commit b1e2aecfff16fb3a7f731438e74ada4bc8f4c8f2 Author: len0rd Date: Fri Jan 10 09:14:27 2025 -0500 initial commit. start platformio project diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..2593a33 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/lib/nvm/src/NvmEeprom.cpp b/lib/nvm/src/NvmEeprom.cpp new file mode 100644 index 0000000..fccea2b --- /dev/null +++ b/lib/nvm/src/NvmEeprom.cpp @@ -0,0 +1,33 @@ +/** \File NvmEeprom.cpp + * \copyright (c) 2025 len0rd + * \date 2025-01-09 + */ +#include "NvmEeprom.hpp" +#include +#include "EEPROM.h" + +bool JoystickAxisCalibration::valid() const { + return min < mid < max; +} + +void writeNvm(const NonVolatileMemory &nvm) +{ + for (size_t ii = 0; ii < sizeof(NonVolatileMemory); ii++) + { + EEPROM.write(ii, nvm.rawBytes[ii]); + } +} + +void writeCalibration(const JoystickCalibration &cal) { + NonVolatileMemory nvm = {}; + nvm.joystickCal = cal; + writeNvm(nvm); +} + +void readNvm(NonVolatileMemory &nvm) +{ + for (size_t ii = 0; ii < sizeof(NonVolatileMemory); ii++) + { + nvm.rawBytes[ii] = EEPROM.read(ii); + } +} diff --git a/lib/nvm/src/NvmEeprom.hpp b/lib/nvm/src/NvmEeprom.hpp new file mode 100644 index 0000000..766f239 --- /dev/null +++ b/lib/nvm/src/NvmEeprom.hpp @@ -0,0 +1,44 @@ +/** \File NvmEeprom.hpp + * \copyright (c) 2025 len0rd + * \date 2025-01-09 + * + * Very basic non-volatile memory handler to save and retrieve data + * needed by the controller + */ +#ifndef __NVMEEPROM_H__ +#define __NVMEEPROM_H__ +#include + +struct JoystickAxisCalibration +{ + /// Minimum value axis could be + uint16_t min; + /// average center point of axis + uint16_t mid; + /// max value axis could be + uint16_t max; + + /// Check if the data in this struct makes sense + /// Returns true if data might be valid, otherwise false + bool valid() const; +} __attribute__((packed)); + +struct JoystickCalibration +{ + JoystickAxisCalibration x; + JoystickAxisCalibration y; +} __attribute__((packed)); + +union NonVolatileMemory +{ + JoystickCalibration joystickCal; + uint8_t rawBytes[sizeof(JoystickCalibration)] = {}; +}; + +/// @brief Write the provided struct to EEPROM +void writeNvm(const NonVolatileMemory &nvm); +void writeCalibration(const JoystickCalibration&cal); + +void readNvm(NonVolatileMemory &nvm); + +#endif /* __NVMEEPROM_H__ */ diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..66306c4 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,15 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno_r4_wifi] +platform = renesas-ra +board = uno_r4_wifi +framework = arduino +lib_deps = palladinomarco/AlignedJoy@^1.0.1 diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..ae76f62 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,122 @@ +#include +#include +#include "NvmEeprom.hpp" + +// joystick calibration +#define TIME_CAL_1 2000 +#define TIME_CAL_2 3000 + +// static objects +AlignedJoy joystick_1(0, 1); /// X on A0, Y on A1 + +void runJoystickCalibrationRoutine(AlignedJoy &joy) +{ + // JOYSTICK CALIBRATION + /* + * Start the joystick calibration in the center position. Use this method only if the calibration of the axles is desired (axesCalibration). + */ + // CALIBRATION 1 + Serial.print("Center Joystick Calibration \n\nLeave the joystick in the centre position during the calibration\ntime which is set to "); + Serial.print(TIME_CAL_1); + Serial.println(" milliseconds."); + delay(5000); + Serial.println("Calibration started!"); + delay(500); + /* + * for calibrate the joystick center point use "centerCalibration" method; objectname.centerCalibration(uint16_t timeOfCal). + * "timeOfCal" is the calibration time in milliseconds + */ + joy.middleCalibration(TIME_CAL_1); + Serial.println("Joystick Centered!"); + delay(2000); + + // CALIBRATION 2 + /* + * Calibration of the axes at the extreme points (min end max for each axis). + * It is recommended to rotate the joystick in a circular way along its circumference throughout + * the calibration time. + */ + Serial.print("Start axes Calibration \n\nRotate the joystick in a circular way along its circumference\nthroughout the calibration time ("); + Serial.print(TIME_CAL_2); + Serial.println(" milliseconds)."); + delay(5000); + Serial.println("Calibration started!"); + delay(500); + /* + * for calibrate the joystick axes points use "axesCalibration" method (bool type); objectname.axesCalibration(uint16_t timeOfCal). + * "timeOfCal" is the calibration time in milliseconds. + */ + if (joy.axesCalibration(TIME_CAL_2)) + { + Serial.println("Calibration succesfully!!"); + } + else + { + Serial.println("Calibration failed!!"); + } + + // Print all points calibrated + /* + * You can use these values to save them to eeprom memory. In this way you will avoid requiring the joystick calibration at each boot time. + * To set the parameters read by eeprom you have to use the "setCalibratedPoint" method. + * If your project does not require the re-calibration of the joystick then you can make a sketch like this only to display the calibrated + * values to set them in the final project using the "setCalibratedPoint" method. + * To get the calibrated point values use getCalibratedPoint(axis_t axis, point_t point). + * The parameters: the labels of the "axis_t" shall be X and Y; the labels of "point_t" is MIN, MID and MAX. + */ + Serial.print("X min -> "); + Serial.print(joy.getCalibratedPoint(X, MIN)); + Serial.print(" | center -> "); + Serial.print(joy.getCalibratedPoint(X, MID)); + Serial.print(" | max -> "); + Serial.println(joy.getCalibratedPoint(X, MAX)); + Serial.print("Y min -> "); + Serial.print(joy.getCalibratedPoint(Y, MIN)); + Serial.print(" | center -> "); + Serial.print(joy.getCalibratedPoint(Y, MID)); + Serial.print(" | max -> "); + Serial.println(joy.getCalibratedPoint(Y, MAX)); + + // save values to NVM + JoystickCalibration cal = {}; + cal.x.min = joy.getCalibratedPoint(X, MIN); + cal.x.mid = joy.getCalibratedPoint(X, MID); + cal.x.max = joy.getCalibratedPoint(X, MAX); + cal.y.min = joy.getCalibratedPoint(Y, MIN); + cal.y.mid = joy.getCalibratedPoint(Y, MID); + cal.y.max = joy.getCalibratedPoint(Y, MAX); + writeCalibration(cal); +} + +void setup() +{ + + // SERIAL INITIALIZE + Serial.begin(9600); + while (!Serial) + { + } + + // retrieve joystic calibration values or run calibration and save results + NonVolatileMemory nvm = {}; + bool calibrationInvalid = true; + do { + readNvm(nvm); + calibrationInvalid = !nvm.joystickCal.x.valid() || !nvm.joystickCal.y.valid(); + if (calibrationInvalid) { + runJoystickCalibrationRoutine(joystick_1); + } + + } while (calibrationInvalid); +} + +void loop() +{ + + // print joystick axes value + Serial.print("joystick_1 X -> "); + Serial.print(joystick_1.read(X)); + Serial.print(" | Y -> "); + Serial.println(joystick_1.read(Y)); + delay(500); +}