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feat: Add support for SpaceMouse mod (6D input knob) (#1853)

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Use `-DSPACEMOUSE=YES` CMake option to activate on Horus color targets.
Co-authored-by: Niel Horne (elecpower), Raphael Coeffic (raphaelcoeffic) and Peter Feerick (pfeerick).
This commit is contained in:
Risto
2022-09-18 09:23:48 +02:00
committed by GitHub
co-authored by Niel Horne (elecpower), Raphael Coeffic (raphaelcoeffic) and Peter Feerick (pfeerick).
parent 3765e678b9
commit 9dc4065525
42 changed files with 491 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files
companion/src/constants.h
+1
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@@ -48,6 +48,7 @@
#define CPN_MAX_SENSORS 60
#define CPN_MAX_SCRIPTS 9
#define CPN_MAX_SCRIPT_INPUTS 10
#define CPN_MAX_SPACEMOUSE 6
#define CPN_STR_APP_NAME QCoreApplication::translate("Companion", "EdgeTX Companion")
#define CPN_STR_TTL_INFO QCoreApplication::translate("Companion", "Information") // shared Title Case words, eg. for a window title or section heading
companion/src/datamodels/compounditemmodels.cpp
+1
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@@ -112,6 +112,7 @@ RawSourceItemModel::RawSourceItemModel(const GeneralSettings * const generalSett
addItems(SOURCE_TYPE_VIRTUAL_INPUT, RawSource::InputsGroup, firmware->getCapability(VirtualInputs));
addItems(SOURCE_TYPE_STICK, RawSource::SourcesGroup, board->getCapability(Board::MaxAnalogs));
addItems(SOURCE_TYPE_TRIM, RawSource::TrimsGroup, board->getCapability(Board::NumTrims));
addItems(SOURCE_TYPE_SPACEMOUSE, RawSource::SourcesGroup, CPN_MAX_SPACEMOUSE);
addItems(SOURCE_TYPE_MAX, RawSource::SourcesGroup, 1);
addItems(SOURCE_TYPE_SWITCH, RawSource::SwitchesGroup, board->getCapability(Board::Switches));
addItems(SOURCE_TYPE_FUNCTIONSWITCH, RawSource::SwitchesGroup, board->getCapability(Board::FunctionSwitches));
companion/src/firmwares/edgetx/yaml_generalsettings.cpp
+1
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@@ -83,6 +83,7 @@ const YamlLookupTable uartModeLut = {
{ GeneralSettings::AUX_SERIAL_CLI, "CLI" },
{ GeneralSettings::AUX_SERIAL_GPS, "GPS" },
{ GeneralSettings::AUX_SERIAL_DEBUG, "DEBUG" },
{ GeneralSettings::AUX_SERIAL_SPACEMOUSE, "SPACEMOUSE" },
};
const YamlLookupTable antennaModeLut = {
companion/src/firmwares/edgetx/yaml_rawsource.cpp
+25 -1
View File
@@ -21,6 +21,16 @@
#include "yaml_rawsource.h"
#include "eeprominterface.h"
static const YamlLookupTable spacemouseLut = {
{ 0, "SPACEMOUSE_A" },
{ 1, "SPACEMOUSE_B" },
{ 2, "SPACEMOUSE_C" },
{ 3, "SPACEMOUSE_D" },
{ 4, "SPACEMOUSE_E" },
{ 5, "SPACEMOUSE_F" },
};
std::string YamlRawSourceEncode(const RawSource& rhs)
{
std::string src_str;
@@ -97,6 +107,11 @@ std::string YamlRawSourceEncode(const RawSource& rhs)
src_str += std::to_string(rhs.index / 3);
src_str += ")";
break;
case SOURCE_TYPE_SPACEMOUSE:
src_str = "SPACEMOUSE_";
c += rhs.index;
src_str += c;
break;
default:
src_str = "NONE";
break;
@@ -165,7 +180,7 @@ RawSource YamlRawSourceDecode(const std::string& src_str)
val[0] == 'f' &&
val[1] == 's' &&
val[2] == '(') {
std::stringstream src(src_str.substr(3));
int fs = 0;
src >> fs;
@@ -259,6 +274,15 @@ RawSource YamlRawSourceDecode(const std::string& src_str)
rhs.index = sp_idx;
}
if (node.IsScalar() && node.as<std::string>().size() == 12 && node.as<std::string>().substr(0, 11) == "SPACEMOUSE_") {
int sm_idx;
node >> spacemouseLut >> sm_idx;
if (sm_idx >= 0) {
rhs.type = SOURCE_TYPE_SPACEMOUSE;
rhs.index = sm_idx;
}
}
if (node.IsScalar() && node.as<std::string>() == "MAX") {
rhs.type = SOURCE_TYPE_MAX;
rhs.index = 0;
companion/src/firmwares/generalsettings.cpp
+5 -2
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@@ -501,6 +501,8 @@ QString GeneralSettings::serialModeToString(int value)
return tr("GPS");
case AUX_SERIAL_DEBUG:
return tr("Debug");
case AUX_SERIAL_SPACEMOUSE:
return tr("SpaceMouse");
default:
return CPN_STR_UNKNOWN_ITEM;
}
@@ -576,8 +578,9 @@ AbstractStaticItemModel * GeneralSettings::serialModeItemModel(int port_nr)
if (port_nr == SP_VCP &&
(i == AUX_SERIAL_TELE_IN ||
i == AUX_SERIAL_SBUS_TRAINER ||
i == AUX_SERIAL_GPS)) {
// These 3 are disabled on VCP
i == AUX_SERIAL_GPS ||
i == AUX_SERIAL_SPACEMOUSE)) {
// These are disabled on VCP
continue;
}
mdl->appendToItemList(serialModeToString(i), i);
companion/src/firmwares/generalsettings.h
+1
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@@ -141,6 +141,7 @@ class GeneralSettings {
AUX_SERIAL_CLI,
AUX_SERIAL_GPS,
AUX_SERIAL_DEBUG,
AUX_SERIAL_SPACEMOUSE,
AUX_SERIAL_COUNT
};
companion/src/firmwares/rawsource.cpp
+9
View File
@@ -248,6 +248,9 @@ QString RawSource::toString(const ModelData * model, const GeneralSettings * con
else
return GVarData().nameToString(index);
case SOURCE_TYPE_SPACEMOUSE:
return tr("sm%1").arg(QChar('A' + index));
default:
return QString(CPN_STR_UNKNOWN_ITEM);
}
@@ -352,6 +355,12 @@ bool RawSource::isAvailable(const ModelData * const model, const GeneralSettings
if (type == SOURCE_TYPE_TRIM && index >= b.getCapability(Board::NumTrims))
return false;
if (type == SOURCE_TYPE_SPACEMOUSE &&
(index >= CPN_MAX_SPACEMOUSE ||
(!(gs->serialPort[GeneralSettings::SP_AUX1] == GeneralSettings::AUX_SERIAL_SPACEMOUSE ||
gs->serialPort[GeneralSettings::SP_AUX2] == GeneralSettings::AUX_SERIAL_SPACEMOUSE))))
return false;
return true;
}
companion/src/firmwares/rawsource.h
+1
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@@ -177,6 +177,7 @@ enum RawSourceType {
SOURCE_TYPE_GVAR,
SOURCE_TYPE_SPECIAL,
SOURCE_TYPE_TELEMETRY,
SOURCE_TYPE_SPACEMOUSE,
MAX_SOURCE_TYPE
};
radio/src/cli.cpp
+24
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@@ -1472,6 +1472,27 @@ int cliGps(const char ** argv)
}
#endif
#if defined(SPACEMOUSE)
int cliSpaceMouse(const char ** argv)
{
#if defined(DEBUG)
if (!strcmp(argv[1], "trace")) {
spacemouseTraceEnabled = !spacemouseTraceEnabled;
} else
#endif
if (!strcmp(argv[1], "poll")) {
spacemousePoll();
} else if (!strcmp(argv[1], "tare")) {
spacemouseTare();
} else if (!strcmp(argv[1], "startstreaming")) {
spacemouseStartStreaming();
} else if (!strcmp(argv[1], "stopstreaming")) {
spacemouseStopStreaming();
}
return 0;
}
#endif
#if defined(BLUETOOTH)
int cliBlueTooth(const char ** argv)
{
@@ -1579,6 +1600,9 @@ const CliCommand cliCommands[] = {
#if defined(INTERNAL_GPS)
{ "gps", cliGps, "<baudrate>|$<command>|trace" },
#endif
#if defined(SPACEMOUSE)
{ "spacemouse", cliSpaceMouse, "poll | tare | startstreaming | stopstreaming | trace" },
#endif
#if defined(BLUETOOTH)
{ "bt", cliBlueTooth, "<baudrate>|<command>" },
#endif
radio/src/dataconstants.h
+12
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@@ -237,6 +237,7 @@ enum UartModes {
UART_MODE_CLI,
UART_MODE_GPS,
UART_MODE_DEBUG,
UART_MODE_SPACEMOUSE,
UART_MODE_COUNT SKIP,
UART_MODE_MAX SKIP = UART_MODE_COUNT-1
};
@@ -652,6 +653,17 @@ enum MixSources {
MIXSRC_TILT_Y, LUA_EXPORT("tilty", "Tilt Y")
#endif
#if defined(PCBHORUS)
MIXSRC_FIRST_SPACEMOUSE SKIP,
MIXSRC_SPACEMOUSE_A = MIXSRC_FIRST_SPACEMOUSE, LUA_EXPORT("sma", "SpaceMouse A")
MIXSRC_SPACEMOUSE_B, LUA_EXPORT("smb", "SpaceMouse B")
MIXSRC_SPACEMOUSE_C, LUA_EXPORT("smc", "SpaceMouse C")
MIXSRC_SPACEMOUSE_D, LUA_EXPORT("smd", "SpaceMouse D")
MIXSRC_SPACEMOUSE_E, LUA_EXPORT("sme", "SpaceMouse E")
MIXSRC_SPACEMOUSE_F, LUA_EXPORT("smf", "SpaceMouse F")
MIXSRC_LAST_SPACEMOUSE SKIP = MIXSRC_SPACEMOUSE_F,
#endif
MIXSRC_MAX, LUA_EXPORT("max", "MAX")
MIXSRC_FIRST_HELI SKIP,
radio/src/debug.cpp
+27 -27
View File
@@ -207,37 +207,37 @@ void DebugTimer::stop()
DebugTimer debugTimers[DEBUG_TIMERS_COUNT];
const char * const debugTimerNames[DEBUG_TIMERS_COUNT] = {
"Pulses int." // debugTimerIntPulses,
,"Pulses dur." // debugTimerIntPulsesDuration,
,"10ms dur. " // debugTimerPer10ms,
,"10ms period" // debugTimerPer10msPeriod,
,"Rotary enc." // debugTimerRotEnc,
,"Haptic " // debugTimerHaptic,
,"Mixer calc " // debugTimerMixer,
,"Tel. wakeup" // debugTimerTelemetryWakeup,
,"perMain dur" // debugTimerPerMain,
," perMain s1" // debugTimerPerMain1,
," guiMain " // debugTimerGuiMain,
," LUA " // debugTimerLua,
," LCD wait " // debugTimerLcdRefreshWait,
," LCD refr." // debugTimerLcdRefresh,
," Menus " // debugTimerMenus,
," Menu hnd" // debugTimerMenuHandlers,
,"Menu Vers. " // debugTimerVersion,
,"Menu simple" // debugTimerSimpleMenu,
,"Menu drawte" // debugTimerDrawText,
,"Menu drawt1" // debugTimerDrawText1,
,"Mix ADC " // debugTimerGetAdc,
,"Mix getsw " // debugTimerGetSwitches,
,"Mix eval " // debugTimerEvalMixes,
,"Mix 10ms " // debugTimerMixes10ms,
,"ADC read " // debugTimerAdcRead,
"Pulses int." // debugTimerIntPulses
,"Pulses dur." // debugTimerIntPulsesDuration
,"10ms dur. " // debugTimerPer10ms
,"10ms period" // debugTimerPer10msPeriod
,"Rotary enc." // debugTimerRotEnc
,"Haptic " // debugTimerHaptic
,"Mixer calc " // debugTimerMixer
,"Tel. wakeup" // debugTimerTelemetryWakeup
,"perMain dur" // debugTimerPerMain
," perMain s1" // debugTimerPerMain1
," guiMain " // debugTimerGuiMain
," LUA " // debugTimerLua
," LCD wait " // debugTimerLcdRefreshWait
," LCD refr." // debugTimerLcdRefresh
," Menus " // debugTimerMenus
," Menu hnd" // debugTimerMenuHandlers
,"Menu Vers. " // debugTimerVersion
,"Menu simple" // debugTimerSimpleMenu
,"Menu drawte" // debugTimerDrawText
,"Menu drawt1" // debugTimerDrawText1
,"Mix ADC " // debugTimerGetAdc
,"Mix getsw " // debugTimerGetSwitches
,"Mix eval " // debugTimerEvalMixes
,"Mix 10ms " // debugTimerMixes10ms
,"ADC read " // debugTimerAdcRead
,"mix-pulses " // debugTimerMixerCalcToUsage
,"mix-int. " // debugTimerMixerIterval
,"Audio int. " // debugTimerAudioIterval
,"Audio dur. " // debugTimerAudioDuration
," A. consume" // debugTimerAudioConsume,
," A. consume" // debugTimerAudioConsume
,"SpaceMouse " // debugTimerSpaceMouseWakeup
};
#endif
radio/src/debug.h
+4
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@@ -391,6 +391,10 @@ enum DebugTimers {
debugTimerAudioConsume,
debugTimerYamlScan,
#if defined(SPACEMOUSE)
debugTimerSpacemouseWakeup,
#endif
DEBUG_TIMERS_COUNT
};
radio/src/gui/gui_common.cpp
+18
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@@ -195,6 +195,15 @@ bool isSourceAvailable(int source)
return false;
#endif
#if defined(PCBHORUS) && !defined(SPACEMOUSE)
if (source >= MIXSRC_FIRST_SPACEMOUSE && source <= MIXSRC_LAST_SPACEMOUSE)
return false;
#elif defined(PCBHORUS) && defined(SPACEMOUSE)
if ((hasSerialMode(UART_MODE_SPACEMOUSE) == -1) &&
(source >= MIXSRC_FIRST_SPACEMOUSE && source <= MIXSRC_LAST_SPACEMOUSE))
return false;
#endif
if (source >= MIXSRC_FIRST_SWITCH && source <= MIXSRC_LAST_SWITCH) {
return SWITCH_EXISTS(source - MIXSRC_FIRST_SWITCH);
}
@@ -410,6 +419,15 @@ bool isSerialModeAvailable(uint8_t port_nr, int mode)
return false;
#endif
#if !defined(SPACEMOUSE)
if (mode == UART_MODE_SPACEMOUSE)
return false;
#elif defined(USB_SERIAL)
// SPACEMOUSE is not supported on VCP
if (port_nr == SP_VCP && mode == UART_MODE_SPACEMOUSE)
return false;
#endif
#if !defined(LUA)
if (mode == UART_MODE_LUA)
return false;
radio/src/mixer.cpp
+6
View File
@@ -330,6 +330,12 @@ getvalue_t getValue(mixsrc_t i)
}
#endif
#if defined(SPACEMOUSE)
else if (i >= MIXSRC_FIRST_SPACEMOUSE && i <= MIXSRC_LAST_SPACEMOUSE) {
return get_spacemouse_value(i - MIXSRC_FIRST_SPACEMOUSE);
}
#endif
else if (i == MIXSRC_MAX) {
return 1024;
}
radio/src/opentx.cpp
+5
View File
@@ -547,6 +547,11 @@ bool inputsMoved()
sum += getValue(MIXSRC_TILT_X+i) >> INAC_STICKS_SHIFT;
#endif
#if defined(SPACEMOUSE)
for (uint8_t i=0; i<(MIXSRC_LAST_SPACEMOUSE - MIXSRC_FIRST_SPACEMOUSE); i++)
sum += get_spacemouse_value(i) >> INAC_STICKS_SHIFT;
#endif
if (abs((int8_t)(sum-inactivity.sum)) > 1) {
inactivity.sum = sum;
return true;
radio/src/opentx.h
+4
View File
@@ -1177,6 +1177,10 @@ extern Clipboard clipboard;
#include "gps.h"
#endif
#if defined(SPACEMOUSE)
#include "spacemouse.h"
#endif
#if defined(JACK_DETECT_GPIO)
enum JackMode {
JACK_UNSELECTED_MODE,
radio/src/options.h
+3
View File
@@ -62,6 +62,9 @@ static const char * const options[] = {
#if defined(INTERNAL_GPS)
"internalgps",
#endif
#if defined(SPACEMOUSE)
"spacemouse",
#endif
#if defined(INTERNAL_MODULE_PPM)
"internalppm",
#endif
radio/src/serial.cpp
+12
View File
@@ -212,6 +212,11 @@ static void serialSetCallBacks(int mode, void* ctx, const etx_serial_port_t* por
gpsSetSerialDriver(ctx, drv);
break;
#endif
#if defined(SPACEMOUSE)
case UART_MODE_SPACEMOUSE:
spacemouseSetSerialDriver(ctx, drv);
break;
#endif
#endif
}
}
@@ -267,6 +272,13 @@ static void serialSetupPort(int mode, etx_serial_init& params)
params.rx_enable = true;
break;
#endif
#if defined(SPACEMOUSE)
case UART_MODE_SPACEMOUSE:
params.baudrate = SPACEMOUSE_BAUDRATE;
params.rx_enable = true;
break;
#endif
#endif
}
}
radio/src/spacemouse.cpp
+218
View File
@@ -0,0 +1,218 @@
/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#include "opentx.h"
#include <ctype.h>
#if !defined(SIMU)
#include <FreeRTOS/include/FreeRTOS.h>
#include <FreeRTOS/include/timers.h>
#endif
struct spacemousedata_t
{
signed short axisValues[SPACEMOUSE_CHANNEL_COUNT];
};
enum class sm_bytetype
{
SM_START,
SM_DATA,
SM_CHECKSUMHB,
SM_CHECKSUMLB,
SM_FOOTER,
};
struct spacemouseTelegram_t
{
unsigned char data[SPACEMOUSE_LENGTH_TELEGRAM];
unsigned short checkSumReceived;
unsigned short checkSumCalc;
unsigned char dataIndex;
sm_bytetype parsestate;
unsigned char recevied;
};
static spacemouseTelegram_t spaceMouseTelegram = { {0} };
spacemousedata_t spacemouseData;
void spacemouseWakeup();
#if !defined(SIMU)
static TimerHandle_t spacemouseTimer = nullptr;
static StaticTimer_t spacemouseTimerBuffer;
static void spacemouseTimerCb(TimerHandle_t xTimer)
{
if (!s_pulses_paused) {
DEBUG_TIMER_START(debugTimerSpacemouseWakeup);
spacemousePoll();
spacemouseWakeup();
DEBUG_TIMER_STOP(debugTimerSpacemouseWakeup);
}
}
void spacemouseStart()
{
if (!spacemouseTimer) {
spacemouseTimer =
xTimerCreateStatic("SpaceM", 10 / RTOS_MS_PER_TICK, pdTRUE, (void*)0,
spacemouseTimerCb, &spacemouseTimerBuffer);
}
if (spacemouseTimer) {
if( xTimerStart( spacemouseTimer, 0 ) != pdPASS ) {
/* The timer could not be set into the Active state. */
}
}
}
void spacemouseStop()
{
if (spacemouseTimer) {
if( xTimerStop( spacemouseTimer, 12 / RTOS_MS_PER_TICK ) != pdPASS ) {
/* The timer could not be stopped. */
}
}
}
#endif
void spacemouseParseNewData(uint8_t c)
{
switch (spaceMouseTelegram.parsestate) {
case sm_bytetype::SM_START: {
if (c == SPACEMOUSE_PROTO_HEADER) {
spaceMouseTelegram.checkSumCalc = c;
spaceMouseTelegram.parsestate = sm_bytetype::SM_DATA;
spaceMouseTelegram.dataIndex = 0;
}
break;
}
case sm_bytetype::SM_DATA: {
spaceMouseTelegram.data[spaceMouseTelegram.dataIndex++] = c;
spaceMouseTelegram.checkSumCalc += c;
if (spaceMouseTelegram.dataIndex >= SPACEMOUSE_LENGTH_DATA) {
spaceMouseTelegram.checkSumReceived = 0;
spaceMouseTelegram.dataIndex = 0;
spaceMouseTelegram.parsestate = sm_bytetype::SM_CHECKSUMHB;
}
break;
}
case sm_bytetype::SM_CHECKSUMHB: {
spaceMouseTelegram.checkSumReceived = c << 7;
spaceMouseTelegram.parsestate = sm_bytetype::SM_CHECKSUMLB;
break;
}
case sm_bytetype::SM_CHECKSUMLB: {
spaceMouseTelegram.checkSumReceived += c;
spaceMouseTelegram.parsestate = sm_bytetype::SM_FOOTER;
break;
}
case sm_bytetype::SM_FOOTER: {
if ((c == SPACEMOUSE_PROTO_FOOTER) &&
(spaceMouseTelegram.checkSumReceived == (spaceMouseTelegram.checkSumCalc & 0x3FFF))) {
for ( uint8_t channel = 0; channel < SPACEMOUSE_CHANNEL_COUNT; channel++ )
{
// The values are 7-bit in LSByte and MSByte only. Set MSBit is reserved for start, stop & commands.
spacemouseData.axisValues[channel] = ((spaceMouseTelegram.data[channel*2] << 7) + spaceMouseTelegram.data[(channel*2)+1]) - SPACEMOUSE_INPUT_OFFSET;
}
}
spaceMouseTelegram.checkSumCalc = 0;
spaceMouseTelegram.parsestate = sm_bytetype::SM_START;
break;
}
}
}
static const etx_serial_driver_t* spacemouseSerialDrv = nullptr;
static void* spacemouseSerialCtx = nullptr;
#if defined(DEBUG)
bool spacemouseTraceEnabled = false;
#endif
void spacemouseSetSerialDriver(void* ctx, const etx_serial_driver_t* drv)
{
spacemouseSerialCtx = ctx;
spacemouseSerialDrv = drv;
spaceMouseTelegram.parsestate = sm_bytetype::SM_START;
#if !defined(SIMU)
spacemouseStart();
#endif
}
int16_t get_spacemouse_value(uint8_t ch)
{
if (ch >= SPACEMOUSE_CHANNEL_COUNT) {
return 0;
}
return (int16_t)(((float)spacemouseData.axisValues[ch])*SPACEMOUSE_OUTPUT_CONV_FACTOR);
}
void spacemouseWakeup()
{
if (!spacemouseSerialDrv) return;
auto _getByte = spacemouseSerialDrv->getByte;
if (!_getByte) return;
uint8_t byte;
while (_getByte(spacemouseSerialCtx, &byte)) {
#if defined(DEBUG)
if (spacemouseTraceEnabled) {
dbgSerialPutc(byte);
}
#endif
spacemouseParseNewData(byte);
}
}
void spacemouseSendCommand(const uint8_t cmd)
{
if (!spacemouseSerialDrv) return;
auto _sendByte = spacemouseSerialDrv->sendByte;
if (!_sendByte) return;
TRACE_NOCRLF("spacemouse> 0x%x", cmd);
_sendByte(spacemouseSerialCtx, cmd);
}
void spacemousePoll()
{
spacemouseSendCommand(SPACEMOUSE_CMD_REQUEST_DATA);
}
void spacemouseTare()
{
spacemouseSendCommand(SPACEMOUSE_CMD_SET_ZERO_POSITION);
}
void spacemouseStartStreaming()
{
spacemouseSendCommand(SPACEMOUSE_CMD_AUTO_DATA_ON);
}
void spacemouseStopStreaming()
{
spacemouseSendCommand(SPACEMOUSE_CMD_AUTO_DATA_OFF);
}
radio/src/spacemouse.h
+70
View File
@@ -0,0 +1,70 @@
/*
* Copyright (C) EdgeTX
*
* Based on code named
* opentx - https://github.com/opentx/opentx
* th9x - http://code.google.com/p/th9x
* er9x - http://code.google.com/p/er9x
* gruvin9x - http://code.google.com/p/gruvin9x
*
* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*/
#ifndef _SPACEMOUSE_H_
#define _SPACEMOUSE_H_
#include <inttypes.h>
#define SPACEMOUSE_BAUDRATE ( 38400 )
#define SPACEMOUSE_CHANNEL_COUNT ( 6 )
#define SPACEMOUSE_INPUT_OFFSET ( 8192 )
#define SPACEMOUSE_OUTPUT_RANGE ( 700.0f )
#define SPACEMOUSE_OUTPUT_OFFSET ( 350 )
#define SPACEMOUSE_OUTPUT_CONV_FACTOR ( 2048.0f / SPACEMOUSE_OUTPUT_RANGE ) /* Internal channel resolution / SPACEMOUSE_OUTPUT_RANGE */
#define SPACEMOUSE_PROTO_HEADER 0x96
#define SPACEMOUSE_PROTO_FOOTER 0x8D
#define SPACEMOUSE_CMD_REQUEST_DATA 0xAC
#define SPACEMOUSE_CMD_SET_ZERO_POSITION 0xAD
#define SPACEMOUSE_CMD_AUTO_DATA_ON 0xAE
#define SPACEMOUSE_CMD_AUTO_DATA_OFF 0xAF
#define SPACEMOUSE_LENGTH_HEADER 1
#define SPACEMOUSE_LENGTH_DATA (2*SPACEMOUSE_CHANNEL_COUNT)
#define SPACEMOUSE_LENGTH_CHECKSUM 2
#define SPACEMOUSE_LENGTH_FOOTER 1
#define SPACEMOUSE_LENGTH_TELEGRAM (SPACEMOUSE_LENGTH_HEADER + SPACEMOUSE_LENGTH_DATA + SPACEMOUSE_LENGTH_CHECKSUM + SPACEMOUSE_LENGTH_FOOTER)
#if defined(DEBUG)
extern bool spacemouseTraceEnabled;
#endif
// Setup SpaceMouse serial port
void spacemouseSetSerialDriver(void* ctx, const etx_serial_driver_t* drv);
// Fetch SpaceMouse data
int16_t get_spacemouse_value(uint8_t ch);
// Periodic processing
void spacemouseStart();
void spacemouseStop();
void spacemousePoll();
void spacemouseTare();
void spacemouseStartStreaming();
void spacemouseStopStreaming();
#endif // _SPACEMOUSE_H_
radio/src/storage/yaml/yaml_datastructs_funcs.cpp
+1
View File
@@ -1855,6 +1855,7 @@ static const struct YamlIdStr enum_UartModes[] = {
{ UART_MODE_CLI, "CLI" },
{ UART_MODE_GPS, "GPS" },
{ UART_MODE_DEBUG, "DEBUG" },
{ UART_MODE_SPACEMOUSE, "SPACEMOUSE" },
{ 0, NULL }
};
radio/src/storage/yaml/yaml_datastructs_x10.cpp
+6
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@@ -130,6 +130,12 @@ const struct YamlIdStr enum_MixSources[] = {
{ MIXSRC_MOUSE2, "MOUSE2" },
{ MIXSRC_TILT_X, "TILT_X" },
{ MIXSRC_TILT_Y, "TILT_Y" },
{ MIXSRC_SPACEMOUSE_A, "SPACEMOUSE_A" },
{ MIXSRC_SPACEMOUSE_B, "SPACEMOUSE_B" },
{ MIXSRC_SPACEMOUSE_C, "SPACEMOUSE_C" },
{ MIXSRC_SPACEMOUSE_D, "SPACEMOUSE_D" },
{ MIXSRC_SPACEMOUSE_E, "SPACEMOUSE_E" },
{ MIXSRC_SPACEMOUSE_F, "SPACEMOUSE_F" },
{ MIXSRC_MAX, "MAX" },
{ MIXSRC_CYC1, "CYC1" },
{ MIXSRC_CYC2, "CYC2" },
radio/src/storage/yaml/yaml_datastructs_x12s.cpp
+6
View File
@@ -128,6 +128,12 @@ const struct YamlIdStr enum_MixSources[] = {
{ MIXSRC_MOUSE2, "MOUSE2" },
{ MIXSRC_TILT_X, "TILT_X" },
{ MIXSRC_TILT_Y, "TILT_Y" },
{ MIXSRC_SPACEMOUSE_A, "SPACEMOUSE_A" },
{ MIXSRC_SPACEMOUSE_B, "SPACEMOUSE_B" },
{ MIXSRC_SPACEMOUSE_C, "SPACEMOUSE_C" },
{ MIXSRC_SPACEMOUSE_D, "SPACEMOUSE_D" },
{ MIXSRC_SPACEMOUSE_E, "SPACEMOUSE_E" },
{ MIXSRC_SPACEMOUSE_F, "SPACEMOUSE_F" },
{ MIXSRC_MAX, "MAX" },
{ MIXSRC_CYC1, "CYC1" },
{ MIXSRC_CYC2, "CYC2" },
radio/src/targets/horus/CMakeLists.txt
+7
View File
@@ -7,6 +7,7 @@ option(AFHDS3 "AFHDS3 TX Module" ON)
option(MULTIMODULE "DIY Multiprotocol TX Module (https://github.com/pascallanger/DIY-Multiprotocol-TX-Module)" ON)
option(GHOST "Ghost TX Module" ON)
option(HARDWARE_EXTERNAL_ACCESS_MOD "Support for R9M 2019 hardware mod" OFF)
option(SPACEMOUSE "Support for SpaceMouse" OFF)
set(PWR_BUTTON "PRESS" CACHE STRING "Pwr button type (PRESS/SWITCH)")
set(CPU_TYPE STM32F4)
@@ -246,6 +247,12 @@ if(INTERNAL_GPS)
message("-- Internal GPS enabled")
endif()
if(SPACEMOUSE)
add_definitions(-DSPACEMOUSE)
set(SRC ${SRC} spacemouse.cpp)
message("-- SpaceMouse enabled")
endif()
set(GVAR_SCREEN model_gvars.cpp)
if(HARDWARE_TOUCH)
radio/src/targets/horus/board.h
+1
View File
@@ -335,6 +335,7 @@ void rotaryEncoderCheck();
#define STORAGE_NUM_SLIDERS 4
enum Analogs {
STICK1,
STICK2,
radio/src/telemetry/telemetry.cpp
+1 -1
View File
@@ -169,7 +169,7 @@ void telemetryStop()
{
if (telemetryTimer) {
if( xTimerStop( telemetryTimer, 5 / RTOS_MS_PER_TICK ) != pdPASS ) {
/* The timer could not be set into the Active state. */
/* The timer could not be stopped. */
}
}
}
radio/src/tests/conversions.cpp
+1 -1
View File
@@ -427,7 +427,7 @@ TEST(Conversions, ConversionX12SFrom23)
EXPECT_STRNEQ("Tes", g_model.telemetrySensors[0].label);
EXPECT_EQ(10, g_model.telemetrySensors[0].id);
EXPECT_EQ(9, g_model.telemetrySensors[0].frskyInstance.physID);
EXPECT_EQ((NUM_POTS + NUM_SLIDERS + 3), g_model.thrTraceSrc); // CH3
EXPECT_EQ(source2ThrottleSource(MIXSRC_CH3), g_model.thrTraceSrc); // CH3
simuFatfsSetPaths("","");
}
radio/src/translations/cn.h
+1 -1
View File
@@ -37,7 +37,7 @@
#define TR_TRNMODE "关","相加","替换"
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "调试","回传镜像","回传输入","SBUS教练","LUA脚本","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "调试","回传镜像","回传输入","SBUS教练","LUA脚本","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "无","回弹","2段","3段"
#define TR_POTTYPES "无","有中点旋钮","多段旋钮","无中点旋钮"
#define TR_SLIDERTYPES "无","侧滑块"
radio/src/translations/cz.h
+1 -1
View File
@@ -39,7 +39,7 @@
#define TR_VBLMODE TR("Vyp","Vypnuto"),TR("Kláv.","Klávesy"),"Páky","Vše",TR("Zap","Zapnuto")
#define TR_TRNMODE "X","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "VYP","Telem Mirror","Telemetry In","SBUS Trenér","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "VYP","Telem Mirror","Telemetry In","SBUS Trenér","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Žádný","Bez aretace","2-polohový","3-polohový"
#define TR_POTTYPES "Žádný",TR("Pot s aret.","Pot s aretací"),TR("Vícepol př.","Vícepol. přep."),TR("Pot","Potenciometr")
#define TR_SLIDERTYPES "Žádný","Slider"
radio/src/translations/da.h
+1 -1
View File
@@ -37,7 +37,7 @@
#define TR_TRNMODE "FRA","+=",":="
#define TR_TRNCHN "KA1","KA2","KA3","KA4"
#define TR_AUX_SERIAL_MODES "FRA","Telem spejle","Telemetri ind","SBUS træner","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "FRA","Telem spejle","Telemetri ind","SBUS træner","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Ingen","Toggle","2POS","3POS"
#define TR_POTTYPES "Ingen",TR("Drejekontakt med det","Drejekontakt"),TR("Multipos","Multipos kontakt"),"Drejekontakt"
#define TR_SLIDERTYPES "Ingen","Skyder"
radio/src/translations/de.h
+1 -1
View File
@@ -39,7 +39,7 @@
#define TR_VBLMODE "AUS","Taste","Stks","Beide","EIN"
#define TR_TRNMODE "AUS","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "AUS","Telem Mirror","Telemetry In","SBUS Eingang","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "AUS","Telem Mirror","Telemetry In","SBUS Eingang","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Kein","Taster","2POS","3POS"
#define TR_POTTYPES "Kein",TR("Poti m.Ras","Poti mit Raste"),TR("Stufens.","Stufen-Schalter"),TR("Pot","Poti ohne Raste")
#define TR_SLIDERTYPES "Keine","Slider"
radio/src/translations/en.h
+1 -1
View File
@@ -37,7 +37,7 @@
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "OFF","Telem Mirror","Telemetry In","SBUS Trainer","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "OFF","Telem Mirror","Telemetry In","SBUS Trainer","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "None","Toggle","2POS","3POS"
#define TR_POTTYPES "None",TR("Pot w. det","Pot with detent"),TR("Multipos","Multipos Switch"),"Pot"
#define TR_SLIDERTYPES "None","Slider"
radio/src/translations/es.h
+1 -1
View File
@@ -39,7 +39,7 @@
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "UIT","Telem Mirror","Telemetría","Entrenador SBUS","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "UIT","Telem Mirror","Telemetría","Entrenador SBUS","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Nada","Palanca","2POS","3POS"
#define TR_POTTYPES "Nada",TR("Pot con fij","Pot con fijador"),TR("Multipos","Switch multipos"),"Pot"
#define TR_SLIDERTYPES "Nada","Slider"
radio/src/translations/fi.h
+1 -1
View File
@@ -39,7 +39,7 @@
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "POIS","S-Port Pelik","Telemetry In","SBUS Trainer","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "POIS","S-Port Pelik","Telemetry In","SBUS Trainer","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "None","Toggle","2POS","3POS"
#define TR_POTTYPES "None", TR("Pot w. det","Pot with detent"),TR("Multipos","Monias. Kytkin"),TR("Pot","Potikka")
#define TR_SLIDERTYPES "Rien","Slider"
radio/src/translations/fr.h
+1 -1
View File
@@ -40,7 +40,7 @@
#define TR_VBLMODE "OFF",TR("Btns","Touches"),TR("Ctrl","Controles"),"Tous","ON"
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "OFF","Recopie Telem","Télémétrie In","Ecolage SBUS","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "OFF","Recopie Telem","Télémétrie In","Ecolage SBUS","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Rien","Levier","2-POS","3-POS"
#define TR_POTTYPES "Rien",TR("Pot av. ctr","Pot avec centre"),TR("Multipos","Inter multi-pos""Potentiomètre"),TR("Pot","Potentiomètre")
#define TR_SLIDERTYPES "Rien","Slider"
radio/src/translations/it.h
+1 -1
View File
@@ -40,7 +40,7 @@
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "OFF","Replica S-Port","Telemetria","SBUS Trainer","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "OFF","Replica S-Port","Telemetria","SBUS Trainer","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Disab.","Toggle","2POS","3POS"
#define TR_POTTYPES "Disab.",TR("Pot c. fer","Pot. con centro"),TR("Multipos","Inter. Multipos"),TR("Pot","Potenziometro")
#define TR_SLIDERTYPES "Disab.","Slider"
radio/src/translations/nl.h
+1 -1
View File
@@ -40,7 +40,7 @@
#define TR_TRNMODE "UIT","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "UIT","Telem Mirror","Telemetry In","SBUS Leerling","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "UIT","Telem Mirror","Telemetry In","SBUS Leerling","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Geen","Wissel","2POS","3POS"
#define TR_POTTYPES "Geen",TR("Pot w. det","Pot met Klik"),TR("Multipos","Standenschakelaar"),TR("Pot", "Pot zonder Klik")
#define TR_SLIDERTYPES "Geen","Schuif"
radio/src/translations/pl.h
+1 -1
View File
@@ -38,7 +38,7 @@
#define TR_VBLMODE TR("Wył","Wyłącz"),TR("Przy","Przycisk"),TR("Drąż","Drązki"),"Oba",TR("Zał","Włącz")
#define TR_TRNMODE "Wył","+=",":="
#define TR_TRNCHN "KN1","KN2","KN3","KN4"
#define TR_AUX_SERIAL_MODES "Wyłącz","S-Port Kopia","Telemetria","Trener SBUS","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "Wyłącz","S-Port Kopia","Telemetria","Trener SBUS","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Brak","Chwil.","2POZ","3POZ"
#define TR_POTTYPES TR("Pot w. det","Poten z zapadką"),TR("Multipos","Przeł.Wielopoz."),TR("Pot","Potencjometr")
#define TR_SLIDERTYPES "Brak","Suwak"
radio/src/translations/pt.h
+1 -1
View File
@@ -37,7 +37,7 @@
#define TR_VBLMODE "OFF","Chav","Stks","Tudo","ON\0"
#define TR_TRNMODE "OFF","+=",":="
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "OFF","S-Port Mirror","Telemetry","SBUS Trainer","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "OFF","S-Port Mirror","Telemetry","SBUS Trainer","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "None","Toggle","2POS","3POS"
#define TR_POTTYPES "None",TR("Pot w. det","Pot with detent"),TR("Multipos","Multipos Switch"),"Pot"
#define TR_SLIDERTYPES "Rien","Slider"
radio/src/translations/se.h
+1 -1
View File
@@ -40,7 +40,7 @@
#define TR_VBLMODE "Av",TR("Knapp","Knappar"),TR("Spak","Spakar"),"Allt","PÅ"
#define TR_TRNMODE "Av","+=",":="
#define TR_TRNCHN "KA1","KA2","KA3","KA4"
#define TR_AUX_SERIAL_MODES "AV","Speglad telemetri","Telemetri in","SBUS Lärare","LUA","CLI","GPS","Debug"
#define TR_AUX_SERIAL_MODES "AV","Speglad telemetri","Telemetri in","SBUS Lärare","LUA","CLI","GPS","Debug","SpaceMouse"
#define TR_SWTYPES "Ingen",TR("Flipp","2 pos momentan"),"2 pos","3 pos"
#define TR_POTTYPES "Ingen",TR("Vred m. mitt","Vred med mittläge"),TR("Multipos","Flerlägesväljare"),"Vred"
#define TR_SLIDERTYPES "Inga","Reglage"
radio/src/translations/tw.h
+1 -1
View File
@@ -37,7 +37,7 @@
#define TR_TRNMODE "關","相加","替換"
#define TR_TRNCHN "CH1","CH2","CH3","CH4"
#define TR_AUX_SERIAL_MODES "禁用","回傳鏡像","回傳輸入","SBUS教練","LUA腳本","CLI","GPS","調試"
#define TR_AUX_SERIAL_MODES "禁用","回傳鏡像","回傳輸入","SBUS教練","LUA腳本","CLI","GPS","調試","SpaceMouse"
#define TR_SWTYPES "無","回彈","2段","3段"
#define TR_POTTYPES "無","有中點旋鈕","多段旋鈕","無中點旋鈕"
#define TR_SLIDERTYPES "無","側滑塊"
radio/src/translations/untranslated.h
+7 -1
View File
@@ -88,7 +88,13 @@
TR_VTRAINER_MASTER_SBUS_MODULE, TR_VTRAINER_MASTER_CPPM_MODULE, \
TR_VTRAINER_MASTER_BATTERY, TR_VTRAINER_BLUETOOTH, TR_VTRAINER_MULTI
#define TR_VSRCRAW "---", TR_STICKS_VSRCRAW, TR_POTS_VSRCRAW, TR_IMU_VSRCRAW "MAX", TR_CYC_VSRCRAW, TR_TRIMS_VSRCRAW, TR_SW_VSRCRAW, TR_EXTRA_VSRCRAW
#if defined(PCBHORUS)
#define TR_SM_VSRCRAW "smA","smB","smC","smD","smE","smF",
#else
#define TR_SM_VSRCRAW
#endif
#define TR_VSRCRAW "---", TR_STICKS_VSRCRAW, TR_POTS_VSRCRAW, TR_IMU_VSRCRAW TR_SM_VSRCRAW "MAX", TR_CYC_VSRCRAW, TR_TRIMS_VSRCRAW, TR_SW_VSRCRAW, TR_EXTRA_VSRCRAW
#define TR_CRSF_BAUDRATE "115k","400k","921k","1.87M","3.75M","5.25M"