rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

Updated to Version 3.1.0 ST USB Lib.

Browse Source 
Added working preliminary PIOS_USB_HID support.
Integrated PIOS_USB_HID support into PIOS_USB_HID.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@171 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2010-02-05 04:58:59 +00:00 committed by gussy
parent 072f33738f
commit 1a1b5cfcdb
23 changed files with 991 additions and 181 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_core.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Standard protocol processing functions prototypes
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -235,8 +235,8 @@ extern DEVICE Device_Table;
extern DEVICE_INFO Device_Info;
/* cells saving status during interrupt servicing */
extern uint16_t SaveRState;
extern uint16_t SaveTState;
extern __IO uint16_t SaveRState;
extern __IO uint16_t SaveTState;
#endif /* __USB_CORE_H */

4
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_def.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_def.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Definitions related to USB Core
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

4
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_init.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_init.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Initialization routines & global variables
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

4
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_int.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_int.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Endpoint CTR (Low and High) interrupt's service routines
* prototypes
********************************************************************************

20
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_lib.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_lib.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : USB library include files
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -24,8 +24,20 @@
#include "usb_def.h"
#include "usb_core.h"
#include "usb_init.h"
#include "usb_mem.h"
#include "usb_int.h"
#ifndef STM32F10X_CL
#include "usb_mem.h"
#include "usb_int.h"
#endif /* STM32F10X_CL */
#include "usb_sil.h"
#ifdef STM32F10X_CL
#include "otgd_fs_cal.h"
#include "otgd_fs_pcd.h"
#include "otgd_fs_dev.h"
#include "otgd_fs_int.h"
#endif /* STM32F10X_CL */
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/

4
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_mem.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Utility prototypes functions for memory/PMA transfers
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

89
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_regs.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_regs.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Interface prototype functions to USB cell registers
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -17,6 +17,8 @@
#ifndef __USB_REGS_H
#define __USB_REGS_H
#ifndef STM32F10X_CL
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
typedef enum _EP_DBUF_DIR
@ -58,15 +60,34 @@ enum EP_BUF_NUM
/******************************************************************************/
#define EP0REG ((__IO unsigned *)(RegBase)) /* endpoint 0 register address */
/* Endpoint Addresses (w/direction) */
#define EP0_OUT ((uint8_t)0x00)
#define EP0_IN ((uint8_t)0x80)
#define EP1_OUT ((uint8_t)0x01)
#define EP1_IN ((uint8_t)0x81)
#define EP2_OUT ((uint8_t)0x02)
#define EP2_IN ((uint8_t)0x82)
#define EP3_OUT ((uint8_t)0x03)
#define EP3_IN ((uint8_t)0x83)
#define EP4_OUT ((uint8_t)0x04)
#define EP4_IN ((uint8_t)0x84)
#define EP5_OUT ((uint8_t)0x05)
#define EP5_IN ((uint8_t)0x85)
#define EP6_OUT ((uint8_t)0x06)
#define EP6_IN ((uint8_t)0x86)
#define EP7_OUT ((uint8_t)0x07)
#define EP7_IN ((uint8_t)0x87)
/* endpoints enumeration */
#define ENDP0 ((uint8_t)0)
#define ENDP1 ((uint8_t)1)
#define ENDP2 ((uint8_t)2)
#define ENDP3 ((uint8_t)3)
#define ENDP4 ((uint8_t)4)
#define ENDP5 ((uint8_t)5)
#define ENDP6 ((uint8_t)6)
#define ENDP7 ((uint8_t)7)
#define ENDP0 ((uint8_t)0)
#define ENDP1 ((uint8_t)1)
#define ENDP2 ((uint8_t)2)
#define ENDP3 ((uint8_t)3)
#define ENDP4 ((uint8_t)4)
#define ENDP5 ((uint8_t)5)
#define ENDP6 ((uint8_t)6)
#define ENDP7 ((uint8_t)7)
/******************************************************************************/
/* ISTR interrupt events */
/******************************************************************************/
@ -210,12 +231,12 @@ enum EP_BUF_NUM
* Macro Name : SetEPType
* Description : sets the type in the endpoint register(bits EP_TYPE[1:0])
* Input : bEpNum: Endpoint Number.
* wType
* wType
* Output : None.
* Return : None.
*******************************************************************************/
#define _SetEPType(bEpNum,wType) (_SetENDPOINT(bEpNum,\
((_GetENDPOINT(bEpNum) & EP_T_MASK) | wType)))
((_GetENDPOINT(bEpNum) & EP_T_MASK) | wType )))
/*******************************************************************************
* Macro Name : GetEPType
@ -243,7 +264,7 @@ enum EP_BUF_NUM
/* toggle second bit ? */ \
if((EPTX_DTOG2 & wState)!= 0) \
_wRegVal ^= EPTX_DTOG2; \
_SetENDPOINT(bEpNum, _wRegVal); \
_SetENDPOINT(bEpNum, (_wRegVal | EP_CTR_RX|EP_CTR_TX)); \
} /* _SetEPTxStatus */
/*******************************************************************************
@ -264,8 +285,36 @@ enum EP_BUF_NUM
/* toggle second bit ? */ \
if((EPRX_DTOG2 & wState)!= 0) \
_wRegVal ^= EPRX_DTOG2; \
_SetENDPOINT(bEpNum, _wRegVal); \
_SetENDPOINT(bEpNum, (_wRegVal | EP_CTR_RX|EP_CTR_TX)); \
} /* _SetEPRxStatus */
/*******************************************************************************
* Macro Name : SetEPRxTxStatus
* Description : sets the status for rx & tx (bits STAT_TX[1:0] & STAT_RX[1:0])
* Input : bEpNum: Endpoint Number.
* wStaterx: new state.
* wStatetx: new state.
* Output : None.
* Return : None.
*******************************************************************************/
#define _SetEPRxTxStatus(bEpNum,wStaterx,wStatetx) {\
register uint32_t _wRegVal; \
\
_wRegVal = _GetENDPOINT(bEpNum) & (EPRX_DTOGMASK |EPTX_STAT) ;\
/* toggle first bit ? */ \
if((EPRX_DTOG1 & wStaterx)!= 0) \
_wRegVal ^= EPRX_DTOG1; \
/* toggle second bit ? */ \
if((EPRX_DTOG2 & wStaterx)!= 0) \
_wRegVal ^= EPRX_DTOG2; \
/* toggle first bit ? */ \
if((EPTX_DTOG1 & wStatetx)!= 0) \
_wRegVal ^= EPTX_DTOG1; \
/* toggle second bit ? */ \
if((EPTX_DTOG2 & wStatetx)!= 0) \
_wRegVal ^= EPTX_DTOG2; \
_SetENDPOINT(bEpNum, _wRegVal | EP_CTR_RX|EP_CTR_TX); \
} /* _SetEPRxTxStatus */
/*******************************************************************************
* Macro Name : GetEPTxStatus / GetEPRxStatus
* Description : gets the status for tx/rx transfer (bits STAT_TX[1:0]
@ -309,9 +358,9 @@ enum EP_BUF_NUM
* Return : None.
*******************************************************************************/
#define _SetEP_KIND(bEpNum) (_SetENDPOINT(bEpNum, \
(_GetENDPOINT(bEpNum) | EP_KIND) & EPREG_MASK))
(EP_CTR_RX|EP_CTR_TX|((_GetENDPOINT(bEpNum) | EP_KIND) & EPREG_MASK))))
#define _ClearEP_KIND(bEpNum) (_SetENDPOINT(bEpNum, \
(_GetENDPOINT(bEpNum) & EPKIND_MASK)))
(EP_CTR_RX|EP_CTR_TX|(_GetENDPOINT(bEpNum) & EPKIND_MASK))))
/*******************************************************************************
* Macro Name : Set_Status_Out / Clear_Status_Out.
@ -353,9 +402,9 @@ enum EP_BUF_NUM
* Return : None.
*******************************************************************************/
#define _ToggleDTOG_RX(bEpNum) (_SetENDPOINT(bEpNum, \
EP_DTOG_RX | _GetENDPOINT(bEpNum) & EPREG_MASK))
EP_CTR_RX|EP_CTR_TX|EP_DTOG_RX | (_GetENDPOINT(bEpNum) & EPREG_MASK)))
#define _ToggleDTOG_TX(bEpNum) (_SetENDPOINT(bEpNum, \
EP_DTOG_TX | _GetENDPOINT(bEpNum) & EPREG_MASK))
EP_CTR_RX|EP_CTR_TX|EP_DTOG_TX | (_GetENDPOINT(bEpNum) & EPREG_MASK)))
/*******************************************************************************
* Macro Name : ClearDTOG_RX / ClearDTOG_TX.
@ -377,7 +426,7 @@ enum EP_BUF_NUM
* Return : None.
*******************************************************************************/
#define _SetEPAddress(bEpNum,bAddr) _SetENDPOINT(bEpNum,\
_GetENDPOINT(bEpNum) & EPREG_MASK | bAddr)
EP_CTR_RX|EP_CTR_TX|(_GetENDPOINT(bEpNum) & EPREG_MASK) | bAddr)
/*******************************************************************************
* Macro Name : GetEPAddress.
@ -615,6 +664,8 @@ void FreeUserBuffer(uint8_t bEpNum/*bEpNum*/, uint8_t bDir);
uint16_t ToWord(uint8_t, uint8_t);
uint16_t ByteSwap(uint16_t);
#endif /* STM32F10X_CL */
#endif /* __USB_REGS_H */
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

34
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_sil.h Normal file
View File

@ -0,0 +1,34 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_sil.h
* Author : MCD Application Team
* Version : V3.1.0
* Date : 10/30/2009
* Description : Simplified Interface Layer function prototypes.
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_SIL_H
#define __USB_SIL_H
/* Includes ------------------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/
/* Exported macro ------------------------------------------------------------*/
/* Exported functions ------------------------------------------------------- */
uint32_t USB_SIL_Init(void);
uint32_t USB_SIL_Write(uint8_t bEpAddr, uint8_t* pBufferPointer, uint32_t wBufferSize);
uint32_t USB_SIL_Read(uint8_t bEpAddr, uint8_t* pBufferPointer);
/* External variables --------------------------------------------------------*/
#endif /* __USB_SIL_H */
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

7
flight/Libraries/STM32_USB-FS-Device_Driver/inc/usb_type.h
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_type.h
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Type definitions used by the USB Library
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -18,8 +18,7 @@
#define __USB_TYPE_H
/* Includes ------------------------------------------------------------------*/
// TK: disabled, as not required for integration of STM32 drivers!
// #include "usb_conf.h"
//#include "usb_conf.h"
/* Exported types ------------------------------------------------------------*/
/* Exported constants --------------------------------------------------------*/

117
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_core.c
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Standard protocol processing (USB v2.0)
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -15,19 +15,19 @@
/* Includes ------------------------------------------------------------------*/
#include "usb_lib.h"
//DEVICE_INFO *pInformation;
//DEVICE Device_Table;
//DEVICE_PROP *pProperty;
//USER_STANDARD_REQUESTS *pUser_Standard_Requests;
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define ValBit(VAR,Place) (VAR & (1 << Place))
#define SetBit(VAR,Place) (VAR |= (1 << Place))
#define ClrBit(VAR,Place) (VAR &= ((1 << Place) ^ 255))
#ifdef STM32F10X_CL
#define Send0LengthData() {OTGD_FS_PCD_EP_Write (0, 0, 0) ; vSetEPTxStatus(EP_TX_VALID);}
#else
#define Send0LengthData() { _SetEPTxCount(ENDP0, 0); \
vSetEPTxStatus(EP_TX_VALID); \
}
#endif /* STM32F10X_CL */
#define vSetEPRxStatus(st) (SaveRState = st)
#define vSetEPTxStatus(st) (SaveTState = st)
@ -41,6 +41,7 @@
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
uint16_t_uint8_t StatusInfo;
bool Data_Mul_MaxPacketSize = FALSE;
/* Private function prototypes -----------------------------------------------*/
static void DataStageOut(void);
@ -167,8 +168,8 @@ uint8_t *Standard_GetStatus(uint16_t Length)
return 0;
}
StatusInfo.w = 0;
/* Reset Status Information */
StatusInfo.w = 0;
if (Type_Recipient == (STANDARD_REQUEST | DEVICE_RECIPIENT))
{
@ -180,15 +181,19 @@ uint8_t *Standard_GetStatus(uint16_t Length)
{
SetBit(StatusInfo0, 1);
}
else
{
ClrBit(StatusInfo0, 1);
}
/* Bus-powered */
if (ValBit(Feature, 6))
{
ClrBit(StatusInfo0, 0);
SetBit(StatusInfo0, 0);
}
else /* Self-powered */
{
SetBit(StatusInfo0, 0);
ClrBit(StatusInfo0, 0);
}
}
/*Interface Status*/
@ -289,7 +294,9 @@ RESULT Standard_ClearFeature(void)
/* IN endpoint */
if (_GetTxStallStatus(Related_Endpoint ))
{
#ifndef STM32F10X_CL
ClearDTOG_TX(Related_Endpoint);
#endif /* STM32F10X_CL */
SetEPTxStatus(Related_Endpoint, EP_TX_VALID);
}
}
@ -301,14 +308,15 @@ RESULT Standard_ClearFeature(void)
if (Related_Endpoint == ENDP0)
{
/* After clear the STALL, enable the default endpoint receiver */
// SetEPRxCount(Related_Endpoint, Device_Property.MaxPacketSize);
// TK: we should reference MaxPacketSize() via pointer!
//SetEPRxCount(Related_Endpoint, Device_Property.MaxPacketSize);
SetEPRxCount(Related_Endpoint, pProperty->MaxPacketSize);
_SetEPRxStatus(Related_Endpoint, EP_RX_VALID);
}
else
{
#ifndef STM32F10X_CL
ClearDTOG_RX(Related_Endpoint);
#endif /* STM32F10X_CL */
_SetEPRxStatus(Related_Endpoint, EP_RX_VALID);
}
}
@ -333,7 +341,7 @@ RESULT Standard_SetEndPointFeature(void)
uint32_t wIndex0;
uint32_t Related_Endpoint;
uint32_t rEP;
uint32_t Status;
uint32_t Status;
wIndex0 = pInformation->USBwIndex0;
rEP = wIndex0 & ~0x80;
@ -451,7 +459,11 @@ void DataStageOut(void)
pEPinfo->Usb_rLength -= Length;
pEPinfo->Usb_rOffset += Length;
#ifdef STM32F10X_CL
OTGD_FS_PCD_EP_Read(ENDP0, Buffer, Length);
#else
PMAToUserBufferCopy(Buffer, GetEPRxAddr(ENDP0), Length);
#endif /* STM32F10X_CL */
}
if (pEPinfo->Usb_rLength != 0)
@ -508,7 +520,14 @@ void DataStageIn(void)
{
/* No more data to send so STALL the TX Status*/
ControlState = WAIT_STATUS_OUT;
#ifdef STM32F10X_CL
OTGD_FS_PCD_EP_Read (ENDP0, 0, 0);
#endif /* STM32F10X_CL */
#ifndef STM32F10X_CL
vSetEPTxStatus(EP_TX_STALL);
#endif /* STM32F10X_CL */
}
goto Expect_Status_Out;
@ -524,7 +543,11 @@ void DataStageIn(void)
DataBuffer = (*pEPinfo->CopyData)(Length);
#ifdef STM32F10X_CL
OTGD_FS_PCD_EP_Write (ENDP0, DataBuffer, Length);
#else
UserToPMABufferCopy(DataBuffer, GetEPTxAddr(ENDP0), Length);
#endif /* STM32F10X_CL */
SetEPTxCount(ENDP0, Length);
@ -574,6 +597,10 @@ void NoData_Setup0(void)
else
{
Result = USB_SUCCESS;
#ifdef STM32F10X_CL
SetDeviceAddress(pInformation->USBwValue0);
#endif /* STM32F10X_CL */
}
}
/*SET FEATURE for Device*/
@ -683,6 +710,7 @@ void Data_Setup0(void)
CopyRoutine = NULL;
wOffset = 0;
/*GET DESCRIPTOR*/
if (Request_No == GET_DESCRIPTOR)
{
if (Type_Recipient == (STANDARD_REQUEST | DEVICE_RECIPIENT))
@ -810,7 +838,7 @@ void Data_Setup0(void)
/* Device ==> Host */
__IO uint32_t wLength = pInformation->USBwLength;
/* Restrict the data length to be the one host asks */
/* Restrict the data length to be the one host asks for */
if (pInformation->Ctrl_Info.Usb_wLength > wLength)
{
pInformation->Ctrl_Info.Usb_wLength = wLength;
@ -856,17 +884,29 @@ uint8_t Setup0_Process(void)
uint16_t* w;
} pBuf;
#ifdef STM32F10X_CL
USB_OTG_EP *ep;
uint16_t offset = 0;
ep = OTGD_FS_PCD_GetOutEP(ENDP0);
pBuf.b = ep->xfer_buff;
OTGD_FS_EP0StartXfer(ep);
#else
uint16_t offset = 1;
pBuf.b = PMAAddr + (uint8_t *)(_GetEPRxAddr(ENDP0) * 2); /* *2 for 32 bits addr */
#endif /* STM32F10X_CL */
if (pInformation->ControlState != PAUSE)
{
pInformation->USBbmRequestType = *pBuf.b++; /* bmRequestType */
pInformation->USBbRequest = *pBuf.b++; /* bRequest */
pBuf.w++; /* word not accessed because of 32 bits addressing */
pBuf.w += offset; /* word not accessed because of 32 bits addressing */
pInformation->USBwValue = ByteSwap(*pBuf.w++); /* wValue */
pBuf.w++; /* word not accessed because of 32 bits addressing */
pBuf.w += offset; /* word not accessed because of 32 bits addressing */
pInformation->USBwIndex = ByteSwap(*pBuf.w++); /* wIndex */
pBuf.w++; /* word not accessed because of 32 bits addressing */
pBuf.w += offset; /* word not accessed because of 32 bits addressing */
pInformation->USBwLength = *pBuf.w; /* wLength */
}
@ -935,7 +975,12 @@ uint8_t Out0_Process(void)
{
uint32_t ControlState = pInformation->ControlState;
if ((ControlState == OUT_DATA) || (ControlState == LAST_OUT_DATA))
if ((ControlState == IN_DATA) || (ControlState == LAST_IN_DATA))
{
/* host aborts the transfer before finish */
ControlState = STALLED;
}
else if ((ControlState == OUT_DATA) || (ControlState == LAST_OUT_DATA))
{
DataStageOut();
ControlState = pInformation->ControlState; /* may be changed outside the function */
@ -944,14 +989,11 @@ uint8_t Out0_Process(void)
else if (ControlState == WAIT_STATUS_OUT)
{
(*pProperty->Process_Status_OUT)();
#ifndef STM32F10X_CL
ControlState = STALLED;
#endif /* STM32F10X_CL */
}
else if ((ControlState == IN_DATA) || (ControlState == LAST_IN_DATA))
{
/* host aborts the transfer before finish */
ControlState = STALLED;
}
/* Unexpect state, STALL the endpoint */
else
@ -974,8 +1016,11 @@ uint8_t Out0_Process(void)
*******************************************************************************/
uint8_t Post0_Process(void)
{
// SetEPRxCount(ENDP0, Device_Property.MaxPacketSize);
// TK: we should reference to MaxPacketSize() via pointer!
#ifdef STM32F10X_CL
USB_OTG_EP *ep;
#endif /* STM32F10X_CL */
//SetEPRxCount(ENDP0, Device_Property.MaxPacketSize);
SetEPRxCount(ENDP0, pProperty->MaxPacketSize);
if (pInformation->ControlState == STALLED)
@ -984,6 +1029,26 @@ uint8_t Post0_Process(void)
vSetEPTxStatus(EP_TX_STALL);
}
#ifdef STM32F10X_CL
else if ((pInformation->ControlState == OUT_DATA) ||
(pInformation->ControlState == WAIT_STATUS_OUT))
{
ep = OTGD_FS_PCD_GetInEP(0);
ep->is_in = 0;
OTGD_FS_EP0StartXfer(ep);
vSetEPTxStatus(EP_TX_VALID);
}
else if ((pInformation->ControlState == IN_DATA) ||
(pInformation->ControlState == WAIT_STATUS_IN))
{
ep = OTGD_FS_PCD_GetInEP(0);
ep->is_in = 1;
OTGD_FS_EP0StartXfer(ep);
}
#endif /* STM32F10X_CL */
return (pInformation->ControlState == PAUSE);
}
@ -996,6 +1061,9 @@ uint8_t Post0_Process(void)
*******************************************************************************/
void SetDeviceAddress(uint8_t Val)
{
#ifdef STM32F10X_CL
OTGD_FS_PCD_EP_SetAddress ((uint8_t)Val);
#else
uint32_t i;
uint32_t nEP = Device_Table.Total_Endpoint;
@ -1005,6 +1073,7 @@ void SetDeviceAddress(uint8_t Val)
_SetEPAddress((uint8_t)i, (uint8_t)i);
} /* for */
_SetDADDR(Val | DADDR_EF); /* set device address and enable function */
#endif /* STM32F10X_CL */
}
/*******************************************************************************

4
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_init.c
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_init.c
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Initialization routines & global variables
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS

64
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_int.c
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_int.c
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Endpoint CTR (Low and High) interrupt's service routines
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -12,6 +12,7 @@
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
#ifndef STM32F10X_CL
/* Includes ------------------------------------------------------------------*/
#include "usb_lib.h"
@ -20,8 +21,8 @@
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
uint16_t SaveRState;
uint16_t SaveTState;
__IO uint16_t SaveRState;
__IO uint16_t SaveTState;
/* Extern variables ----------------------------------------------------------*/
extern void (*pEpInt_IN[7])(void); /* Handles IN interrupts */
@ -40,20 +41,11 @@ extern void (*pEpInt_OUT[7])(void); /* Handles OUT interrupts */
*******************************************************************************/
void CTR_LP(void)
{
uint32_t wEPVal = 0;
// TK: inserted, was a global variable before which could lead to unintended overwrites
// if CTR_LP() was called from a different task
uint16_t wIstr;
// TK: same for this global variable, we have a conflict if CTR_LP() and CTR_HP()
// are called with different priorities
uint8_t EPindex;
__IO uint16_t wEPVal = 0;
/* stay in loop while pending ints */
while (((wIstr = _GetISTR()) & ISTR_CTR) != 0)
{
_SetISTR((uint16_t)CLR_CTR); /* clear CTR flag */
/* extract highest priority endpoint number */
EPindex = (uint8_t)(wIstr & ISTR_EP_ID);
if (EPindex == 0)
@ -64,12 +56,14 @@ void CTR_LP(void)
/* save RX & TX status */
/* and set both to NAK */
SaveRState = _GetEPRxStatus(ENDP0);
SaveTState = _GetEPTxStatus(ENDP0);
_SetEPRxStatus(ENDP0, EP_RX_NAK);
_SetEPTxStatus(ENDP0, EP_TX_NAK);
SaveRState = _GetENDPOINT(ENDP0);
SaveTState = SaveRState & EPTX_STAT;
SaveRState &= EPRX_STAT;
_SetEPRxTxStatus(ENDP0,EP_RX_NAK,EP_TX_NAK);
/* DIR bit = origin of the interrupt */
if ((wIstr & ISTR_DIR) == 0)
@ -84,9 +78,9 @@ void CTR_LP(void)
In0_Process();
/* before terminate set Tx & Rx status */
_SetEPRxStatus(ENDP0, SaveRState);
_SetEPTxStatus(ENDP0, SaveTState);
return;
_SetEPRxTxStatus(ENDP0,SaveRState,SaveTState);
return;
}
else
{
@ -96,22 +90,14 @@ void CTR_LP(void)
/* DIR = 1 & (CTR_TX | CTR_RX) => 2 int pending */
wEPVal = _GetENDPOINT(ENDP0);
if ((wEPVal & EP_CTR_TX) != 0)
{
_ClearEP_CTR_TX(ENDP0);
In0_Process();
/* before terminate set Tx & Rx status */
_SetEPRxStatus(ENDP0, SaveRState);
_SetEPTxStatus(ENDP0, SaveTState);
return;
}
else if ((wEPVal &EP_SETUP) != 0)
if ((wEPVal &EP_SETUP) != 0)
{
_ClearEP_CTR_RX(ENDP0); /* SETUP bit kept frozen while CTR_RX = 1 */
Setup0_Process();
/* before terminate set Tx & Rx status */
_SetEPRxStatus(ENDP0, SaveRState);
_SetEPTxStatus(ENDP0, SaveTState);
_SetEPRxTxStatus(ENDP0,SaveRState,SaveTState);
return;
}
@ -120,8 +106,8 @@ void CTR_LP(void)
_ClearEP_CTR_RX(ENDP0);
Out0_Process();
/* before terminate set Tx & Rx status */
_SetEPRxStatus(ENDP0, SaveRState);
_SetEPTxStatus(ENDP0, SaveTState);
_SetEPRxTxStatus(ENDP0,SaveRState,SaveTState);
return;
}
}
@ -166,12 +152,8 @@ void CTR_LP(void)
*******************************************************************************/
void CTR_HP(void)
{
uint32_t wEPVal = 0;
// TK: made local - we have a conflict if CTR_LP() and CTR_HP()
// are called with different priorities
uint8_t EPindex;
uint16_t wIstr;
uint32_t wEPVal = 0;
while (((wIstr = _GetISTR()) & ISTR_CTR) != 0)
{
@ -203,4 +185,6 @@ void CTR_HP(void)
}/* while(...) */
}
#endif /* STM32F10X_CL */
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

6
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_mem.c
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Utility functions for memory transfers to/from PMA
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -12,6 +12,7 @@
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
#ifndef STM32F10X_CL
/* Includes ------------------------------------------------------------------*/
#include "usb_lib.h"
@ -70,4 +71,5 @@ void PMAToUserBufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNByt
}
}
#endif /* STM32F10X_CL */
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

6
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_regs.c
View File

@ -1,8 +1,8 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_regs.c
* Author : MCD Application Team
* Version : V3.0.1
* Date : 04/27/2009
* Version : V3.1.0
* Date : 10/30/2009
* Description : Interface functions to USB cell registers
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
@ -12,6 +12,7 @@
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
#ifndef STM32F10X_CL
/* Includes ------------------------------------------------------------------*/
#include "usb_lib.h"
@ -745,4 +746,5 @@ uint16_t ByteSwap(uint16_t wSwW)
return(wRet);
}
#endif /* STM32F10X_CL */
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

126
flight/Libraries/STM32_USB-FS-Device_Driver/src/usb_sil.c Normal file
View File

@ -0,0 +1,126 @@
/******************** (C) COPYRIGHT 2009 STMicroelectronics ********************
* File Name : usb_sil.c
* Author : MCD Application Team
* Version : V3.1.0
* Date : 10/30/2009
* Description : Simplified Interface Layer for Global Initialization and
* Endpoint Rea/Write operations.
********************************************************************************
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*******************************************************************************/
/* Includes ------------------------------------------------------------------*/
#include "usb_lib.h"
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Extern variables ----------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
* Function Name : USB_SIL_Init
* Description : Initialize the USB Device IP and the Endpoint 0.
* Input : None.
* Output : None.
* Return : Status.
*******************************************************************************/
uint32_t USB_SIL_Init(void)
{
#ifndef STM32F10X_CL
/* USB interrupts initialization */
/* clear pending interrupts */
_SetISTR(0);
wInterrupt_Mask = (CNTR_CTRM | CNTR_WKUPM | CNTR_SUSPM | CNTR_ERRM | CNTR_SOFM | CNTR_ESOFM | CNTR_RESETM);
/* set interrupts mask */
_SetCNTR(wInterrupt_Mask);
#else
/* Perform OTG Device initialization procedure (including EP0 init) */
OTG_DEV_Init();
#endif /* STM32F10X_CL */
return 0;
}
/*******************************************************************************
* Function Name : USB_SIL_Write
* Description : Write a buffer of data to a selected endpoint.
* Input : - bEpAddr: The address of the non control endpoint.
* - pBufferPointer: The pointer to the buffer of data to be written
* to the endpoint.
* - wBufferSize: Number of data to be written (in bytes).
* Output : None.
* Return : Status.
*******************************************************************************/
uint32_t USB_SIL_Write(uint8_t bEpAddr, uint8_t* pBufferPointer, uint32_t wBufferSize)
{
#ifndef STM32F10X_CL
/* Use the memory interface function to write to the selected endpoint */
UserToPMABufferCopy(pBufferPointer, GetEPTxAddr(bEpAddr & 0x7F), wBufferSize);
/* Update the data length in the control register */
SetEPTxCount((bEpAddr & 0x7F), wBufferSize);
#else
/* Use the PCD interface layer function to write to the selected endpoint */
OTGD_FS_PCD_EP_Write (bEpAddr, pBufferPointer, wBufferSize);
#endif /* STM32F10X_CL */
return 0;
}
/*******************************************************************************
* Function Name : USB_SIL_Read
* Description : Write a buffer of data to a selected endpoint.
* Input : - bEpAddr: The address of the non control endpoint.
* - pBufferPointer: The pointer to which will be saved the
* received data buffer.
* Output : None.
* Return : Number of received data (in Bytes).
*******************************************************************************/
uint32_t USB_SIL_Read(uint8_t bEpAddr, uint8_t* pBufferPointer)
{
uint32_t DataLength = 0;
#ifndef STM32F10X_CL
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(bEpAddr & 0x7F);
/* Use the memory interface function to write to the selected endpoint */
PMAToUserBufferCopy(pBufferPointer, GetEPRxAddr(bEpAddr & 0x7F), DataLength);
#else
USB_OTG_EP *ep;
/* Get the structure pointer of the selected Endpoint */
ep = OTGD_FS_PCD_GetOutEP(bEpAddr);
/* Get the number of received data */
DataLength = ep->xfer_len;
/* Use the PCD interface layer function to read the selected endpoint */
OTGD_FS_PCD_EP_Read (bEpAddr, pBufferPointer, DataLength);
#endif /* STM32F10X_CL */
/* Return the number of received data */
return DataLength;
}
/******************* (C) COPYRIGHT 2009 STMicroelectronics *****END OF FILE****/

22
flight/Libraries/msd/msd.c
View File

@ -72,13 +72,25 @@ static const DEVICE_PROP My_Device_Property = {
MSD_MASS_Reset, MSD_MASS_Status_In, MSD_MASS_Status_Out, MSD_MASS_Data_Setup, MSD_MASS_NoData_Setup, MSD_MASS_Get_Interface_Setting,
MSD_MASS_GetDeviceDescriptor, MSD_MASS_GetConfigDescriptor, MSD_MASS_GetStringDescriptor, 0, 0x40 /*MAX PACKET SIZE*/
};
static const USER_STANDARD_REQUESTS My_User_Standard_Requests = {NOP_Process, MSD_Mass_Storage_SetConfiguration, NOP_Process, NOP_Process, NOP_Process,
MSD_Mass_Storage_ClearFeature, NOP_Process, NOP_Process, MSD_Mass_Storage_SetDeviceAddress};
static const USER_STANDARD_REQUESTS My_User_Standard_Requests = {
NOP_Process,
MSD_Mass_Storage_SetConfiguration,
NOP_Process,
NOP_Process,
NOP_Process,
MSD_Mass_Storage_ClearFeature,
NOP_Process, NOP_Process,
MSD_Mass_Storage_SetDeviceAddress
};
static ONE_DESCRIPTOR Device_Descriptor = {(uint8_t *) MSD_MASS_DeviceDescriptor, MSD_MASS_SIZ_DEVICE_DESC};
static ONE_DESCRIPTOR Config_Descriptor = {(uint8_t *) MSD_MASS_ConfigDescriptor, MSD_MASS_SIZ_CONFIG_DESC};
static ONE_DESCRIPTOR String_Descriptor[5] = { {(uint8_t *) MSD_MASS_StringLangID, MSD_MASS_SIZ_STRING_LANGID}, {(uint8_t *) MSD_MASS_StringVendor,
MSD_MASS_SIZ_STRING_VENDOR}, {(uint8_t *) MSD_MASS_StringProduct, MSD_MASS_SIZ_STRING_PRODUCT}, {(uint8_t *) MSD_MASS_StringSerial,
MSD_MASS_SIZ_STRING_SERIAL}, {(uint8_t *) MSD_MASS_StringInterface, MSD_MASS_SIZ_STRING_INTERFACE}, };
static ONE_DESCRIPTOR String_Descriptor[5] = {
{(uint8_t *) MSD_MASS_StringLangID, MSD_MASS_SIZ_STRING_LANGID},
{(uint8_t *) MSD_MASS_StringVendor, MSD_MASS_SIZ_STRING_VENDOR},
{(uint8_t *) MSD_MASS_StringProduct, MSD_MASS_SIZ_STRING_PRODUCT},
{(uint8_t *) MSD_MASS_StringSerial, MSD_MASS_SIZ_STRING_SERIAL},
{(uint8_t *) MSD_MASS_StringInterface, MSD_MASS_SIZ_STRING_INTERFACE},
};
static uint8_t lun_available;
/**

2
flight/Makefile
View File

@ -106,6 +106,7 @@ SRC += $(PIOSSTM32F10X)/pios_i2c.c
SRC += $(PIOSSTM32F10X)/pios_spi.c
SRC += $(PIOSSTM32F10X)/pios_pwm.c
SRC += $(PIOSSTM32F10X)/pios_usb.c
SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_sdcard.c
@ -142,6 +143,7 @@ SRC += $(STMUSBSRCDIR)/usb_init.c
SRC += $(STMUSBSRCDIR)/usb_int.c
SRC += $(STMUSBSRCDIR)/usb_mem.c
SRC += $(STMUSBSRCDIR)/usb_regs.c
SRC += $(STMUSBSRCDIR)/usb_sil.c
## RTOS
SRC += $(RTOSSRCDIR)/list.c

192
flight/PiOS/STM32F10x/pios_usb.c
View File

@ -28,14 +28,9 @@
/* Project Includes */
#include "pios.h"
/* Private Function Prototypes */
/* Local Variables */
#include <usb_lib.h>
#include <string.h>
/* Local definitions */
#define DSCR_DEVICE 1 /* Descriptor type: Device */
#define DSCR_CONFIG 2 /* Descriptor type: Configuration */
@ -44,13 +39,19 @@
#define DSCR_ENDPNT 5 /* Descriptor type: Endpoint */
#define CS_INTERFACE 0x24 /* Class-specific type: Interface */
#define CS_ENDPOINT 0x25 /* Class-specific type: Endpoint */
/* ISTR events */
/* mask defining which events has to be handled by the device application software */
#define IMR_MSK (CNTR_CTRM | CNTR_RESETM)
#define IMR_MSK (CNTR_CTRM | CNTR_WKUPM | CNTR_SUSPM | CNTR_ERRM | CNTR_SOFM | CNTR_ESOFM | CNTR_RESETM)
/* Local types */
typedef enum _DEVICE_STATE {
UNCONNECTED, ATTACHED, POWERED, SUSPENDED, ADDRESSED, CONFIGURED
UNCONNECTED,
ATTACHED,
POWERED,
SUSPENDED,
ADDRESSED,
CONFIGURED
} DEVICE_STATE;
/* Global Variables used by STM32 USB Driver */
@ -63,23 +64,42 @@ DEVICE_PROP *pProperty;
USER_STANDARD_REQUESTS *pUser_Standard_Requests;
/* Stored in RAM, vectors can be changed on-the-fly */
void (*pEpInt_IN[7])(void) = {NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process};
void (*pEpInt_OUT[7])(void) = {NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process, NOP_Process};
void (*pEpInt_IN[7])(void) = {
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process
};
void (*pEpInt_OUT[7])(void) = {
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process,
NOP_Process
};
#define PIOS_USB_NUM_INTERFACES (0)
#define PIOS_USB_SIZ_CONFIG_DESC (9 + 0)
#define USB_ENDPOINT_DESCRIPTOR_TYPE 0x05
#define PIOS_USB_HID_NUM_INTERFACES 1
#define PIOS_USB_HID_SIZ_CLASS_DESC 18
#define PIOS_USB_HID_SIZ_CONFIG_DESC 32
#define PIOS_USB_NUM_INTERFACES (PIOS_USB_HID_NUM_INTERFACES)
#define PIOS_USB_SIZ_CONFIG_DESC (9 + PIOS_USB_HID_SIZ_CONFIG_DESC)
/* USB Standard Device Descriptor */
#define PIOS_USB_SIZ_DEVICE_DESC 18
static const uint8_t PIOS_USB_DeviceDescriptor[PIOS_USB_SIZ_DEVICE_DESC] = {(uint8_t)(PIOS_USB_SIZ_DEVICE_DESC & 0xff), /* Device Descriptor length */
static const uint8_t PIOS_USB_DeviceDescriptor[PIOS_USB_SIZ_DEVICE_DESC] = {
(uint8_t)(PIOS_USB_SIZ_DEVICE_DESC & 0xff), /* Device Descriptor length */
DSCR_DEVICE, /* Descriptor type */
(uint8_t)(0x0200 & 0xff), /* Specification Version (BCD, LSB) */
(uint8_t)(0x0200 >> 8), /* Specification Version (BCD, MSB) */
#if 1
0x02, /* Device class "Communication" -- required for MacOS to find the COM device. Audio Device works fine in parallel to this */
#else
0x00, /* Device class "Composite" */
#endif
0x00, /* Device class "Communication" */
0x00, /* Device sub-class */
0x00, /* Device sub-sub-class */
0x40, /* Maximum packet size */
@ -95,7 +115,7 @@ static const uint8_t PIOS_USB_DeviceDescriptor[PIOS_USB_SIZ_DEVICE_DESC] = {(uin
0x01 /* Number of configurations */
};
/* USB Config Descriptor */
/* USB Configuration Descriptor */
static const uint8_t PIOS_USB_ConfigDescriptor[PIOS_USB_SIZ_CONFIG_DESC] = {
/* Configuration Descriptor */
9, /* Descriptor length */
@ -108,9 +128,51 @@ static const uint8_t PIOS_USB_ConfigDescriptor[PIOS_USB_SIZ_CONFIG_DESC] = {
0x80, /* Attributes (b7 - buspwr, b6 - selfpwr, b5 - rwu) */
0x32, /* Power requirement (div 2 ma) */
/* TODO:HID */
/* HID */
/************** Descriptor of Custom HID interface ****************/
/* 09 */
0x09, /* bLength: Interface Descriptor size */
0x04,/* bDescriptorType: Interface descriptor type */
0x00, /* bInterfaceNumber: Number of Interface */
0x00, /* bAlternateSetting: Alternate setting */
0x02, /* bNumEndpoints */
0x03, /* bInterfaceClass: HID */
0x00, /* bInterfaceSubClass : 1=BOOT, 0=no boot */
0x00, /* nInterfaceProtocol : 0=none, 1=keyboard, 2=mouse */
0, /* iInterface: Index of string descriptor */
};
/******************** Descriptor of Custom HID HID ********************/
/* 18 */
0x09, /* bLength: HID Descriptor size */
0x21, /* bDescriptorType: HID */
0x10, /* bcdHID: HID Class Spec release number */
0x01, 0x00, /* bCountryCode: Hardware target country */
0x01, /* bNumDescriptors: Number of HID class descriptors to follow */
0x22, /* bDescriptorType */
PIOS_USB_HID_SIZ_REPORT_DESC,/* wItemLength: Total length of Report descriptor */
0x00,
/******************** Descriptor of Custom HID endpoints ******************/
/* 27 */
0x07, /* bLength: Endpoint Descriptor size */
USB_ENDPOINT_DESCRIPTOR_TYPE, /* bDescriptorType: */
0x81, /* bEndpointAddress: Endpoint Address (IN) */
0x03, /* bmAttributes: Interrupt endpoint */
0x02, /* wMaxPacketSize: 2 Bytes max */
0x00, 0x20, /* bInterval: Polling Interval (32 ms) */
/* 34 */
0x07, /* bLength: Endpoint Descriptor size */
USB_ENDPOINT_DESCRIPTOR_TYPE, /* bDescriptorType: */
/* Endpoint descriptor type */
0x01, /* bEndpointAddress: */
/* Endpoint Address (OUT) */
0x03, /* bmAttributes: Interrupt endpoint */
0x02, /* wMaxPacketSize: 2 Bytes max */
0x00, 0x20, /* bInterval: Polling Interval (20 ms) */
/* 41 */
};
/* Local prototypes */
static void PIOS_USB_CB_Reset(void);
@ -125,15 +187,27 @@ static uint8_t *PIOS_USB_CB_GetConfigDescriptor(uint16_t Length);
static uint8_t *PIOS_USB_CB_GetStringDescriptor(uint16_t Length);
static RESULT PIOS_USB_CB_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting);
/* USB callback vectors */
static const DEVICE My_Device_Table = {PIOS_USB_EP_NUM, 1};
static const DEVICE_PROP My_Device_Property = {
0, /* PIOS_USB_CB_Init, */
PIOS_USB_CB_Reset, PIOS_USB_CB_Status_In, PIOS_USB_CB_Status_Out, PIOS_USB_CB_Data_Setup, PIOS_USB_CB_NoData_Setup,
PIOS_USB_CB_Get_Interface_Setting, PIOS_USB_CB_GetDeviceDescriptor, PIOS_USB_CB_GetConfigDescriptor, PIOS_USB_CB_GetStringDescriptor, 0, 0x40 /*MAX PACKET SIZE*/
PIOS_USB_CB_Reset,
PIOS_USB_CB_Status_In,
PIOS_USB_CB_Status_Out,
PIOS_USB_CB_Data_Setup,
PIOS_USB_CB_NoData_Setup,
PIOS_USB_CB_Get_Interface_Setting,
PIOS_USB_CB_GetDeviceDescriptor,
PIOS_USB_CB_GetConfigDescriptor,
PIOS_USB_CB_GetStringDescriptor,
0,
0x40 /*MAX PACKET SIZE*/
};
static const USER_STANDARD_REQUESTS My_User_Standard_Requests = {NOP_Process, /* PIOS_USB_CB_GetConfiguration, */
PIOS_USB_CB_SetConfiguration, NOP_Process, /* PIOS_USB_CB_GetInterface, */
static const USER_STANDARD_REQUESTS My_User_Standard_Requests = {
NOP_Process, /* PIOS_USB_CB_GetConfiguration, */
PIOS_USB_CB_SetConfiguration,
NOP_Process, /* PIOS_USB_CB_GetInterface, */
NOP_Process, /* PIOS_USB_CB_SetInterface, */
NOP_Process, /* PIOS_USB_CB_GetStatus, */
NOP_Process, /* PIOS_USB_CB_ClearFeature, */
@ -145,7 +219,7 @@ static const USER_STANDARD_REQUESTS My_User_Standard_Requests = {NOP_Process, /*
/* USB Device informations */
static DEVICE_INFO My_Device_Info;
/* USB device status */
static __IO uint32_t bDeviceState = UNCONNECTED;
static volatile uint32_t bDeviceState = UNCONNECTED;
/**
* Initialises USB interface
@ -170,34 +244,41 @@ int32_t PIOS_USB_Init(uint32_t mode)
/* Clear all USB interrupt requests */
PIOS_IRQ_Disable();
_SetCNTR(0); /* Interrupt Mask */
/* Interrupt Mask */
_SetCNTR(0);
PIOS_IRQ_Enable();
/* if mode != 2: install PIOS hooks */
/* a local driver can install it's own hooks and call PIOS_USB_Init(2) to force re-enumeration */
/* If mode != 2: install PIOS hooks */
/* A local driver can install it's own hooks and call PIOS_USB_Init(2) to force re-enumeration */
if(mode != 2) {
pInformation = &My_Device_Info; /* Note: usually no need to duplicate this for external drivers */
/* Note: usually no need to duplicate this for external drivers */
pInformation = &My_Device_Info;
/* Following hooks/pointers should be replaced by external drivers */
memcpy(&Device_Table, (DEVICE *) &My_Device_Table, sizeof(Device_Table));
pProperty = (DEVICE_PROP *) &My_Device_Property;
pUser_Standard_Requests = (USER_STANDARD_REQUESTS *) &My_User_Standard_Requests;
#ifndef DISABLE_HID
pEpInt_OUT[0] = PIOS_USB_HID_EP1_OUT_Callback;
#endif
}
PIOS_USB_HID_ChangeConnectionState(0);
pInformation->ControlState = 2;
pInformation->Current_Configuration = 0;
/* if mode == 0: don't initialise USB if not required (important for BSL) */
/* If mode == 0: don't initialise USB if not required (important for BSL) */
if(mode == 0 && PIOS_USB_IsInitialized()) {
pInformation->Current_Feature = PIOS_USB_ConfigDescriptor[7];
pInformation->Current_Configuration = 1;
pUser_Standard_Requests->User_SetConfiguration();
} else {
/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
_SetCNTR(CNTR_FRES | CNTR_PDWN);
#if 0
#if 0
/* Disabled because it doesn't work, hardware needs to be looked into */
/* Configure USB disconnect pin */
/* first we hold it low for ca. 50 mS to force a re-enumeration */
@ -213,7 +294,7 @@ int32_t PIOS_USB_Init(uint32_t mode)
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
GPIO_Init(USB_ACC_GPIO_PORT, &GPIO_InitStructure);
#endif
#endif
/* Using a "dirty" method to force a re-enumeration: */
/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
@ -231,7 +312,6 @@ int32_t PIOS_USB_Init(uint32_t mode)
/* Release power-down, still hold reset */
_SetCNTR(CNTR_PDWN);
PIOS_DELAY_WaituS(5);
/* CNTR_FRES = 0 */
@ -253,12 +333,12 @@ int32_t PIOS_USB_Init(uint32_t mode)
_SetISTR(0);
/* Set interrupts mask */
_SetCNTR(IMR_MSK); /* Interrupt mask */
_SetCNTR(IMR_MSK);
}
bDeviceState = UNCONNECTED;
/* Enable USB interrupts (unfortunately shared with CAN Rx0, as either CAN or USB can be used, but not at the same time) */
/* Enable USB interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_USB_PRIORITY;
@ -311,6 +391,7 @@ int32_t PIOS_USB_IsInitialized(void)
* Hooks of STM32 USB library
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
/**
* Reset Routine
*/
@ -319,14 +400,14 @@ static void PIOS_USB_CB_Reset(void)
/* Set PIOS Device as not configured */
pInformation->Current_Configuration = 0;
/* Current Feature initialization */
/* Current Feature initialisation */
pInformation->Current_Feature = PIOS_USB_ConfigDescriptor[7];
/* Set PIOS Device with the default Interface */
pInformation->Current_Interface = 0;
SetBTABLE(PIOS_USB_BTABLE_ADDRESS);
/* Initialize Endpoint 0 */
/* Initialise Endpoint 0 */
SetEPType(ENDP0, EP_CONTROL);
SetEPTxStatus(ENDP0, EP_TX_STALL);
SetEPRxAddr(ENDP0, PIOS_USB_ENDP0_RXADDR);
@ -335,6 +416,20 @@ static void PIOS_USB_CB_Reset(void)
SetEPRxCount(ENDP0, pProperty->MaxPacketSize);
SetEPRxValid(ENDP0);
#ifndef DISABLE_HID
/* Initialise Endpoint 1 */
SetEPType(ENDP1, EP_INTERRUPT);
SetEPTxAddr(ENDP1, PIOS_USB_ENDP1_TXADDR);
SetEPRxAddr(ENDP1, PIOS_USB_ENDP1_RXADDR);
SetEPTxCount(ENDP1, 2);
SetEPRxCount(ENDP1, 2);
SetEPTxStatus(ENDP1, EP_TX_NAK);
SetEPRxStatus(ENDP1, EP_RX_VALID);
/* Propagate connection state to USB HID driver */
PIOS_USB_HID_ChangeConnectionState(0);
#endif
/* Set this device to response on default address */
SetDeviceAddress(0);
@ -347,7 +442,10 @@ static void PIOS_USB_CB_Reset(void)
static void PIOS_USB_CB_SetConfiguration(void)
{
if(pInformation->Current_Configuration != 0) {
/* Propagate connection state to USB HID driver */
PIOS_USB_HID_ChangeConnectionState(1); /* Connected */
bDeviceState = CONFIGURED;
}
}
@ -380,6 +478,11 @@ static void PIOS_USB_CB_Status_Out(void)
*/
static RESULT PIOS_USB_CB_Data_Setup(uint8_t RequestNo)
{
RESULT Result;
if((Result = PIOS_USB_HID_CB_Data_Setup(RequestNo)) != USB_UNSUPPORT) {
return Result;
}
return USB_UNSUPPORT;
}
@ -388,6 +491,11 @@ static RESULT PIOS_USB_CB_Data_Setup(uint8_t RequestNo)
*/
static RESULT PIOS_USB_CB_NoData_Setup(uint8_t RequestNo)
{
RESULT res;
if((res = PIOS_USB_HID_CB_NoData_Setup(RequestNo)) != USB_UNSUPPORT) {
return res;
}
return USB_UNSUPPORT;
}
@ -423,14 +531,14 @@ static uint8_t *PIOS_USB_CB_GetStringDescriptor(uint16_t Length)
switch(pInformation->USBwValue0) {
case 0: /* Language */
/* buffer[0] and [1] initialized below */
/* buffer[0] and [1] initialised below */
buffer[2] = 0x09; // CharSet
buffer[3] = 0x04; // U.S.
len = 4;
break;
case 1: /* Vendor */
/* buffer[0] and [1] initialized below */
/* buffer[0] and [1] initialised below */
for(i = 0, len = 2; vendor_str[i] != '\0' && len < 200; ++i) {
buffer[len++] = vendor_str[i];
buffer[len++] = 0;
@ -438,7 +546,7 @@ static uint8_t *PIOS_USB_CB_GetStringDescriptor(uint16_t Length)
break;
case 2: /* Product */
/* buffer[0] and [1] initialized below */
/* buffer[0] and [1] initialised below */
for(i = 0, len = 2; product_str[i] != '\0' && len < 200; ++i) {
buffer[len++] = product_str[i];
buffer[len++] = 0;

305
flight/PiOS/STM32F10x/pios_usb_hid.c Normal file
View File

@ -0,0 +1,305 @@
/**
******************************************************************************
*
* @file pios_usb_hid.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB HID functions
* @see The GNU Public License (GPL) Version 3
* @defgroup PIOS_USB_HID USB HID Functions
* @{
*
*****************************************************************************/
/*
* 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
*/
/* Project Includes */
#include "pios.h"
/* Local types */
typedef enum _HID_REQUESTS {
GET_REPORT = 1,
GET_IDLE,
GET_PROTOCOL,
SET_REPORT = 9,
SET_IDLE,
SET_PROTOCOL
} HID_REQUESTS;
/* Local Variables */
uint32_t ProtocolValue;
/* Local Functions */
static uint8_t *PIOS_USB_HID_GetHIDDescriptor(uint16_t Length);
static uint8_t *PIOS_USB_HID_GetReportDescriptor(uint16_t Length);
static uint8_t *PIOS_USB_HID_GetProtocolValue(uint16_t Length);
const uint8_t PIOS_USB_HID_ReportDescriptor[PIOS_USB_HID_SIZ_REPORT_DESC] = {
0x05, 0x8c, /* USAGE_PAGE (ST Page) */
0x09, 0x01, /* USAGE (Demo Kit) */
0xa1, 0x01, /* COLLECTION (Application) */
/* 6 */
/* Led 1 */
0x85, 0x01, /* REPORT_ID (1) */
0x09, 0x01, /* USAGE (LED 1) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x08, /* REPORT_SIZE (8) */
0x95, 0x01, /* REPORT_COUNT (1) */
0xB1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x85, 0x01, /* REPORT_ID (1) */
0x09, 0x01, /* USAGE (LED 1) */
0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */
/* 26 */
/* Led 2 */
0x85, 0x02, /* REPORT_ID 2 */
0x09, 0x02, /* USAGE (LED 2) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x08, /* REPORT_SIZE (8) */
0x95, 0x01, /* REPORT_COUNT (1) */
0xB1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x85, 0x02, /* REPORT_ID (2) */
0x09, 0x02, /* USAGE (LED 2) */
0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */
/* 46 */
/* Led 3 */
0x85, 0x03, /* REPORT_ID (3) */
0x09, 0x03, /* USAGE (LED 3) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x08, /* REPORT_SIZE (8) */
0x95, 0x01, /* REPORT_COUNT (1) */
0xB1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x85, 0x03, /* REPORT_ID (3) */
0x09, 0x03, /* USAGE (LED 3) */
0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */
/* 66 */
/* Led 4 */
0x85, 0x04, /* REPORT_ID 4) */
0x09, 0x04, /* USAGE (LED 4) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x08, /* REPORT_SIZE (8) */
0x95, 0x01, /* REPORT_COUNT (1) */
0xB1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x85, 0x04, /* REPORT_ID (4) */
0x09, 0x04, /* USAGE (LED 4) */
0x91, 0x82, /* OUTPUT (Data,Var,Abs,Vol) */
/* 86 */
/* key Push Button */
0x85, 0x05, /* REPORT_ID (5) */
0x09, 0x05, /* USAGE (Push Button) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x01, /* REPORT_SIZE (1) */
0x81, 0x82, /* INPUT (Data,Var,Abs,Vol) */
0x09, 0x05, /* USAGE (Push Button) */
0x75, 0x01, /* REPORT_SIZE (1) */
0xb1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x75, 0x07, /* REPORT_SIZE (7) */
0x81, 0x83, /* INPUT (Cnst,Var,Abs,Vol) */
0x85, 0x05, /* REPORT_ID (2) */
0x75, 0x07, /* REPORT_SIZE (7) */
0xb1, 0x83, /* FEATURE (Cnst,Var,Abs,Vol) */
/* 114 */
/* Tamper Push Button */
0x85, 0x06, /* REPORT_ID (6) */
0x09, 0x06, /* USAGE (Tamper Push Button) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x25, 0x01, /* LOGICAL_MAXIMUM (1) */
0x75, 0x01, /* REPORT_SIZE (1) */
0x81, 0x82, /* INPUT (Data,Var,Abs,Vol) */
0x09, 0x06, /* USAGE (Tamper Push Button) */
0x75, 0x01, /* REPORT_SIZE (1) */
0xb1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
0x75, 0x07, /* REPORT_SIZE (7) */
0x81, 0x83, /* INPUT (Cnst,Var,Abs,Vol) */
0x85, 0x06, /* REPORT_ID (6) */
0x75, 0x07, /* REPORT_SIZE (7) */
0xb1, 0x83, /* FEATURE (Cnst,Var,Abs,Vol) */
/* 142 */
/* ADC IN */
0x85, 0x07, /* REPORT_ID (7) */
0x09, 0x07, /* USAGE (ADC IN) */
0x15, 0x00, /* LOGICAL_MINIMUM (0) */
0x26, 0xff, 0x00, /* LOGICAL_MAXIMUM (255) */
0x75, 0x08, /* REPORT_SIZE (8) */
0x81, 0x82, /* INPUT (Data,Var,Abs,Vol) */
0x85, 0x07, /* REPORT_ID (7) */
0x09, 0x07, /* USAGE (ADC in) */
0xb1, 0x82, /* FEATURE (Data,Var,Abs,Vol) */
/* 161 */
0xc0 /* END_COLLECTION */
};
ONE_DESCRIPTOR PIOS_USB_HID_Report_Descriptor = {(uint8_t *) PIOS_USB_HID_ReportDescriptor, PIOS_USB_HID_SIZ_REPORT_DESC};
ONE_DESCRIPTOR PIOS_USB_HID_Hid_Descriptor = {(uint8_t*) PIOS_USB_HID_ReportDescriptor + PIOS_USB_HID_OFF_HID_DESC, PIOS_USB_HID_SIZ_HID_DESC};
/**
* This function is called by the USB driver on cable connection/disconnection
* \param[in] connected connection status (1 if connected)
* \return < 0 on errors
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
uint32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected)
{
return 0;
}
int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo)
{
uint8_t *(*CopyRoutine)( uint16_t) = NULL;
CopyRoutine = NULL;
if((RequestNo == GET_DESCRIPTOR) && (Type_Recipient == (STANDARD_REQUEST | INTERFACE_RECIPIENT)) && (pInformation->USBwIndex0 == 0)) {
if(pInformation->USBwValue1 == PIOS_USB_HID_REPORT_DESCRIPTOR) {
CopyRoutine = PIOS_USB_HID_GetReportDescriptor;
} else if(pInformation->USBwValue1 == PIOS_USB_HID_HID_DESCRIPTOR_TYPE) {
CopyRoutine = PIOS_USB_HID_GetHIDDescriptor;
}
}
/* End of GET_DESCRIPTOR */
/* GET_PROTOCOL */
else if((Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT)) && RequestNo == GET_PROTOCOL) {
CopyRoutine = PIOS_USB_HID_GetProtocolValue;
}
if(CopyRoutine == NULL) {
return USB_UNSUPPORT;
}
pInformation->Ctrl_Info.CopyData = CopyRoutine;
pInformation->Ctrl_Info.Usb_wOffset = 0;
(*CopyRoutine)(0);
return USB_SUCCESS;
}
int32_t PIOS_USB_HID_CB_NoData_Setup(uint8_t RequestNo)
{
if((Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT)) && (RequestNo == SET_PROTOCOL)) {
uint8_t wValue0 = pInformation->USBwValue0;
ProtocolValue = wValue0;
return USB_SUCCESS;
}
else {
return USB_UNSUPPORT;
}
// TODO:Unsure
return USB_UNSUPPORT;
}
/**
* Gets the HID descriptor.
* \param[in] Length
* \return The address of the configuration descriptor.
*/
static uint8_t *PIOS_USB_HID_GetHIDDescriptor(uint16_t Length)
{
return Standard_GetDescriptorData(Length, &PIOS_USB_HID_Hid_Descriptor);
}
/**
* Gets the HID report descriptor.
* \param[in] Length
* \return The address of the configuration descriptor.
*/
static uint8_t *PIOS_USB_HID_GetReportDescriptor(uint16_t Length)
{
return Standard_GetDescriptorData(Length, &PIOS_USB_HID_Report_Descriptor);
}
/**
* Gets the protocol value
* \param[in] Length
* \return address of the protcol value.
*/
static uint8_t *PIOS_USB_HID_GetProtocolValue(uint16_t Length)
{
if(Length == 0) {
pInformation->Ctrl_Info.Usb_wLength = 1;
return NULL;
} else {
return (uint8_t *) (&ProtocolValue);
}
}
/**
* EP1 OUT Callback Routine
*/
void PIOS_USB_HID_EP1_OUT_Callback(void)
{
uint8_t Receive_Buffer[2];
BitAction Led_State;
/* Read received data (2 bytes) */
USB_SIL_Read(0x01, Receive_Buffer);
if(Receive_Buffer[1] == 0) {
Led_State = Bit_RESET;
} else {
Led_State = Bit_SET;
}
switch(Receive_Buffer[0]) {
case 1: /* Led 1 */
if(Led_State != Bit_RESET) {
PIOS_LED_On(LED1);
} else {
PIOS_LED_Off(LED1);
}
break;
case 2: /* Led 2 */
if(Led_State != Bit_RESET) {
PIOS_LED_On(LED2);
} else {
PIOS_LED_Off(LED2);
}
break;
default:
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
break;
}
SetEPRxStatus(ENDP1, EP_RX_VALID);
}

27
flight/PiOS/inc/pios_usb.h
View File

@ -30,43 +30,38 @@
/* Local defines */
/* Following settings allow to customise the USB device descriptor */
#ifndef PIOS_USB_VENDOR_ID
#define PIOS_USB_VENDOR_ID 0x16c0 // sponsored by voti.nl! see http://www.voti.nl/pids
#define PIOS_USB_VENDOR_ID 0x0483
#endif
#ifndef PIOS_USB_VENDOR_STR
#define PIOS_USB_VENDOR_STR "openpilot.org" // you will see this in the USB device description
#define PIOS_USB_VENDOR_STR "openpilot.org"
#endif
#ifndef PIOS_USB_PRODUCT_STR
#define PIOS_USB_PRODUCT_STR "OpenPilot" /* You will see this in the USB device list */
#define PIOS_USB_PRODUCT_STR "OpenPilot"
#endif
#ifndef PIOS_USB_PRODUCT_ID
#define PIOS_USB_PRODUCT_ID 0x03ff /* ==1023; 1020-1029 reserved for T.Klose, 1000 - 1009 free for lab use */
#define PIOS_USB_PRODUCT_ID 0x5750
#endif
#ifndef PIOS_USB_VERSION_ID
#define PIOS_USB_VERSION_ID 0x0100 /* v1.00 */
#define PIOS_USB_VERSION_ID 0x0200 /* v2.00 */
#endif
/* Internal defines which are used by PIOS USB HID (don't touch) */
#define PIOS_USB_EP_NUM 5
#define PIOS_USB_EP_NUM 2
/* Buffer table base address */
#define PIOS_USB_BTABLE_ADDRESS 0x000
#define PIOS_USB_BTABLE_ADDRESS 0x000
/* EP0 rx/tx buffer base address */
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
#define PIOS_USB_ENDP0_RXADDR 0x040
#define PIOS_USB_ENDP0_TXADDR 0x080
/* EP1 Rx/Tx buffer base address for HID driver */
#define PIOS_USB_ENDP1_TXADDR 0x0c0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* EP2/3/4 buffer base addresses for COM driver */
#define PIOS_USB_ENDP2_TXADDR 0x140
#define PIOS_USB_ENDP3_RXADDR 0x180
#define PIOS_USB_ENDP4_TXADDR 0x1c0
#define PIOS_USB_ENDP1_TXADDR 0x0C0
#define PIOS_USB_ENDP1_RXADDR 0x100
/* Global Variables */

46
flight/PiOS/inc/pios_usb_hid.h Normal file
View File

@ -0,0 +1,46 @@
/**
******************************************************************************
*
* @file pios_usb_hid.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USB HID layer functions header
* @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
*/
#ifndef PIOS_USB_HID_H
#define PIOS_USB_HID_H
/* Global Definitions */
#define PIOS_USB_HID_SIZ_REPORT_DESC 162
#define PIOS_USB_HID_REPORT_DESCRIPTOR 0x22
#define PIOS_USB_HID_HID_DESCRIPTOR_TYPE 0x21
#define PIOS_USB_HID_OFF_HID_DESC 0x12
#define PIOS_USB_HID_SIZ_HID_DESC 0x09
/* Global Variables */
extern uint32_t ProtocolValue;
/* Global functions */
extern uint32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected);
extern int32_t PIOS_USB_HID_CB_Data_Setup(uint8_t RequestNo);
extern int32_t PIOS_USB_HID_CB_NoData_Setup(uint8_t RequestNo);
extern void PIOS_USB_HID_EP1_OUT_Callback(void);
#endif /* PIOS_USB_HID_H */

78
flight/PiOS/pios.c
View File

@ -44,10 +44,11 @@ static uint8_t sdcard_available;
/* Function Prototypes */
static void TaskTick(void *pvParameters);
static void TaskServos(void *pvParameters);
static void TaskHooks(void *pvParameters);
static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(COMPortTypeDef port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
static void TaskSDCard(void *pvParameters);
/**
* Main function
@ -100,15 +101,37 @@ int main()
PIOS_USB_Init(0);
PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse);
__IO uint8_t Send_Buffer[2];
uint8_t count = 0;
for(;;)
{
/* Report ID */
Send_Buffer[0] = 0x07;
/* Report Data */
Send_Buffer[1] = count;
USB_SIL_Write(EP1_IN, (uint8_t*) Send_Buffer, 2);
if(count >= 255) {
count = 0;
} else {
count++;
}
PIOS_DELAY_WaitmS(50);
}
//PIOS_COM_ReceiveCallbackInit(CONSOLE_Parse);
/* Initialise OpenPilot application */
// OpenPilotInit();
/* Create a FreeRTOS task */
//xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
xTaskCreate(TaskTick, (signed portCHAR *)"Test", configMINIMAL_STACK_SIZE , NULL, 1, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskHooks, (signed portCHAR *)"Hooks", configMINIMAL_STACK_SIZE, NULL, PRIORITY_TASK_HOOKS, NULL);
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
@ -149,7 +172,7 @@ void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value)
}
void TaskTick(void *pvParameters)
static void TaskTick(void *pvParameters)
{
portTickType xLastExecutionTime;
@ -162,13 +185,51 @@ void TaskTick(void *pvParameters)
PIOS_LED_Toggle(LED1);
vTaskDelayUntil(&xLastExecutionTime, 500 / portTICK_RATE_MS);
}
}
#if 0
static void TaskServos(void *pvParameters)
{
/* For testing servo outputs */
const portTickType xDelay = 1 / portTICK_RATE_MS;
portTickType xDelay;
Used to test servos, cycles all servos from one side to the other
/* Used to test servos, cycles all servos from one side to the other */
for(;;) {
xDelay = 250 / portTICK_RATE_MS;
PIOS_Servo_Set(0, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 2000);
vTaskDelay(xDelay);
PIOS_Servo_Set(7, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(6, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(5, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(4, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(3, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(2, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(1, 1000);
vTaskDelay(xDelay);
PIOS_Servo_Set(0, 1000);
vTaskDelay(xDelay);
xDelay = 1 / portTICK_RATE_MS;
for(int i = 1000; i < 2000; i++) {
PIOS_Servo_Set(0, i);
PIOS_Servo_Set(1, i);
@ -192,7 +253,6 @@ void TaskTick(void *pvParameters)
vTaskDelay(xDelay);
}
}
#endif
}
static void TaskHooks(void *pvParameters)

3
flight/PiOS/pios.h
View File

@ -66,6 +66,7 @@
#include <pios_spi.h>
#include <pios_pwm.h>
#include <pios_usb.h>
#include <pios_usb_hid.h>
/* PIOS Hardware Includes (Common) */
#include <pios_settings.h>
@ -75,5 +76,7 @@
/* More added here as they get written */
/* USB Libs */
#include <usb_lib.h>
#endif /* PIOS_H */