LibrePilot/flight/pios/stm32f4xx/pios_usbhook.c

/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup PIOS_USBHOOK USB glue code
 * @brief Glue between PiOS and STM32 libs
 * @{
 *
 * @file       pios_usbhook.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Glue between PiOS and STM32 libs
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it 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.
 *
 * This program is distributed in the hope that it 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 program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "pios.h"

#ifdef PIOS_INCLUDE_USB

#include "pios_usb.h" /* PIOS_USB_* */
#include "pios_usbhook.h"
#include "pios_usb_defs.h" /* struct usb_* */
#include "pios_usb_cdc_priv.h" /* PIOS_USB_CDC_* */
#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */


/* STM32 USB Library Definitions */
#include "usb_core.h" /* USBD_Class_cb_TypeDef */
#include "usbd_core.h" /* USBD_Init USBD_OK*/
#include "usbd_ioreq.h" /* USBD_CtlPrepareRx, USBD_CtlSendData */
#include "usbd_req.h" /* USBD_CtlError */
#include "usb_dcd_int.h" /* USBD_OTG_ISR_Handler */

static void reconnect(void);

/*
 * External API
 */
static struct pios_usbhook_descriptor Device_Descriptor;

void PIOS_USBHOOK_RegisterDevice(const uint8_t *desc, uint16_t length)
{
    Device_Descriptor.descriptor = desc;
    Device_Descriptor.length     = length;
}

static struct pios_usbhook_descriptor String_Descriptor[4];

void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t *desc, uint16_t desc_size)
{
    if (string_id < NELEMENTS(String_Descriptor)) {
        String_Descriptor[string_id].descriptor = desc;
        String_Descriptor[string_id].length     = desc_size;
    }
}

static struct pios_usbhook_descriptor Config_Descriptor;

void PIOS_USBHOOK_RegisterConfig(__attribute__((unused)) uint8_t config_id, const uint8_t *desc, uint16_t desc_size)
{
    Config_Descriptor.descriptor = desc;
    Config_Descriptor.length     = desc_size;
}

static USB_OTG_CORE_HANDLE pios_usb_otg_core_handle;
static USBD_Class_cb_TypeDef class_callbacks;
static USBD_DEVICE device_callbacks;
static USBD_Usr_cb_TypeDef user_callbacks;

void PIOS_USBHOOK_Activate(void)
{
    PIOS_USB_RegisterDisconnectionCallback(&reconnect);

    USBD_Init(&pios_usb_otg_core_handle,
              USB_OTG_FS_CORE_ID,
              &device_callbacks,
              &class_callbacks,
              &user_callbacks);
}

void PIOS_USBHOOK_Deactivate(void)
{
    DCD_DevDisconnect(&pios_usb_otg_core_handle);
    USBD_DeInit(&pios_usb_otg_core_handle);
    USB_OTG_StopDevice(&pios_usb_otg_core_handle);
}

void OTG_FS_IRQHandler(void)
{
    if (!USBD_OTG_ISR_Handler(&pios_usb_otg_core_handle)) {
        /* spurious interrupt, disable IRQ */
    }
}

struct usb_if_entry {
    struct pios_usb_ifops *ifops;
    uint32_t context;
};
static struct usb_if_entry usb_if_table[3];
void PIOS_USBHOOK_RegisterIfOps(uint8_t ifnum, struct pios_usb_ifops *ifops, uint32_t context)
{
    PIOS_Assert(ifnum < NELEMENTS(usb_if_table));
    PIOS_Assert(ifops);

    usb_if_table[ifnum].ifops   = ifops;
    usb_if_table[ifnum].context = context;
}

struct usb_ep_entry {
    pios_usbhook_epcb cb;
    uint32_t context;
    uint16_t max_len;
};
static struct usb_ep_entry usb_epin_table[6];
void PIOS_USBHOOK_RegisterEpInCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
{
    PIOS_Assert(epnum < NELEMENTS(usb_epin_table));
    PIOS_Assert(cb);

    usb_epin_table[epnum].cb = cb;
    usb_epin_table[epnum].context = context;
    usb_epin_table[epnum].max_len = max_len;

    DCD_EP_Open(&pios_usb_otg_core_handle,
                epnum | 0x80,
                max_len,
                USB_OTG_EP_INT);
    /*
     * FIXME do not hardcode endpoint type
     */
}

extern void PIOS_USBHOOK_DeRegisterEpInCallback(uint8_t epnum)
{
    PIOS_Assert(epnum < NELEMENTS(usb_epin_table));

    usb_epin_table[epnum].cb = NULL;

    DCD_EP_Close(&pios_usb_otg_core_handle, epnum | 0x80);
}

static struct usb_ep_entry usb_epout_table[6];
void PIOS_USBHOOK_RegisterEpOutCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
{
    PIOS_Assert(epnum < NELEMENTS(usb_epout_table));
    PIOS_Assert(cb);

    usb_epout_table[epnum].cb = cb;
    usb_epout_table[epnum].context = context;
    usb_epout_table[epnum].max_len = max_len;

    DCD_EP_Open(&pios_usb_otg_core_handle,
                epnum,
                max_len,
                USB_OTG_EP_INT);
    /*
     * FIXME do not hardcode endpoint type
     */

    /*
     * Make sure we refuse OUT transactions until we explicitly
     * connect a receive buffer with PIOS_USBHOOK_EndpointRx().
     *
     * Without this, the ST USB code will receive on this endpoint
     * and blindly write the data to a NULL pointer which will
     * have the side effect of placing the internal flash into an
     * errored state.  Address 0x0000_0000 is aliased into internal
     * flash via the "Section 2.4 Boot configuration" BOOT0/1 pins.
     */
    DCD_SetEPStatus(&pios_usb_otg_core_handle,
                    epnum,
                    USB_OTG_EP_RX_NAK);
}

extern void PIOS_USBHOOK_DeRegisterEpOutCallback(uint8_t epnum)
{
    PIOS_Assert(epnum < NELEMENTS(usb_epout_table));

    usb_epout_table[epnum].cb = NULL;

    DCD_EP_Close(&pios_usb_otg_core_handle, epnum);
}

void PIOS_USBHOOK_CtrlTx(const uint8_t *buf, uint16_t len)
{
    USBD_CtlSendData(&pios_usb_otg_core_handle, buf, len);
}

void PIOS_USBHOOK_CtrlRx(uint8_t *buf, uint16_t len)
{
    USBD_CtlPrepareRx(&pios_usb_otg_core_handle, buf, len);
}

void PIOS_USBHOOK_EndpointTx(uint8_t epnum, const uint8_t *buf, uint16_t len)
{
    if (pios_usb_otg_core_handle.dev.device_status == USB_OTG_CONFIGURED) {
        DCD_EP_Tx(&pios_usb_otg_core_handle, epnum, buf, len);
    }
}

void PIOS_USBHOOK_EndpointRx(uint8_t epnum, uint8_t *buf, uint16_t len)
{
    DCD_EP_PrepareRx(&pios_usb_otg_core_handle, epnum, buf, len);
}

uint32_t PIOS_USBHOOK_EndpointGetStatus(uint8_t epnum)
{
    return DCD_GetEPStatus(&pios_usb_otg_core_handle, epnum);
}

/*
 * Device level hooks into STM USB library
 */

static const uint8_t *PIOS_USBHOOK_DEV_GetDeviceDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = Device_Descriptor.length;
    return Device_Descriptor.descriptor;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetLangIDStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = String_Descriptor[USB_STRING_DESC_LANG].length;
    return String_Descriptor[USB_STRING_DESC_LANG].descriptor;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = String_Descriptor[USB_STRING_DESC_VENDOR].length;
    return String_Descriptor[USB_STRING_DESC_VENDOR].descriptor;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetProductStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = String_Descriptor[USB_STRING_DESC_PRODUCT].length;
    return String_Descriptor[USB_STRING_DESC_PRODUCT].descriptor;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetSerialStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = String_Descriptor[USB_STRING_DESC_SERIAL].length;
    return String_Descriptor[USB_STRING_DESC_SERIAL].descriptor;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
{
    return NULL;
}

static const uint8_t *PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
{
    return NULL;
}

static USBD_DEVICE device_callbacks = {
    .GetDeviceDescriptor           = PIOS_USBHOOK_DEV_GetDeviceDescriptor,
    .GetLangIDStrDescriptor        = PIOS_USBHOOK_DEV_GetLangIDStrDescriptor,
    .GetManufacturerStrDescriptor  = PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor,
    .GetProductStrDescriptor       = PIOS_USBHOOK_DEV_GetProductStrDescriptor,
    .GetSerialStrDescriptor        = PIOS_USBHOOK_DEV_GetSerialStrDescriptor,
    .GetConfigurationStrDescriptor = PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor,
    .GetInterfaceStrDescriptor     = PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor,
};

static void PIOS_USBHOOK_USR_Init(void)
{
    PIOS_USB_ChangeConnectionState(false);
    reconnect();
}

static void PIOS_USBHOOK_USR_DeviceReset(__attribute__((unused)) uint8_t speed)
{
    PIOS_USB_ChangeConnectionState(false);
}

static void PIOS_USBHOOK_USR_DeviceConfigured(void)
{
    PIOS_USB_ChangeConnectionState(true);
}

static void PIOS_USBHOOK_USR_DeviceSuspended(void)
{
    /* Unhandled */
}

static void PIOS_USBHOOK_USR_DeviceResumed(void)
{
    /* Unhandled */
}

static void PIOS_USBHOOK_USR_DeviceConnected(void)
{
    /* NOP */
}

static void PIOS_USBHOOK_USR_DeviceDisconnected(void)
{
    PIOS_USB_ChangeConnectionState(false);
}

static USBD_Usr_cb_TypeDef user_callbacks = {
    .Init               = PIOS_USBHOOK_USR_Init,
    .DeviceReset        = PIOS_USBHOOK_USR_DeviceReset,
    .DeviceConfigured   = PIOS_USBHOOK_USR_DeviceConfigured,
    .DeviceSuspended    = PIOS_USBHOOK_USR_DeviceSuspended,
    .DeviceResumed      = PIOS_USBHOOK_USR_DeviceResumed,
    .DeviceConnected    = PIOS_USBHOOK_USR_DeviceConnected,
    .DeviceDisconnected = PIOS_USBHOOK_USR_DeviceDisconnected,
};

static uint8_t PIOS_USBHOOK_CLASS_Init(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
{
    /* Call all of the registered init callbacks */
    for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
        struct usb_if_entry *usb_if = &(usb_if_table[i]);
        if (usb_if->ifops && usb_if->ifops->init) {
            usb_if->ifops->init(usb_if->context);
        }
    }
    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_DeInit(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
{
    /* Call all of the registered deinit callbacks */
    for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
        struct usb_if_entry *usb_if = &(usb_if_table[i]);
        if (usb_if->ifops && usb_if->ifops->deinit) {
            usb_if->ifops->deinit(usb_if->context);
        }
    }
    return USBD_OK;
}

static struct usb_setup_request usb_ep0_active_req;
static uint8_t PIOS_USBHOOK_CLASS_Setup(__attribute__((unused)) void *pdev, USB_SETUP_REQ *req)
{
    switch (req->bmRequest & (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK)) {
    case (USB_REQ_TYPE_STANDARD | USB_REQ_RECIPIENT_INTERFACE):
    case (USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE):
    {
        uint8_t ifnum = LOBYTE(req->wIndex);
        if ((ifnum < NELEMENTS(usb_if_table)) &&
            (usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->setup)) {
            usb_if_table[ifnum].ifops->setup(usb_if_table[ifnum].context,
                                             (struct usb_setup_request *)req);
            if (!(req->bmRequest & 0x80) && req->wLength > 0) {
                /* Request is a host-to-device data setup packet, keep track of the request details for the EP0_RxReady call */
                usb_ep0_active_req.bmRequestType = req->bmRequest;
                usb_ep0_active_req.bRequest = req->bRequest;
                usb_ep0_active_req.wValue   = req->wValue;
                usb_ep0_active_req.wIndex   = req->wIndex;
                usb_ep0_active_req.wLength  = req->wLength;
            }
        } else {
            /* No Setup handler or Setup handler failed */
            USBD_CtlError(&pios_usb_otg_core_handle, req);
        }
        break;
    }
    default:
        /* Unhandled Setup */
        USBD_CtlError(&pios_usb_otg_core_handle, req);
        break;
    }

    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_EP0_TxSent(__attribute__((unused)) void *pdev)
{
    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_EP0_RxReady(__attribute__((unused)) void *pdev)
{
    uint8_t ifnum = LOBYTE(usb_ep0_active_req.wIndex);

    if ((ifnum < NELEMENTS(usb_if_table)) &&
        (usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->ctrl_data_out)) {
        usb_if_table[ifnum].ifops->ctrl_data_out(usb_if_table[ifnum].context,
                                                 &usb_ep0_active_req);
    }

    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_DataIn(void *pdev, uint8_t epnum)
{
    /* Remove the direction bit so we can use this as an index */
    uint8_t epnum_idx = epnum & 0x7F;

    if ((epnum_idx < NELEMENTS(usb_epin_table)) && usb_epin_table[epnum_idx].cb) {
        struct usb_ep_entry *ep = &(usb_epin_table[epnum_idx]);
        if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
            /* NOTE: use real endpoint number including direction bit */
            DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_TX_NAK);
        }
    }

    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_DataOut(void *pdev, uint8_t epnum)
{
    /* Remove the direction bit so we can use this as an index */
    uint8_t epnum_idx = epnum & 0x7F;

    if ((epnum_idx < NELEMENTS(usb_epout_table)) && usb_epout_table[epnum_idx].cb) {
        struct usb_ep_entry *ep = &(usb_epout_table[epnum_idx]);
        uint16_t len = USBD_GetRxCount(pdev, epnum);
        PIOS_Assert(ep->max_len >= len);
        if (!ep->cb(ep->context, epnum_idx, len)) {
            /* NOTE: use real endpoint number including direction bit */
            DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_RX_NAK);
        }
    }

    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_SOF(__attribute__((unused)) void *pdev)
{
    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_IsoINIncomplete(__attribute__((unused)) void *pdev)
{
    return USBD_OK;
}

static uint8_t PIOS_USBHOOK_CLASS_IsoOUTIncomplete(__attribute__((unused)) void *pdev)
{
    return USBD_OK;
}

static const uint8_t *PIOS_USBHOOK_CLASS_GetConfigDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
{
    *length = Config_Descriptor.length;
    return Config_Descriptor.descriptor;
}

#ifdef USB_OTG_HS_CORE
static const uint8_t *PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor(uint8_t speed, uint16_t *length)
{
    return PIOS_USBHOOK_CLASS_GetConfigDescriptor(speed, length);
}
#endif /* USB_OTG_HS_CORE */

#ifdef USB_SUPPORT_USER_STRING_DESC
static const uint8_t *PIOS_USBHOOK_CLASS_GetUsrStrDescriptor(uint8_t speed, uint8_t index, uint16_t *length)
{
    return NULL;
}
#endif /* USB_SUPPORT_USER_STRING_DESC */

static USBD_Class_cb_TypeDef class_callbacks = {
    .Init                = PIOS_USBHOOK_CLASS_Init,
    .DeInit              = PIOS_USBHOOK_CLASS_DeInit,
    .Setup               = PIOS_USBHOOK_CLASS_Setup,
    .EP0_TxSent          = PIOS_USBHOOK_CLASS_EP0_TxSent,
    .EP0_RxReady         = PIOS_USBHOOK_CLASS_EP0_RxReady,
    .DataIn              = PIOS_USBHOOK_CLASS_DataIn,
    .DataOut             = PIOS_USBHOOK_CLASS_DataOut,
    .SOF                      = PIOS_USBHOOK_CLASS_SOF,
    .IsoINIncomplete     = PIOS_USBHOOK_CLASS_IsoINIncomplete,
    .IsoOUTIncomplete    = PIOS_USBHOOK_CLASS_IsoOUTIncomplete,
    .GetConfigDescriptor = PIOS_USBHOOK_CLASS_GetConfigDescriptor,
#ifdef USB_OTG_HS_CORE
    .GetOtherConfigDescriptor = PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor,
#endif /* USB_OTG_HS_CORE */
#ifdef USB_SUPPORT_USER_STRING_DESC
    .GetUsrStrDescriptor      = PIOS_USBHOOK_CLASS_GetUsrStrDescriptor,
#endif /* USB_SUPPORT_USER_STRING_DESC */
};

static void reconnect(void)
{
    /* Force a physical disconnect/reconnect */
    DCD_DevDisconnect(&pios_usb_otg_core_handle);
    DCD_DevConnect(&pios_usb_otg_core_handle);
}

#endif /* PIOS_INCLUDE_USB */