mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-18 03:52:11 +01:00
Flight - #ifdefs to make it work with both normal and bootloader packet formats.
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1609 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
zedamota
zedamota
parent
41a23a8eeb
commit
66560786f4
@ -41,10 +41,10 @@
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#if defined(PIOS_INCLUDE_USB_HID)
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const struct pios_com_driver pios_usb_com_driver = {
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.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
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.tx = PIOS_USB_HID_TxBufferPutMore,
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.rx = PIOS_USB_HID_RxBufferGet,
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.rx_avail = PIOS_USB_HID_RxBufferUsed,
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.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
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.tx = PIOS_USB_HID_TxBufferPutMore,
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.rx = PIOS_USB_HID_RxBufferGet,
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.rx_avail = PIOS_USB_HID_RxBufferUsed,
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};
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// TODO: Eventually replace the transmit and receive buffers with bigger ring bufers
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@ -64,11 +64,11 @@ cBuffer txBuffer;
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static uint8_t rxBufferSpace[TX_BUFFER_SIZE];
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static uint8_t txBufferSpace[RX_BUFFER_SIZE];
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/**
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* Initialises USB COM layer
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* \param[in] mode currently only mode 0 supported
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* \return < 0 if initialisation failed
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* Initialises USB COM layer
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* \param[in] mode currently only mode 0 supported
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* \return < 0 if initialisation failed
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_Init(uint32_t mode)
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{
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/* Currently only mode 0 supported */
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@ -76,46 +76,46 @@ int32_t PIOS_USB_HID_Init(uint32_t mode)
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/* Unsupported mode */
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return -1;
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}
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bufferInit(&rxBuffer, &rxBufferSpace[0], RX_BUFFER_SIZE);
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bufferInit(&txBuffer, &txBufferSpace[0], TX_BUFFER_SIZE);
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PIOS_USB_HID_Reenumerate();
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bufferInit(&rxBuffer, &rxBufferSpace[0], RX_BUFFER_SIZE);
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bufferInit(&txBuffer, &txBufferSpace[0], TX_BUFFER_SIZE);
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PIOS_USB_HID_Reenumerate();
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/* Enable the USB Interrupts */
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/* 2 bit for pre-emption priority, 2 bits for subpriority */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Select USBCLK source */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable the USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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/* Update the USB serial number from the chip */
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uint8_t sn[25];
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PIOS_SYS_SerialNumberGet((char *) sn);
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for(uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_HID_StringSerial[0]; i ++) {
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PIOS_HID_StringSerial[2+2*i] = sn[i];
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}
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/* Update the USB serial number from the chip */
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uint8_t sn[25];
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PIOS_SYS_SerialNumberGet((char *) sn);
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for(uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_HID_StringSerial[0]; i ++) {
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PIOS_HID_StringSerial[2+2*i] = sn[i];
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}
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USB_Init();
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USB_SIL_Init();
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return 0; /* No error */
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}
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/**
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* This function is called by the USB driver on cable connection/disconnection
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* \param[in] connected connection status (1 if connected)
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* \return < 0 on errors
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* This function is called by the USB driver on cable connection/disconnection
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* \param[in] connected connection status (1 if connected)
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* \return < 0 on errors
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected)
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{
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// In all cases: re-initialise USB HID driver
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@ -125,189 +125,191 @@ int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected)
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//TODO: Check SetEPRxValid(ENDP1);
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#if defined(USB_LED_ON)
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USB_LED_ON; // turn the USB led on
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#endif
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#if defined(USB_LED_ON)
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USB_LED_ON; // turn the USB led on
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#endif
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}
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else
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{
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// Cable disconnected: disable transfers
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transfer_possible = 0;
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#if defined(USB_LED_OFF)
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USB_LED_OFF; // turn the USB led off
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#endif
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#if defined(USB_LED_OFF)
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USB_LED_OFF; // turn the USB led off
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#endif
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}
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return 0;
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}
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int32_t PIOS_USB_HID_Reenumerate()
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{
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/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
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_SetCNTR(CNTR_FRES | CNTR_PDWN);
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/* Using a "dirty" method to force a re-enumeration: */
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/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
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/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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PIOS_DELAY_WaitmS(50);
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/* Release power-down, still hold reset */
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_SetCNTR(CNTR_PDWN);
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PIOS_DELAY_WaituS(5);
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/* CNTR_FRES = 0 */
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_SetCNTR(0);
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/* Clear pending interrupts */
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_SetISTR(0);
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/* Configure USB clock */
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/* USBCLK = PLLCLK / 1.5 */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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return 0;
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{
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/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
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_SetCNTR(CNTR_FRES | CNTR_PDWN);
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/* Using a "dirty" method to force a re-enumeration: */
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/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
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/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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PIOS_DELAY_WaitmS(50);
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/* Release power-down, still hold reset */
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_SetCNTR(CNTR_PDWN);
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PIOS_DELAY_WaituS(5);
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/* CNTR_FRES = 0 */
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_SetCNTR(0);
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/* Clear pending interrupts */
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_SetISTR(0);
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/* Configure USB clock */
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/* USBCLK = PLLCLK / 1.5 */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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return 0;
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}
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/**
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* This function returns the connection status of the USB HID interface
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* \return 1: interface available
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* \return 0: interface not available
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* This function returns the connection status of the USB HID interface
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* \return 1: interface available
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* \return 0: interface not available
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
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{
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return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
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return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
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}
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void sendChunk()
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{
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uint32_t size = bufferBufferedData(&txBuffer);
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if(size > 0)
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{
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if(size > PIOS_USB_HID_DATA_LENGTH)
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size = PIOS_USB_HID_DATA_LENGTH;
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bufferGetChunkFromFront(&txBuffer, &tx_buffer[2], size);
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tx_buffer[0] = 1; /* report ID */
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tx_buffer[1] = size; /* valid data length */
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/* Wait for any pending transmissions to complete */
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while(GetEPTxStatus(ENDP1) == EP_TX_VALID)
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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UserToPMABufferCopy((uint8_t*) tx_buffer, GetEPTxAddr(EP1_IN & 0x7F), size+2);
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SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH+2);
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/* Send Buffer */
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SetEPTxValid(ENDP1);
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}
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uint32_t size = bufferBufferedData(&txBuffer);
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if(size > 0)
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{
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if(size > PIOS_USB_HID_DATA_LENGTH)
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size = PIOS_USB_HID_DATA_LENGTH;
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#ifdef USB_HID
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bufferGetChunkFromFront(&txBuffer, &tx_buffer[1], size+1);
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tx_buffer[0] = 1; /* report ID */
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#else
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bufferGetChunkFromFront(&txBuffer, &tx_buffer[2], size);
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tx_buffer[0] = 1; /* report ID */
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tx_buffer[1] = size; /* valid data length */
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#endif
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/* Wait for any pending transmissions to complete */
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while(GetEPTxStatus(ENDP1) == EP_TX_VALID)
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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UserToPMABufferCopy((uint8_t*) tx_buffer, GetEPTxAddr(EP1_IN & 0x7F), size+2);
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SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH+2);
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/* Send Buffer */
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SetEPTxValid(ENDP1);
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}
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}
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/**
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* Puts more than one byte onto the transmit buffer (used for atomic sends)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* Puts more than one byte onto the transmit buffer (used for atomic sends)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t *buffer, uint16_t len)
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{
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/*if( len > PIOS_USB_HID_DATA_LENGTH )
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return - 1;*/
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uint8_t previous_data = bufferBufferedData(&txBuffer);
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if(len > bufferRemainingSpace(&txBuffer))
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return -1; /* Cannot send all requested bytes */
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if(bufferAddChunkToEnd(&txBuffer, buffer, len) == 0)
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return -1;
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/* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */
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if(previous_data == 0 && GetEPTxStatus(ENDP1) != EP_TX_VALID)
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sendChunk();
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return 0;
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/*if( len > PIOS_USB_HID_DATA_LENGTH )
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return - 1;*/
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uint8_t previous_data = bufferBufferedData(&txBuffer);
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if(len > bufferRemainingSpace(&txBuffer))
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return -1; /* Cannot send all requested bytes */
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if(bufferAddChunkToEnd(&txBuffer, buffer, len) == 0)
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return -1;
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/* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */
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if(previous_data == 0 && GetEPTxStatus(ENDP1) != EP_TX_VALID)
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sendChunk();
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return 0;
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}
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/**
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* Puts more than one byte onto the transmit buffer (used for atomic sends)<br>
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* (Blocking Function)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* Puts more than one byte onto the transmit buffer (used for atomic sends)<br>
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* (Blocking Function)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t *buffer, uint16_t len)
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{
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uint32_t error;
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if((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(id, buffer, len)) != 0)
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return error;
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while( bufferBufferedData(&txBuffer) )
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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return 0;
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uint32_t error;
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if((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(id, buffer, len)) != 0)
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return error;
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while( bufferBufferedData(&txBuffer) )
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{
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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return 0;
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}
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/**
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* Gets a byte from the receive buffer
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* \return -1 if no new byte available
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* \return >= 0: received byte
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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* Gets a byte from the receive buffer
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* \return -1 if no new byte available
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* \return >= 0: received byte
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_RxBufferGet(uint8_t id)
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{
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return bufferGetFromFront(&rxBuffer);
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return bufferGetFromFront(&rxBuffer);
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}
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/**
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* Returns number of used bytes in receive buffer
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* \return > 0: number of used bytes
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* \return 0 nothing available
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* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
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*/
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* Returns number of used bytes in receive buffer
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* \return > 0: number of used bytes
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* \return 0 nothing available
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* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id)
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{
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return bufferBufferedData(&rxBuffer);
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}
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/**
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* @brief Callback used to indicate a transmission from device INto host completed
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* Checks if any data remains, pads it into HID packet and sends.
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*/
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void PIOS_USB_HID_EP1_IN_Callback(void)
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{
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sendChunk();
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sendChunk();
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}
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/**
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* EP1 OUT Callback Routine
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*/
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* EP1 OUT Callback Routine
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*/
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void PIOS_USB_HID_EP1_OUT_Callback(void)
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{
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uint32_t DataLength = 0;
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@ -315,19 +317,22 @@ void PIOS_USB_HID_EP1_OUT_Callback(void)
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/* Read received data (63 bytes) */
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/* Get the number of received data on the selected Endpoint */
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DataLength = GetEPRxCount(ENDP1 & 0x7F);
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/* Use the memory interface function to write to the selected endpoint */
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PMAToUserBufferCopy((uint8_t *) rx_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
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/* The first byte is report ID (not checked), the second byte is the valid data length */
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bufferAddChunkToEnd(&rxBuffer, &rx_buffer[2], rx_buffer[1]);
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/* The first byte is report ID (not checked), the second byte is the valid data length */
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#ifdef USB_HID
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bufferAddChunkToEnd(&rxBuffer, &rx_buffer[1], PIOS_USB_HID_DATA_LENGTH+1);
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#else
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bufferAddChunkToEnd(&rxBuffer, &rx_buffer[2], rx_buffer[1]);
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#endif
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SetEPRxStatus(ENDP1, EP_RX_VALID);
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}
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#endif
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/**
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* @}
|
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* @}
|
||||
*/
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
|
||||
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Reference in New Issue
Block a user