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USB Flightsim for Teensy 4 

Needs accompanying changes in Arduino's boards.txt, enabling corresponding menu entries
teensy4-core
Jorg Neves Bliesener 4 years ago
parent
19537714c2
commit
e0945a6719
6 changed files with 1187 additions and 18 deletions
Unified View Show Diff Stats
  1. +2
    -0
      keywords.txt
  2. +1
    -1
      teensy4/WProgram.h
  3. +7
    -0
      teensy4/usb.c
  4. +12
    -17
      teensy4/usb_desc.h
  5. +841
    -0
      teensy4/usb_flightsim.cpp
  6. +324
    -0
      teensy4/usb_flightsim.h

+ 2
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keywords.txt View File

FlightSimInteger KEYWORD2 FlightSimInteger KEYWORD2
FlightSimFloat KEYWORD2 FlightSimFloat KEYWORD2
FlightSimElapsedFrames KEYWORD2 FlightSimElapsedFrames KEYWORD2
FlightSimData KEYWORD2
FlightSimEvent KEYWORD2
onChange KEYWORD2 onChange KEYWORD2
update KEYWORD2 update KEYWORD2
isEnabled KEYWORD2 isEnabled KEYWORD2

+ 1
- 1
teensy4/WProgram.h View File

#include "usb_joystick.h" #include "usb_joystick.h"
#include "usb_midi.h" #include "usb_midi.h"
#include "usb_rawhid.h" #include "usb_rawhid.h"
//#include "usb_flightsim.h"
#include "usb_flightsim.h"
//#include "usb_mtp.h" //#include "usb_mtp.h"
//#include "usb_audio.h" //#include "usb_audio.h"
#include "usb_touch.h" #include "usb_touch.h"

+ 7
- 0
teensy4/usb.c View File

#include "usb_keyboard.h" #include "usb_keyboard.h"
#include "usb_mouse.h" #include "usb_mouse.h"
#include "usb_joystick.h" #include "usb_joystick.h"
#include "usb_flightsim.h"
#include "usb_touch.h" #include "usb_touch.h"
#include "usb_midi.h" #include "usb_midi.h"
#include "core_pins.h" // for delay() #include "core_pins.h" // for delay()
#ifdef MULTITOUCH_INTERFACE #ifdef MULTITOUCH_INTERFACE
usb_touchscreen_update_callback(); usb_touchscreen_update_callback();
#endif #endif
#ifdef FLIGHTSIM_INTERFACE
usb_flightsim_flush_output();
#endif
} }
} }


#if defined(MOUSE_INTERFACE) #if defined(MOUSE_INTERFACE)
usb_mouse_configure(); usb_mouse_configure();
#endif #endif
#if defined(FLIGHTSIM_INTERFACE)
usb_flightsim_configure();
#endif
#if defined(JOYSTICK_INTERFACE) #if defined(JOYSTICK_INTERFACE)
usb_joystick_configure(); usb_joystick_configure();
#endif #endif

+ 12
- 17
teensy4/usb_desc.h View File

#define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'} #define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'}
#define PRODUCT_NAME_LEN 26 #define PRODUCT_NAME_LEN 26
#define EP0_SIZE 64 #define EP0_SIZE 64
#define NUM_ENDPOINTS 4
#define NUM_ENDPOINTS 3
#define NUM_INTERFACE 2 #define NUM_INTERFACE 2
#define FLIGHTSIM_INTERFACE 0 // Flight Sim Control #define FLIGHTSIM_INTERFACE 0 // Flight Sim Control
#define FLIGHTSIM_TX_ENDPOINT 3 #define FLIGHTSIM_TX_ENDPOINT 3
#define FLIGHTSIM_TX_SIZE 64 #define FLIGHTSIM_TX_SIZE 64
#define FLIGHTSIM_TX_INTERVAL 1 #define FLIGHTSIM_TX_INTERVAL 1
#define FLIGHTSIM_RX_ENDPOINT 4
#define FLIGHTSIM_RX_ENDPOINT 3
#define FLIGHTSIM_RX_SIZE 64 #define FLIGHTSIM_RX_SIZE 64
#define FLIGHTSIM_RX_INTERVAL 1 #define FLIGHTSIM_RX_INTERVAL 1
#define SEREMU_INTERFACE 1 // Serial emulation #define SEREMU_INTERFACE 1 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_ENDPOINT 2
#define SEREMU_TX_SIZE 64 #define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1 #define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2 #define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32 #define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2 #define SEREMU_RX_INTERVAL 2
#define ENDPOINT1_CONFIG ENDPOINT_TRANSMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_INTERRUPT + ENDPOINT_TRANSMIT_INTERRUPT
#define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_BULK + ENDPOINT_TRANSMIT_BULK


#elif defined(USB_FLIGHTSIM_JOYSTICK) #elif defined(USB_FLIGHTSIM_JOYSTICK)
#define VENDOR_ID 0x16C0 #define VENDOR_ID 0x16C0
#define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'} #define PRODUCT_NAME {'T','e','e','n','s','y',' ','F','l','i','g','h','t',' ','S','i','m',' ','C','o','n','t','r','o','l','s'}
#define PRODUCT_NAME_LEN 26 #define PRODUCT_NAME_LEN 26
#define EP0_SIZE 64 #define EP0_SIZE 64
#define NUM_ENDPOINTS 5
#define NUM_ENDPOINTS 4
#define NUM_INTERFACE 3 #define NUM_INTERFACE 3
#define FLIGHTSIM_INTERFACE 0 // Flight Sim Control #define FLIGHTSIM_INTERFACE 0 // Flight Sim Control
#define FLIGHTSIM_TX_ENDPOINT 3 #define FLIGHTSIM_TX_ENDPOINT 3
#define FLIGHTSIM_TX_SIZE 64 #define FLIGHTSIM_TX_SIZE 64
#define FLIGHTSIM_TX_INTERVAL 1 #define FLIGHTSIM_TX_INTERVAL 1
#define FLIGHTSIM_RX_ENDPOINT 4
#define FLIGHTSIM_RX_ENDPOINT 3
#define FLIGHTSIM_RX_SIZE 64 #define FLIGHTSIM_RX_SIZE 64
#define FLIGHTSIM_RX_INTERVAL 1 #define FLIGHTSIM_RX_INTERVAL 1
#define SEREMU_INTERFACE 1 // Serial emulation #define SEREMU_INTERFACE 1 // Serial emulation
#define SEREMU_TX_ENDPOINT 1
#define SEREMU_TX_ENDPOINT 2
#define SEREMU_TX_SIZE 64 #define SEREMU_TX_SIZE 64
#define SEREMU_TX_INTERVAL 1 #define SEREMU_TX_INTERVAL 1
#define SEREMU_RX_ENDPOINT 2 #define SEREMU_RX_ENDPOINT 2
#define SEREMU_RX_SIZE 32 #define SEREMU_RX_SIZE 32
#define SEREMU_RX_INTERVAL 2 #define SEREMU_RX_INTERVAL 2
#define JOYSTICK_INTERFACE 2 // Joystick #define JOYSTICK_INTERFACE 2 // Joystick
#define JOYSTICK_ENDPOINT 5
#define JOYSTICK_ENDPOINT 4
#define JOYSTICK_SIZE 12 // 12 = normal, 64 = extreme joystick #define JOYSTICK_SIZE 12 // 12 = normal, 64 = extreme joystick
#define JOYSTICK_INTERVAL 1 #define JOYSTICK_INTERVAL 1
#define ENDPOINT1_CONFIG ENDPOINT_TRANSMIT_ONLY
#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT3_CONFIG ENDPOINT_TRANSMIT_ONLY
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_ONLY
#define ENDPOINT5_CONFIG ENDPOINT_TRANSMIT_ONLY

#define ENDPOINT2_CONFIG ENDPOINT_RECEIVE_INTERRUPT + ENDPOINT_TRANSMIT_INTERRUPT
#define ENDPOINT3_CONFIG ENDPOINT_RECEIVE_BULK + ENDPOINT_TRANSMIT_BULK
#define ENDPOINT4_CONFIG ENDPOINT_RECEIVE_UNUSED + ENDPOINT_TRANSMIT_INTERRUPT


#elif defined(USB_MTPDISK) #elif defined(USB_MTPDISK)
#define VENDOR_ID 0x16C0 #define VENDOR_ID 0x16C0

+ 841
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teensy4/usb_flightsim.cpp View File

/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 PJRC.COM, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/

extern "C" {
#include "usb_dev.h"
}
#include "usb_flightsim.h"
#include "debug/printf.h"
#include "avr/pgmspace.h"
#include "core_pins.h" // for yield(), millis()
#include <string.h> // for memcpy()

#ifdef FLIGHTSIM_INTERFACE // defined by usb_dev.h -> usb_desc.h
#if F_CPU >= 20000000

FlightSimCommand * FlightSimCommand::first = NULL;
FlightSimCommand * FlightSimCommand::last = NULL;
FlightSimInteger * FlightSimInteger::first = NULL;
FlightSimInteger * FlightSimInteger::last = NULL;
FlightSimFloat * FlightSimFloat::first = NULL;
FlightSimFloat * FlightSimFloat::last = NULL;
/// JB
FlightSimEvent * FlightSimEvent::first = NULL;
FlightSimEvent * FlightSimEvent::last = NULL;
FlightSimData * FlightSimData::first = NULL;
FlightSimData * FlightSimData::last = NULL;
/// JB End

uint8_t FlightSimClass::enabled = 0;
uint8_t FlightSimClass::request_id_messages = 0;
unsigned long FlightSimClass::frameCount = 0;
elapsedMillis FlightSimClass::enableTimeout;

static unsigned int unassigned_id = 1; // TODO: move into FlightSimClass

static uint8_t tx_noautoflush=0;
static uint8_t transmit_previous_timeout=0;

#define TX_NUM 8
static transfer_t tx_transfer[TX_NUM] __attribute__ ((used, aligned(32)));
DMAMEM static uint8_t txbuffer[FLIGHTSIM_TX_SIZE * TX_NUM] __attribute__ ((aligned(32)));
static uint8_t tx_head=0;
static uint16_t tx_available=0;

#define RX_NUM 6
static transfer_t rx_transfer[RX_NUM] __attribute__ ((used, aligned(32)));
DMAMEM static uint8_t rx_buffer[RX_NUM * FLIGHTSIM_RX_SIZE] __attribute__ ((aligned(32)));
static volatile uint8_t rx_head;
static volatile uint8_t rx_tail;
static uint8_t rx_list[RX_NUM + 1];
static volatile uint32_t rx_available;

extern "C" {
static void rx_queue_transfer(int i);
static void rx_event(transfer_t *t);
static void* usb_flightsim_get_packet();
static void usb_flightsim_free_packet();
static bool wait_for_tx_buf(transfer_t *xfer);
static void send_packet(transfer_t *xfer);
}

// When the PC isn't listening, how long do we wait before discarding data?
#define TX_TIMEOUT_MSEC 40

extern volatile uint8_t usb_configuration;

FlightSimCommand::FlightSimCommand()
{
id = unassigned_id++;
if (!first) {
first = this;
} else {
last->next = this;
}
last = this;
name = NULL;
next = NULL;
FlightSimClass::request_id_messages = 1;
}

void FlightSimCommand::identify(void)
{
uint8_t len, buf[6];

if (!FlightSim.enabled || !name) return;
len = strlen((const char *)name);
buf[0] = len + 6;
buf[1] = 1;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 0;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, name, len);
}

void FlightSimCommand::sendcmd(uint8_t n)
{
uint8_t buf[4];

if (!FlightSim.enabled || !name) return;
buf[0] = 4;
buf[1] = n;
buf[2] = id;
buf[3] = id >> 8;
FlightSimClass::xmit(buf, 4, NULL, 0);
}

/// JB
FlightSimEvent::FlightSimEvent()
{
id = unassigned_id++;
if (!first) {
first = this;
} else {
last->next = this;
}
last = this;
name = NULL;
next = NULL;
occur_callback = NULL;
occurredFlag = 0;
callbackInfo = NULL;
hasCallbackInfo = 0;
value = 0;
FlightSimClass::request_id_messages = 1;
}

void FlightSimEvent::identify(void)
{
uint8_t len, buf[6];

if (!FlightSim.enabled || !name) return;
len = strlen((const char *)name);
buf[0] = len + 6;
buf[1] = 1;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 3;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, name, len);
}

void FlightSimEvent::send(unsigned int data, unsigned int flags)
{
uint8_t buf[4];
uint32_t txData[2];

if (!FlightSim.enabled || !name) return;
buf[0] = 12;
buf[1] = 7;
buf[2] = id;
buf[3] = id >> 8;
value = data;
txData[0] = data;
txData[1] = flags;
FlightSimClass::xmit(buf, 4, (uint8_t *)&txData, 8);
}

void FlightSimEvent::update(long val)
{
value = (unsigned int) val;
occurredFlag = true;
if (occur_callback) {
if (!hasCallbackInfo) {
(*occur_callback)(val);
} else {
(*(void(*)(long,void*))occur_callback)(val,callbackInfo);
}
}
}

FlightSimEvent * FlightSimEvent::find(unsigned int n)
{
for (FlightSimEvent *p = first; p; p = p->next) {
if (p->id == n) return p;
}
return NULL;
}


FlightSimData::FlightSimData()
{
id = unassigned_id++;
if (!first) {
first = this;
} else {
last->next = this;
}
last = this;
name = NULL;
next = NULL;
valueLen = 0;
hasCallbackInfo = 0;
callbackWithObject = 0;
callbackInfo = NULL;
change_callback = NULL;
FlightSimClass::request_id_messages = 1;
}

void FlightSimData::identify(void)
{
uint8_t len, buf[6];

if (!FlightSim.enabled || !name) return;
len = strlen((const char *)name);
buf[0] = len + 6;
buf[1] = 1;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 4;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, name, len);
}

void FlightSimData::update(char *val, size_t len)
{
valueLen = len;
memcpy(value, val, len);
if (len<FLIGHTSIM_DATA_MAXLEN) {
memset(value+len,0,FLIGHTSIM_DATA_MAXLEN-len);
}
if (change_callback) {
if (!callbackWithObject) {
if (!hasCallbackInfo) {
(*change_callback)(value);
} else {
(*(void(*)(char*,void*))change_callback)(value,callbackInfo);
}
} else {
if (!hasCallbackInfo) {
(*(void(*)(FlightSimData*))change_callback)(this);
} else {
(*(void(*)(FlightSimData*,void*))change_callback)(this,callbackInfo);
}
}
}
}

FlightSimData * FlightSimData::find(unsigned int n)
{
for (FlightSimData *p = first; p; p = p->next) {
if (p->id == n) return p;
}
return NULL;
}
/// JB End


FlightSimInteger::FlightSimInteger()
{
id = unassigned_id++;
if (!first) {
first = this;
} else {
last->next = this;
}
last = this;
name = NULL;
next = NULL;
value = 0;
change_callback = NULL;
callbackInfo = NULL;
hasCallbackInfo = false;
FlightSimClass::request_id_messages = 1;
}

void FlightSimInteger::identify(void)
{
uint8_t len, buf[6];

if (!FlightSim.enabled || !name) return;
len = strlen((const char *)name);
buf[0] = len + 6;
buf[1] = 1;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 1;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, name, len);
}

void FlightSimInteger::write(long val)
{
uint8_t buf[6];

value = val;
if (!FlightSim.enabled || !name) return; // TODO: mark as dirty
buf[0] = 10;
buf[1] = 2;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 1;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, (uint8_t *)&value, 4);
}

void FlightSimInteger::update(long val)
{
value = val;
if (change_callback) {
if (!hasCallbackInfo) {
(*change_callback)(val);
} else {
(*(void(*)(long,void*))change_callback)(val,callbackInfo);
}
}
}

FlightSimInteger * FlightSimInteger::find(unsigned int n)
{
for (FlightSimInteger *p = first; p; p = p->next) {
if (p->id == n) return p;
}
return NULL;
}




FlightSimFloat::FlightSimFloat()
{
id = unassigned_id++;
if (!first) {
first = this;
} else {
last->next = this;
}
last = this;
name = NULL;
next = NULL;
value = 0;
change_callback = NULL;
hasCallbackInfo = false;
callbackInfo = NULL;
FlightSimClass::request_id_messages = 1;
}

void FlightSimFloat::identify(void)
{
uint8_t len, buf[6];

if (!FlightSim.enabled || !name) return;
len = strlen((const char *)name);
buf[0] = len + 6;
buf[1] = 1;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 2;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, name, len);
}

void FlightSimFloat::write(float val)
{
uint8_t buf[6];

value = val;
if (!FlightSim.enabled || !name) return; // TODO: mark as dirty
buf[0] = 10;
buf[1] = 2;
buf[2] = id;
buf[3] = id >> 8;
buf[4] = 2;
buf[5] = 0;
FlightSimClass::xmit(buf, 6, (uint8_t *)&value, 4);
}

void FlightSimFloat::update(float val)
{
value = val;
if (change_callback) { // add: JB
if (!hasCallbackInfo) {
(*change_callback)(val);
} else {
(*(void(*)(float,void*))change_callback)(val,callbackInfo);
}
}
}

FlightSimFloat * FlightSimFloat::find(unsigned int n)
{
for (FlightSimFloat *p = first; p; p = p->next) {
if (p->id == n) return p;
}
return NULL;
}






FlightSimClass::FlightSimClass()
{
}


void FlightSimClass::update(void)
{
uint8_t len, maxlen, type, *p, *end;
union {
uint8_t b[4];
long l;
float f;
} data;
void *rx_packet;
uint16_t id;

while (1) {
if (!usb_configuration) break;
rx_packet = usb_flightsim_get_packet();
if (!rx_packet) break;
p = (uint8_t*) rx_packet;
end = p + FLIGHTSIM_RX_SIZE;
maxlen = FLIGHTSIM_RX_SIZE;
do {
len = p[0];
if (len < 2 || len > maxlen) break;
switch (p[1]) {
case 0x02: // write data
if (len < 10) break;
id = p[2] | (p[3] << 8);
type = p[4];
if (type == 1) {
FlightSimInteger *item = FlightSimInteger::find(id);
if (!item) break;
data.b[0] = p[6];
data.b[1] = p[7];
data.b[2] = p[8];
data.b[3] = p[9];
item->update(data.l);
} else if (type == 2) {
FlightSimFloat *item = FlightSimFloat::find(id);
if (!item) break;
data.b[0] = p[6];
data.b[1] = p[7];
data.b[2] = p[8];
data.b[3] = p[9];
item->update(data.f);
/// JB
} else if (type == 3) {
FlightSimEvent *item = FlightSimEvent::find(id);
if (!item) break;
data.b[0] = p[6];
data.b[1] = p[7];
data.b[2] = p[8];
data.b[3] = p[9];
item->update(data.f);
} else if (type == 4) {
FlightSimData *item = FlightSimData::find(id);
if (!item) break;
item->update(((char*)p)+6,len-6);
/// JB End
}
break;
case 0x03: // enable/disable
if (len < 4) break;
switch (p[2]) {
case 1:
request_id_messages = 1;
/* no break */
case 2:
enable();
frameCount++;
break;
case 3:
disable();
}
}
p += len;
maxlen -= len;
} while (p < end);
usb_flightsim_free_packet();
}
if (enabled && request_id_messages) {
request_id_messages = 0;
for (FlightSimCommand *p = FlightSimCommand::first; p; p = p->next) {
p->identify();
}
/// JB
for (FlightSimEvent *p = FlightSimEvent::first; p; p = p->next) {
p->identify();
}
for (FlightSimData *p = FlightSimData::first; p; p=p->next) {
p->identify();
}
/// JB End
for (FlightSimInteger *p = FlightSimInteger::first; p; p = p->next) {
p->identify();
// TODO: send any dirty data
}
for (FlightSimFloat *p = FlightSimFloat::first; p; p = p->next) {
p->identify();
// TODO: send any dirty data
}
}
}


bool FlightSimClass::isEnabled(void)
{
if (!usb_configuration) return false;
if (!enabled) return false;
if (enableTimeout > 1500) return false;
return true;
}



void FlightSimClass::xmit(const void *p1, uint8_t n1, const void *p2, uint8_t n2)
{
if (!enabled || !usb_configuration) return;

uint16_t total = n1 + n2;
if (total > FLIGHTSIM_TX_SIZE) {
xmit_big_packet(p1, n1, p2, n2);
return;
}

// handle small packets
tx_noautoflush = 1;
transfer_t *xfer = tx_transfer + tx_head;
if (!wait_for_tx_buf(xfer)) return;

if (total > tx_available) {
// send previous packet
uint8_t *txdata = (uint8_t *)(txbuffer + (tx_head * FLIGHTSIM_TX_SIZE) + (FLIGHTSIM_TX_SIZE - tx_available));
while (tx_available > 0) {
// fill packet
*txdata++ = 0;
tx_available--;
}
send_packet(xfer);
xfer = tx_transfer + tx_head;
if (!wait_for_tx_buf(xfer)) return;
}

uint8_t *txdata = (uint8_t *)(txbuffer + (tx_head * FLIGHTSIM_TX_SIZE) + (FLIGHTSIM_TX_SIZE - tx_available));
memcpy(txdata, p1, n1);
tx_available -= n1;
txdata += n1;
if (n2 > 0) {
memcpy(txdata, p2, n2);
tx_available -= n2;
}
if (tx_available == 0) {
// packet filled, send it
send_packet(xfer);
} else {
// wait for send until next SOF
usb_start_sof_interrupts(FLIGHTSIM_INTERFACE);
}
tx_noautoflush = 0;
}

void FlightSimClass::xmit_big_packet(const void *p1, uint8_t n1, const void *p2, uint8_t n2)
{

uint16_t remaining = n1 + n2;
if (remaining > 255) {
printf("Invalid flight sim packet length (>255)");
return;
}
tx_noautoflush =1; // don't mess with my data, I'm working on it!

transfer_t *xfer = tx_transfer + tx_head;
if (!wait_for_tx_buf(xfer)) return; // after this, tx_available is guaranteed to be > 0

bool part2 = false;
uint8_t remainingPart1 = n1;
const uint8_t *dataPtr = (const uint8_t*)p1;
bool writeFragmentHeader = false;
uint8_t fragmentCounter = 1;

uint8_t *txdata = (uint8_t *)(txbuffer + (tx_head * FLIGHTSIM_TX_SIZE) + (FLIGHTSIM_TX_SIZE - tx_available));

// fill first packet with whatever fits
uint8_t partLen = tx_available > n1 ? n1 : tx_available;
// copy first part, containing total packet length
printf("%d bytes free, adding first %d bytes from p1, writing to %x\n", tx_available, partLen, txdata);

memcpy(txdata, dataPtr, partLen);
remainingPart1 -= partLen;
txdata += partLen;
tx_available -= partLen;
if (remainingPart1) {
// there still is data from the first part that
// will go to the next packet. The boolean variable
// part2 remains false
remaining = remainingPart1+n2;
dataPtr += partLen;
} else {
// maybe we have space for some data from the second part
part2=true;
// there is no need here to check whether tx_available is
// bigger than n2. It's not. If it were, all the data
// would have fit in a single packet and xmit_big_packet
// would never have been called...
printf("adding first %d bytes from p2, writing to %x\n", tx_available, txdata);
remaining = n2;
if (tx_available) {
memcpy(txdata, p2, tx_available);
remaining -= tx_available;
}
dataPtr = (const uint8_t*)p2 + tx_available;
}
// first packet filled, send it
tx_available = 0;
send_packet(xfer);
xfer = tx_transfer + tx_head;

writeFragmentHeader = true;
printf("remaining bytes to send: %d\n", remaining);

while (remaining >0) {
if (!wait_for_tx_buf(xfer)) return;

uint8_t *txdata = (uint8_t *)(txbuffer + (tx_head * FLIGHTSIM_TX_SIZE) + (FLIGHTSIM_TX_SIZE - tx_available));

if (writeFragmentHeader) {
printf("writing header of fragment %d to %x\n", fragmentCounter, txdata);
*txdata++=(remaining+3 <= FLIGHTSIM_TX_SIZE) ? (uint8_t) remaining+3 : FLIGHTSIM_TX_SIZE;
*txdata++=0xff;
*txdata++=fragmentCounter++;
tx_available -= 3;
}
if (!part2) {
// we still need to send the first part
uint8_t partLen = tx_available > remainingPart1 ? remainingPart1 : tx_available;
printf("copying remaining %d bytes from first part to %x\n", partLen, txdata);
memcpy(txdata, dataPtr, partLen);
dataPtr += partLen;
txdata += partLen;
tx_available -= partLen;
remaining -= partLen;
remainingPart1 -= partLen;
if (!remainingPart1) {
part2=true;
dataPtr = (const uint8_t*)p2;
}
}

if (part2) {
uint8_t partLen = tx_available > remaining ? remaining : tx_available;
printf("copying %d bytes from second part to %x\n", partLen, txdata);
if (partLen) {
memcpy(txdata, dataPtr, partLen);
remaining -= partLen;
tx_available -= partLen;
txdata += partLen;
dataPtr += partLen;
}
}
writeFragmentHeader = true;
if (!tx_available) {
// packet filled, send it
send_packet(xfer);
xfer = tx_transfer + tx_head;
} else {
// send on next SOF
printf("tx_available: %d\n", tx_available);
usb_start_sof_interrupts(FLIGHTSIM_INTERFACE);
}
}
tx_noautoflush = 0; // data is ready to be transmitted on start of USB token
}

extern "C" {
void usb_flightsim_configure() {
printf("Flightsim_configure\n");
memset(tx_transfer, 0, sizeof(tx_transfer));
tx_head = 0;
tx_available = 0;
memset(rx_transfer, 0, sizeof(rx_transfer));
printf("tx_transfer: %x\n", tx_transfer);
printf("txbuffer: %x\n", txbuffer);
printf("rx_transfer: %x\n", rx_transfer);
printf("rxbuffer: %x\n", rx_buffer);
rx_head = 0;
rx_tail = 0;
rx_available = 0;
usb_config_rx(FLIGHTSIM_RX_ENDPOINT, FLIGHTSIM_RX_SIZE, 0, rx_event);
usb_config_tx(FLIGHTSIM_TX_ENDPOINT, FLIGHTSIM_TX_SIZE, 0, NULL); // TODO: is ZLP needed?
int i;
for (i=0; i < RX_NUM; i++) rx_queue_transfer(i);
tx_noautoflush = 0;
transmit_previous_timeout = 0;

}

// This gets called from usb_isr when a USB start token arrives.
// If we have a packet to transmit AND transmission isn't disabled
// by tx_noautoflush, we fill it up with zeros and send it out
// to USB
void usb_flightsim_flush_output(void)
{
if (tx_noautoflush == 0 && tx_available > 0) {
printf(" flush, %d %d\n", FLIGHTSIM_TX_SIZE, tx_available);
uint32_t head = tx_head;
transfer_t *xfer = tx_transfer + head;
uint8_t *txbuf = txbuffer + (head * FLIGHTSIM_TX_SIZE);
uint8_t *txPtr = txbuf + (FLIGHTSIM_TX_SIZE - tx_available);
while (tx_available>0) {
*txPtr++ = 0;
tx_available--;
}
usb_prepare_transfer(xfer, txbuf, FLIGHTSIM_TX_SIZE, 0);
arm_dcache_flush_delete(txbuf, FLIGHTSIM_TX_SIZE);
usb_transmit(FLIGHTSIM_TX_ENDPOINT, xfer);
if (++head >= TX_NUM) head = 0;
tx_head = head;
usb_stop_sof_interrupts(FLIGHTSIM_INTERFACE);
}
}

static bool wait_for_tx_buf(transfer_t *xfer) {
uint32_t wait_begin_at = systick_millis_count;
while (!tx_available) {
uint32_t status = usb_transfer_status(xfer);
if (!(status & 0x80)) {
if (status & 0x68) {
// TODO: what if status has errors???
}
tx_available = FLIGHTSIM_TX_SIZE;
transmit_previous_timeout = 0;
break;
}
if (systick_millis_count - wait_begin_at > TX_TIMEOUT_MSEC) {
transmit_previous_timeout = 1;
}
if (transmit_previous_timeout) {
printf("Flight sim tx timeout");
return false;
}
if (!usb_configuration) return false;
yield();
}
return true;
}

static void send_packet(transfer_t *xfer) {
uint32_t head = tx_head;
uint8_t *txbuf = txbuffer + (tx_head * FLIGHTSIM_TX_SIZE);
usb_prepare_transfer(xfer, txbuf, FLIGHTSIM_TX_SIZE, 0);
arm_dcache_flush_delete(txbuf, FLIGHTSIM_TX_SIZE);
usb_transmit(FLIGHTSIM_TX_ENDPOINT, xfer);
if (++head >= TX_NUM) head = 0;
tx_head = head;
usb_stop_sof_interrupts(FLIGHTSIM_INTERFACE);
}

static void rx_queue_transfer(int i)
{
NVIC_DISABLE_IRQ(IRQ_USB1);
void *buffer = rx_buffer + i * FLIGHTSIM_RX_SIZE;
usb_prepare_transfer(rx_transfer + i, buffer, FLIGHTSIM_RX_SIZE, i);
arm_dcache_delete(buffer, FLIGHTSIM_RX_SIZE);
usb_receive(FLIGHTSIM_RX_ENDPOINT, rx_transfer + i);
NVIC_ENABLE_IRQ(IRQ_USB1);
}

static void rx_event(transfer_t *t)
{
int len = FLIGHTSIM_RX_SIZE - ((t->status >> 16) & 0x7FFF);
len &= 0xFFFC; // MIDI packets must be multiple of 4 bytes
int i = t->callback_param;
// printf("Flight sim rx event, len=%d, i=%d", len, i);
if (len == FLIGHTSIM_RX_SIZE) {
uint32_t head = rx_head;
if (++head > RX_NUM) head = 0;
rx_list[head] = i;
rx_head = head;
rx_available += len;
} else {
// received packet with invalid length
rx_queue_transfer(i);
}
// printf(" ...done\n");
}

static void* usb_flightsim_get_packet(void)
{
void *result = NULL;
NVIC_DISABLE_IRQ(IRQ_USB1);
uint32_t tail = rx_tail;
if (tail != rx_head) {
if (++tail > RX_NUM) tail = 0;
uint32_t i = rx_list[tail];
result = rx_buffer + i * FLIGHTSIM_RX_SIZE;
rx_available -= FLIGHTSIM_RX_SIZE;
}
NVIC_ENABLE_IRQ(IRQ_USB1);
return result;
}

static void usb_flightsim_free_packet() {
NVIC_DISABLE_IRQ(IRQ_USB1);
uint32_t tail = rx_tail;
if (tail != rx_head) {
if (++tail > RX_NUM) tail = 0;
uint32_t i = rx_list[tail];
rx_tail = tail;
rx_queue_transfer(i);
}
NVIC_ENABLE_IRQ(IRQ_USB1);
}

} // extern "C"

#endif // F_CPU
#endif // FLIGHTSIM_INTERFACE

+ 324
- 0
teensy4/usb_flightsim.h View File

/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2013 PJRC.COM, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/

#ifndef USBflightsim_h_
#define USBflightsim_h_

#include "usb_desc.h"

#if defined(FLIGHTSIM_INTERFACE)

#ifdef __cplusplus
extern "C" {
#endif
void usb_flightsim_configure();
void usb_flightsim_flush_output(void);
#ifdef __cplusplus
}
#endif

#ifdef __cplusplus

#include <inttypes.h>
#include "elapsedMillis.h"

// workaround for elapsedMillis.h bringing in WProgram.h which brings usb_undef.h
//#undef USB_DESC_LIST_DEFINE
//#include "usb_desc.h"

class FlightSimClass;
class FlightSimCommand;
class FlightSimInteger;

class _XpRefStr_;
#define XPlaneRef(str) ((const _XpRefStr_ *)(str))

class FlightSimClass
{
public:
FlightSimClass();
static void update(void);
static bool isEnabled(void);
static unsigned long getFrameCount(void) { return frameCount; }
private:
static uint8_t request_id_messages;
static uint8_t enabled;
static elapsedMillis enableTimeout;
static unsigned long frameCount;
static void enable(void) { enabled = 1; enableTimeout = 0; }
static void disable(void) { enabled = 0; }
static void xmit(const void *p1, uint8_t n1, const void *p2, uint8_t n2);
static void xmit_big_packet(const void *p1, uint8_t n1, const void *p2, uint8_t n2);
friend class FlightSimCommand;
friend class FlightSimInteger;
friend class FlightSimFloat;
/// JB
friend class FlightSimEvent;
friend class FlightSimData;
/// JB End
};


class FlightSimCommand
{
public:
FlightSimCommand();
void assign(const _XpRefStr_ *s) { name = s; if (FlightSimClass::enabled) identify(); }
FlightSimCommand & operator = (const _XpRefStr_ *s) { assign(s); return *this; }
void begin(void) { sendcmd(4); }
void end(void) { sendcmd(5); }
FlightSimCommand & operator = (int n) { sendcmd((n) ? 4 : 5); return *this; }
void once(void) { sendcmd(6); }
void identify(void);
private:
unsigned int id;
const _XpRefStr_ *name;
void sendcmd(uint8_t n);
FlightSimCommand *next;
static FlightSimCommand *first;
static FlightSimCommand *last;
friend class FlightSimClass;
};

/// JB
class FlightSimEvent
{
public:
FlightSimEvent();
void assign(const _XpRefStr_ *s) { name = s; if (FlightSimClass::enabled) identify(); }
FlightSimEvent & operator = (const _XpRefStr_ *s) { assign(s); return *this; }
void send() { send(0,0); }
void send(int data) { send(data,0); }
void sendOnce() { send(0,0); }
void sendOnce(int data) { send(data,0); }
void sendRepeat(int data, uint16_t initialDelay, uint16_t repeatDelay) { send(data, initialDelay<<16 | repeatDelay); }
void sendRepeat(uint16_t initialDelay, uint16_t repeatDelay) { send(0, initialDelay<<16 | repeatDelay); }
void stopRepeat() { send(0,-1); }
FlightSimEvent & operator = (int n) { send(n,0); return *this; }
bool occurred() { bool hasOccurred = occurredFlag; occurredFlag = 0; return hasOccurred; }
void identify();
static FlightSimEvent * find(unsigned int n);
void update(long val);
void onOccur(void (*fptr)(long)) {
hasCallbackInfo=false;
occur_callback = fptr;
}
void onOccur(void (*fptr)(long,void*), void* info) {
hasCallbackInfo=true;
occur_callback = (void (*)(long))fptr;
callbackInfo = info;
}
private:
void send(unsigned int data, unsigned int flags);
unsigned int id;
const _XpRefStr_ *name;
bool occurredFlag;
unsigned int value;
FlightSimEvent *next;
void (*occur_callback)(long);
void* callbackInfo;
bool hasCallbackInfo;
static FlightSimEvent *first;
static FlightSimEvent *last;
friend class FlightSimClass;
};

#define FLIGHTSIM_DATA_MAXLEN 58

class FlightSimData
{
public:
FlightSimData();
void assign(const _XpRefStr_ *s) { name = s; if (FlightSimClass::enabled) identify(); }
FlightSimData & operator = (const _XpRefStr_ *s) { assign(s); return *this; }
char *read() { return value; }
operator char* () { return value; }
void identify();
void update(char *val, size_t len);
size_t len() { return valueLen; }
static FlightSimData * find(unsigned int n);
void onChange(void (*fptr)(char *)) {
hasCallbackInfo = false;
change_callback = fptr;
}
void onChange(void (*fptr)(char *,void *), void *info) {
hasCallbackInfo = true;
change_callback = (void (*)(char*)) fptr;
callbackInfo = info;
}
void onChange(void (*fptr)(FlightSimData *)) {
callbackWithObject = true;
hasCallbackInfo = false;
change_callback = (void (*)(char*)) fptr;
}
void onChange(void (*fptr)(FlightSimData *, void*), void* info) {
callbackWithObject = true;
hasCallbackInfo = true;
change_callback = (void (*)(char*)) fptr;
callbackInfo = info;
}
private:
unsigned int id;
const _XpRefStr_ *name;
char value[FLIGHTSIM_DATA_MAXLEN];
size_t valueLen;
void (*change_callback)(char *);
void* callbackInfo;
bool hasCallbackInfo;
bool callbackWithObject;
FlightSimData *next;
static FlightSimData *first;
static FlightSimData *last;
friend class FlightSimClass;
};
/// JB End


class FlightSimInteger
{
public:
FlightSimInteger();
void assign(const _XpRefStr_ *s) { name = s; if (FlightSimClass::enabled) identify(); }
FlightSimInteger & operator = (const _XpRefStr_ *s) { assign(s); return *this; }
void write(long val);
FlightSimInteger & operator = (char n) { write((long)n); return *this; }
FlightSimInteger & operator = (int n) { write((long)n); return *this; }
FlightSimInteger & operator = (long n) { write(n); return *this; }
FlightSimInteger & operator = (unsigned char n) { write((long)n); return *this; }
FlightSimInteger & operator = (unsigned int n) { write((long)n); return *this; }
FlightSimInteger & operator = (unsigned long n) { write((long)n); return *this; }
FlightSimInteger & operator = (float n) { write((long)n); return *this; }
FlightSimInteger & operator = (double n) { write((long)n); return *this; }
long read(void) const { return value; }
operator long () const { return value; }
void identify(void);
void update(long val);
static FlightSimInteger * find(unsigned int n);
void onChange(void (*fptr)(long)) {
hasCallbackInfo=false;
change_callback = fptr;
}
void onChange(void (*fptr)(long,void*), void* info) {
hasCallbackInfo=true;
change_callback = (void (*)(long))fptr;
callbackInfo = info;
}
// TODO: math operators.... + - * / % ++ --
private:
unsigned int id;
const _XpRefStr_ *name;
long value;
void (*change_callback)(long);
void* callbackInfo;
bool hasCallbackInfo;
FlightSimInteger *next;
static FlightSimInteger *first;
static FlightSimInteger *last;
friend class FlightSimClass;
};


class FlightSimFloat
{
public:
FlightSimFloat();
void assign(const _XpRefStr_ *s) { name = s; if (FlightSimClass::enabled) identify(); }
FlightSimFloat & operator = (const _XpRefStr_ *s) { assign(s); return *this; }
void write(float val);
FlightSimFloat & operator = (char n) { write((float)n); return *this; }
FlightSimFloat & operator = (int n) { write((float)n); return *this; }
FlightSimFloat & operator = (long n) { write((float)n); return *this; }
FlightSimFloat & operator = (unsigned char n) { write((float)n); return *this; }
FlightSimFloat & operator = (unsigned int n) { write((float)n); return *this; }
FlightSimFloat & operator = (unsigned long n) { write((float)n); return *this; }
FlightSimFloat & operator = (float n) { write(n); return *this; }
FlightSimFloat & operator = (double n) { write((float)n); return *this; }
float read(void) const { return value; }
operator float () const { return value; }
void identify(void);
void update(float val);
static FlightSimFloat * find(unsigned int n);
void onChange(void (*fptr)(float)) {
hasCallbackInfo=false;
change_callback = fptr;
}
void onChange(void (*fptr)(float,void*), void* info) {
hasCallbackInfo=true;
change_callback = (void (*)(float))fptr;
callbackInfo = info;
}
// TODO: math operators.... + - * / % ++ --
private:
unsigned int id;
const _XpRefStr_ *name;
float value;
void (*change_callback)(float);
void* callbackInfo;
bool hasCallbackInfo;
FlightSimFloat *next;
static FlightSimFloat *first;
static FlightSimFloat *last;
friend class FlightSimClass;
};


class FlightSimElapsedFrames
{
private:
unsigned long count;
public:
FlightSimElapsedFrames(void) { count = FlightSimClass::getFrameCount(); }
FlightSimElapsedFrames(unsigned long val) { count = FlightSimClass::getFrameCount() - val; }
FlightSimElapsedFrames(const FlightSimElapsedFrames &orig) { count = orig.count; }
operator unsigned long () const { return FlightSimClass::getFrameCount() - count; }
FlightSimElapsedFrames & operator = (const FlightSimElapsedFrames &rhs) { count = rhs.count; return *this; }
FlightSimElapsedFrames & operator = (unsigned long val) { count = FlightSimClass::getFrameCount() - val; return *this; }
FlightSimElapsedFrames & operator -= (unsigned long val) { count += val; return *this; }
FlightSimElapsedFrames & operator += (unsigned long val) { count -= val; return *this; }
FlightSimElapsedFrames operator - (int val) const { FlightSimElapsedFrames r(*this); r.count += val; return r; }
FlightSimElapsedFrames operator - (unsigned int val) const { FlightSimElapsedFrames r(*this); r.count += val; return r; }
FlightSimElapsedFrames operator - (long val) const { FlightSimElapsedFrames r(*this); r.count += val; return r; }
FlightSimElapsedFrames operator - (unsigned long val) const { FlightSimElapsedFrames r(*this); r.count += val; return r; }
FlightSimElapsedFrames operator + (int val) const { FlightSimElapsedFrames r(*this); r.count -= val; return r; }
FlightSimElapsedFrames operator + (unsigned int val) const { FlightSimElapsedFrames r(*this); r.count -= val; return r; }
FlightSimElapsedFrames operator + (long val) const { FlightSimElapsedFrames r(*this); r.count -= val; return r; }
FlightSimElapsedFrames operator + (unsigned long val) const { FlightSimElapsedFrames r(*this); r.count -= val; return r; }
};


extern FlightSimClass FlightSim;

#endif // __cplusplus

#endif // FLIGHTSIM_INTERFACE

#endif // USBflightsim_h_

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