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