From 444e5c43a54facc7c5ec348fbba3be424783df35 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Wed, 13 Jun 2018 01:32:29 +1200
Subject: [PATCH 1/6] Fixed USB HID channel mapping in Windows.

---
 make/source.mk            |  2 ++
 src/main/fc/fc_tasks.c    | 23 ++-----------
 src/main/io/usb_cdc_hid.c | 70 +++++++++++++++++++++++++++++++++++++++
 src/main/io/usb_cdc_hid.h | 23 +++++++++++++
 src/main/rx/rx.c          |  7 +++-
 src/main/rx/rx.h          |  1 +
 6 files changed, 104 insertions(+), 22 deletions(-)
 create mode 100644 src/main/io/usb_cdc_hid.c
 create mode 100644 src/main/io/usb_cdc_hid.h

diff --git a/make/source.mk b/make/source.mk
index 4a80c8e5b4..9c074650ed 100644
--- a/make/source.mk
+++ b/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 \
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 4b781fc0a8..cf52d8bf3e 100644
--- a/src/main/fc/fc_tasks.c
+++ b/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
 
diff --git a/src/main/io/usb_cdc_hid.c b/src/main/io/usb_cdc_hid.c
new file mode 100644
index 0000000000..d4c6957114
--- /dev/null
+++ b/src/main/io/usb_cdc_hid.c
@@ -0,0 +1,70 @@
+/*
+ * 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 "rx/rx.h"
+
+//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
+
+#define USB_CDC_HID_NUM_AXES 8
+
+// In the windows joystick driver, the axes are defined as shown in the third column.
+
+const uint8_t hidChannelMapping[] = {
+    0, // X,          ROLL
+    1, // Y,          PITCH
+    6, // ,           AUX3
+    3, // Y Rotation, THROTTLE
+    4, // Z Rotation, AUX1
+    2, // X Rotation, YAW
+    7, // ,           AUX4
+    5, // Wheel,      AUX2
+};
+
+void sendRcDataToHid(void)
+{
+    int8_t report[8];
+    for (unsigned i = 0; i < USB_CDC_HID_NUM_AXES; i++) {
+        const uint8_t channel = getMappedChannel(hidChannelMapping[i]);
+            report[i] = scaleRange(constrain(rcData[channel], 1000, 2000), 1000, 2000, -127, 127);
+            if (i == 1 || i == 2) {
+                report[i] = -report[i];
+            }
+    }
+#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
+}
+#endif
diff --git a/src/main/io/usb_cdc_hid.h b/src/main/io/usb_cdc_hid.h
new file mode 100644
index 0000000000..ff0b538862
--- /dev/null
+++ b/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);
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index f565249d84..37175eb6ab 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -466,11 +466,16 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rx
     return sample;
 }
 
+uint8_t getMappedChannel(uint8_t channel)
+{
+    return channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
+}
+
 static void readRxChannelsApplyRanges(void)
 {
     for (int channel = 0; channel < rxChannelCount; channel++) {
 
-        const uint8_t rawChannel = channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
+        const uint8_t rawChannel = getMappedChannel(channel);
 
         // sample the channel
         uint16_t sample = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, rawChannel);
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index cabe221433..2b843e7ae5 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -174,3 +174,4 @@ void resumeRxSignal(void);
 
 uint16_t rxGetRefreshRate(void);
 
+uint8_t getMappedChannel(uint8_t channel);

From 48ed3d0b15297c2299ca1e253a8adc38d3d0a39e Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Wed, 13 Jun 2018 23:51:26 +1200
Subject: [PATCH 2/6] Fixes from review.

---
 src/main/io/usb_cdc_hid.c             | 38 ++++++++++++++++-----------
 src/main/rx/rx.c                      |  2 +-
 src/main/rx/rx.h                      |  2 --
 src/main/vcp_hal/usbd_cdc_interface.c |  3 +--
 4 files changed, 25 insertions(+), 20 deletions(-)

diff --git a/src/main/io/usb_cdc_hid.c b/src/main/io/usb_cdc_hid.c
index d4c6957114..695dedf466 100644
--- a/src/main/io/usb_cdc_hid.c
+++ b/src/main/io/usb_cdc_hid.c
@@ -24,6 +24,8 @@
 
 #include "common/maths.h"
 
+#include "fc/rc_controls.h"
+
 #include "rx/rx.h"
 
 //TODO: Make it platform independent in the future
@@ -32,39 +34,45 @@
 #include "usbd_hid_core.h"
 #elif defined(STM32F7)
 #include "usbd_cdc_interface.h"
+#include "usbd_def.h"
 #include "usbd_hid.h"
 #endif
 
 #define USB_CDC_HID_NUM_AXES 8
 
-// In the windows joystick driver, the axes are defined as shown in the third column.
+#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[] = {
-    0, // X,          ROLL
-    1, // Y,          PITCH
-    6, // ,           AUX3
-    3, // Y Rotation, THROTTLE
-    4, // Z Rotation, AUX1
-    2, // X Rotation, YAW
-    7, // ,           AUX4
-    5, // Wheel,      AUX2
+    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 = getMappedChannel(hidChannelMapping[i]);
-            report[i] = scaleRange(constrain(rcData[channel], 1000, 2000), 1000, 2000, -127, 127);
-            if (i == 1 || i == 2) {
-                report[i] = -report[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];
+        }
     }
 #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));
+#else
+# error "MCU does not support USB HID."
 #endif
 }
 #endif
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 37175eb6ab..3aace0da3c 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -466,7 +466,7 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rx
     return sample;
 }
 
-uint8_t getMappedChannel(uint8_t channel)
+static uint8_t getMappedChannel(uint8_t channel)
 {
     return channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
 }
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 2b843e7ae5..678479e3fa 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -173,5 +173,3 @@ void suspendRxSignal(void);
 void resumeRxSignal(void);
 
 uint16_t rxGetRefreshRate(void);
-
-uint8_t getMappedChannel(uint8_t channel);
diff --git a/src/main/vcp_hal/usbd_cdc_interface.c b/src/main/vcp_hal/usbd_cdc_interface.c
index fd9388f7d2..8397394303 100644
--- a/src/main/vcp_hal/usbd_cdc_interface.c
+++ b/src/main/vcp_hal/usbd_cdc_interface.c
@@ -48,6 +48,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f7xx_hal.h"
 #include "usbd_core.h"
+#include "usbd_def.h"
 #include "usbd_desc.h"
 #include "usbd_cdc.h"
 #include "usbd_cdc_interface.h"
@@ -82,8 +83,6 @@ 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;

From 39a38fd9515402d5b38bfc6138f54b2141c59b3d Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Thu, 14 Jun 2018 00:51:36 +1200
Subject: [PATCH 3/6] Fixes from review.

---
 src/main/rx/rx.c | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 3aace0da3c..f565249d84 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -466,16 +466,11 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, const rx
     return sample;
 }
 
-static uint8_t getMappedChannel(uint8_t channel)
-{
-    return channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
-}
-
 static void readRxChannelsApplyRanges(void)
 {
     for (int channel = 0; channel < rxChannelCount; channel++) {
 
-        const uint8_t rawChannel = getMappedChannel(channel);
+        const uint8_t rawChannel = channel < RX_MAPPABLE_CHANNEL_COUNT ? rxConfig()->rcmap[channel] : channel;
 
         // sample the channel
         uint16_t sample = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, rawChannel);

From 24bbb524f67aa38ae75c773901823aecfca62381 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sat, 16 Jun 2018 14:45:09 +1200
Subject: [PATCH 4/6] Fixed build for F7.

---
 src/main/drivers/serial_usb_vcp.h     |  4 ++++
 src/main/io/usb_cdc_hid.c             | 11 +++++++----
 src/main/vcp_hal/usbd_cdc_interface.c |  2 ++
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/src/main/drivers/serial_usb_vcp.h b/src/main/drivers/serial_usb_vcp.h
index daeaa2ce22..66d0aaae8b 100644
--- a/src/main/drivers/serial_usb_vcp.h
+++ b/src/main/drivers/serial_usb_vcp.h
@@ -22,6 +22,8 @@
 
 #include "drivers/serial.h"
 
+#include "vcp_hal/usbd_cdc_interface.h"
+
 typedef struct {
     serialPort_t port;
 
@@ -32,6 +34,8 @@ typedef struct {
     bool buffering;
 } vcpPort_t;
 
+extern USBD_HandleTypeDef  USBD_Device;
+
 serialPort_t *usbVcpOpen(void);
 struct serialPort_s;
 uint32_t usbVcpGetBaudRate(struct serialPort_s *instance);
diff --git a/src/main/io/usb_cdc_hid.c b/src/main/io/usb_cdc_hid.c
index 695dedf466..48b6edf156 100644
--- a/src/main/io/usb_cdc_hid.c
+++ b/src/main/io/usb_cdc_hid.c
@@ -29,12 +29,15 @@
 #include "rx/rx.h"
 
 //TODO: Make it platform independent in the future
-#ifdef STM32F4
+#if defined(STM32F4)
 #include "vcpf4/usbd_cdc_vcp.h"
+
 #include "usbd_hid_core.h"
 #elif defined(STM32F7)
-#include "usbd_cdc_interface.h"
-#include "usbd_def.h"
+#include "drivers/serial_usb_vcp.h"
+
+#include "vcp_hal/usbd_cdc_interface.h"
+
 #include "usbd_hid.h"
 #endif
 
@@ -67,7 +70,7 @@ void sendRcDataToHid(void)
             report[i] = -report[i];
         }
     }
-#ifdef STM32F4
+#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));
diff --git a/src/main/vcp_hal/usbd_cdc_interface.c b/src/main/vcp_hal/usbd_cdc_interface.c
index 8397394303..60bfa9e849 100644
--- a/src/main/vcp_hal/usbd_cdc_interface.c
+++ b/src/main/vcp_hal/usbd_cdc_interface.c
@@ -53,6 +53,8 @@
 #include "usbd_cdc.h"
 #include "usbd_cdc_interface.h"
 #include "stdbool.h"
+
+#include "drivers/serial_usb_vcp.h"
 #include "drivers/time.h"
 
 /* Private typedef -----------------------------------------------------------*/

From b402d85a7758fda1531fbcca5804444e10c02a63 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sat, 16 Jun 2018 14:53:25 +1200
Subject: [PATCH 5/6] Holy moly, these drivers are a mess.

---
 src/main/drivers/serial_usb_vcp.h     | 2 +-
 src/main/vcp_hal/usbd_cdc_interface.c | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/main/drivers/serial_usb_vcp.h b/src/main/drivers/serial_usb_vcp.h
index 66d0aaae8b..49eb635447 100644
--- a/src/main/drivers/serial_usb_vcp.h
+++ b/src/main/drivers/serial_usb_vcp.h
@@ -22,7 +22,7 @@
 
 #include "drivers/serial.h"
 
-#include "vcp_hal/usbd_cdc_interface.h"
+#include "usbd_cdc.h"
 
 typedef struct {
     serialPort_t port;
diff --git a/src/main/vcp_hal/usbd_cdc_interface.c b/src/main/vcp_hal/usbd_cdc_interface.c
index 60bfa9e849..5a4b3a6d48 100644
--- a/src/main/vcp_hal/usbd_cdc_interface.c
+++ b/src/main/vcp_hal/usbd_cdc_interface.c
@@ -48,7 +48,6 @@
 /* Includes ------------------------------------------------------------------*/
 #include "stm32f7xx_hal.h"
 #include "usbd_core.h"
-#include "usbd_def.h"
 #include "usbd_desc.h"
 #include "usbd_cdc.h"
 #include "usbd_cdc_interface.h"

From 11098fba859e0f934e692bc394b960ba0daab1a4 Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Sat, 16 Jun 2018 15:33:13 +1200
Subject: [PATCH 6/6] Made new includes conditional to F7.

---
 src/main/drivers/serial_usb_vcp.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/serial_usb_vcp.h b/src/main/drivers/serial_usb_vcp.h
index 49eb635447..29b7096d27 100644
--- a/src/main/drivers/serial_usb_vcp.h
+++ b/src/main/drivers/serial_usb_vcp.h
@@ -22,8 +22,12 @@
 
 #include "drivers/serial.h"
 
+#if defined(STM32F7)
 #include "usbd_cdc.h"
 
+extern USBD_HandleTypeDef  USBD_Device;
+#endif
+
 typedef struct {
     serialPort_t port;
 
@@ -34,8 +38,6 @@ typedef struct {
     bool buffering;
 } vcpPort_t;
 
-extern USBD_HandleTypeDef  USBD_Device;
-
 serialPort_t *usbVcpOpen(void);
 struct serialPort_s;
 uint32_t usbVcpGetBaudRate(struct serialPort_s *instance);