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Code Issues Wiki Activity

Projectkk2glider/issue 4479 slow joystick (#4569)

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* Missing debug timer

* USB driver cleanup

* Re #4479: Joystick update called from mixer thread every 10ms

* Cosmetics

* Compilation fix

* Cosmetics

* Another compilation fix
This commit is contained in:
Damjan Adamic 2017-03-07 22:59:32 +01:00 • committed by Bertrand Songis
parent 15a373c1cd
commit 03b65b06b6
12 changed files with 136 additions and 161 deletions
Download patch file Download diff file Expand all files Collapse all files

1
radio/src/debug.cpp
View file

@ -240,6 +240,7 @@ const char * const debugTimerNames[DEBUG_TIMERS_COUNT] = {
,"Mixer calc " // debugTimerMixer,
,"Tel. wakeup" // debugTimerTelemetryWakeup,
,"perMain dur" // debugTimerPerMain,
," period " // debugTimerPerMainPeriod,
," perMain s1" // debugTimerPerMain1,
," guiMain " // debugTimerGuiMain,
," LUA bg " // debugTimerLuaBg,

1
radio/src/debug.h
View file

@ -366,6 +366,7 @@ enum DebugTimers {
debugTimerMixer,
debugTimerTelemetryWakeup,
debugTimerPerMain,
debugTimerPerMainPeriod,
debugTimerPerMain1,
debugTimerGuiMain,
debugTimerLuaBg,

15
radio/src/main_arm.cpp
View file

@ -27,30 +27,19 @@ uint8_t mainRequestFlags = 0;
void handleUsbConnection()
{
#if defined(STM32) && !defined(SIMU)
static bool usbStarted = false;
if (!usbStarted && usbPlugged()) {
usbStarted = true;
if (!usbStarted() && usbPlugged()) {
usbStart();
#if defined(USB_MASS_STORAGE)
opentxClose(false);
usbPluggedIn();
#endif
}
if (usbStarted && !usbPlugged()) {
usbStarted = false;
if (usbStarted() && !usbPlugged()) {
usbStop();
#if defined(USB_MASS_STORAGE) && !defined(EEPROM)
opentxResume();
#endif
}
#if defined(USB_JOYSTICK)
if (usbStarted ) {
usbJoystickUpdate();
}
#endif
#endif // defined(STM32) && !defined(SIMU)
}

2
radio/src/targets/common/arm/stm32/CMakeLists.txt
View file

@ -36,7 +36,7 @@ set(FIRMWARE_TARGET_SRC
../common/arm/stm32/usb_bsp.c
../common/arm/stm32/usbd_desc.c
../common/arm/stm32/usbd_usr.cpp
../common/arm/stm32/usb_driver.c
../common/arm/stm32/usb_driver.cpp
)
if(USB STREQUAL SERIAL)
add_definitions(-DUSB_SERIAL)

73
radio/src/targets/common/arm/stm32/usb_driver.c → radio/src/targets/common/arm/stm32/usb_driver.cpp
View file

@ -18,12 +18,21 @@
* GNU General Public License for more details.
*/
#include "board.h"
#if defined(__cplusplus)
extern "C" {
#endif
#include "usb_dcd_int.h"
#include "usb_bsp.h"
#if defined(__cplusplus)
}
#endif
#include "opentx.h"
#include "debug.h"
int usbPlugged(void)
static bool usbDriverStarted = false;
int usbPlugged()
{
// debounce
static uint8_t debounced_state = 0;
@ -46,19 +55,20 @@ int usbPlugged(void)
USB_OTG_CORE_HANDLE USB_OTG_dev;
void OTG_FS_IRQHandler(void)
extern "C" void OTG_FS_IRQHandler()
{
DEBUG_INTERRUPT(INT_OTG_FS);
USBD_OTG_ISR_Handler(&USB_OTG_dev);
}
void usbInit(void)
void usbInit()
{
// Initialize hardware
USB_OTG_BSP_Init(&USB_OTG_dev);
usbDriverStarted = false;
}
void usbStart(void)
void usbStart()
{
#if defined(USB_JOYSTICK)
// initialize USB as HID device
@ -70,9 +80,60 @@ void usbStart(void)
// initialize USB as MSC device
USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_MSC_cb, &USR_cb);
#endif
usbDriverStarted = true;
}
void usbStop(void)
void usbStop()
{
usbDriverStarted = false;
USBD_DeInit(&USB_OTG_dev);
}
uint8_t usbStarted()
{
return usbDriverStarted;
}
#if defined(USB_JOYSTICK)
/*
Prepare and send new USB data packet
The format of HID_Buffer is defined by
USB endpoint description can be found in
file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
*/
void usbJoystickUpdate()
{
static uint8_t HID_Buffer[HID_IN_PACKET];
// test to se if TX buffer is free
if (USBD_HID_SendReport(&USB_OTG_dev, 0, 0) == USBD_OK) {
//buttons
HID_Buffer[0] = 0;
HID_Buffer[1] = 0;
HID_Buffer[2] = 0;
for (int i = 0; i < 8; ++i) {
if ( channelOutputs[i+8] > 0 ) {
HID_Buffer[0] |= (1 << i);
}
if ( channelOutputs[i+16] > 0 ) {
HID_Buffer[1] |= (1 << i);
}
if ( channelOutputs[i+24] > 0 ) {
HID_Buffer[2] |= (1 << i);
}
}
//analog values
//uint8_t * p = HID_Buffer + 1;
for (int i = 0; i < 8; ++i) {
int16_t value = channelOutputs[i] / 8;
if ( value > 127 ) value = 127;
else if ( value < -127 ) value = -127;
HID_Buffer[i+3] = static_cast<int8_t>(value);
}
USBD_HID_SendReport(&USB_OTG_dev, HID_Buffer, HID_IN_PACKET);
}
}
#endif // #defined(USB_JOYSTICK)

22
radio/src/targets/common/arm/stm32/usbd_hid_joystick.c
View file

@ -386,25 +386,24 @@ static uint8_t USBD_HID_Setup (void *pdev,
/**
* @brief USBD_HID_SendReport
* Send HID Report
* Send HID Report if TX buffer is free and USB device is configured.
* @param pdev: device instance
* @param buff: pointer to report
* @param buff: pointer to report, if this parameter is NULL then function just test if new buffer can be sent
* @retval status
*/
uint8_t USBD_HID_SendReport (USB_OTG_CORE_HANDLE *pdev,
uint8_t *report,
uint16_t len)
{
if (pdev->dev.device_status == USB_OTG_CONFIGURED )
{
if ( ReportSent )
uint8_t USBD_HID_SendReport(USB_OTG_CORE_HANDLE *pdev, uint8_t * report, uint16_t len)
{
if (pdev->dev.device_status == USB_OTG_CONFIGURED) {
if (ReportSent) {
if (report) {
ReportSent = 0;
DCD_EP_Tx (pdev, HID_IN_EP, report, len);
}
}
return USBD_OK;
}
}
return USBD_FAIL;
}
/**
* @brief USBD_HID_GetCfgDesc
@ -425,6 +424,9 @@ static const uint8_t *USBD_HID_GetCfgDesc (uint8_t speed, uint16_t *length)
* @param pdev: device instance
* @param epnum: endpoint index
* @retval status
This function is called when buffer has been sent over the USB.
The TX buffer is now empty and can be filled with new data.
*/
static uint8_t USBD_HID_DataIn (void *pdev,
uint8_t epnum)

45
radio/src/targets/horus/board.cpp
View file

@ -211,51 +211,6 @@ void boardOff()
pwrOff();
}
#if defined(USB_JOYSTICK) && !defined(SIMU)
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/*
Prepare and send new USB data packet
The format of HID_Buffer is defined by
USB endpoint description can be found in
file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
*/
void usbJoystickUpdate(void)
{
static uint8_t HID_Buffer[HID_IN_PACKET];
//buttons
HID_Buffer[0] = 0;
HID_Buffer[1] = 0;
HID_Buffer[2] = 0;
for (int i = 0; i < 8; ++i) {
if ( channelOutputs[i+8] > 0 ) {
HID_Buffer[0] |= (1 << i);
}
if ( channelOutputs[i+16] > 0 ) {
HID_Buffer[1] |= (1 << i);
}
if ( channelOutputs[i+24] > 0 ) {
HID_Buffer[2] |= (1 << i);
}
}
//analog values
//uint8_t * p = HID_Buffer + 1;
for (int i = 0; i < 8; ++i) {
int16_t value = channelOutputs[i] / 8;
if ( value > 127 ) value = 127;
else if ( value < -127 ) value = -127;
HID_Buffer[i+3] = static_cast<int8_t>(value);
}
USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
}
#endif // #defined(USB_JOYSTICK) && !defined(SIMU)
uint8_t currentTrainerMode = 0xff;
void checkTrainerSettings()

16
radio/src/targets/horus/board.h
View file

@ -448,11 +448,15 @@ void backlightEnable(uint8_t dutyCycle);
#define isBacklightEnabled() true
// USB driver
int usbPlugged(void);
void usbInit(void);
void usbStart(void);
void usbStop(void);
int usbPlugged();
void usbInit();
void usbStart();
void usbStop();
uint8_t usbStarted();
void usbSerialPutc(uint8_t c);
#if defined(USB_JOYSTICK) && !defined(SIMU)
void usbJoystickUpdate();
#endif
#if defined(PCBX12S)
#define USB_NAME "FrSky Horus"
#define USB_MANUFACTURER 'F', 'r', 'S', 'k', 'y', ' ', ' ', ' ' /* 8 bytes */
@ -532,10 +536,6 @@ int bluetoothRead(void * buffer, int len);
void bluetoothWakeup(void);
void bluetoothDone(void);
#if defined(USB_JOYSTICK) && !defined(SIMU)
void usbJoystickUpdate(void);
#endif
extern uint8_t currentTrainerMode;
void checkTrainerSettings(void);

47
radio/src/targets/taranis/board.cpp
View file

@ -81,7 +81,9 @@ void interrupt5ms()
if (++pre_scale >= 2) {
pre_scale = 0 ;
DEBUG_TIMER_START(debugTimerPer10ms);
per10ms();
DEBUG_TIMER_STOP(debugTimerPer10ms);
}
#if defined(ROTARY_ENCODER_NAVIGATION)
@ -262,51 +264,6 @@ void boardOff()
pwrOff();
}
#if defined(USB_JOYSTICK) && !defined(SIMU)
extern USB_OTG_CORE_HANDLE USB_OTG_dev;
/*
Prepare and send new USB data packet
The format of HID_Buffer is defined by
USB endpoint description can be found in
file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
*/
void usbJoystickUpdate(void)
{
static uint8_t HID_Buffer[HID_IN_PACKET];
//buttons
HID_Buffer[0] = 0;
HID_Buffer[1] = 0;
HID_Buffer[2] = 0;
for (int i = 0; i < 8; ++i) {
if ( channelOutputs[i+8] > 0 ) {
HID_Buffer[0] |= (1 << i);
}
if ( channelOutputs[i+16] > 0 ) {
HID_Buffer[1] |= (1 << i);
}
if ( channelOutputs[i+24] > 0 ) {
HID_Buffer[2] |= (1 << i);
}
}
//analog values
//uint8_t * p = HID_Buffer + 1;
for (int i = 0; i < 8; ++i) {
int16_t value = channelOutputs[i] / 8;
if ( value > 127 ) value = 127;
else if ( value < -127 ) value = -127;
HID_Buffer[i+3] = static_cast<int8_t>(value);
}
USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
}
#endif // #defined(USB_JOYSTICK) && !defined(SIMU)
uint8_t currentTrainerMode = 0xff;
void checkTrainerSettings()

16
radio/src/targets/taranis/board.h
View file

@ -454,11 +454,15 @@ uint8_t isBacklightEnabled(void);
#endif
// USB driver
int usbPlugged(void);
void usbInit(void);
void usbStart(void);
void usbStop(void);
int usbPlugged();
void usbInit();
void usbStart();
void usbStop();
uint8_t usbStarted();
void usbSerialPutc(uint8_t c);
#if defined(USB_JOYSTICK) && !defined(SIMU)
void usbJoystickUpdate();
#endif
#define USB_NAME "FrSky Taranis"
#define USB_MANUFACTURER 'F', 'r', 'S', 'k', 'y', ' ', ' ', ' ' /* 8 bytes */
#define USB_PRODUCT 'T', 'a', 'r', 'a', 'n', 'i', 's', ' ' /* 8 Bytes */
@ -612,10 +616,6 @@ void setTopBatteryValue(uint32_t volts);
#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
#if defined(USB_JOYSTICK) && !defined(SIMU)
void usbJoystickUpdate(void);
#endif
extern uint8_t currentTrainerMode;
void checkTrainerSettings(void);

2
radio/src/targets/taranis/bootloader/CMakeLists.txt
View file

@ -55,7 +55,7 @@ set(BOOTLOADER_SRC
../../common/arm/stm32/delays.cpp
../../common/arm/stm32/usbd_desc.c
../../common/arm/stm32/usb_bsp.c
../../common/arm/stm32/usb_driver.c
../../common/arm/stm32/usb_driver.cpp
../pwr_driver.cpp
init.c
boot.cpp

11
radio/src/tasks_arm.cpp
View file

@ -143,7 +143,11 @@ void mixerTask(void * pdata)
uint32_t now = CoGetOSTime();
bool run = false;
if ((now - lastRunTime) > 10) { // run at least every 20ms
#if defined(USB_JOYSTICK) && !defined(SIMU)
if ((now - lastRunTime) >= (usbStarted() ? 5 : 10)) { // run at least every 20ms (every 10ms if USB is active)
#else
if ((now - lastRunTime) >= 10) { // run at least every 20ms
#endif
run = true;
}
else if (now == nextMixerTime[0]) {
@ -171,6 +175,10 @@ void mixerTask(void * pdata)
CoLeaveMutexSection(mixerMutex);
DEBUG_TIMER_STOP(debugTimerMixer);
#if defined(USB_JOYSTICK) && !defined(SIMU)
usbJoystickUpdate();
#endif
#if defined(TELEMETRY_FRSKY) || defined(TELEMETRY_MAVLINK)
DEBUG_TIMER_START(debugTimerTelemetryWakeup);
telemetryWakeup();
@ -217,6 +225,7 @@ void menusTask(void * pdata)
#endif
uint32_t start = (uint32_t)CoGetOSTime();
DEBUG_TIMER_START(debugTimerPerMain);
DEBUG_TIMER_SAMPLE(debugTimerPerMainPeriod);
perMain();
DEBUG_TIMER_STOP(debugTimerPerMain);
// TODO remove completely massstorage from sky9x firmware