Merge pull request #6099 from mikeller/fixed_usb_hid_channel_mapping

Fixed USB HID channel mapping in Windows.

make/source.mk

@@ -51,6 +51,7 @@ COMMON_SRC = \
             io/serial.c \
             io/statusindicator.c \
             io/transponder_ir.c \
+            io/usb_cdc_hid.c \
             msp/msp_serial.c \
             scheduler/scheduler.c \
             sensors/adcinternal.c \
@@ -297,6 +298,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \
             io/serial_4way_avrootloader.c \
             io/serial_4way_stk500v2.c \
             io/transponder_ir.c \
+            io/usb_cdc_hid.c \
             msp/msp_serial.c \
             cms/cms.c \
             cms/cms_menu_blackbox.c \

src/main/drivers/serial_usb_vcp.h

@@ -22,6 +22,12 @@
 
 #include "drivers/serial.h"
 
+#if defined(STM32F7)
+#include "usbd_cdc.h"
+
+extern USBD_HandleTypeDef  USBD_Device;
+#endif
+
 typedef struct {
     serialPort_t port;
 

src/main/fc/fc_tasks.c

@@ -69,6 +69,7 @@
 #include "io/transponder_ir.h"
 #include "io/vtx_tramp.h" // Will be gone
 #include "io/rcdevice_cam.h"
+#include "io/usb_cdc_hid.h"
 #include "io/vtx.h"
 
 #include "msp/msp_serial.h"
@@ -91,17 +92,6 @@
 
 #include "telemetry/telemetry.h"
 
-#ifdef USE_USB_CDC_HID
-//TODO: Make it platform independent in the future
-#ifdef STM32F4
-#include "vcpf4/usbd_cdc_vcp.h"
-#include "usbd_hid_core.h"
-#elif defined(STM32F7)
-#include "usbd_cdc_interface.h"
-#include "usbd_hid.h"
-#endif
-#endif
-
 #ifdef USE_BST
 void taskBstMasterProcess(timeUs_t currentTimeUs);
 #endif
@@ -161,16 +151,7 @@ static void taskUpdateRxMain(timeUs_t currentTimeUs)
 
 #ifdef USE_USB_CDC_HID
     if (!ARMING_FLAG(ARMED)) {
-        int8_t report[8];
-        for (int i = 0; i < 8; i++) {
-                report[i] = scaleRange(constrain(rcData[i], 1000, 2000), 1000, 2000, -127, 127);
-        }
-#ifdef STM32F4
-        USBD_HID_SendReport(&USB_OTG_dev, (uint8_t*)report, sizeof(report));
-#elif defined(STM32F7)
-        extern USBD_HandleTypeDef  USBD_Device;
-        USBD_HID_SendReport(&USBD_Device, (uint8_t*)report, sizeof(report));
-#endif
+        sendRcDataToHid();
     }
 #endif
 

src/main/io/usb_cdc_hid.c

@@ -0,0 +1,81 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_USB_CDC_HID
+
+#include "common/maths.h"
+
+#include "fc/rc_controls.h"
+
+#include "rx/rx.h"
+
+//TODO: Make it platform independent in the future
+#if defined(STM32F4)
+#include "vcpf4/usbd_cdc_vcp.h"
+
+#include "usbd_hid_core.h"
+#elif defined(STM32F7)
+#include "drivers/serial_usb_vcp.h"
+
+#include "vcp_hal/usbd_cdc_interface.h"
+
+#include "usbd_hid.h"
+#endif
+
+#define USB_CDC_HID_NUM_AXES 8
+
+#define USB_CDC_HID_RANGE_MIN -127
+#define USB_CDC_HID_RANGE_MAX 127
+
+// In the windows joystick driver, the axes are defined as shown in the second column.
+
+const uint8_t hidChannelMapping[] = {
+    ROLL,     // X
+    PITCH,    // Y
+    AUX3,
+    YAW,      // X Rotation
+    AUX1,     // Z Rotation
+    THROTTLE, // Y Rotation
+    AUX4,
+    AUX2,     // Wheel
+};
+
+void sendRcDataToHid(void)
+{
+    int8_t report[8];
+    for (unsigned i = 0; i < USB_CDC_HID_NUM_AXES; i++) {
+        const uint8_t channel = hidChannelMapping[i];
+        report[i] = scaleRange(constrain(rcData[channel], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, USB_CDC_HID_RANGE_MIN, USB_CDC_HID_RANGE_MAX);
+        if (i == 1) {
+            // For some reason ROLL is inverted in Windows
+            report[i] = -report[i];
+        }
+    }
+#if defined(STM32F4)
+    USBD_HID_SendReport(&USB_OTG_dev, (uint8_t*)report, sizeof(report));
+#elif defined(STM32F7)
+    USBD_HID_SendReport(&USBD_Device, (uint8_t*)report, sizeof(report));
+#else
+# error "MCU does not support USB HID."
+#endif
+}
+#endif

src/main/io/usb_cdc_hid.h

@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+void sendRcDataToHid(void);

src/main/rx/rx.h

@@ -173,4 +173,3 @@ void suspendRxSignal(void);
 void resumeRxSignal(void);
 
 uint16_t rxGetRefreshRate(void);
-

src/main/vcp_hal/usbd_cdc_interface.c

@@ -52,6 +52,8 @@
 #include "usbd_cdc.h"
 #include "usbd_cdc_interface.h"
 #include "stdbool.h"
+
+#include "drivers/serial_usb_vcp.h"
 #include "drivers/time.h"
 
 /* Private typedef -----------------------------------------------------------*/
@@ -82,8 +84,6 @@ uint8_t* rxBuffPtr = NULL;
 
 /* TIM handler declaration */
 TIM_HandleTypeDef  TimHandle;
-/* USB handler declaration */
-extern USBD_HandleTypeDef  USBD_Device;
 
 static void (*ctrlLineStateCb)(void *context, uint16_t ctrlLineState);
 static void *ctrlLineStateCbContext;