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hid joystick: add missing .c file
This time for sure...
This commit is contained in:
Stacey Sheldon
parent
d44e24a150
commit
017d8c79c9
192
flight/PiOS/STM32F10x/pios_usb_rctx.c
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192
flight/PiOS/STM32F10x/pios_usb_rctx.c
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/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_USB_RCTX USB RC Transmitter/Joystick Functions
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* @brief PIOS USB implementation for a HID Joystick
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* @notes This implements transmitter/joystick emulation over HID reports
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* @{
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*
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* @file pios_usb_rctx.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#if defined(PIOS_INCLUDE_USB_RCTX)
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#include "pios_usb.h"
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#include "pios_usb_rctx_priv.h"
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/* STM32 USB Library Definitions */
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#include "usb_lib.h"
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#define PIOS_USB_RCTX_NUM_CHANNELS 8
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enum pios_usb_rctx_dev_magic {
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PIOS_USB_RCTX_DEV_MAGIC = 0xAB98B745,
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};
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struct pios_usb_rctx_dev {
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enum pios_usb_rctx_dev_magic magic;
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const struct pios_usb_rctx_cfg * cfg;
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uint32_t lower_id;
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struct {
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uint8_t id;
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uint16_t vals[PIOS_USB_RCTX_NUM_CHANNELS];
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} __attribute__((packed)) report;
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};
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static bool PIOS_USB_RCTX_validate(struct pios_usb_rctx_dev * usb_rctx_dev)
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{
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return (usb_rctx_dev->magic == PIOS_USB_RCTX_DEV_MAGIC);
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
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{
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struct pios_usb_rctx_dev * usb_rctx_dev;
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usb_rctx_dev = (struct pios_usb_rctx_dev *)pvPortMalloc(sizeof(*usb_rctx_dev));
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if (!usb_rctx_dev) return(NULL);
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usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
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return(usb_rctx_dev);
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}
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#else
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static struct pios_usb_rctx_dev pios_usb_rctx_devs[PIOS_USB_RCTX_MAX_DEVS];
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static uint8_t pios_usb_rctx_num_devs;
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static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
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{
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struct pios_usb_rctx_dev * usb_rctx_dev;
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if (pios_usb_rctx_num_devs >= PIOS_USB_RCTX_MAX_DEVS) {
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return (NULL);
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}
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usb_rctx_dev = &pios_usb_rctx_devs[pios_usb_rctx_num_devs++];
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usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
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return (usb_rctx_dev);
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}
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#endif
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static void PIOS_USB_RCTX_EP_IN_Callback(void);
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static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev);
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/* Need a better way to pull these in */
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extern void (*pEpInt_IN[7])(void);
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int32_t PIOS_USB_RCTX_Init(uint32_t * usbrctx_id, const struct pios_usb_rctx_cfg * cfg, uint32_t lower_id)
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{
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PIOS_Assert(usbrctx_id);
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PIOS_Assert(cfg);
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struct pios_usb_rctx_dev * usb_rctx_dev;
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usb_rctx_dev = (struct pios_usb_rctx_dev *) PIOS_USB_RCTX_alloc();
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if (!usb_rctx_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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usb_rctx_dev->cfg = cfg;
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usb_rctx_dev->lower_id = lower_id;
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/* Set the initial report buffer */
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memset(&usb_rctx_dev->report, 0, sizeof(usb_rctx_dev->report));
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pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_RCTX_EP_IN_Callback;
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*usbrctx_id = (uint32_t) usb_rctx_dev;
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return 0;
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out_fail:
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return -1;
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}
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static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev)
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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bool need_yield = false;
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#endif /* PIOS_INCLUDE_FREERTOS */
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usb_rctx_dev->report.id = 3; /* FIXME: shouldn't hard-code this report ID */
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UserToPMABufferCopy((uint8_t *) &usb_rctx_dev->report,
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GetEPTxAddr(usb_rctx_dev->cfg->data_tx_ep),
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sizeof(usb_rctx_dev->report));
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SetEPTxCount(usb_rctx_dev->cfg->data_tx_ep, sizeof(usb_rctx_dev->report));
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SetEPTxValid(usb_rctx_dev->cfg->data_tx_ep);
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (need_yield) {
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vPortYieldFromISR();
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}
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#endif /* PIOS_INCLUDE_FREERTOS */
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}
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static void PIOS_USB_RCTX_EP_IN_Callback(void)
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{
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struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)pios_usb_rctx_id;
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bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
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PIOS_Assert(valid);
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if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
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return;
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}
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PIOS_USB_RCTX_SendReport(usb_rctx_dev);
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}
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void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const float channels[], uint8_t num_channels)
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{
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struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)usbrctx_id;
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bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
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PIOS_Assert(valid);
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if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
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return;
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}
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for (uint8_t i = 0;
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i < PIOS_USB_RCTX_NUM_CHANNELS && i < num_channels;
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i++) {
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/*
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* Scaled channels range from -1 to +1.
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* Move them to the USB HID range of 0 to 65535.
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*/
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usb_rctx_dev->report.vals[i] = (uint16_t) (32767.0f + (channels[i] * 32767.0f));
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}
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if (GetEPTxStatus(usb_rctx_dev->cfg->data_tx_ep) == EP_TX_VALID) {
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/* Endpoint is already transmitting */
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return;
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}
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PIOS_USB_RCTX_SendReport(usb_rctx_dev);
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}
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#endif /* PIOS_INCLUDE_USB_RCTX */
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