From ff7701039418a5bc3782bd16efe4fa8eba760a6f Mon Sep 17 00:00:00 2001 From: "kevin.wang" Date: Wed, 1 Jul 2026 09:27:31 +0800 Subject: [PATCH] feat(joystick): add CRC-8 packet checksum and region-based XY sensitivity Port control-panel firmware changes into firmware/joystick: - Add CRC-8-CCITT (poly 0x07) checksum over packet[0..8] into packet[9], matching firmware/octoaxes/serial.cpp. Remap a computed 0x00 to 0x01 so that 0 stays reserved as the legacy "no CRC" marker for old firmware. - Add REGION_OVERSEAS build flag: overseas joystick X/Y sensitivity factor is /4 (2x output at the same detent) versus /8 for the domestic default. Provide teensyLC (domestic) and teensyLC_overseas PlatformIO envs. - Mark encoder_step_size volatile since it is shared with the encoder ISR. - Compute the Z encoder step with integer bit-shift (1 << input_sensitivity_z, capped at 256) instead of pow(), avoiding float math. - Add download.sh helper to flash the domestic or overseas build. Co-Authored-By: Claude Opus 4.8 (1M context) --- firmware/joystick/control_panel_teensyLC.ino | 61 +++++++++++++++++--- firmware/joystick/download.sh | 29 ++++++++++ firmware/joystick/platformio.ini | 9 ++- 3 files changed, 90 insertions(+), 9 deletions(-) create mode 100755 firmware/joystick/download.sh diff --git a/firmware/joystick/control_panel_teensyLC.ino b/firmware/joystick/control_panel_teensyLC.ino index 4a30df817..2e200dbb0 100644 --- a/firmware/joystick/control_panel_teensyLC.ino +++ b/firmware/joystick/control_panel_teensyLC.ino @@ -5,10 +5,36 @@ // Forward declarations static inline int sgn(int val); uint32_t twos_complement(long signedLong, int N); +static uint8_t crc8_ccitt(const uint8_t *data, uint8_t n); PacketSerial packetSerial; TM1650 d; +// CRC-8-CCITT lookup table (poly 0x07, init 0x00) — same as firmware/octoaxes/serial.cpp +static const uint8_t CRC_TABLE[256] = { + 0x00, 0x07, 0x0E, 0x09, 0x1C, 0x1B, 0x12, 0x15, 0x38, 0x3F, 0x36, 0x31, + 0x24, 0x23, 0x2A, 0x2D, 0x70, 0x77, 0x7E, 0x79, 0x6C, 0x6B, 0x62, 0x65, + 0x48, 0x4F, 0x46, 0x41, 0x54, 0x53, 0x5A, 0x5D, 0xE0, 0xE7, 0xEE, 0xE9, + 0xFC, 0xFB, 0xF2, 0xF5, 0xD8, 0xDF, 0xD6, 0xD1, 0xC4, 0xC3, 0xCA, 0xCD, + 0x90, 0x97, 0x9E, 0x99, 0x8C, 0x8B, 0x82, 0x85, 0xA8, 0xAF, 0xA6, 0xA1, + 0xB4, 0xB3, 0xBA, 0xBD, 0xC7, 0xC0, 0xC9, 0xCE, 0xDB, 0xDC, 0xD5, 0xD2, + 0xFF, 0xF8, 0xF1, 0xF6, 0xE3, 0xE4, 0xED, 0xEA, 0xB7, 0xB0, 0xB9, 0xBE, + 0xAB, 0xAC, 0xA5, 0xA2, 0x8F, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9D, 0x9A, + 0x27, 0x20, 0x29, 0x2E, 0x3B, 0x3C, 0x35, 0x32, 0x1F, 0x18, 0x11, 0x16, + 0x03, 0x04, 0x0D, 0x0A, 0x57, 0x50, 0x59, 0x5E, 0x4B, 0x4C, 0x45, 0x42, + 0x6F, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7D, 0x7A, 0x89, 0x8E, 0x87, 0x80, + 0x95, 0x92, 0x9B, 0x9C, 0xB1, 0xB6, 0xBF, 0xB8, 0xAD, 0xAA, 0xA3, 0xA4, + 0xF9, 0xFE, 0xF7, 0xF0, 0xE5, 0xE2, 0xEB, 0xEC, 0xC1, 0xC6, 0xCF, 0xC8, + 0xDD, 0xDA, 0xD3, 0xD4, 0x69, 0x6E, 0x67, 0x60, 0x75, 0x72, 0x7B, 0x7C, + 0x51, 0x56, 0x5F, 0x58, 0x4D, 0x4A, 0x43, 0x44, 0x19, 0x1E, 0x17, 0x10, + 0x05, 0x02, 0x0B, 0x0C, 0x21, 0x26, 0x2F, 0x28, 0x3D, 0x3A, 0x33, 0x34, + 0x4E, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5C, 0x5B, 0x76, 0x71, 0x78, 0x7F, + 0x6A, 0x6D, 0x64, 0x63, 0x3E, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2C, 0x2B, + 0x06, 0x01, 0x08, 0x0F, 0x1A, 0x1D, 0x14, 0x13, 0xAE, 0xA9, 0xA0, 0xA7, + 0xB2, 0xB5, 0xBC, 0xBB, 0x96, 0x91, 0x98, 0x9F, 0x8A, 0x8D, 0x84, 0x83, + 0xDE, 0xD9, 0xD0, 0xD7, 0xC2, 0xC5, 0xCC, 0xCB, 0xE6, 0xE1, 0xE8, 0xEF, + 0xFA, 0xFD, 0xF4, 0xF3}; + // pin defination static const int pin_LED[6] = {9,10,11,12,13,14}; static const int pin_joystick_x = 17; @@ -43,7 +69,7 @@ int joystick_deadband = 25; volatile long encoder_pos = 0; // encoder pos >> 4 is the focus position int input_sensitivity_xy = 0; int input_sensitivity_z = 0; -int encoder_step_size = 1; +volatile int encoder_step_size = 1; // communication static const int JOYSTICK_MSG_LENGTH = 10;// 4 bytes for encoder, 2 bytes for joystick x, 2 bytes for joystick y, 1 byte for buttons, 1 byte CRC @@ -116,7 +142,9 @@ void loop() if(input_sensitivity_z>8) input_sensitivity_z = 8; - encoder_step_size = min(pow(2,input_sensitivity_z),256); // cap the max z_step_size + int step = 1 << input_sensitivity_z; // 2^input_sensitivity_z, integer arithmetic + if (step > 256) step = 256; + encoder_step_size = step; // display input sensitivity display_str[0] = '0' + input_sensitivity_xy; @@ -125,19 +153,27 @@ void loop() // read joystick joystick_delta_x = analogRead(pin_joystick_x) - joystick_offset_x; +#ifdef REGION_OVERSEAS + joystick_delta_x = sgn(joystick_delta_x)*max(abs(joystick_delta_x)-joystick_deadband,0)*pow(2,input_sensitivity_xy)/4; +#else joystick_delta_x = sgn(joystick_delta_x)*max(abs(joystick_delta_x)-joystick_deadband,0)*pow(2,input_sensitivity_xy)/8; +#endif joystick_delta_x = sgn(joystick_delta_x)*min(abs(joystick_delta_x),32767); joystick_delta_y = analogRead(pin_joystick_y) - joystick_offset_y; +#ifdef REGION_OVERSEAS + joystick_delta_y = sgn(joystick_delta_y)*max(abs(joystick_delta_y)-joystick_deadband,0)*pow(2,input_sensitivity_xy)/4; +#else joystick_delta_y = sgn(joystick_delta_y)*max(abs(joystick_delta_y)-joystick_deadband,0)*pow(2,input_sensitivity_xy)/8; +#endif joystick_delta_y = sgn(joystick_delta_y)*min(abs(joystick_delta_y),32767); // read key // debouncing to be added // send to controller - encoder_pos = encoder_pos; - int32_t encoder_pos_ = encoder_pos/4; // artificially descrease the resolution to make it less sensitive - encoder_pos_ = (encoder_pos_/16)*16; // make the number integer multiple of 16 (16 microstepping) + int32_t encoder_pos_ = encoder_pos / 4; // reduce resolution + // align to a multiple of 16 to set the minimum step granularity of the focus wheel + encoder_pos_ = (encoder_pos_ / 16) * 16; tmp_uint32 = twos_complement(encoder_pos_,4); packet[0] = byte(tmp_uint32>>24); packet[1] = byte((tmp_uint32>>16)%256); @@ -155,9 +191,11 @@ void loop() // packet[8] = i_testing++; // if(i_testing==255) // i_testing = 0; - - // CRC to be added - packet[9] = 0; + + // CRC-8-CCITT over packet[0..8]; map 0x00 to 0x01 to reserve 0 as the legacy marker + uint8_t crc = crc8_ccitt(packet, 9); + if (crc == 0x00) crc = 0x01; + packet[9] = crc; packetSerial.send(packet, JOYSTICK_MSG_LENGTH); // process incoming packets @@ -225,3 +263,10 @@ static inline int sgn(int val) { if (val==0) return 0; return 1; } + +static uint8_t crc8_ccitt(const uint8_t *data, uint8_t n) { + uint8_t v = 0; + for (uint8_t i = 0; i < n; i++) + v = CRC_TABLE[v ^ data[i]]; + return v; +} diff --git a/firmware/joystick/download.sh b/firmware/joystick/download.sh new file mode 100755 index 000000000..0beede37b --- /dev/null +++ b/firmware/joystick/download.sh @@ -0,0 +1,29 @@ +#!/usr/bin/env bash +# Control panel firmware flashing script +# ./download.sh interactive selection +# ./download.sh cn domestic build (default, /8 sensitivity) +# ./download.sh overseas overseas build (/4 sensitivity, 2x output) +set -e +cd "$(dirname "$0")" + +choice="${1:-}" +if [ -z "$choice" ]; then + echo "Select the build to flash:" + echo " 1) domestic (cn) - joystick X/Y sensitivity factor /8" + echo " 2) overseas - joystick X/Y sensitivity factor /4" + read -rp "Enter 1 or 2: " ans + case "$ans" in + 1|cn|CN) choice=cn ;; + 2|overseas|OS) choice=overseas ;; + *) echo "Invalid selection: $ans" >&2; exit 1 ;; + esac +fi + +case "$choice" in + cn) env=teensyLC ;; + overseas) env=teensyLC_overseas ;; + *) echo "Unknown build: $choice (allowed: cn | overseas)" >&2; exit 1 ;; +esac + +echo ">>> Flashing env=$env" +pio run -e "$env" -t upload diff --git a/firmware/joystick/platformio.ini b/firmware/joystick/platformio.ini index d71ce6437..8a84bf1f2 100644 --- a/firmware/joystick/platformio.ini +++ b/firmware/joystick/platformio.ini @@ -1,7 +1,7 @@ [platformio] src_dir = . -[env:teensyLC] +[env] platform = teensy board = teensylc framework = arduino @@ -12,3 +12,10 @@ lib_deps = ; Monitor settings monitor_speed = 115200 + +; Domestic build (default): joystick X/Y sensitivity factor /8 +[env:teensyLC] + +; Overseas build: joystick X/Y sensitivity factor /4 (2x output at the same detent) +[env:teensyLC_overseas] +build_flags = -D REGION_OVERSEAS