Joystick com pro micro (Leonardo)

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1

Hello, I made an air simulation control with the Arduino Micro board, it works correctly, but it usually crashes, and I have to reconnect it to get it working again, does anyone know where the problem could be?
I use an AS5600 sensor and a 74hc4067 Multiplexer

(Olá, fiz um controle de simulação aérea com a placa arduino micro, funciona corretamente, mas geralmentre trava, e tenho que re conectar para voltar a funcionar, alguem sabe onde pode ser o problema?

Uso sensor AS5600 e Multiplexador 74hc4067)

Thanks

Follow the code:
(Begue o código)

#include "MUX74HC4067.h"
#include <AS5600.h>
#include <Joystick.h>
#include <Wire.h>
#include <Arduino_FreeRTOS.h>
#include <semphr.h>

// Sensor AS5600
AS5600 sensor;

// Mutex para acesso ao sensor/I2C
SemaphoreHandle_t i2cMutex;

// Cabeçalho tarefa analógica
TaskHandle_t taskAnalogicoHandle;

// Configurado pinos MUX74HC4067
MUX74HC4067 mux(7, 8, 14, 16, 15);

// SIG = 7 
// S0 = 8
// S1 = 14
// S2 = 16
// S3 = 15
// EN = GND
// VCC = 5V
// GND = GND

//##################################################
//############ Configuração ########################

// Nativo do Arduino
int quantidadeBotoes = 9; // No máximo 11 botões BOTÕES DIGITAIS ==> os pinos 6, 4, 1, 0, 5, 10, 9, 19, 18, {21, 22}
int setBotoesAD[2] = {0, 0}; // 0 => Digital | 1 => Analógico ==> Sequencia dos pinos 21, 20
// Use os dois primeiros para analógico, pinos 21 | 20, sequência setRxAxis | setRyAxis

// Nativo do MUX74HC4067
int quantidadeBotoesMUX = 16; // No máximo 16 BOTÕES DIGITAIS ==> 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15

// Configurando os 16 BOTÕES DIGITAIS DO MUX74HC4067   !!!!A DEFINIR NA MONTAGEM!!!!
// Botão 12(?) | Botão 13(?) | Botão 14(?) | Botão 15(?) | Botão 16(?) | Botão 17(?) | Botão 18(?) | Botão 19(?)
// Botão 20(?) | Botão 21(?) | Botão 22(?) | Botão 23(?) | Botão 24(?) | Botão 25(?) | Botão 26(?) | Botão 27(?)

// X Axis(0) | Y Axis(1) | Z Axis(2) | Rx Axis(3) | Ry Axis(4) | Rz Axis(5) | Accelerator(6) | Brake(7)
bool sensores[8] = {true, true, true, true, true, true, true, false};
// Para desabilitar RX, RY mudar para false acima
// Se não funcionar mudar tambem nas linhas 64,65 acrescentar false e comentar ex.:false, //sensores[3],   //Include Rx Axis 

//############ Configuração ########################
//##################################################

// Configurando os 9 botões DIGITAIS NATIVOS
// Botão 1(6) | Botão 2(4) | Botão 3(1) | Botão 4(0) | Botão 5(5) | Botão 6(10) | Botão 7(9) | Botão 8(19) | Botão 9(18)
int pinBT[9] = {6, 4, 1, 0, 5, 10, 9, 19, 18};

// Configurando os 2 botões DIGITAIS | ANALÓGICOS
// Botão 10(21) | Botão 11(20)
int botoesAD[2] = {21, 20};

// Configuração do Joystick
Joystick_ Joystick(0x03,  //Joystick HID ID: A Hex value identifier for HID Device Recognition (default: 0x03). DO NOT USE 0x01 or 0x02
JOYSTICK_TYPE_MULTI_AXIS,
quantidadeBotoes+quantidadeBotoesMUX+2,      //Button Count: Number of Buttons shown to HID system (default: 32)
0,      //Hat Switch Count: Number of Hat Switches, max 2. (default:2)
sensores[0],   //Include X Axis
sensores[1],   //Include Y Axis
sensores[2],   //Include Z Axis
sensores[3],   //Include Rx Axis
sensores[4],   //Include Ry Axis
sensores[5],   //Include Rz Axis
false,  //Include Rudder 
sensores[6],   //Include Throttle
false,  //Include Accelerator
sensores[7],  //Include Brake
false); //Include Steering

// Seletor de portas do TCA
void TCA9548A(uint8_t bus)
{
  if (bus > 7) return;
  //if (xSemaphoreTake(i2cMutex, portMAX_DELAY) == pdTRUE) {
    Wire.beginTransmission(0x70);
    Wire.write(1 << bus);
    Wire.endTransmission();
    delay(10);
    xSemaphoreGive(i2cMutex);
  //}
}

void setup()
{
  Serial.begin(115200);

  // Cria o mutex
  i2cMutex = xSemaphoreCreateMutex();

  for(int a=0;a<quantidadeBotoes;a++){
    pinMode(pinBT[a], INPUT_PULLUP);
  }

  for(int a=0;a<2;a++){
    if(setBotoesAD[a] == 0){
      pinMode(botoesAD[a], INPUT_PULLUP);
    }else if(setBotoesAD[a] == 1){
      pinMode(botoesAD[a], INPUT_PULLUP);
    }
  }

  // Criando tarefa
  xTaskCreate(TaskAnalogico, "Analogico", 128, NULL, 0, &taskAnalogicoHandle);

  mux.signalPin(7, INPUT_PULLUP, DIGITAL);
  Joystick.begin(true);
}
 
void loop()
{
  // Dados Mux
  byte data;
  
  // Responsável pelos botões
  int o=0;
  int p=0;
  for(int a=0;a<(quantidadeBotoes+quantidadeBotoesMUX+2);a++){    
    // 4 botões fixo DIGITAL | ANALOGICO
    if(a < 2){      
      if(setBotoesAD[a] == 0){
        if (digitalRead(botoesAD[a]) == LOW){
          Joystick.setButton(a, HIGH);
        }else if (digitalRead(botoesAD[a]) == HIGH){
          Joystick.setButton(a, LOW);
        }
      }
    }

    // Botões vindo da Placa
    if (a >= 2 and a < (quantidadeBotoes+2)){
      if (digitalRead(pinBT[o]) == LOW){
        Joystick.setButton(a, HIGH);
      }else{
        Joystick.setButton(a, LOW);
      }
      o++;
    }

    // Botões vindo do MUX
    if (a >= (quantidadeBotoes+2) and a < (quantidadeBotoesMUX+quantidadeBotoes+2)){
      data = mux.read(p);
      if (data == HIGH ){
        Joystick.setButton(a, LOW);
      }else if ( data == LOW ){
        Joystick.setButton(a, HIGH);
      }
      p++;
    }
  }
  delay(10);
}

// X Axis | Y Axis | Z Axis | Rx Axis | Ry Axis | Rz Axis | Accelerator | Brake
void sensoresAxis(bool XAxis, bool YAxis, bool ZAxis, bool RxAxis, bool RyAxis, bool RzAxis, bool Accelerator, bool Brake){
  if(XAxis){
    int val = safeGetPosition(0);
    Joystick.setXAxis(map(val,0,1023,0,255));
    Serial.print("X Axis: ");
    Serial.println(map(val,0,1023,0,255));
  }
  if(YAxis){
    int val = safeGetPosition(1);
    Joystick.setYAxis(map(val,0,1023,0,255));
    Serial.print("Y Axis: ");
    Serial.println(map(val,0,1023,0,255));
  }
  if(ZAxis){
    int val = safeGetPosition(2);
    Joystick.setZAxis(map(val,0,1023,0,255));
    Serial.print("Z Axis: ");
    Serial.println(map(val,0,1023,0,255));
  }
  if(RxAxis){
    if(setBotoesAD[0] == 0){
      int val = safeGetPosition(3);
      Joystick.setRxAxis(map(val,0,1023,0,255));
      Serial.print("Rx Axis: ");
      Serial.println(map(val,0,1023,0,255));
    }
    if(setBotoesAD[0] == 1){
      Joystick.setRxAxis(map(analogRead(botoesAD[0]),0,1023,0,255));
    }
  }
  if(RyAxis){
    if(setBotoesAD[1] == 0){
      int val = safeGetPosition(4);
      Joystick.setRyAxis(map(val,0,1023,255,0));
      Serial.print("Ry Axis: ");
      Serial.println(map(val,0,1023,255,0));
    }
    if(setBotoesAD[1] == 1){
      Joystick.setRyAxis(map(analogRead(botoesAD[1]),0,1023,255,0));
    }
  }
  if(RzAxis){
    int val = safeGetPosition(5);
    Joystick.setRzAxis(map(val,0,1024,0,255));
    Serial.print("Rz Axis: ");
    Serial.println(map(val,0,1024,0,255));
  }
  if(Accelerator){
    int val = safeGetPosition(6);
    Joystick.setThrottle(map(val,0,1023,-255,0));
    Serial.print("Accelerator: ");
    Serial.println(map(val,0,1023,-255,0));
  }
  if(Brake){
    int val = safeGetPosition(7);
    Joystick.setBrake(map(val,0,1023,0,255));
    Serial.print("Brake: ");
    Serial.println(map(val,0,1023,0,255));
  }
}

void TaskAnalogico(void *pvParameters)
{
  (void) pvParameters;
  for (;;)
  {
    // Função dos sensores;
    sensoresAxis(sensores[0], sensores[1], sensores[2], sensores[3], sensores[4], sensores[5], sensores[6], sensores[7]);
    delay(5);
  }
}

// Função protegida para acessar o sensor AS5600
int safeGetPosition(uint8_t bus) {
  int pos = 0;
  if (xSemaphoreTake(i2cMutex, portMAX_DELAY) == pdTRUE) {
    TCA9548A(bus);
    pos = sensor.getPosition();
    xSemaphoreGive(i2cMutex);
  }
  return pos;
}
2

Please read the pinned post re 'How to get the most from the forum'

3

Most probably the problem is in the code that you did not show or in the wiring that you did not show...
Please read and follow the forum guidelines...

4

:+1: