feat(joystick): add CRC-8 packet checksum and region-based XY sensiti…

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;
+}

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

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