HID driver was incorrectly giving back the HID interface
descriptor when asked for the HID descriptor. This should
let OP boards interact better with generic HID layer drivers
and also gives us nicer output in lsusb once the HID descriptor
is read.
for sensing and then load different config for CC and CC3D. Updated the
bootloader as well. Also changed the PIOS_USB_CheckAvailability function to
only return the sense signal and not the transfer_possible flag as this is not
set in time for the bootloader on CC3D for some reason.
The exti layer now allows drivers to register interrupt callbacks
during board initialization. All details of the driver using a
particular EXTI pin have been removed from the EXTI layer so it
can now be used on any board without board-specific modification.
This includes some nice refinements provided by Mike Smith during
initial review. His original commits have been squashed into this
one.
The main purpose of this new COM implementation is that it is
much simpler, and requires less code space. This takes a bit
of the pressure off of the CC bootloader which was right at
the limit of available code space in the bootloader partition.
This is not intended to ever be used by the application.
This driver also formalizes the assumptions in the bootloader's
usage of the COM layer. All messages are assumed to arrive
in atomic chunks from the HID layer.
These files do not contain content from the ID in the header.
This name seems to have been cut/pasted all over throughout
the openpilot source tree and should be removed from any files
that should not rightfully be attributed to this person.
The PIOS_COM_ReceiveBufferUsed() function call is no longer
necessary since the same semantics can be achieved using calls
to PIOS_COM_ReceiveBuffer().
Summary of changes:
* USB CDC and HID drivers are completely split apart.
* This will allow different max buffer sizes for HID and CDC.
* USB descriptors have been overhauled:
* Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
* Two common descriptor definitions. One for HID+CDC another for HID only.
See pios_usb_desc_{hid_cdc,hid_only}.c for details.
* Long standing bugs in OP USB descriptors became much more obvious with the
new struct definitions.
* Board specific USB initialization is now in pios_usb_board_data.h in each build target.
* Definition of USB descriptors is now entirely indpendent of STM32 libs.
Glue into STM32 libs is provided by pios_usbhook.c.
* Removed a lot of stale/irrelevant USB #defines throughout the tree.
* Improved naming consistency throughout USB code:
* PIOS_USB_HID_* now refers to the HID endpoint code.
* PIOS_USB_CDC_* now refers to the CDC endpoint code.
* PIOS_USB_* now refers to the low-level USB code.
* PIOS_USB_BOARD_* now refers to board-specific USB data
* PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
* struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
* Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
* Made a few more USB related variables static to save some RAM.
Reduced scope of many variables since they were being
exposed unnecessarily.
Renamed pios_usb_hid_prop code to pios_usbhook to reflect
the fact that it implements all of the callout functions
that are hooked into the stm32 usb library.
No code changes, just file, variable and define names are changed.
First, it better describes the serial protocol used by DSMx satellite
receivers. Second, many people using Spektrum radio, assume Spektrum
protocol. This is the attempt to address those inaccuracies.
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.
For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.
Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.
Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.
Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.
The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
In the previous version the decoder could in rare cases get synced from
the middle of data stream in case of data byte equal to the S.Bus start
of frame (SOF) byte (wrong data will be rejected but it was not perfect).
Now it waits for the real start of frame and then checks the SOF byte.
- does not glitch when used in 2-frame mode (DM9, 9503, etc)
- does NOT provides yet DSMX stream decoding - do NOT merge
- uses a bit more time in the interrupt, but frees 16 bytes of RAM.
This is done to help decoding the weird DSMX stream which does not
contain explicit resolution/frame/lost frames info and needs special
processing (to be done yet).
them symbolic constants.
- A timeout is 0
- A missing driver is 65534
- An invalid channel is 65535
ManualControl: Make it deal with the values explicitly. A timed out value
should not be treated like a minimum duration signal. Instead it does not
updated the scaled value but marks the data window as invalid to trigger the
failsafe.
PWM and PPM can now coexist in the same load and be
selected at boot time via the hwsettings UAVObject.
This is basically a complete restructuring of the
way the drivers interact with the TIM peripheral in
the STM32.
As a side effect, the PWM and PPM drivers are now
ready to support multiple instances of each.
This also provides the first step toward being able
to reassign some of the PWM input pins to be servo
output pins. Still more work required, but this is
a good start.
transfers from IRQ. Also catch the double 0x70084 event which was locking up
the FSM with -Os enabled. I did this in a cheating way (filtering the event
based on state) but it's the cleanest I can see. Hopefully a DMA version of
I2C will fix this.
