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m.menzel 2020-04-13 12:02:53 +02:00
parent 75729b083b
commit 260829afa4
8 changed files with 0 additions and 497 deletions
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206
ControllerBuffer.cpp
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#include "ControllerBuffer.h"
#include "PinMappings.h"
#include "Debug.h"
// buffer to hold data being read from controller
bool buffer[DATA_SIZE + DATA_OFFSET];
// bit resolution and offsets
int bitOffsets[32];
int bitResolution;
/** Function to send a Command to the attached N64-Controller.
* Must be run from RAM to defy timing differences introduced from
* reading Code from ESP32's SPI Flash Chip.
*/
void IRAM_ATTR sendCommand(byte command)
{
// the current bit to write
bool bit;
// clear output buffer
memset(buffer,0,DATA_SIZE + DATA_OFFSET);
// for each bit
for (int i = 0; i < 8; i++)
{
// get value
bit = (1 << (7 - i)) & command;
// write data
LINE_WRITE_LOW;
delayMicroseconds((3 - 2 * bit));
LINE_WRITE_HIGH;
delayMicroseconds((1 + 2 * bit));
}
// console stop bit
LINE_WRITE_LOW;
delayMicroseconds(1);
LINE_WRITE_HIGH;
delayMicroseconds(2);
// read returned data as fast as possible
for(int i = 0;i < DATA_SIZE + DATA_OFFSET;i++)
{
buffer[i] = digitalRead(DATA_PIN);
}
// plot polling process from controller if unstructed to
#ifdef PLOT_CONSOLE_POLLING
for(int i = 0; i < DATA_SIZE + DATA_OFFSET;i++)
{
Serial.println(buffer[i]*2500);
}
#endif
}
/* Function to extract a controller bit from the buffer of returned data */
void getBit(bool *bit,int offset,bool *data)
{
// sanity check offset
if(offset < 0) offset = 0;
// count
short count = 0;
// get count from offset to offset + length
for(int i = offset + DATA_OFFSET;i < offset + bitResolution;i++)
{
count += *(data + i);
}
// if offset surpasses threshold set bit
*bit = false;
if(count > BIT_THRESHOLD) *bit = true;
}
/** Function to populate the controller struct if command 0x01 was sent.
* Buttons are set according to data in buffer, raw axis data is written,
* Axis Data is correctly decoded from raw axis data by taking two's complement
* and checking if value if below 'MAX_INCLINE_AXIS_X' or 'MAX_INCLINE_AXIS_Y'.
* If values surpass the maximum incline they are set to match those values.
*/
void populateControllerStruct(ControllerData *data)
{
// first byte
getBit(&(data->buttonA) , bitOffsets[0] ,&buffer[0]);
getBit(&(data->buttonB), bitOffsets[1] ,&buffer[0]);
getBit(&(data->buttonZ), bitOffsets[2] ,&buffer[0]);
getBit(&(data->buttonStart), bitOffsets[3] ,&buffer[0]);
getBit(&(data->DPadUp), bitOffsets[4] ,&buffer[0]);
getBit(&(data->DPadDown), bitOffsets[5] ,&buffer[0]);
getBit(&(data->DPadLeft), bitOffsets[6] ,&buffer[0]);
getBit(&(data->DPadRight), bitOffsets[7] ,&buffer[0]);
// second byte, first two bits are unused
getBit(&(data->buttonL), bitOffsets[10] ,&buffer[0]);
getBit(&(data->buttonR), bitOffsets[11] ,&buffer[0]);
getBit(&(data->CUp), bitOffsets[12] ,&buffer[0]);
getBit(&(data->CDown), bitOffsets[13] ,&buffer[0]);
getBit(&(data->CLeft), bitOffsets[14] ,&buffer[0]);
getBit(&(data->CRight), bitOffsets[15] ,&buffer[0]);
// third byte
getBit(&(data->xAxisRaw[0]), bitOffsets[16], &buffer[0]);
getBit(&(data->xAxisRaw[1]), bitOffsets[17], &buffer[0]);
getBit(&(data->xAxisRaw[2]), bitOffsets[18], &buffer[0]);
getBit(&(data->xAxisRaw[3]), bitOffsets[19], &buffer[0]);
getBit(&(data->xAxisRaw[4]), bitOffsets[20], &buffer[0]);
getBit(&(data->xAxisRaw[5]), bitOffsets[21], &buffer[0]);
getBit(&(data->xAxisRaw[6]), bitOffsets[22], &buffer[0]);
getBit(&(data->xAxisRaw[7]), bitOffsets[23], &buffer[0]);
// fourth byte
getBit(&(data->yAxisRaw[0]), bitOffsets[24], &buffer[0]);
getBit(&(data->yAxisRaw[1]), bitOffsets[25], &buffer[0]);
getBit(&(data->yAxisRaw[2]), bitOffsets[26], &buffer[0]);
getBit(&(data->yAxisRaw[3]), bitOffsets[27], &buffer[0]);
getBit(&(data->yAxisRaw[4]), bitOffsets[28], &buffer[0]);
getBit(&(data->yAxisRaw[5]), bitOffsets[29], &buffer[0]);
getBit(&(data->yAxisRaw[6]), bitOffsets[30], &buffer[0]);
getBit(&(data->yAxisRaw[7]), bitOffsets[31], &buffer[0]);
// sum up bits to get axis bytes
data->xAxis = 0;
data->yAxis = 0;
for(int i = 0;i < 8;i++)
{
data->xAxis += (data->xAxisRaw[i] * (0x80 >> (i)));
data->yAxis += (data->yAxisRaw[i] * (0x80 >> (i)));
// print y axis values
#ifdef PRINT_Y_AXIS_VALUES
Serial.printf("%i %i %i %i %i %i %i %i\n",data->yAxisRaw[0],data->yAxisRaw[1],data->yAxisRaw[2],data->yAxisRaw[3],data->yAxisRaw[4],data->yAxisRaw[5],data->yAxisRaw[6],data->yAxisRaw[7]);
Serial.printf("yAxis: %i \n",data->yAxis);
#endif
// print x axis values
#ifdef PRINT_X_AXIS_VALUES
Serial.printf("%i %i %i %i %i %i %i %i\n",data->xAxisRaw[0],data->xAxisRaw[1],data->xAxisRaw[2],data->xAxisRaw[3],data->xAxisRaw[4],data->xAxisRaw[5],data->xAxisRaw[6],data->xAxisRaw[7]);
Serial.printf("xAxis: %i \n",data->xAxis);
#endif
}
// decode xAxis two's complement
if(data->xAxis & 0x80)
{
data->xAxis = -1 * (0xff - data->xAxis);
}
// decode yAxis two's complement
if(data->yAxis & 0x80)
{
data->yAxis = -1 * (0xff - data->yAxis);
}
// keep x axis below maxIncline
if(data->xAxis > MAX_INCLINE_AXIS_X) data->xAxis = MAX_INCLINE_AXIS_X;
if(data->xAxis < -MAX_INCLINE_AXIS_X) data->xAxis = -MAX_INCLINE_AXIS_X;
// keep y axis below maxIncline
if(data->yAxis > MAX_INCLINE_AXIS_Y) data->yAxis = MAX_INCLINE_AXIS_Y;
if(data->yAxis < -MAX_INCLINE_AXIS_Y) data->yAxis = -MAX_INCLINE_AXIS_Y;
//Serial.printf("xaxis: %-3i yaxis: %-3i \n",data->xAxis,data->yAxis);
}
void updateOffsetsAndResolution()
{
// the current bit counter
int bitCounter = 0;
// to hold the offset of A Button's falling edge
int bitAfallingOffset = 0;
// iterate over buffer
for(int i = 0;i < DATA_SIZE + DATA_OFFSET - 1;i++)
{
// if a falling edge is detected
if(buffer[i] == true && buffer[1+i] == false)
{
// store bit's end offset
bitOffsets[bitCounter] = i+1;
// if it's the A button store offset of the falling edge
if(bitCounter == 0) bitAfallingOffset = i+1;
// if it's the B button calculate the bit Resolution
if(bitCounter == 1) bitResolution = (i+1) - bitAfallingOffset;
// increment bit counter
bitCounter++;
}
}
Serial.printf("Bit resolution is %i \n",bitResolution);
// calculate bit's beginning offsets by subtracting resolution
for(int i = 0;i < 32;i++)
{
bitOffsets[i] -= bitResolution;
Serial.printf("beginning of bit %i detected @ begin+%i \n",i+1,bitOffsets[i]);
}
}

26
ControllerBuffer.h
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#ifndef CONTROLLER_BUFFER_H
#define CONTROLLER_BUFFER_H
#include "ControllerData.h"
#include <Arduino.h>
#define DATA_SIZE 450 // number of sample points to poll
#define DATA_OFFSET 0 // number of samples to ignore after staring to poll
#define MAX_INCLINE_AXIS_X 60
#define MAX_INCLINE_AXIS_Y 60
#define BIT_THRESHOLD 6
extern void IRAM_ATTR sendCommand(byte command);
extern void populateControllerStruct(ControllerData *data);
/** Function to read the offsets of the individual bits so that they can be updated for reading.
* Resolution is detected by taking the distance of two falling edges of Button A and B.
* Buttons must not be pressed by the time this command is invoked !
* sendCommand(0x01) must be invoked before !
*/
extern void updateOffsetsAndResolution();
#endif

31
ControllerData.h
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#ifndef CONTROLLER_DATA_H
#define CONTROLLER_DATA_H
struct ControllerData
{
bool buttonA;
bool buttonB;
bool buttonZ;
bool buttonL;
bool buttonR;
bool buttonStart;
bool DPadUp;
bool DPadDown;
bool DPadLeft;
bool DPadRight;
bool CUp;
bool CDown;
bool CLeft;
bool CRight;
short xAxis;
short yAxis;
bool xAxisRaw[8];
bool yAxisRaw[8];
};
#endif

8
Debug.h
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#ifndef DEBUG_H
#define DEBUG_H
//#define PLOT_CONSOLE_POLLING
//#define PRINT_X_AXIS_VALUES
//#define PRINT_Y_AXIS_VALUES
#endif

135
Output.cpp
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#include "Output.h"
#include "PinMappings.h"
#include <Arduino.h>
int encoderXpos = 0;
int encoderYpos = 0;
void setupIO()
{
// the controller data line
LINE_WRITE_HIGH;
pinMode(PIN_BUTTON_A,OUTPUT);
pinMode(PIN_BUTTON_B,OUTPUT);
pinMode(PIN_BUTTON_Z,OUTPUT);
pinMode(PIN_BUTTON_S,OUTPUT);
pinMode(PIN_BUTTON_L,OUTPUT);
pinMode(PIN_BUTTON_R,OUTPUT);
pinMode(PIN_DPAD_UP, OUTPUT);
pinMode(PIN_DPAD_DOWN, OUTPUT);
pinMode(PIN_DPAD_LEFT, OUTPUT);
pinMode(PIN_DPAD_RIGHT,OUTPUT);
pinMode(PIN_C_UP, OUTPUT);
pinMode(PIN_C_DOWN, OUTPUT);
pinMode(PIN_C_LEFT, OUTPUT);
pinMode(PIN_C_RIGHT,OUTPUT);
pinMode(PIN_A_AXIS_X, OUTPUT);
pinMode(PIN_B_AXIS_X, OUTPUT);
pinMode(PIN_A_AXIS_Y, OUTPUT);
pinMode(PIN_B_AXIS_Y, OUTPUT);
}
/** Function to simulate the 90° phaseshifted quadrature encoding used by
* the N64-Controller's joystick's linear encoders. As only change in position
* (not absolute position) is reported the change in the value between writes
* is needed for calculation. Must be run from RAM to mitigate timing differences in
* ESP32's SPI-Flash Chip Access Times.
* @param relativeMovement should be processed by calling 'mapJoystickToEncoderPos'
* with the read joystick position.
*/
void IRAM_ATTR moveAxis(int axisPinA,int axisPinB,int requestedEncoderPos,int *realEncoderPos)
{
// get difference from requested ender position to real encoder position
int difference = requestedEncoderPos - *realEncoderPos;
// store new real encoder position
*realEncoderPos = requestedEncoderPos;
// set pins used for outputting
int pinA = axisPinA;
int pinB = axisPinB;
// invert pins if moving in the other direction
if(difference > 0)
{
pinA = axisPinB;
pinB = axisPinA;
}
// get absolute movement value
difference = abs(difference);
// for each change in movement
for(int i = 0;i < difference;i++)
{
// replicate 90° phaseshifted quadrate output
digitalWrite(pinA,LOW);
delayMicroseconds(2);
digitalWrite(pinB,LOW);
delayMicroseconds(6);
digitalWrite(pinA,HIGH);
delayMicroseconds(2);
digitalWrite(pinB,HIGH);
// debounce as N64 will not detect change correctly otherwise
delayMicroseconds(40);
}
}
/** Function to map Joystick position to relative Encoder Position.
* According to Nintendo the maximum value for any axis to be assumed should
* be +- 60. The encoder starts acting strange after ~ 30 turns in a given
* direction. Also passing on ControllerData struct so that user specified
* modifiers can be used to specify alternate mapping, eg. for
* easier ESS-Position in Ocarina of Time (see my example)
*/
int mapJoystickToEncoderPos(int joyval,ControllerData *data)
{
// ESS-Modifier for Ocarina of Time, hold A+B to stay in ESS-Position
if(data->buttonA && data->buttonB) return -2;
// deadzone handling
if(abs(joyval) < 3) return 0;
// normally return half ???
return (int)(joyval * .5f);
}
void outputToiQue(ControllerData *data)
{
// ===== Write Button Data =====
digitalWrite(PIN_BUTTON_A,data->buttonA);
digitalWrite(PIN_BUTTON_B,data->buttonB);
digitalWrite(PIN_BUTTON_L,data->buttonL);
digitalWrite(PIN_BUTTON_R,data->buttonR);
digitalWrite(PIN_BUTTON_Z,data->buttonZ);
digitalWrite(PIN_BUTTON_S,data->buttonStart);
// ===== Write D-Pad Data =====
digitalWrite(PIN_DPAD_UP, data->DPadUp);
digitalWrite(PIN_DPAD_DOWN, data->DPadDown);
digitalWrite(PIN_DPAD_LEFT, data->DPadLeft);
digitalWrite(PIN_DPAD_RIGHT,data->DPadRight);
// ===== Write C-Button Data =====
digitalWrite(PIN_C_UP, data->CUp);
digitalWrite(PIN_C_DOWN, data->CDown);
digitalWrite(PIN_C_LEFT, data->CLeft);
digitalWrite(PIN_C_RIGHT, data->CRight);
// ===== Write Joystick Data =====
// calculate change in axis between writes
//int xAxisChange = data->xAxis - lastxAxis;
//int yAxisChange = data->yAxis - lastyAxis;
// move axis accordingly
moveAxis(PIN_A_AXIS_X,PIN_B_AXIS_X,mapJoystickToEncoderPos(data->xAxis,data),&encoderXpos);
moveAxis(PIN_A_AXIS_Y,PIN_B_AXIS_Y,mapJoystickToEncoderPos(data->yAxis,data),&encoderYpos);
}

19
Output.h
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#ifndef OUTPUT_H
#define OUTPUT_H
#include "ControllerData.h"
/** Function to output Data stored in ControllerData struct to the iQue console.
* Buttons states are directly set usig digitalWrite(), Axis Data is written by
* Simulating the 90° shifted quadrate encoding used by the N64 joysticks.
* As these operate on a relative basis the difference between the current
* and the last joystick positions are calculated and simulated.
*/
extern void outputToiQue(ControllerData *data);
/** Function to setup the IO used for interfacing with the N64-Controller
* and the iQue-Console
*/
extern void setupIO();
#endif

33
PinMappings.h
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#ifndef PIN_MAPPINGS_H
#define PIN_MAPPINGS_H
#define DATA_PIN 13
#define PIN_BUTTON_A 15
#define PIN_BUTTON_B 5
#define PIN_BUTTON_Z 23
#define PIN_BUTTON_S 1
#define PIN_BUTTON_L 1
#define PIN_BUTTON_R 1
#define PIN_DPAD_UP 1
#define PIN_DPAD_DOWN 1
#define PIN_DPAD_LEFT 1
#define PIN_DPAD_RIGHT 1
#define PIN_C_UP 1
#define PIN_C_DOWN 1
#define PIN_C_LEFT 1
#define PIN_C_RIGHT 1
#define PIN_A_AXIS_X 14
#define PIN_B_AXIS_X 27
#define PIN_A_AXIS_Y 2
#define PIN_B_AXIS_Y 4
#define LINE_WRITE_HIGH pinMode(DATA_PIN,INPUT_PULLUP)
#define LINE_WRITE_LOW pinMode(DATA_PIN,OUTPUT)
#endif

39
iQue.ino
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#include "Output.h"
#include "ControllerData.h"
#include "ControllerBuffer.h"
#include "Debug.h"
ControllerData controller;
void setup()
{
Serial.begin(115200);
// setup io pins
setupIO();
#ifdef PLOT_CONSOLE_POLLING
delay(5000);
sendCommand(0x01);
while(true);
#endif
sendCommand(0x01);
updateOffsetsAndResolution();
}
void loop()
{
// send command 0x01 to n64 controller
sendCommand(0x01);
// store received data in controller struct
populateControllerStruct(&controller);
// output received data to ique
outputToiQue(&controller);
// polling must not occur faster than every 20 ms
delay(14);
}