Joystick demo

This example demonstrates the implementation of a joystick. The following PGNs are used by this ECU example:

PGN	Parameter Group Label	Acronym	Repetition Rate
64982	Basic joystick message 1	BJM1	100 ms

Implementation

The implementation is done in the file j1939_joystick1.c.

//====================================================================================================================//
// File:          j1939_demo_joystick1.c                                                                              //
// Description:   Example code for joystick 1 (PGN 64982)                                                             //
//                                                                                                                    //
// Copyright (C) MicroControl GmbH & Co. KG                                                                           //
// 53844 Troisdorf - Germany                                                                                          //
// www.microcontrol.net                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of MicroControl GmbH & Co. KG, Germany. The        //
// program(s) may be used and/or copied only with the written permission of MicroControl GmbH & Co. KG or in          //
// accordance with the terms and conditions stipulated in the agreement/contract under which the program(s) have      //
// been supplied.                                                                                                     //
//                                                                                                                    //
//====================================================================================================================//
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Include files                                                                                                      **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
#include "j1939_joystick.h"
#include "j1939_msg.h"
#include "j1939_pgn.h"
 
#include "j1939_demo_app.h"
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Function prototypes                                                                                                **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
int16_t J1939_Pgn64982( uint8_t * pubDataV, uint16_t uwSizeV, uint8_t ubSrcAddrV, uint8_t ubNetV);
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Variables                                                                                                          **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
static uint16_t   uwAxis_X_ValueS;
static uint16_t   uwAxis_X_Neutral_MinS;
static uint16_t   uwAxis_X_Neutral_MaxS;
 
static uint16_t   uwAxis_Y_ValueS;
static uint16_t   uwAxis_Y_Neutral_MinS;
static uint16_t   uwAxis_Y_Neutral_MaxS;
 
static uint8_t    ubButtonGrp1S = J1939_UNUSED_UINT8;      // buttons 1 .. 4
static uint8_t    ubButtonGrp2S = J1939_UNUSED_UINT8;      // buttons 5 .. 8
static uint8_t    ubButtonGrp3S = J1939_UNUSED_UINT8;      // buttons 9 .. 12
 
 
 
J1939_PGN_Entry_ts atsPgnListJoystick[] = {
 
      { J1939_PRIORITY_CTRL | J1939_MSG_TRM,    // PDU Control
        (uint32_t) 64982,                       // PGN value
        (uint16_t) 100,                         // Cycle
        (uint16_t) 0,                           // Counter
        (uint8_t)  0x00,                        // DA
        (uint8_t)  0x00,                        // CAN Flags
        (uint16_t) 0x0008,                      // Data size
        J1939_Pgn64982                          // PGN handler
      },
 
 
      // Last entry
      { (uint16_t) 0xFFFF, 0, 0, 0, 0, 0, 0, CPP_NULL   }
};
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Functions                                                                                                          **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
 
//--------------------------------------------------------------------------------------------------------------------//
// J1939_JoystickSetButton()                                                                                          //
// set value for Button N                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void J1939_JoystickSetButton(uint8_t ubButtonV, uint8_t ubStateV)
{
   uint8_t  ubButtonMaskT;
   uint8_t  ubButtonValueT;
 
   switch(ubButtonV)
   {
      case eJ1939_JOYSTICK_BUTTON_1:
         ubButtonMaskT  = (uint8_t) 0x3F;
         ubStateV     <<= 6;
         ubButtonValueT = ubStateV;
         ubButtonGrp1S  = ubButtonGrp1S & ubButtonMaskT;
         ubButtonGrp1S  = ubButtonGrp1S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_2:
         ubButtonMaskT  = (uint8_t) 0xCF;
         ubStateV     <<= 4;
         ubButtonValueT = ubStateV;
         ubButtonGrp1S  = ubButtonGrp1S & ubButtonMaskT;
         ubButtonGrp1S  = ubButtonGrp1S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_3:
         ubButtonMaskT  = (uint8_t) 0xF3;
         ubStateV     <<= 2;
         ubButtonValueT = ubStateV;
         ubButtonGrp1S  = ubButtonGrp1S & ubButtonMaskT;
         ubButtonGrp1S  = ubButtonGrp1S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_4:
         ubButtonMaskT  = (uint8_t) 0xFC;
         ubButtonValueT = ubStateV;
         ubButtonGrp1S  = ubButtonGrp1S & ubButtonMaskT;
         ubButtonGrp1S  = ubButtonGrp1S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_5:
         ubButtonMaskT  = (uint8_t) 0x3F;
         ubStateV     <<= 6;
         ubButtonValueT = ubStateV;
         ubButtonGrp2S  = ubButtonGrp2S & ubButtonMaskT;
         ubButtonGrp2S  = ubButtonGrp2S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_6:
         ubButtonMaskT  = (uint8_t) 0xCF;
         ubStateV     <<= 4;
         ubButtonValueT = ubStateV;
         ubButtonGrp2S  = ubButtonGrp2S & ubButtonMaskT;
         ubButtonGrp2S  = ubButtonGrp2S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_7:
         ubButtonMaskT  = (uint8_t) 0xF3;
         ubStateV     <<= 2;
         ubButtonValueT = ubStateV;
         ubButtonGrp2S  = ubButtonGrp2S & ubButtonMaskT;
         ubButtonGrp2S  = ubButtonGrp2S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_8:
         ubButtonMaskT  = (uint8_t) 0xFC;
         ubButtonValueT = ubStateV;
         ubButtonGrp2S  = ubButtonGrp2S & ubButtonMaskT;
         ubButtonGrp2S  = ubButtonGrp2S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_9:
         ubButtonMaskT  = (uint8_t) 0x3F;
         ubStateV     <<= 6;
         ubButtonValueT = ubStateV;
         ubButtonGrp3S  = ubButtonGrp3S & ubButtonMaskT;
         ubButtonGrp3S  = ubButtonGrp3S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_10:
         ubButtonMaskT  = (uint8_t) 0xCF;
         ubStateV     <<= 4;
         ubButtonValueT = ubStateV;
         ubButtonGrp3S  = ubButtonGrp3S & ubButtonMaskT;
         ubButtonGrp3S  = ubButtonGrp3S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_11:
         ubButtonMaskT  = (uint8_t) 0xF3;
         ubStateV     <<= 2;
         ubButtonValueT = ubStateV;
         ubButtonGrp3S  = ubButtonGrp3S & ubButtonMaskT;
         ubButtonGrp3S  = ubButtonGrp3S | ubButtonValueT;
         break;
 
      case eJ1939_JOYSTICK_BUTTON_12:
         ubButtonMaskT  = (uint8_t) 0xFC;
         ubButtonValueT = ubStateV;
         ubButtonGrp3S  = ubButtonGrp3S & ubButtonMaskT;
         ubButtonGrp3S  = ubButtonGrp3S | ubButtonValueT;
         break;
 
      default:
 
         break;
   }
 
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// J1939_JoystickSetNeutralRange()                                                                                    //
// set neutral range for Axis N                                                                                       //
//--------------------------------------------------------------------------------------------------------------------//
void J1939_JoystickSetNeutralRange( uint8_t ubAxisV, uint16_t uwMinValueV, uint16_t uwMaxValueV)
{
   switch(ubAxisV)
   {
      case eJ1939_JOYSTICK_AXIS_X:
         uwAxis_X_Neutral_MinS = uwMinValueV;
         uwAxis_X_Neutral_MaxS = uwMaxValueV;
         break;
 
      case eJ1939_JOYSTICK_AXIS_Y:
         uwAxis_Y_Neutral_MinS = uwMinValueV;
         uwAxis_Y_Neutral_MaxS = uwMaxValueV;
         break;
 
      default:
 
         break;
   }
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// J1939_JoystickSetValue()                                                                                           //
// set value for Axis N                                                                                               //
//--------------------------------------------------------------------------------------------------------------------//
void J1939_JoystickSetValue(uint8_t ubAxisV, uint16_t uwValueV)
{
   uint16_t uwAxisValueT = 0;
 
   //---------------------------------------------------------------------------------------------------
   // limit to 10 bits and move to correct position
   //
   if (uwValueV > (uint16_t) 1022)
   {
      uwValueV = (uint16_t) 1022;      // this is the error indicator
   }
   uwAxisValueT   = uwValueV & (uint16_t) 0x03FF;
   uwAxisValueT <<= 6;
 
 
   //---------------------------------------------------------------------------------------------------
   // assume neutral position
   //
   uwAxisValueT = uwAxisValueT | (uint16_t) 0x0001;
 
   switch(ubAxisV)
   {
      case eJ1939_JOYSTICK_AXIS_X:
 
         //-----------------------------------------------------------------------------------
         // check left position status
         //
         if(uwValueV < uwAxis_X_Neutral_MinS)
         {
            uwAxisValueT &= (uint16_t) 0xFFC0;
            uwAxisValueT |= (uint16_t) 0x0004;
         }
 
         //-----------------------------------------------------------------------------------
         // check right position status
         //
         if(uwValueV > uwAxis_X_Neutral_MaxS)
         {
            uwAxisValueT &= (uint16_t) 0xFFC0;
            uwAxisValueT |= (uint16_t) 0x0010;
         }
 
         uwAxis_X_ValueS = uwAxisValueT;
 
         break;
 
      case eJ1939_JOYSTICK_AXIS_Y:
         //-----------------------------------------------------------------------------------
         // check left position status
         //
         if(uwValueV < uwAxis_Y_Neutral_MinS)
         {
            uwAxisValueT &= (uint16_t) 0xFFC0;
            uwAxisValueT |= (uint16_t) 0x0004;
         }
 
         //-----------------------------------------------------------------------------------
         // check right position status
         //
         if(uwValueV > uwAxis_Y_Neutral_MaxS)
         {
            uwAxisValueT &= (uint16_t) 0xFFC0;
            uwAxisValueT |= (uint16_t) 0x0010;
         }
 
         uwAxis_Y_ValueS = uwAxisValueT;
         break;
 
      default:
 
         break;
   }
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// J1939_Pgn64982()                                                                                                   //
// BJM1 (Basic Joystick Message 1)                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
int16_t J1939_Pgn64982(uint8_t * pubDataV, uint16_t uwSizeV, uint8_t ubSrcAddrV, uint8_t ubNetV)
{
   J1939_Payload_ts  *ptsPayloadT = (J1939_Payload_ts *) pubDataV;
 
   //---------------------------------------------------------------------------------------------------
   // silence warning for unused parameters
   //
   (void) uwSizeV;
   (void) ubSrcAddrV;
   (void) ubNetV;
 
   //---------------------------------------------------------------------------------------------------
   // copy data to PGN
   //---------------------------------------------------------------------------------------------------
 
   //---------------------------------------------------------------------------------------------------
   // byte 0 .. 1 : X-Axis value
   //
   ptsPayloadT->aubByte[0] = (uint8_t) uwAxis_X_ValueS;
   ptsPayloadT->aubByte[1] = (uint8_t) (uwAxis_X_ValueS >> 8);
 
   //---------------------------------------------------------------------------------------------------
   // byte 2 .. 3 : Y-Axis value
   //
   ptsPayloadT->aubByte[2] = (uint8_t) uwAxis_Y_ValueS;
   ptsPayloadT->aubByte[3] = (uint8_t) (uwAxis_Y_ValueS >> 8);
 
   ptsPayloadT->aubByte[4] = J1939_UNUSED_UINT8;
 
   ptsPayloadT->aubByte[5] = ubButtonGrp1S;              // Button 1 .. 4
   ptsPayloadT->aubByte[6] = ubButtonGrp2S;              // Button 5 .. 8
   ptsPayloadT->aubByte[7] = ubButtonGrp3S;              // Button 9 .. 12
 
   return ((int16_t) eJ1939_HANDLER_RESULT_OK);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// J1939_PgnListUserInit()                                                                                            //
// Setup data for the ECU                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void J1939_PgnListUserInit(uint8_t ubNetV)
{
   if (ubNetV == (uint8_t) eJ1939_NET_1)
   {
      uwAxis_X_ValueS       = (uint16_t) 500;
      uwAxis_X_Neutral_MinS = (uint16_t) 490;
      uwAxis_X_Neutral_MaxS = (uint16_t) 510;
 
      uwAxis_Y_ValueS       = (uint16_t) 500;
      uwAxis_Y_Neutral_MinS = (uint16_t) 490;
      uwAxis_Y_Neutral_MaxS = (uint16_t) 510;
   }
}