roll = 131; |
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| 174 | externControl.Gier = 131; |
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| 175 | externControl.Gas = 131; |
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| 176 | }else if(check_if_button_pushed() == GamepadLayout[14]){ //Motor stop |
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| 177 | externControl.Nick = 131; |
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| 178 | externControl.Roll = 125; |
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| 179 | externControl.Gier = 125; |
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| 180 | externControl.Gas = 131; |
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| 181 | }else{ |
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| 182 | externControl.Nick = gamepad_values_convert_for_kopter(Axis[GamepadLayout[4]]); |
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| 183 | externControl.Roll = gamepad_values_convert_for_kopter(Axis[GamepadLayout[5]]); |
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| 184 | externControl.Gier = gamepad_values_convert_for_kopter(Axis[GamepadLayout[6]]); |
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| 185 | externControl.Gas = gamepad_values_convert_for_kopter_gas(Axis[GamepadLayout[7]]); |
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| 186 | } |
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| 187 | externControl.Config = EC_VALID | EC_GAS_ADD | EC_IGNORE_RC; |
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| 188 | externControl.Frame = 'z'; //character for echo |
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| 189 | u8 *tmpData = (unsigned char *) &externControl; |
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| 190 | for (int i = 0; i < pdata_package_kopter_control->cmdLength; ++i) |
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| 191 | { |
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| 192 | pdata_package_kopter_control->data[i] = tmpData[i]; |
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| 193 | } |
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| 194 | //Print out values on screen |
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| 195 | char tmpbuffer[255]; |
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| 196 | sprintf(tmpbuffer, "Nick: %d \n Roll: %d \n Gier: %d \n Gas : %d \n", pdata_package_kopter_control->data[0], pdata_package_kopter_control->data[1], pdata_package_kopter_control->data[2], pdata_package_kopter_control->data[3]); |
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| 197 | frame_values("VALUES", 5, 2); |
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| 198 | frame_values(tmpbuffer, 5, 4); |
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| 199 | } |
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| 200 | |||
| 201 | void read_gamepad_data(){ |
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| 202 | read(padFd, &js, sizeof(struct js_event)); |
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| 203 | switch (js.type & ~JS_EVENT_INIT) |
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| 204 | { |
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| 205 | case JS_EVENT_AXIS: |
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| 206 | Axis [ js.number ] = js.value; |
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| 207 | break; |
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| 208 | case JS_EVENT_BUTTON: |
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| 209 | Button [ js.number ] = js.value; |
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| 210 | break; |
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| 211 | } |
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| 212 | } |
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| 213 | |||
| 214 | //>> Initialize Gamepad |
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| 215 | //------------------------------------------------------------------------------------------------------ |
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| 216 | void gamepad_init(){ |
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| 217 | if((padFd = open(GAME_PAD, O_RDONLY)) == -1) |
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| 218 | { |
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| 219 | printf( "Couldn't open gamepad\n" ); |
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| 220 | } |
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| 221 | ioctl( padFd, JSIOCGAXES, &NumberOfAxesAvailiable ); |
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| 222 | ioctl( padFd, JSIOCGBUTTONS, &NumberOfButtonsAvailiable ); |
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| 223 | ioctl( padFd, JSIOCGNAME(80), &GamepadConnected ); |
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| 224 | Axis = (int *) calloc( NumberOfAxesAvailiable, sizeof( int ) ); |
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| 225 | Button = (char *) calloc( NumberOfButtonsAvailiable, sizeof( char ) ); |
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| 226 | fcntl( padFd, F_SETFL, O_NONBLOCK ); /* use non-blocking mode */ |
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| 227 | } |