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Merge branch 'next' into thread/OP-39

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This commit is contained in:
Fredrik Arvidsson 2012-08-13 19:54:26 +02:00
commit 25d13e4c35
14 changed files with 380 additions and 8 deletions
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4
HISTORY.txt
View File

@ -1,5 +1,9 @@
Short summary of changes. For a complete list see the git log.
2012-08-11
CopterControl can now emulate an 8-channel USB HID joystick. Primarily,
this lets you use any RC transmitter with flight simulators on your PC.
2012-07-20
AeroSimRC simulator plugin is now included into the Windows distribution
(will be installed into .../OpenPilot/misc/AeroSIM-RC directory). Still

1
flight/CopterControl/Makefile
View File

@ -239,6 +239,7 @@ SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usbhook.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
SRC += $(PIOSSTM32F10X)/pios_usb_rctx.c
SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c

1
flight/CopterControl/System/inc/pios_config.h
View File

@ -66,6 +66,7 @@
#define PIOS_INCLUDE_USART
#define PIOS_INCLUDE_USB
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_USB_RCTX
#define PIOS_INCLUDE_USB_CDC
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_SETTINGS

11
flight/CopterControl/System/pios_board.c
View File

@ -67,6 +67,8 @@ uint32_t pios_com_vcp_id;
uint32_t pios_com_gps_id;
uint32_t pios_com_bridge_id;
uint32_t pios_usb_rctx_id;
/**
* Configuration for MPU6000 chip
*/
@ -358,6 +360,15 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_USB_HIDPORT_RCTRANSMITTER:
#if defined(PIOS_INCLUDE_USB_RCTX)
{
if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_USB_RCTX */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */

13
flight/Modules/ManualControl/manualcontrol.c
View File

@ -48,6 +48,10 @@
#include "positionactual.h"
#include "baroaltitude.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb_rctx.h"
#endif /* PIOS_INCLUDE_USB_RCTX */
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
@ -369,6 +373,15 @@ static void manualControlTask(void *parameters)
// Update cmd object
ManualControlCommandSet(&cmd);
#if defined(PIOS_INCLUDE_USB_RCTX)
if (pios_usb_rctx_id) {
PIOS_USB_RCTX_Update(pios_usb_rctx_id,
cmd.Channel,
settings.ChannelMin,
settings.ChannelMax,
NELEMENTS(cmd.Channel));
}
#endif /* PIOS_INCLUDE_USB_RCTX */
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */

71
flight/PiOS/Common/pios_usb_desc_hid_cdc.c
View File

@ -51,7 +51,7 @@ static const struct usb_device_desc device_desc = {
.bNumConfigurations = 1,
};
static const uint8_t hid_report_desc[36] = {
static const uint8_t hid_report_desc[89] = {
HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
0x9C, 0xFF, /* Usage Page 0xFF9C (Vendor Defined) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
@ -93,6 +93,75 @@ static const uint8_t hid_report_desc[36] = {
0x82, /* Volatile, Variable */
HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
/* 36 bytes to here */
/* Emulate a Joystick */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_USAGE_PAGE),
0x01, /* Usage Page 0x01 (Generic Desktop Controls) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x04, /* Usage ID 0x0004 (Joystick) */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
0x00, /* Values range from min = 0x00 */
HID_GLOBAL_ITEM_4 (HID_TAG_GLOBAL_LOGICAL_MAX),
0xFF, 0xFF, 0x00, 0x00, /* Values range to max = 0x0000FFFF */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION),
0x01, /* Application */
HID_MAIN_ITEM_1 (HID_TAG_MAIN_COLLECTION),
0x00, /* Physical */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
0x03, /* OpenPilot Emulated joystick */
/* X + Y controls */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x30, /* Usage ID 0x00010030 (Generic Desktop: X) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x31, /* Usage ID 0x00010031 (Generic Desktop: Y) */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x10, /* 16 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
2,
HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
0x82, /* Data, Var, Abs, Vol */
/* Y + Rx controls */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x32, /* Usage ID 0x00010032 (Generic Desktop: Z) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x33, /* Usage ID 0x00010031 (Generic Desktop: Rx) */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x10, /* 16 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
2,
HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
0x82, /* Data, Var, Abs, Vol */
/* Ry, Rz, Slider + Dial controls */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x34, /* Usage ID 0x00010034 (Generic Desktop: Ry) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x35, /* Usage ID 0x00010035 (Generic Desktop: Rz) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x36, /* Usage ID 0x00010036 (Generic Desktop: Slider) */
HID_LOCAL_ITEM_1 (HID_TAG_LOCAL_USAGE),
0x37, /* Usage ID 0x00010037 (Generic Desktop: Dial) */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
0x10, /* 16 bits wide */
HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
4,
HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
0x82, /* Data, Var, Abs, Vol */
HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
/* 89 bytes to here */
};
struct usb_config_hid_cdc {

211
flight/PiOS/STM32F10x/pios_usb_rctx.c Normal file
View File

@ -0,0 +1,211 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_RCTX USB RC Transmitter/Joystick Functions
* @brief PIOS USB implementation for a HID Joystick
* @notes This implements transmitter/joystick emulation over HID reports
* @{
*
* @file pios_usb_rctx.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_USB_RCTX)
#include "pios_usb.h"
#include "pios_usb_rctx_priv.h"
/* STM32 USB Library Definitions */
#include "usb_lib.h"
#define PIOS_USB_RCTX_NUM_CHANNELS 8
enum pios_usb_rctx_dev_magic {
PIOS_USB_RCTX_DEV_MAGIC = 0xAB98B745,
};
struct pios_usb_rctx_dev {
enum pios_usb_rctx_dev_magic magic;
const struct pios_usb_rctx_cfg * cfg;
uint32_t lower_id;
struct {
uint8_t id;
uint16_t vals[PIOS_USB_RCTX_NUM_CHANNELS];
} __attribute__((packed)) report;
};
static bool PIOS_USB_RCTX_validate(struct pios_usb_rctx_dev * usb_rctx_dev)
{
return (usb_rctx_dev->magic == PIOS_USB_RCTX_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
{
struct pios_usb_rctx_dev * usb_rctx_dev;
usb_rctx_dev = (struct pios_usb_rctx_dev *)pvPortMalloc(sizeof(*usb_rctx_dev));
if (!usb_rctx_dev) return(NULL);
usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
return(usb_rctx_dev);
}
#else
static struct pios_usb_rctx_dev pios_usb_rctx_devs[PIOS_USB_RCTX_MAX_DEVS];
static uint8_t pios_usb_rctx_num_devs;
static struct pios_usb_rctx_dev * PIOS_USB_RCTX_alloc(void)
{
struct pios_usb_rctx_dev * usb_rctx_dev;
if (pios_usb_rctx_num_devs >= PIOS_USB_RCTX_MAX_DEVS) {
return (NULL);
}
usb_rctx_dev = &pios_usb_rctx_devs[pios_usb_rctx_num_devs++];
usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC;
return (usb_rctx_dev);
}
#endif
static void PIOS_USB_RCTX_EP_IN_Callback(void);
static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev);
/* Need a better way to pull these in */
extern void (*pEpInt_IN[7])(void);
int32_t PIOS_USB_RCTX_Init(uint32_t * usbrctx_id, const struct pios_usb_rctx_cfg * cfg, uint32_t lower_id)
{
PIOS_Assert(usbrctx_id);
PIOS_Assert(cfg);
struct pios_usb_rctx_dev * usb_rctx_dev;
usb_rctx_dev = (struct pios_usb_rctx_dev *) PIOS_USB_RCTX_alloc();
if (!usb_rctx_dev) goto out_fail;
/* Bind the configuration to the device instance */
usb_rctx_dev->cfg = cfg;
usb_rctx_dev->lower_id = lower_id;
/* Set the initial report buffer */
memset(&usb_rctx_dev->report, 0, sizeof(usb_rctx_dev->report));
pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_RCTX_EP_IN_Callback;
*usbrctx_id = (uint32_t) usb_rctx_dev;
return 0;
out_fail:
return -1;
}
static void PIOS_USB_RCTX_SendReport(struct pios_usb_rctx_dev * usb_rctx_dev)
{
#if defined(PIOS_INCLUDE_FREERTOS)
bool need_yield = false;
#endif /* PIOS_INCLUDE_FREERTOS */
usb_rctx_dev->report.id = 3; /* FIXME: shouldn't hard-code this report ID */
UserToPMABufferCopy((uint8_t *) &usb_rctx_dev->report,
GetEPTxAddr(usb_rctx_dev->cfg->data_tx_ep),
sizeof(usb_rctx_dev->report));
SetEPTxCount(usb_rctx_dev->cfg->data_tx_ep, sizeof(usb_rctx_dev->report));
SetEPTxValid(usb_rctx_dev->cfg->data_tx_ep);
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
static void PIOS_USB_RCTX_EP_IN_Callback(void)
{
struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)pios_usb_rctx_id;
bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
PIOS_Assert(valid);
if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
return;
}
PIOS_USB_RCTX_SendReport(usb_rctx_dev);
}
void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const uint16_t channel[], const int16_t channel_min[], const int16_t channel_max[], uint8_t num_channels)
{
struct pios_usb_rctx_dev * usb_rctx_dev = (struct pios_usb_rctx_dev *)usbrctx_id;
bool valid = PIOS_USB_RCTX_validate(usb_rctx_dev);
PIOS_Assert(valid);
if (!PIOS_USB_CheckAvailable(usb_rctx_dev->lower_id)) {
return;
}
for (uint8_t i = 0;
i < PIOS_USB_RCTX_NUM_CHANNELS && i < num_channels;
i++) {
int16_t min = channel_min[i];
int16_t max = channel_max[i];
uint16_t val = channel[i];
if (channel_min[i] > channel_max[i]) {
/* This channel is reversed, flip min and max */
min = channel_max[i];
max = channel_min[i];
/* and flip val to be an offset from the lower end of the range */
val = channel_min[i] - channel[i] + channel_max[i];
}
/* Scale channel linearly between min and max */
if (min == max) {
val = 0;
} else {
if (val < min) val = min;
if (val > max) val = max;
val = (val - min) * (65535 / (max - min));
}
usb_rctx_dev->report.vals[i] = val;
}
if (GetEPTxStatus(usb_rctx_dev->cfg->data_tx_ep) == EP_TX_VALID) {
/* Endpoint is already transmitting */
return;
}
PIOS_USB_RCTX_SendReport(usb_rctx_dev);
}
#endif /* PIOS_INCLUDE_USB_RCTX */

2
flight/PiOS/inc/pios_usb_defs.h
View File

@ -147,7 +147,7 @@ enum usb_ep_attr {
#define HID_LOCAL_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_0)
#define HID_LOCAL_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_1)
#define HID_LOCAL_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_2)
#define HID_LOCAL_ITEM_3(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_3)
#define HID_LOCAL_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_4)
struct usb_device_desc {
uint8_t bLength;

3
flight/PiOS/inc/pios_usb_rctx.h Normal file
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@ -0,0 +1,3 @@
extern uint32_t pios_usb_rctx_id;
extern void PIOS_USB_RCTX_Update(uint32_t usbrctx_id, const uint16_t channel[], const int16_t channel_min[], const int16_t channel_max[], uint8_t num_channels);

48
flight/PiOS/inc/pios_usb_rctx_priv.h Normal file
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@ -0,0 +1,48 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB USB HID RC Transmitter/Joystick
* @brief Hardware communication layer
* @{
*
* @file pios_usb_rctx_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief USB COM HID private definitions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_USB_RCTX_PRIV_H
#define PIOS_USB_RCTX_PRIV_H
#include "pios_usb_rctx.h"
struct pios_usb_rctx_cfg {
uint8_t data_if;
uint8_t data_tx_ep;
};
extern int32_t PIOS_USB_RCTX_Init(uint32_t * usbrctx_id, const struct pios_usb_rctx_cfg * cfg, uint32_t lower_id);
#endif /* PIOS_USB_RCTX_PRIV_H */
/**
* @}
* @}
*/

10
flight/board_hw_defs/coptercontrol/board_hw_defs.c
View File

@ -1284,6 +1284,16 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
#endif /* PIOS_INCLUDE_USB_HID */
#if defined(PIOS_INCLUDE_USB_RCTX)
#include <pios_usb_rctx_priv.h>
const struct pios_usb_rctx_cfg pios_usb_rctx_cfg = {
.data_if = 2,
.data_tx_ep = 1,
};
#endif /* PIOS_INCLUDE_USB_RCTX */
#if defined(PIOS_INCLUDE_USB_CDC)
#include <pios_usb_cdc_priv.h>

6
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -2080,7 +2080,7 @@
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>X</uavField>
<uavField>x</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2090,7 +2090,7 @@
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>Y</uavField>
<uavField>y</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
@ -2100,7 +2100,7 @@
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>Z</uavField>
<uavField>z</uavField>
<uavObject>Magnetometer</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>

5
make/firmware-defs.mk
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@ -210,7 +210,8 @@ endef
# $(1) = Name of binary image to write
# $(2) = Base of flash region to write/wipe
# $(3) = Size of flash region to write/wipe
# $(4) = OpenOCD configuration file to use
# $(4) = OpenOCD JTAG interface configuration file to use
# $(5) = OpenOCD configuration file to use
define JTAG_TEMPLATE
# ---------------------------------------------------------------------------
# Options for OpenOCD flash-programming
@ -223,7 +224,7 @@ OOCD_EXE ?= openocd
OOCD_JTAG_SETUP = -d0
# interface and board/target settings (using the OOCD target-library here)
OOCD_JTAG_SETUP += -s $(TOP)/flight/Project/OpenOCD
OOCD_JTAG_SETUP += -f foss-jtag.revb.cfg -f $(4)
OOCD_JTAG_SETUP += -f $(4) -f $(5)
# initialize
OOCD_BOARD_RESET = -c init

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -15,7 +15,7 @@
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,RCTransmitter,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>