Merge remote-tracking branch 'origin/stac/usb-composite-device-v2' into next

flight/AHRS/inc/pios_config.h

@@ -41,5 +41,6 @@
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_IAP
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/AHRS/inc/pios_config.h

@@ -36,5 +36,6 @@
 #define PIOS_INCLUDE_BL_HELPER
 #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_IAP
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/CopterControl/Makefile

@@ -104,7 +104,6 @@ SRC += $(PIOSSTM32F10X)/pios_irq.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 
-
 # PIOS USB related files (seperated to make code maintenance more easy)
 SRC += $(PIOSSTM32F10X)/pios_usb.c
 SRC += $(PIOSSTM32F10X)/pios_usbhook.c
@@ -116,7 +115,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_board_info.c
-SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c

flight/Bootloaders/CopterControl/inc/pios_config.h

@@ -39,8 +39,9 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_USB
 #define PIOS_INCLUDE_USB_HID
-#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_IAP
 #define PIOS_NO_GPS
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/CopterControl/inc/pios_usb_board_data.h

@@ -37,33 +37,6 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[28];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
-
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL)
 

flight/Bootloaders/CopterControl/main.c

@@ -32,6 +32,7 @@
 #include "usb_lib.h"
 #include "pios_iap.h"
 #include "fifo_buffer.h"
+#include "pios_com_msg.h"
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
@@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
 uint8_t User_DFU_request = FALSE;
-static uint8_t mReceive_Buffer[64];
+static uint8_t mReceive_Buffer[63];
 /* Private function prototypes -----------------------------------------------*/
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
 uint8_t processRX();
@@ -198,7 +199,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
 }
 
 uint8_t processRX() {
-	if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+	if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 		processComand(mReceive_Buffer);
 	}
 	return TRUE;

flight/Bootloaders/CopterControl/op_dfu.c

@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include "pios_com_msg.h"
 #include <pios_board_info.h>
 //programmable devices
 Device devicesTable[10];
@@ -446,9 +447,7 @@ uint32_t CalcFirmCRC() {
 
 }
 void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
+	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-	if (DeviceState == downloading)
-		PIOS_DELAY_WaitmS(20);//this is an hack, we should check wtf is wrong with hid
 }
 
 bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

flight/Bootloaders/CopterControl/pios_board.c

@@ -27,17 +27,11 @@
 
 // ***********************************************************************************
 
-#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_COM_MSG)
 
-#include <pios_com_priv.h>
+#include <pios_com_msg_priv.h>
 
-#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#endif /* PIOS_INCLUDE_COM_MSG */
-#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
-
-static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
-static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
-
-#endif /* PIOS_INCLUDE_COM */
 
 // ***********************************************************************************
 
@@ -54,6 +48,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
     },
   },
 };
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
 #endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -93,21 +91,25 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Activate the HID-only USB configuration */
+	PIOS_USB_DESC_HID_ONLY_Init();
+
 	uint32_t pios_usb_id;
 	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
 		PIOS_Assert(0);
 	}
-#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
 	uint32_t pios_usb_hid_id;
 	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
 		PIOS_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
-			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
-			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
 		PIOS_Assert(0);
 	}
-#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
+#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
 
 #endif	/* PIOS_INCLUDE_USB */
 

flight/Bootloaders/CopterControl/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[28] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'C', 0,
 	'o', 0,
@@ -48,3 +50,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'l', 0,
 };
 
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/Bootloaders/OpenPilot/Makefile

@@ -119,6 +119,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_board_info.c
+SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_opahrs_v0.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
@@ -292,7 +293,7 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -DDEBUG
+CFLAGS += -DDEBUG
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -42,7 +42,9 @@
 #define PIOS_INCLUDE_USB_HID
 #define PIOS_INCLUDE_OPAHRS
 #define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_IAP
 //#define DEBUG_SSP
 
 /* Defaults for Logging */

flight/Bootloaders/OpenPilot/inc/pios_usb_board_data.h

@@ -37,33 +37,6 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[20];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
-
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_BL)
 

flight/Bootloaders/OpenPilot/main.c

@@ -35,6 +35,7 @@
 #include "pios_iap.h"
 #include "ssp.h"
 #include "fifo_buffer.h"
+#include "pios_com_msg.h"
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
@@ -90,7 +91,7 @@ uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
 uint8_t User_DFU_request = FALSE;
-static uint8_t mReceive_Buffer[64];
+static uint8_t mReceive_Buffer[63];
 /* Private function prototypes -----------------------------------------------*/
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
 uint8_t processRX();
@@ -101,10 +102,6 @@ uint32_t sspTimeSource();
 #define RED	LED2
 #define LED_PWM_TIMER	TIM6
 int main() {
-	/* NOTE: Do NOT modify the following start-up sequence */
-	/* Any new initialization functions should be added in OpenPilotInit() */
-
-	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
 	if (BSL_HOLD_STATE == 0)
 		USB_connected = TRUE;
@@ -227,7 +224,6 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
-
 		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
@@ -249,7 +245,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
 
 uint8_t processRX() {
 	if (ProgPort == Usb) {
-		if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+		if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 			processComand(mReceive_Buffer);
 		}
 	} else if (ProgPort == Serial) {

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -30,13 +30,10 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include "pios_com_msg.h"
 #include <pios_board_info.h>
 #include "pios_opahrs.h"
 #include "ssp.h"
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
@@ -222,7 +219,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 						}
 					}
 					if (result != 1) {
-						DeviceState = Last_operation_failed;//ok
+						DeviceState = Last_operation_failed;
 						Aditionals = (uint32_t) Command;
 					} else {
 
@@ -299,7 +296,6 @@ void processComand(uint8_t *xReceive_Buffer) {
 
 					++Next_Packet;
 				} else {
-
 					DeviceState = wrong_packet_received;
 					Aditionals = Count;
 				}
@@ -353,10 +349,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 				DeviceState = failed_jump;
 				break;
 			} else {
+				if (Data == 0x5AFE) {
+					/* Force board into safe mode */
+					PIOS_IAP_WriteBootCount(0xFFFF);
+				}
 				FLASH_Lock();
 				JumpToApp = 1;
 			}
 		} else {
+			if (Data == 0x5AFE) {
+				/* Force board into safe mode */
+				PIOS_IAP_WriteBootCount(0xFFFF);
+			}
 			FLASH_Lock();
 			JumpToApp = 1;
 		}
@@ -384,7 +388,6 @@ void processComand(uint8_t *xReceive_Buffer) {
 				DeviceState = too_few_packets;
 			}
 		}
-
 		break;
 	case Download_Req:
 #ifdef DEBUG_SSP
@@ -508,6 +511,7 @@ uint32_t baseOfAdressType(DFUTransfer type) {
 		return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
 		break;
 	default:
+
 		return 0;
 	}
 }
@@ -550,11 +554,7 @@ uint32_t CalcFirmCRC() {
 }
 void sendData(uint8_t * buf, uint16_t size) {
 	if (ProgPort == Usb) {
-
+		PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-		PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
-		if (DeviceState == downloading)
-			PIOS_DELAY_WaitmS(10);
-
 	} else if (ProgPort == Serial) {
 		ssp_SendData(&ssp_port, buf, size);
 	}

flight/Bootloaders/OpenPilot/pios_board.c

@@ -184,12 +184,6 @@ const struct pios_usart_cfg pios_usart_telem_cfg = {
 
 #include "pios_com_priv.h"
 
-#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
-#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
-
-static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
-static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
-
 #define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
 
@@ -198,6 +192,16 @@ static uint8_t pios_com_telem_rf_tx_buffer[PIOS_COM_TELEM_RF_TX_BUF_LEN];
 
 #endif	/* PIOS_INCLUDE_COM */
 
+// ***********************************************************************************
+
+#if defined(PIOS_INCLUDE_COM_MSG)
+
+#include <pios_com_msg_priv.h>
+
+#endif /* PIOS_INCLUDE_COM_MSG */
+
+// ***********************************************************************************
+
 #if defined(PIOS_INCLUDE_USB)
 #include "pios_usb_priv.h"
 
@@ -211,7 +215,11 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
     },
   },
 };
-#endif	/* PIOS_INCLUDE_USB_HID */
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
+#endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
 #include <pios_usb_hid_priv.h>
@@ -266,21 +274,25 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Activate the HID-only USB configuration */
+	PIOS_USB_DESC_HID_ONLY_Init();
+
 	uint32_t pios_usb_id;
 	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
 		PIOS_Assert(0);
 	}
-#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
 	uint32_t pios_usb_hid_id;
 	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
 		PIOS_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
-			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
-			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
 		PIOS_Assert(0);
 	}
-#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
+#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
 
 #endif	/* PIOS_INCLUDE_USB */
 

flight/Bootloaders/OpenPilot/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[20] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'O', 0,
 	'p', 0,
@@ -43,3 +45,75 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'o', 0,
 	't', 0,
 };
+
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/Bootloaders/PipXtreme/Makefile

@@ -115,7 +115,7 @@ SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_board_info.c
-SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_com_msg.c
 SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/pios_iap.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
@@ -287,7 +287,7 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -DDEBUG
+CFLAGS += -DDEBUG
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/Bootloaders/PipXtreme/inc/pios_config.h

@@ -38,9 +38,9 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_USB
 #define PIOS_INCLUDE_USB_HID
-#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_COM_MSG
 #define PIOS_INCLUDE_GPIO
-//#define DEBUG_SSP
+#define PIOS_INCLUDE_IAP
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"

flight/Bootloaders/PipXtreme/inc/pios_usb_board_data.h

@@ -37,33 +37,6 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[20];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
-
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_BL)
 

flight/Bootloaders/PipXtreme/main.c

@@ -32,6 +32,7 @@
 #include "usb_lib.h"
 #include "pios_iap.h"
 #include "fifo_buffer.h"
+#include "pios_com_msg.h"
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
@@ -62,7 +63,7 @@ uint8_t JumpToApp = FALSE;
 uint8_t GO_dfu = FALSE;
 uint8_t USB_connected = FALSE;
 uint8_t User_DFU_request = FALSE;
-static uint8_t mReceive_Buffer[64];
+static uint8_t mReceive_Buffer[63];
 /* Private function prototypes -----------------------------------------------*/
 uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
 uint8_t processRX();
@@ -71,10 +72,6 @@ void jump_to_app();
 #define BLUE LED1
 #define RED	LED4
 int main() {
-	/* NOTE: Do NOT modify the following start-up sequence */
-	/* Any new initialization functions should be added in OpenPilotInit() */
-
-	/* Brings up System using CMSIS functions, enables the LEDs. */
 	PIOS_SYS_Init();
 	if (BSL_HOLD_STATE == 0)
 		USB_connected = TRUE;
@@ -181,7 +178,6 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
-
 		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
@@ -204,7 +200,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) {
 }
 
 uint8_t processRX() {
-	if (PIOS_COM_ReceiveBuffer(PIOS_COM_TELEM_USB, mReceive_Buffer, 63, 0) == 63) {
+	if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
 		processComand(mReceive_Buffer);
 	}
 	return TRUE;

flight/Bootloaders/PipXtreme/op_dfu.c

@@ -30,11 +30,8 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include "pios_com_msg.h"
 #include <pios_board_info.h>
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
@@ -102,33 +99,9 @@ void DataDownload(DownloadAction action) {
 					currentProgrammingDestination)) {
 				DeviceState = Last_operation_failed;
 			}
-			/*
-			 switch (currentProgrammingDestination) {
-			 case Remote_flash_via_spi:
-			 if (downType == Descript) {
-			 SendBuffer[6 + (x * 4)]
-			 = spi_dev_desc[(uint8_t) partoffset];
-			 SendBuffer[7 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
-			 + 1];
-			 SendBuffer[8 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
-			 + 2];
-			 SendBuffer[9 + (x * 4)] = spi_dev_desc[(uint8_t) partoffset
-			 + 3];
-			 }
-			 break;
-			 case Self_flash:
-			 SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
-			 SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
-			 SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
-			 SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
-			 break;
-			 }
-			 */
 		}
-		//PIOS USB_SIL_Write(EP1_IN, (uint8_t*) SendBuffer, 64);
 		downPacketCurrent = downPacketCurrent + 1;
 		if (downPacketCurrent > downPacketTotal - 1) {
-			// STM_EVAL_LEDOn(LED2);
 			DeviceState = Last_operation_Success;
 			Aditionals = (uint32_t) Download;
 		}
@@ -168,7 +141,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 	case EnterDFU:
 		if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
 				|| (DeviceState == DFUidle)) {
-			if (Data0 > 0)//PORQUE???
+			if (Data0 > 0)
 				OPDfuIni(TRUE);
 			DeviceState = DFUidle;
 			currentProgrammingDestination = devicesTable[Data0].programmingType;
@@ -225,7 +198,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 						}
 					}
 					if (result != 1) {
-						DeviceState = Last_operation_failed;//ok
+						DeviceState = Last_operation_failed;
 						Aditionals = (uint32_t) Command;
 					} else {
 
@@ -276,11 +249,9 @@ void processComand(uint8_t *xReceive_Buffer) {
 
 					++Next_Packet;
 				} else {
-
 					DeviceState = wrong_packet_received;
 					Aditionals = Count;
 				}
-				// FLASH_ProgramWord(MemLocations[TransferType]+4,++Next_Packet);//+Count,Data);
 			} else {
 				DeviceState = Last_operation_failed;
 				Aditionals = (uint32_t) Command;
@@ -322,9 +293,12 @@ void processComand(uint8_t *xReceive_Buffer) {
 			Buffer[15] = devicesTable[Data0 - 1].devID;
 		}
 		sendData(Buffer + 1, 63);
-		//PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, Buffer + 1, 63);//FIX+1
 		break;
 	case JumpFW:
+		if (Data == 0x5AFE) {
+			/* Force board into safe mode */
+			PIOS_IAP_WriteBootCount(0xFFFF);
+		}
 		FLASH_Lock();
 		JumpToApp = 1;
 		break;
@@ -351,7 +325,6 @@ void processComand(uint8_t *xReceive_Buffer) {
 				DeviceState = too_few_packets;
 			}
 		}
-
 		break;
 	case Download_Req:
 #ifdef DEBUG_SSP
@@ -474,9 +447,7 @@ uint32_t CalcFirmCRC() {
 
 }
 void sendData(uint8_t * buf, uint16_t size) {
-	PIOS_COM_SendBuffer(PIOS_COM_TELEM_USB, buf, size);
+	PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, buf, size);
-	if (DeviceState == downloading)
-		PIOS_DELAY_WaitmS(10);
 }
 
 bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {

flight/Bootloaders/PipXtreme/pios_board.c

@@ -27,17 +27,11 @@
 
 // ***********************************************************************************
 
-#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_COM_MSG)
 
-#include <pios_com_priv.h>
+#include <pios_com_msg_priv.h>
 
-#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
+#endif /* PIOS_INCLUDE_COM_MSG */
-#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
-
-static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
-static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
-
-#endif /* PIOS_INCLUDE_COM */
 
 // ***********************************************************************************
 
@@ -55,6 +49,9 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
   },
 };
 
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
 #endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -94,21 +91,26 @@ void PIOS_Board_Init(void) {
 	PIOS_GPIO_Init();
 
 #if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Activate the HID-only USB configuration */
+	PIOS_USB_DESC_HID_ONLY_Init();
+
 	uint32_t pios_usb_id;
 	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
 		PIOS_Assert(0);
 	}
-#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
-	uint32_t pios_usb_com_id;
+	uint32_t pios_usb_hid_id;
-	if (PIOS_USB_HID_Init(&pios_usb_com_id, &pios_usb_hid_cfg, pios_usb_id)) {
+	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
 		PIOS_Assert(0);
 	}
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_com_id,
+	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
-			  pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
-			  pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
 		PIOS_Assert(0);
 	}
-#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
+#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
+
 #endif	/* PIOS_INCLUDE_USB */
 
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

flight/Bootloaders/PipXtreme/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[20] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'P', 0,
 	'i', 0,
@@ -44,3 +46,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'e', 0,
 };
 
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/CopterControl/Makefile

@@ -136,7 +136,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/coptercontrol.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/alarms.c
-SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
@@ -216,6 +215,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 SRC += $(OPSYSTEM)/pios_usb_board_data.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 
 ## PIOS Hardware (Common)
 SRC += $(PIOSCOMMON)/pios_crc.c
@@ -232,6 +232,7 @@ SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c
@@ -435,15 +436,15 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -DDEBUG
+CFLAGS += -DDEBUG
 endif
 
 ifeq ($(DIAGNOSTICS),YES)
-CFLAGS = -DDIAGNOSTICS
+CFLAGS += -DDIAGNOSTICS
 endif
 
 ifeq ($(DIAG_TASKS),YES)
-CFLAGS = -DDIAG_TASKS
+CFLAGS += -DDIAG_TASKS
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/CopterControl/System/inc/pios_config.h

@@ -42,6 +42,7 @@
 #endif
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_IAP
 
 #define PIOS_INCLUDE_RCVR
 

flight/CopterControl/System/inc/pios_usb_board_data.h

@@ -37,44 +37,7 @@
 
 #define PIOS_USB_BOARD_EP_NUM 4
 
-#include "pios_usb_defs.h" 	/* struct usb_* */
+#include "pios_usb_defs.h" 	/* USB_* macros */
-
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_association_desc iad;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-	struct usb_interface_desc             cdc_control_if;
-	struct usb_cdc_header_func_desc       cdc_header;
-	struct usb_cdc_callmgmt_func_desc     cdc_callmgmt;
-	struct usb_cdc_acm_func_desc          cdc_acm;
-	struct usb_cdc_union_func_desc        cdc_union;
-	struct usb_endpoint_desc              cdc_mgmt_in;
-	struct usb_interface_desc             cdc_data_if;
-	struct usb_endpoint_desc              cdc_in;
-	struct usb_endpoint_desc              cdc_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[28];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
 
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_COPTERCONTROL
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW)

flight/CopterControl/System/pios_board.c

@@ -998,6 +998,11 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
     },
   },
 };
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_cdc_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
 #endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -1090,14 +1095,50 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_4_cfg);
 
 #if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Flags to determine if various USB interfaces are advertised */
+	bool usb_hid_present = false;
+	bool usb_cdc_present = false;
+
+	uint8_t hwsettings_usb_devicetype;
+	HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
+
+	switch (hwsettings_usb_devicetype) {
+	case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
+		if (PIOS_USB_DESC_HID_ONLY_Init()) {
+			PIOS_Assert(0);
+		}
+		usb_hid_present = true;
+		break;
+	case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
+		if (PIOS_USB_DESC_HID_CDC_Init()) {
+			PIOS_Assert(0);
+		}
+		usb_hid_present = true;
+		usb_cdc_present = true;
+		break;
+	case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
+		break;
+	default:
+		PIOS_Assert(0);
+	}
+
 	uint32_t pios_usb_id;
 	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
 
 #if defined(PIOS_INCLUDE_USB_CDC)
-	/* Configure the USB VCP port */
+
 	uint8_t hwsettings_usb_vcpport;
+	/* Configure the USB VCP port */
 	HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
 
+	if (!usb_cdc_present) {
+		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
+		hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
+	}
+
 	switch (hwsettings_usb_vcpport) {
 	case HWSETTINGS_USB_VCPPORT_DISABLED:
 		break;
@@ -1136,7 +1177,6 @@ void PIOS_Board_Init(void) {
 						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
 				PIOS_Assert(0);
 			}
-
 		}
 #endif	/* PIOS_INCLUDE_COM */
 		break;
@@ -1148,6 +1188,11 @@ void PIOS_Board_Init(void) {
 	uint8_t hwsettings_usb_hidport;
 	HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
 
+	if (!usb_hid_present) {
+		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
+		hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
+	}
+
 	switch (hwsettings_usb_hidport) {
 	case HWSETTINGS_USB_HIDPORT_DISABLED:
 		break;

flight/CopterControl/System/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[28] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'C', 0,
 	'o', 0,
@@ -48,3 +50,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'l', 0,
 };
 
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/CopterControl/System/taskmonitor.c

@@ -1,131 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       taskmonitor.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Task monitoring library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#include "openpilot.h"
-//#include "taskmonitor.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
-static uint32_t lastMonitorTime;
-
-// Private functions
-
-/**
- * Initialize library
- */
-int32_t TaskMonitorInitialize(void)
-{
-	lock = xSemaphoreCreateRecursiveMutex();
-	memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
-	lastMonitorTime = 0;
-#if defined(DIAG_TASKS)
-	lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
-#endif
-	return 0;
-}
-
-/**
- * Register a task handle with the library
- */
-int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
-{
-	if (task < TASKINFO_RUNNING_NUMELEM)
-	{
-	    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-		handles[task] = handle;
-		xSemaphoreGiveRecursive(lock);
-		return 0;
-	}
-	else
-	{
-		return -1;
-	}
-}
-
-/**
- * Update the status of all tasks
- */
-void TaskMonitorUpdateAll(void)
-{
-#if defined(DIAG_TASKS)
-	TaskInfoData data;
-	int n;
-	
-	// Lock
-	xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-	
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-	uint32_t currentTime;
-	uint32_t deltaTime;
-	
-	/*
-	 * Calculate the amount of elapsed run time between the last time we
-	 * measured and now. Scale so that we can convert task run times
-	 * directly to percentages.
-	 */
-	currentTime = portGET_RUN_TIME_COUNTER_VALUE();
-	deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
-	lastMonitorTime = currentTime;			
-#endif
-	
-	// Update all task information
-	for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
-	{
-		if (handles[n] != 0)
-		{
-			data.Running[n] = TASKINFO_RUNNING_TRUE;
-#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
-			data.StackRemaining[n] = 10000;
-#else
-			data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-			/* Generate run time stats */
-			data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
-#endif
-#endif
-			
-		}
-		else
-		{
-			data.Running[n] = TASKINFO_RUNNING_FALSE;
-			data.StackRemaining[n] = 0;
-			data.RunningTime[n] = 0;
-		}
-	}
-	
-	// Update object
-	TaskInfoSet(&data);
-	
-	// Done
-	xSemaphoreGiveRecursive(lock);
-#endif
-}

flight/INS/inc/pios_config.h

@@ -51,6 +51,7 @@
 #define PIOS_INCLUDE_IMU3000
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_IAP
 
 #define PIOS_INCLUDE_BMA180
 

flight/Libraries/taskmonitor.c

@@ -47,7 +47,7 @@ int32_t TaskMonitorInitialize(void)
 	lock = xSemaphoreCreateRecursiveMutex();
 	memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
 	lastMonitorTime = 0;
-#if defined(DIAGNOSTICS)
+#if defined(DIAG_TASKS)
 	lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
 #endif
 	return 0;
@@ -94,7 +94,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
  */
 void TaskMonitorUpdateAll(void)
 {
-#if defined(DIAGNOSTICS)
+#if defined(DIAG_TASKS)
 	TaskInfoData data;
 	int n;
 
@@ -128,7 +128,6 @@ void TaskMonitorUpdateAll(void)
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 			/* Generate run time stats */
 			data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
-			
 #endif
 #endif
 			

flight/Modules/System/systemmod.c

@@ -48,8 +48,6 @@
 #include "taskinfo.h"
 #include "watchdogstatus.h"
 #include "taskmonitor.h"
-#include "pios_iap.h"
-
 
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
@@ -148,8 +146,10 @@ static void systemTask(void *parameters)
 		PIOS_SYS_Reset();
 	}
 
+#if defined(PIOS_INCLUDE_IAP)
 	/* Record a successful boot */
 	PIOS_IAP_WriteBootCount(0);
+#endif
 
 	// Initialize vars
 	idleCounter = 0;
@@ -170,8 +170,11 @@ static void systemTask(void *parameters)
 		updateI2Cstats();
 		updateWDGstats();
 #endif
+
+#if defined(DIAG_TASKS)
 		// Update the task status object
 		TaskMonitorUpdateAll();
+#endif
 
 		// Flash the heartbeat LED
 		PIOS_LED_Toggle(LED1);

flight/Modules/Telemetry/telemetry.c

@@ -35,7 +35,6 @@
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
 #include "hwsettings.h"
-#include "pios_usb.h"		/* PIOS_USB_* */
 
 // Private constants
 #define MAX_QUEUE_SIZE   TELEM_QUEUE_SIZE

flight/OpenPilot/Makefile

@@ -39,6 +39,7 @@ DEBUG ?= YES
 
 # Include objects that are just nice information to show
 DIAGNOSTICS ?= YES
+DIAG_TASKS ?= YES
 
 # Set to YES to use the Servo output pins for debugging via scope or logic analyser
 ENABLE_DEBUG_PINS ?= NO
@@ -138,7 +139,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/openpilot.c
 SRC += $(OPSYSTEM)/pios_board.c
 SRC += $(OPSYSTEM)/alarms.c
-SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
@@ -183,9 +183,11 @@ SRC += $(PIOSSTM32F10X)/pios_wdg.c
 SRC += $(PIOSSTM32F10X)/pios_usb.c
 SRC += $(PIOSSTM32F10X)/pios_usbhook.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
+SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 SRC += $(OPSYSTEM)/pios_usb_board_data.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
 SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
 
 ## PIOS Hardware (Common)
@@ -205,6 +207,7 @@ SRC += $(FLIGHTLIB)/ahrs_comm_objects.c
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c
@@ -393,11 +396,15 @@ CSTANDARD = -std=gnu99
 # Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
 
 ifeq ($(DEBUG),YES)
-CFLAGS = -DDEBUG
+CFLAGS += -DDEBUG
 endif
 
 ifeq ($(DIAGNOSTICS),YES)
-CFLAGS = -DDIAGNOSTICS
+CFLAGS += -DDIAGNOSTICS
+endif
+
+ifeq ($(DIAG_TASKS),YES)
+CFLAGS += -DDIAG_TASKS
 endif
 
 CFLAGS += -g$(DEBUGF)

flight/OpenPilot/Makefile.posix

@@ -149,7 +149,6 @@ SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/openpilot.c
 SRC += $(OPSYSTEM)/pios_board_posix.c
 SRC += $(OPSYSTEM)/alarms.c
-SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
@@ -189,6 +188,7 @@ SRC += $(PIOSPOSIX)/pios_rcvr.c
 SRC += $(FLIGHTLIB)/fifo_buffer.c
 SRC += $(FLIGHTLIB)/WorldMagModel.c
 SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
 ## RTOS and RTOS Portable 
 SRC += $(RTOSSRCDIR)/list.c
 SRC += $(RTOSSRCDIR)/queue.c

flight/OpenPilot/System/inc/pios_config.h

@@ -41,6 +41,7 @@
 #define PIOS_INCLUDE_I2C
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_IAP
 
 #define PIOS_INCLUDE_RCVR
 
@@ -57,6 +58,7 @@
 #define PIOS_INCLUDE_USART
 #define PIOS_INCLUDE_USB
 #define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_USB_CDC
 #define PIOS_INCLUDE_BMP085
 //#define PIOS_INCLUDE_HCSR04
 #define PIOS_INCLUDE_OPAHRS

flight/OpenPilot/System/inc/pios_usb_board_data.h

@@ -39,43 +39,6 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_association_desc iad;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-	struct usb_interface_desc             cdc_control_if;
-	struct usb_cdc_header_func_desc       cdc_header;
-	struct usb_cdc_callmgmt_func_desc     cdc_callmgmt;
-	struct usb_cdc_acm_func_desc          cdc_acm;
-	struct usb_cdc_union_func_desc        cdc_union;
-	struct usb_endpoint_desc              cdc_mgmt_in;
-	struct usb_interface_desc             cdc_data_if;
-	struct usb_endpoint_desc              cdc_in;
-	struct usb_endpoint_desc              cdc_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[20];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
-
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_OPENPILOT_MAIN
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_OPENPILOT_MAIN, USB_OP_BOARD_MODE_FW)
 

flight/OpenPilot/System/pios_board.c

@@ -611,6 +611,9 @@ static const struct pios_dsm_cfg pios_dsm_cfg = {
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
 
+#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
+#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
+
 #endif	/* PIOS_INCLUDE_COM */
 
 /**
@@ -1054,6 +1057,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
     },
   },
 };
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_cdc_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
 #endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -1067,8 +1074,22 @@ const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
 
 #endif	/* PIOS_INCLUDE_USB_HID */
 
+#if defined(PIOS_INCLUDE_USB_CDC)
+#include <pios_usb_cdc_priv.h>
+
+const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
+	.ctrl_if = 1,
+	.ctrl_tx_ep = 2,
+
+	.data_if = 2,
+	.data_rx_ep = 3,
+	.data_tx_ep = 3,
+};
+#endif	/* PIOS_INCLUDE_USB_CDC */
+
 uint32_t pios_com_telem_rf_id;
 uint32_t pios_com_telem_usb_id;
+uint32_t pios_com_vcp_id;
 uint32_t pios_com_gps_id;
 uint32_t pios_com_aux_id;
 uint32_t pios_com_dsm_id;
@@ -1109,14 +1130,27 @@ void PIOS_Board_Init(void) {
 
 	HwSettingsInitialize();
 
+	PIOS_WDG_Init();
+
+	/* Initialize the alarms library */
+	AlarmsInitialize();
+
+	PIOS_IAP_Init();
+	uint16_t boot_count = PIOS_IAP_ReadBootCount();
+	if (boot_count < 3) {
+		PIOS_IAP_WriteBootCount(++boot_count);
+		AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
+	} else {
+		/* Too many failed boot attempts, force hwsettings to defaults */
+		HwSettingsSetDefaults(HwSettingsHandle(), 0);
+		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
+	}
+
 #if defined(PIOS_INCLUDE_RTC)
 	/* Initialize the real-time clock and its associated tick */
 	PIOS_RTC_Init(&pios_rtc_main_cfg);
 #endif
 
-	/* Initialize the alarms library */
-	AlarmsInitialize();
-
 	/* Initialize the task monitor library */
 	TaskMonitorInitialize();
 
@@ -1124,7 +1158,6 @@ void PIOS_Board_Init(void) {
 	PIOS_TIM_InitClock(&tim_1_cfg);
 	PIOS_TIM_InitClock(&tim_3_cfg);
 	PIOS_TIM_InitClock(&tim_5_cfg);
-
 	PIOS_TIM_InitClock(&tim_4_cfg);
 	PIOS_TIM_InitClock(&tim_8_cfg);
 
@@ -1139,6 +1172,133 @@ void PIOS_Board_Init(void) {
 	/* Bind the AHRS comms layer to the AHRS SPI link */
 	AhrsConnect(pios_spi_ahrs_id);
 
+#if defined(PIOS_INCLUDE_USB)
+	/* Initialize board specific USB data */
+	PIOS_USB_BOARD_DATA_Init();
+
+	/* Flags to determine if various USB interfaces are advertised */
+	bool usb_hid_present = false;
+	bool usb_cdc_present = false;
+
+	uint8_t hwsettings_usb_devicetype;
+	HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
+
+	switch (hwsettings_usb_devicetype) {
+	case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
+		if (PIOS_USB_DESC_HID_ONLY_Init()) {
+			PIOS_Assert(0);
+		}
+		usb_hid_present = true;
+		break;
+	case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
+		if (PIOS_USB_DESC_HID_CDC_Init()) {
+			PIOS_Assert(0);
+		}
+		usb_hid_present = true;
+		usb_cdc_present = true;
+		break;
+	case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
+		break;
+	default:
+		PIOS_Assert(0);
+	}
+
+	uint32_t pios_usb_id;
+	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+	/* Configure the USB VCP port */
+	uint8_t hwsettings_usb_vcpport;
+	HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
+
+	if (!usb_cdc_present) {
+		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
+		hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
+	}
+
+	switch (hwsettings_usb_vcpport) {
+	case HWSETTINGS_USB_VCPPORT_DISABLED:
+		break;
+	case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+		{
+			uint32_t pios_usb_cdc_id;
+			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
+#if defined(PIOS_INCLUDE_COM)
+		{
+			uint32_t pios_usb_cdc_id;
+			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
+						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+
+		}
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	}
+#endif	/* PIOS_INCLUDE_USB_CDC */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+	/* Configure the usb HID port */
+	uint8_t hwsettings_usb_hidport;
+	HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
+
+	if (!usb_hid_present) {
+		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
+		hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
+	}
+
+	switch (hwsettings_usb_hidport) {
+	case HWSETTINGS_USB_HIDPORT_DISABLED:
+		break;
+	case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+		{
+			uint32_t pios_usb_hid_id;
+			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
+				PIOS_Assert(0);
+			}
+			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+			PIOS_Assert(rx_buffer);
+			PIOS_Assert(tx_buffer);
+			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+				PIOS_Assert(0);
+			}
+		}
+#endif	/* PIOS_INCLUDE_COM */
+		break;
+	}
+
+#endif	/* PIOS_INCLUDE_USB_HID */
+
+#endif	/* PIOS_INCLUDE_USB */
+
 	/* Configure the main IO port */
 	uint8_t hwsettings_op_mainport;
 	HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
@@ -1285,36 +1445,14 @@ void PIOS_Board_Init(void) {
 		break;
 	}
 
-#if defined(PIOS_INCLUDE_USB)
-	uint32_t pios_usb_id;
-	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
-		PIOS_Assert(0);
-	}
-#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
-	uint32_t pios_usb_hid_id;
-	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
-		PIOS_Assert(0);
-	}
-	uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
-	uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
-	PIOS_Assert(rx_buffer);
-	PIOS_Assert(tx_buffer);
-	if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
-			  rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
-			  tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
-		PIOS_Assert(0);
-	}
-#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
-
-#endif	/* PIOS_INCLUDE_USB */
-
 #if defined(PIOS_INCLUDE_I2C)
 	if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
 		PIOS_Assert(0);
 	}
 #endif	/* PIOS_INCLUDE_I2C */
-	PIOS_IAP_Init();
+
-	PIOS_WDG_Init();
+	/* Make sure we have at least one telemetry link configured or else fail initialization */
+	PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
 }
 
 /**

flight/OpenPilot/System/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[20] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'O', 0,
 	'p', 0,
@@ -43,3 +45,76 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'o', 0,
 	't', 0,
 };
+
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}
+

flight/PiOS/Common/pios_com_msg.c

@@ -0,0 +1,185 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_COM COM MSG layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_com_msg.c  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      COM MSG layer functions
+ * @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
+ */
+
+/* Project Includes */
+#include "pios.h"
+
+#if defined(PIOS_INCLUDE_COM_MSG)
+
+#include "pios_com.h"
+
+#define PIOS_COM_MSG_MAX_LEN 63
+
+struct pios_com_msg_dev {
+	uint32_t lower_id;
+	const struct pios_com_driver * driver;
+
+	uint8_t rx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
+	volatile bool rx_msg_full;
+
+	uint8_t tx_msg_buffer[PIOS_COM_MSG_MAX_LEN];
+	volatile bool tx_msg_full;
+};
+
+static struct pios_com_msg_dev com_msg_dev;
+
+static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield);
+
+int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id)
+{
+	PIOS_Assert(com_id);
+	PIOS_Assert(driver);
+
+	PIOS_Assert(driver->bind_tx_cb);
+	PIOS_Assert(driver->bind_rx_cb);
+
+	struct pios_com_msg_dev * com_dev = &com_msg_dev;
+
+	com_dev->driver   = driver;
+	com_dev->lower_id = lower_id;
+
+	com_dev->rx_msg_full = false;
+	(com_dev->driver->bind_rx_cb)(lower_id, PIOS_COM_MSG_RxInCallback, (uint32_t)com_dev);
+	(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
+
+	com_dev->tx_msg_full = false;
+	(com_dev->driver->bind_tx_cb)(lower_id, PIOS_COM_MSG_TxOutCallback, (uint32_t)com_dev);
+
+	*com_id = (uint32_t)com_dev;
+	return(0);
+}
+
+static uint16_t PIOS_COM_MSG_TxOutCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
+
+	PIOS_Assert(buf);
+	PIOS_Assert(buf_len);
+
+	uint16_t bytes_from_fifo = 0;
+
+	if (com_dev->tx_msg_full && (buf_len >= sizeof(com_dev->tx_msg_buffer))) {
+		/* Room for an entire message, send it */
+		memcpy(buf, com_dev->tx_msg_buffer, sizeof(com_dev->tx_msg_buffer));
+		bytes_from_fifo = sizeof(com_dev->tx_msg_buffer);
+		com_dev->tx_msg_full = false;
+	}
+
+	if (headroom) {
+		if (com_dev->tx_msg_full) {
+			*headroom = sizeof(com_dev->tx_msg_buffer);
+		} else {
+			*headroom = 0;
+		}
+	}
+
+	return (bytes_from_fifo);
+}
+
+static uint16_t PIOS_COM_MSG_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
+{
+	struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)context;
+
+	uint16_t bytes_into_fifo = 0;
+
+	if (!com_dev->rx_msg_full && (buf_len >= sizeof(com_dev->rx_msg_buffer))) {
+		memcpy(com_dev->rx_msg_buffer, buf, sizeof(com_dev->rx_msg_buffer));
+		bytes_into_fifo = sizeof(com_dev->rx_msg_buffer);
+		com_dev->rx_msg_full = true;
+	}
+
+	if (headroom) {
+		if (!com_dev->rx_msg_full) {
+			*headroom = sizeof(com_dev->rx_msg_buffer);
+		} else {
+			*headroom = 0;
+		}
+	}
+
+	return (bytes_into_fifo);
+}
+
+int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len)
+{
+	PIOS_Assert(msg);
+	PIOS_Assert(msg_len);
+
+	struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
+
+	PIOS_Assert(msg_len == sizeof(com_dev->tx_msg_buffer));
+
+	/* Wait forever for room in the tx buffer */
+	while (com_dev->tx_msg_full) {
+		/* Kick the transmitter while we wait */
+		if (com_dev->driver->tx_start) {
+			(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
+		}
+	}
+
+	memcpy((void *) com_dev->tx_msg_buffer, msg, msg_len);
+	com_dev->tx_msg_full = true;
+
+	/* Kick the transmitter now that we've queued our message */
+	if (com_dev->driver->tx_start) {
+		(com_dev->driver->tx_start)(com_dev->lower_id, sizeof(com_dev->tx_msg_buffer));
+	}
+
+	return 0;
+}
+
+uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * msg, uint16_t msg_len)
+{
+	PIOS_Assert(msg);
+	PIOS_Assert(msg_len);
+
+	struct pios_com_msg_dev * com_dev = (struct pios_com_msg_dev *)com_id;
+
+	PIOS_Assert(msg_len == sizeof(com_dev->rx_msg_buffer));
+
+	if (!com_dev->rx_msg_full) {
+		/* There's room in our buffer, kick the receiver */
+		(com_dev->driver->rx_start)(com_dev->lower_id, sizeof(com_dev->rx_msg_buffer));
+	} else {
+		memcpy(msg, com_dev->rx_msg_buffer, msg_len);
+		com_dev->rx_msg_full = false;
+
+		return msg_len;
+	}
+
+	return 0;
+}
+
+#endif	/* PIOS_INCLUDE_COM_MSG */
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/Common/pios_usb_desc_hid_cdc.c

@@ -28,9 +28,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_usb_desc_hid_cdc_priv.h" /* exported API */
+#include "pios_usb_defs.h"		/* struct usb_*, USB_* */
+#include "pios_usb_board_data.h"	/* PIOS_USB_BOARD_* */
+#include "pios_usbhook.h"		/* PIOS_USBHOOK_Register* */
 
-const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = {
+static const struct usb_device_desc device_desc = {
 	.bLength            = sizeof(struct usb_device_desc),
 	.bDescriptorType    = USB_DESC_TYPE_DEVICE,
 	.bcdUSB             = htousbs(0x0200),
@@ -41,17 +44,79 @@ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = {
 	.idVendor           = htousbs(USB_VENDOR_ID_OPENPILOT),
 	.idProduct          = htousbs(PIOS_USB_BOARD_PRODUCT_ID),
 	.bcdDevice          = htousbs(PIOS_USB_BOARD_DEVICE_VER),
-	.iManufacturer      = 1,
+	.iManufacturer      = USB_STRING_DESC_VENDOR,
-	.iProduct           = 2,
+	.iProduct           = USB_STRING_DESC_PRODUCT,
-	.iSerialNumber      = 3,
+	.iSerialNumber      = USB_STRING_DESC_SERIAL,
 	.bNumConfigurations = 1,
 };
 
-const struct usb_board_config PIOS_USB_BOARD_Configuration = {
+static const uint8_t hid_report_desc[36] = {
+	HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
+	0x9C, 0xFF,		/* Usage Page 0xFF9C (Vendor Defined) */
+	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
+	0x01,			/* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */
+
+	HID_MAIN_ITEM_1   (HID_TAG_MAIN_COLLECTION),
+	0x01,			/* Application */
+
+	/* Device -> Host emulated serial channel */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
+	0x01,		        /* OpenPilot emulated serial channel (Device -> Host) */
+	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
+	0x02,
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
+	0x00,			/* Values range from min = 0x00 */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
+	0xFF,			/* Values range to max = 0xFF */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
+	0x08,			/* 8 bits wide */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
+	PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
+	HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
+	0x03,			/* Variable, Constant (read-only) */
+
+	/* Host -> Host emulated serial channel */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
+	0x02,                   /* OpenPilot emulated Serial Channel (Host -> Device) */
+	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
+	0x02,
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
+	0x00,			/* Values range from min = 0x00 */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
+	0xFF,			/* Values range to max = 0xFF */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
+	0x08,			/* 8 bits wide */
+	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
+	PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
+	HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT),
+	0x82,			/* Volatile, Variable */
+
+	HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
+};
+
+struct usb_config_hid_cdc {
+	struct usb_configuration_desc         config;
+	struct usb_interface_association_desc iad;
+	struct usb_interface_desc             hid_if;
+	struct usb_hid_desc                   hid;
+	struct usb_endpoint_desc              hid_in;
+	struct usb_endpoint_desc              hid_out;
+	struct usb_interface_desc             cdc_control_if;
+	struct usb_cdc_header_func_desc       cdc_header;
+	struct usb_cdc_callmgmt_func_desc     cdc_callmgmt;
+	struct usb_cdc_acm_func_desc          cdc_acm;
+	struct usb_cdc_union_func_desc        cdc_union;
+	struct usb_endpoint_desc              cdc_mgmt_in;
+	struct usb_interface_desc             cdc_data_if;
+	struct usb_endpoint_desc              cdc_in;
+	struct usb_endpoint_desc              cdc_out;
+} __attribute__((packed));
+
+static const struct usb_config_hid_cdc config_hid_cdc = {
 	.config = {
 		.bLength              = sizeof(struct usb_configuration_desc),
 		.bDescriptorType      = USB_DESC_TYPE_CONFIGURATION,
-		.wTotalLength         = htousbs(sizeof(struct usb_board_config)),
+		.wTotalLength         = htousbs(sizeof(struct usb_config_hid_cdc)),
 		.bNumInterfaces       = 3,
 		.bConfigurationValue  = 1,
 		.iConfiguration       = 0,
@@ -86,7 +151,7 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = {
 		.bCountryCode         = 0,
 		.bNumDescriptors      = 1,
 		.bClassDescriptorType = USB_DESC_TYPE_REPORT,
-		.wItemLength          = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)),
+		.wItemLength          = htousbs(sizeof(hid_report_desc)),
 	},
 	.hid_in = {
 		.bLength              = sizeof(struct usb_endpoint_desc),
@@ -178,100 +243,14 @@ const struct usb_board_config PIOS_USB_BOARD_Configuration = {
 	},
 };
 
-const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = {
+int32_t PIOS_USB_DESC_HID_CDC_Init(void)
-	HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
+{
-	0x9C, 0xFF,		/* Usage Page 0xFF9C (Vendor Defined) */
+	PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_cdc, sizeof(config_hid_cdc));
-	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
-	0x01,			/* Usage ID 0x0001 (0x01-0x1F uaually for top-level collections) */
 
-	HID_MAIN_ITEM_1   (HID_TAG_MAIN_COLLECTION),
+	PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
-	0x01,			/* Application */
 
-	/* Device -> Host emulated serial channel */
+	PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_cdc.hid_if), sizeof(config_hid_cdc.hid_if));
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
+	PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
-	0x01,		        /* OpenPilot emulated serial channel (Device -> Host) */
-	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
-	0x02,
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
-	0x00,			/* Values range from min = 0x00 */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
-	0xFF,			/* Values range to max = 0xFF */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
-	0x08,			/* 8 bits wide */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
-	PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
-	HID_MAIN_ITEM_1 (HID_TAG_MAIN_INPUT),
-	0x03,			/* Variable, Constant (read-only) */
 
-	/* Host -> Host emulated serial channel */
+	return 0;
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_ID),
+}
-	0x02,                   /* OpenPilot emulated Serial Channel (Host -> Device) */
-	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
-	0x02,
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MIN),
-	0x00,			/* Values range from min = 0x00 */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_LOGICAL_MAX),
-	0xFF,			/* Values range to max = 0xFF */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_SIZE),
-	0x08,			/* 8 bits wide */
-	HID_GLOBAL_ITEM_1 (HID_TAG_GLOBAL_REPORT_CNT),
-	PIOS_USB_BOARD_HID_DATA_LENGTH-1, /* Need to leave room for a report ID */
-	HID_MAIN_ITEM_1 (HID_TAG_MAIN_OUTPUT),
-	0x82,			/* Volatile, Variable */
-
-	HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
-};
-
-const struct usb_string_langid PIOS_USB_BOARD_StringLangID = {
-	.bLength = sizeof(PIOS_USB_BOARD_StringLangID),
-	.bDescriptorType = USB_DESC_TYPE_STRING,
-	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
-};
-
-const uint8_t PIOS_USB_BOARD_StringVendorID[] = {
-	sizeof(PIOS_USB_BOARD_StringVendorID),
-	USB_DESC_TYPE_STRING,
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
-
-uint8_t PIOS_USB_BOARD_StringSerial[] = {
-	sizeof(PIOS_USB_BOARD_StringSerial),
-	USB_DESC_TYPE_STRING,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0
-};

flight/PiOS/Common/pios_usb_desc_hid_only.c

@@ -28,9 +28,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_usb_desc_hid_only_priv.h" /* exported API */
+#include "pios_usb_defs.h"		 /* struct usb_*, USB_* */
+#include "pios_usb_board_data.h"	 /* PIOS_USB_BOARD_* */
+#include "pios_usbhook.h"		 /* PIOS_USBHOOK_Register* */
 
-const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = {
+static const struct usb_device_desc device_desc = {
 	.bLength            = sizeof(struct usb_device_desc),
 	.bDescriptorType    = USB_DESC_TYPE_DEVICE,
 	.bcdUSB             = htousbs(0x0200),
@@ -47,56 +50,7 @@ const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor = {
 	.bNumConfigurations = 1,
 };
 
-const struct usb_board_config PIOS_USB_BOARD_Configuration = {
+static const uint8_t hid_report_desc[36] = {
-	.config = {
-		.bLength              = sizeof(struct usb_configuration_desc),
-		.bDescriptorType      = USB_DESC_TYPE_CONFIGURATION,
-		.wTotalLength         = htousbs(sizeof(struct usb_board_config)),
-		.bNumInterfaces       = 1,
-		.bConfigurationValue  = 1,
-		.iConfiguration       = 0,
-		.bmAttributes         = 0xC0,
-		.bMaxPower            = 250/2, /* in units of 2ma */
-	},
-	.hid_if = {
-		.bLength              = sizeof(struct usb_interface_desc),
-		.bDescriptorType      = USB_DESC_TYPE_INTERFACE,
-		.bInterfaceNumber     = 0,
-		.bAlternateSetting    = 0,
-		.bNumEndpoints        = 2,
-		.bInterfaceClass      = USB_INTERFACE_CLASS_HID,
-		.bInterfaceSubClass   = 0, /* no boot */
-		.nInterfaceProtocol   = 0, /* none */
-		.iInterface           = 0,
-	},
-	.hid = {
-		.bLength = sizeof(struct usb_hid_desc),
-		.bDescriptorType      = USB_DESC_TYPE_HID,
-		.bcdHID               = htousbs(0x0110),
-		.bCountryCode         = 0,
-		.bNumDescriptors      = 1,
-		.bClassDescriptorType = USB_DESC_TYPE_REPORT,
-		.wItemLength          = htousbs(sizeof(PIOS_USB_BOARD_HidReportDescriptor)),
-	},
-	.hid_in = {
-		.bLength              = sizeof(struct usb_endpoint_desc),
-		.bDescriptorType      = USB_DESC_TYPE_ENDPOINT,
-		.bEndpointAddress     = USB_EP_IN(1),
-		.bmAttributes         = USB_EP_ATTR_TT_INTERRUPT,
-		.wMaxPacketSize       = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
-		.bInterval            = 4, /* ms */
-	},
-	.hid_out = {
-		.bLength              = sizeof(struct usb_endpoint_desc),
-		.bDescriptorType      = USB_DESC_TYPE_ENDPOINT,
-		.bEndpointAddress     = USB_EP_OUT(1),
-		.bmAttributes         = USB_EP_ATTR_TT_INTERRUPT,
-		.wMaxPacketSize       = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
-		.bInterval            = 4, /* ms */
-	},
-};
-
-const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = {
 	HID_GLOBAL_ITEM_2 (HID_TAG_GLOBAL_USAGE_PAGE),
 	0x9C, 0xFF,		/* Usage Page 0xFF9C (Vendor Defined) */
 	HID_LOCAL_ITEM_1  (HID_TAG_LOCAL_USAGE),
@@ -140,56 +94,71 @@ const uint8_t PIOS_USB_BOARD_HidReportDescriptor[] = {
 	HID_MAIN_ITEM_0 (HID_TAG_MAIN_ENDCOLLECTION),
 };
 
-const struct usb_string_langid PIOS_USB_BOARD_StringLangID = {
+struct usb_config_hid_only {
-	.bLength = sizeof(PIOS_USB_BOARD_StringLangID),
+	struct usb_configuration_desc         config;
-	.bDescriptorType = USB_DESC_TYPE_STRING,
+	struct usb_interface_desc             hid_if;
-	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+	struct usb_hid_desc                   hid;
+	struct usb_endpoint_desc              hid_in;
+	struct usb_endpoint_desc              hid_out;
+} __attribute__((packed));
+
+const struct usb_config_hid_only config_hid_only = {
+	.config = {
+		.bLength              = sizeof(struct usb_configuration_desc),
+		.bDescriptorType      = USB_DESC_TYPE_CONFIGURATION,
+		.wTotalLength         = htousbs(sizeof(struct usb_config_hid_only)),
+		.bNumInterfaces       = 1,
+		.bConfigurationValue  = 1,
+		.iConfiguration       = 0,
+		.bmAttributes         = 0xC0,
+		.bMaxPower            = 250/2, /* in units of 2ma */
+	},
+	.hid_if = {
+		.bLength              = sizeof(struct usb_interface_desc),
+		.bDescriptorType      = USB_DESC_TYPE_INTERFACE,
+		.bInterfaceNumber     = 0,
+		.bAlternateSetting    = 0,
+		.bNumEndpoints        = 2,
+		.bInterfaceClass      = USB_INTERFACE_CLASS_HID,
+		.bInterfaceSubClass   = 0, /* no boot */
+		.nInterfaceProtocol   = 0, /* none */
+		.iInterface           = 0,
+	},
+	.hid = {
+		.bLength = sizeof(struct usb_hid_desc),
+		.bDescriptorType      = USB_DESC_TYPE_HID,
+		.bcdHID               = htousbs(0x0110),
+		.bCountryCode         = 0,
+		.bNumDescriptors      = 1,
+		.bClassDescriptorType = USB_DESC_TYPE_REPORT,
+		.wItemLength          = htousbs(sizeof(hid_report_desc)),
+	},
+	.hid_in = {
+		.bLength              = sizeof(struct usb_endpoint_desc),
+		.bDescriptorType      = USB_DESC_TYPE_ENDPOINT,
+		.bEndpointAddress     = USB_EP_IN(1),
+		.bmAttributes         = USB_EP_ATTR_TT_INTERRUPT,
+		.wMaxPacketSize       = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
+		.bInterval            = 4, /* ms */
+	},
+	.hid_out = {
+		.bLength              = sizeof(struct usb_endpoint_desc),
+		.bDescriptorType      = USB_DESC_TYPE_ENDPOINT,
+		.bEndpointAddress     = USB_EP_OUT(1),
+		.bmAttributes         = USB_EP_ATTR_TT_INTERRUPT,
+		.wMaxPacketSize       = htousbs(PIOS_USB_BOARD_HID_DATA_LENGTH),
+		.bInterval            = 4, /* ms */
+	},
 };
 
-const uint8_t PIOS_USB_BOARD_StringVendorID[] = {
+int32_t PIOS_USB_DESC_HID_ONLY_Init(void)
-	sizeof(PIOS_USB_BOARD_StringVendorID),
+{
-	USB_DESC_TYPE_STRING,
+	PIOS_USBHOOK_RegisterConfig(1, (uint8_t *)&config_hid_only, sizeof(config_hid_only));
-	'o', 0,
-	'p', 0,
-	'e', 0,
-	'n', 0,
-	'p', 0,
-	'i', 0,
-	'l', 0,
-	'o', 0,
-	't', 0,
-	'.', 0,
-	'o', 0,
-	'r', 0,
-	'g', 0
-};
 
-uint8_t PIOS_USB_BOARD_StringSerial[] = {
+	PIOS_USBHOOK_RegisterDevice((uint8_t *)&device_desc, sizeof(device_desc));
-	sizeof(PIOS_USB_BOARD_StringSerial),
+
-	USB_DESC_TYPE_STRING,
+	PIOS_USBHOOK_RegisterHidInterface((uint8_t *)&(config_hid_only.hid_if), sizeof(config_hid_only.hid_if));
-	0, 0,
+	PIOS_USBHOOK_RegisterHidReport((uint8_t *)hid_report_desc, sizeof(hid_report_desc));
-	0, 0,
+
-	0, 0,
+	return 0;
-	0, 0,
+}
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0,
-	0, 0
-};

flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_core.h

@@ -35,7 +35,7 @@ typedef enum _CONTROL_STATE
 
 typedef struct OneDescriptor
 {
-  uint8_t *Descriptor;
+  const uint8_t *Descriptor;
   uint16_t Descriptor_Size;
 }
 ONE_DESCRIPTOR, *PONE_DESCRIPTOR;
@@ -80,7 +80,8 @@ typedef struct _ENDPOINT_INFO
   uint16_t  Usb_wLength;
   uint16_t  Usb_wOffset;
   uint16_t  PacketSize;
-  uint8_t   *(*CopyData)(uint16_t Length);
+  const uint8_t   *(*CopyDataIn)(uint16_t Length);
+  uint8_t         *(*CopyDataOut)(uint16_t Length);
 }ENDPOINT_INFO;
 
 /*-*-*-*-*-*-*-*-*-*-*-* Definitions for device level -*-*-*-*-*-*-*-*-*-*-*-*/
@@ -169,9 +170,9 @@ typedef struct _DEVICE_PROP
 
   RESULT  (*Class_Get_Interface_Setting)(uint8_t Interface, uint8_t AlternateSetting);
 
-  uint8_t* (*GetDeviceDescriptor)(uint16_t Length);
+  const uint8_t* (*GetDeviceDescriptor)(uint16_t Length);
-  uint8_t* (*GetConfigDescriptor)(uint16_t Length);
+  const uint8_t* (*GetConfigDescriptor)(uint16_t Length);
-  uint8_t* (*GetStringDescriptor)(uint16_t Length);
+  const uint8_t* (*GetStringDescriptor)(uint16_t Length);
 
   /* This field is not used in current library version. It is kept only for 
    compatibility with previous versions */
@@ -221,13 +222,13 @@ uint8_t In0_Process(void);
 RESULT Standard_SetEndPointFeature(void);
 RESULT Standard_SetDeviceFeature(void);
 
-uint8_t *Standard_GetConfiguration(uint16_t Length);
+const uint8_t *Standard_GetConfiguration(uint16_t Length);
 RESULT Standard_SetConfiguration(void);
-uint8_t *Standard_GetInterface(uint16_t Length);
+const uint8_t *Standard_GetInterface(uint16_t Length);
 RESULT Standard_SetInterface(void);
-uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc);
+const uint8_t *Standard_GetDescriptorData(uint16_t Length, ONE_DESCRIPTOR *pDesc);
 
-uint8_t *Standard_GetStatus(uint16_t Length);
+const uint8_t *Standard_GetStatus(uint16_t Length);
 RESULT Standard_ClearFeature(void);
 void SetDeviceAddress(uint8_t);
 void NOP_Process(void);

flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/inc/usb_mem.h

@@ -22,7 +22,7 @@
 /* Exported constants --------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */
-void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
+void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
 void PMAToUserBufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes);
 
 /* External variables --------------------------------------------------------*/

flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_core.c

@@ -58,7 +58,7 @@ static void Data_Setup0(void);
 * Return         : Return 1 , if the request is invalid when "Length" is 0.
 *                  Return "Buffer" if the "Length" is not 0.
 *******************************************************************************/
-uint8_t *Standard_GetConfiguration(uint16_t Length)
+const uint8_t *Standard_GetConfiguration(uint16_t Length)
 {
   if (Length == 0)
   {
@@ -104,7 +104,7 @@ RESULT Standard_SetConfiguration(void)
 * Return         : Return 0, if the request is invalid when "Length" is 0.
 *                  Return "Buffer" if the "Length" is not 0.
 *******************************************************************************/
-uint8_t *Standard_GetInterface(uint16_t Length)
+const uint8_t *Standard_GetInterface(uint16_t Length)
 {
   if (Length == 0)
   {
@@ -160,7 +160,7 @@ RESULT Standard_SetInterface(void)
 * Return         : Return 0, if the request is at end of data block,
 *                  or is invalid when "Length" is 0.
 *******************************************************************************/
-uint8_t *Standard_GetStatus(uint16_t Length)
+const uint8_t *Standard_GetStatus(uint16_t Length)
 {
   if (Length == 0)
   {
@@ -415,7 +415,7 @@ RESULT Standard_SetDeviceFeature(void)
 *                  wOffset The buffer pointed by this address contains at least
 *                  Length bytes.
 *******************************************************************************/
-uint8_t *Standard_GetDescriptorData(uint16_t Length, const ONE_DESCRIPTOR * pDesc)
+const uint8_t *Standard_GetDescriptorData(uint16_t Length, PONE_DESCRIPTOR pDesc)
 {
   uint32_t  wOffset;
 
@@ -443,7 +443,7 @@ void DataStageOut(void)
 
   save_rLength = pEPinfo->Usb_rLength;
 
-  if (pEPinfo->CopyData && save_rLength)
+  if (pEPinfo->CopyDataOut && save_rLength)
   {
     uint8_t *Buffer;
     uint32_t Length;
@@ -454,7 +454,7 @@ void DataStageOut(void)
       Length = save_rLength;
     }
 
-    Buffer = (*pEPinfo->CopyData)(Length);
+    Buffer = (*pEPinfo->CopyDataOut)(Length);
     pEPinfo->Usb_rLength -= Length;
     pEPinfo->Usb_rOffset += Length;
 
@@ -503,7 +503,7 @@ void DataStageIn(void)
   uint32_t save_wLength = pEPinfo->Usb_wLength;
   uint32_t ControlState = pInformation->ControlState;
 
-  uint8_t *DataBuffer;
+  const uint8_t *DataBuffer;
   uint32_t Length;
 
   if ((save_wLength == 0) && (ControlState == LAST_IN_DATA))
@@ -540,7 +540,7 @@ void DataStageIn(void)
     Length = save_wLength;
   }
 
-  DataBuffer = (*pEPinfo->CopyData)(Length);
+  DataBuffer = (*pEPinfo->CopyDataIn)(Length);
 
 #ifdef STM32F10X_CL
   PCD_EP_Write (ENDP0, DataBuffer, Length);
@@ -697,7 +697,7 @@ exit_NoData_Setup0:
 *******************************************************************************/
 void Data_Setup0(void)
 {
-  uint8_t *(*CopyRoutine)(uint16_t);
+  const uint8_t *(*CopyRoutine)(uint16_t);
   RESULT Result;
   uint32_t Request_No = pInformation->USBbRequest;
 
@@ -802,7 +802,7 @@ void Data_Setup0(void)
   if (CopyRoutine)
   {
     pInformation->Ctrl_Info.Usb_wOffset = wOffset;
-    pInformation->Ctrl_Info.CopyData = CopyRoutine;
+    pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
     /* sb in the original the cast to word was directly */
     /* now the cast is made step by step */
     (*CopyRoutine)(0);

flight/PiOS/STM32F10x/Libraries/STM32_USB-FS-Device_Driver/src/usb_mem.c

@@ -33,7 +33,7 @@
 * Output         : None.
 * Return         : None	.
 *******************************************************************************/
-void UserToPMABufferCopy(uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes)
+void UserToPMABufferCopy(const uint8_t *pbUsrBuf, uint16_t wPMABufAddr, uint16_t wNBytes)
 {
   uint32_t n = (wNBytes + 1) >> 1;   /* n = (wNBytes + 1) / 2 */
   uint32_t i, temp1, temp2;

flight/PiOS/STM32F10x/pios_usb.c

@@ -123,13 +123,6 @@ int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg)
 	/* Enable the USB clock */
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
 
-	/* Update the USB serial number from the chip */
-	uint8_t sn[25];
-	PIOS_SYS_SerialNumberGet((char *)sn);
-	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_USB_BOARD_StringSerial[0]; i++) {
-		PIOS_USB_BOARD_StringSerial[2 + 2 * i] = sn[i];
-	}
-
 	USB_Init();
 	USB_SIL_Init();
 

flight/PiOS/STM32F10x/pios_usb_cdc.c

@@ -346,7 +346,7 @@ RESULT PIOS_USB_CDC_SetLineCoding(void)
 	return USB_SUCCESS;
 }
 
-uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
+const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
 {
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 

flight/PiOS/STM32F10x/pios_usb_hid.c

@@ -207,9 +207,15 @@ static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) {
 	}
 
 	// If endpoint was stalled and there is now space make it valid
+#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
+	uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
+#else
+	uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
+#endif
+
 	PIOS_IRQ_Disable();
 	if ((GetEPRxStatus(usb_hid_dev->cfg->data_rx_ep) != EP_RX_VALID) && 
-	    (rx_bytes_avail >= PIOS_USB_BOARD_HID_DATA_LENGTH)) {
+	    (rx_bytes_avail >= max_payload_length)) {
 		SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID);
 	}
 	PIOS_IRQ_Enable();
@@ -328,7 +334,15 @@ static void PIOS_USB_HID_EP_OUT_Callback(void)
 				&headroom,
 				&need_yield);
 #endif
-	if (headroom >= PIOS_USB_BOARD_HID_DATA_LENGTH) {
+
+#ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
+	uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 1;
+#else
+	uint16_t max_payload_length = PIOS_USB_BOARD_HID_DATA_LENGTH - 2;
+#endif
+
+	if (headroom >= max_payload_length) {
+
 		/* We have room for a maximum length message */
 		SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID);
 	} else {

flight/PiOS/STM32F10x/pios_usbhook.c

@@ -36,6 +36,48 @@
 #include "pios_usb_cdc_priv.h"	/* PIOS_USB_CDC_* */
 #include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
 
+static ONE_DESCRIPTOR Device_Descriptor;
+
+void PIOS_USBHOOK_RegisterDevice(const uint8_t * desc, uint16_t desc_size)
+{
+	Device_Descriptor.Descriptor      = desc;
+	Device_Descriptor.Descriptor_Size = desc_size;
+}
+
+static ONE_DESCRIPTOR Config_Descriptor;
+
+void PIOS_USBHOOK_RegisterConfig(uint8_t config_id, const uint8_t * desc, uint16_t desc_size)
+{
+	Config_Descriptor.Descriptor      = desc;
+	Config_Descriptor.Descriptor_Size = desc_size;
+}
+
+static ONE_DESCRIPTOR String_Descriptor[4];
+
+void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t * desc, uint16_t desc_size)
+{
+	if (string_id < NELEMENTS(String_Descriptor)) {
+		String_Descriptor[string_id].Descriptor      = desc;
+		String_Descriptor[string_id].Descriptor_Size = desc_size;
+	}
+}
+
+static ONE_DESCRIPTOR Hid_Interface_Descriptor;
+
+void PIOS_USBHOOK_RegisterHidInterface(const uint8_t * desc, uint16_t desc_size)
+{
+	Hid_Interface_Descriptor.Descriptor      = desc;
+	Hid_Interface_Descriptor.Descriptor_Size = desc_size;
+}
+
+static ONE_DESCRIPTOR Hid_Report_Descriptor;
+
+void PIOS_USBHOOK_RegisterHidReport(const uint8_t * desc, uint16_t desc_size)
+{
+	Hid_Report_Descriptor.Descriptor      = desc;
+	Hid_Report_Descriptor.Descriptor_Size = desc_size;
+}
+
 #include "stm32f10x.h"		/* __IO */
 __IO uint8_t EXTI_Enable;
 
@@ -53,9 +95,9 @@ static void PIOS_USBHOOK_Status_Out(void);
 static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo);
 static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo);
 static RESULT PIOS_USBHOOK_Get_Interface_Setting(uint8_t Interface, uint8_t AlternateSetting);
-static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length);
-static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length);
-static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length);
 
 DEVICE_PROP Device_Property = {
 	.Init                        = PIOS_USBHOOK_Init,
@@ -87,49 +129,10 @@ USER_STANDARD_REQUESTS User_Standard_Requests = {
 	.User_SetDeviceAddress   = PIOS_USBHOOK_SetDeviceAddress
 };
 
-const static ONE_DESCRIPTOR Device_Descriptor = {
-	(uint8_t *) &PIOS_USB_BOARD_DeviceDescriptor,
-	sizeof(PIOS_USB_BOARD_DeviceDescriptor),
-};
-
-static ONE_DESCRIPTOR Config_Descriptor = {
-	(uint8_t *) &PIOS_USB_BOARD_Configuration,
-	sizeof(PIOS_USB_BOARD_Configuration),
-};
-
-const static ONE_DESCRIPTOR Hid_Report_Descriptor = {
-	(uint8_t *) &PIOS_USB_BOARD_HidReportDescriptor,
-	sizeof(PIOS_USB_BOARD_HidReportDescriptor),
-};
-
-const static ONE_DESCRIPTOR Hid_Interface_Descriptor = {
-	(uint8_t *) &PIOS_USB_BOARD_Configuration.hid_if,
-	sizeof(PIOS_USB_BOARD_Configuration.hid_if),
-};
-
-const static ONE_DESCRIPTOR String_Descriptor[] = {
-	{
-		(uint8_t *) &PIOS_USB_BOARD_StringLangID,
-		sizeof(PIOS_USB_BOARD_StringLangID),
-	},
-	{
-		(uint8_t *) PIOS_USB_BOARD_StringVendorID,
-		sizeof(PIOS_USB_BOARD_StringVendorID),
-	},
-	{
-		(uint8_t *) PIOS_USB_BOARD_StringProductID,
-		sizeof(PIOS_USB_BOARD_StringProductID),
-	},
-	{
-		(uint8_t *) PIOS_USB_BOARD_StringSerial,
-		sizeof(PIOS_USB_BOARD_StringSerial),
-	},
-};
-
 static RESULT PIOS_USBHOOK_SetProtocol(void);
-static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length);
-static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length);
-static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length);
+static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length);
 
 /*******************************************************************************
 * Function Name  : PIOS_USBHOOK_Init.
@@ -140,11 +143,8 @@ static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length);
 *******************************************************************************/
 static void PIOS_USBHOOK_Init(void)
 {
-	/* Update the serial number string descriptor with the data from the unique 
-	   ID */
-	//Get_SerialNum();
-
 	pInformation->Current_Configuration = 0;
+
 	/* Connect the device */
 	PowerOn();
 
@@ -292,7 +292,7 @@ static void PIOS_USBHOOK_Status_Out(void)
 *******************************************************************************/
 static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 {
-	uint8_t *(*CopyRoutine) (uint16_t);
+	const uint8_t *(*CopyRoutine) (uint16_t);
 
 	CopyRoutine = NULL;
 
@@ -350,7 +350,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 		return USB_UNSUPPORT;
 	}
 
-	pInformation->Ctrl_Info.CopyData = CopyRoutine;
+	pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
 	pInformation->Ctrl_Info.Usb_wOffset = 0;
 	(*CopyRoutine) (0);
 	return USB_SUCCESS;
@@ -405,7 +405,7 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
 * Output         : None.
 * Return         : The address of the device descriptor.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length)
 {
 	return Standard_GetDescriptorData(Length, &Device_Descriptor);
 }
@@ -417,7 +417,7 @@ static uint8_t *PIOS_USBHOOK_GetDeviceDescriptor(uint16_t Length)
 * Output         : None.
 * Return         : The address of the configuration descriptor.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length)
 {
 	return Standard_GetDescriptorData(Length, &Config_Descriptor);
 }
@@ -429,7 +429,7 @@ static uint8_t *PIOS_USBHOOK_GetConfigDescriptor(uint16_t Length)
 * Output         : None.
 * Return         : The address of the string descriptors.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length)
 {
 	uint8_t wValue0 = pInformation->USBwValue0;
 	if (wValue0 > 4) {
@@ -446,7 +446,7 @@ static uint8_t *PIOS_USBHOOK_GetStringDescriptor(uint16_t Length)
 * Output         : None.
 * Return         : The address of the configuration descriptor.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length)
 {
 	return Standard_GetDescriptorData(Length, &Hid_Report_Descriptor);
 }
@@ -458,7 +458,7 @@ static uint8_t *PIOS_USBHOOK_GetReportDescriptor(uint16_t Length)
 * Output         : None.
 * Return         : The address of the configuration descriptor.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetHIDDescriptor(uint16_t Length)
 {
 	return Standard_GetDescriptorData(Length, &Hid_Interface_Descriptor);
 }
@@ -503,7 +503,7 @@ static RESULT PIOS_USBHOOK_SetProtocol(void)
 * Output         : None.
 * Return         : address of the protcol value.
 *******************************************************************************/
-static uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length)
+static const uint8_t *PIOS_USBHOOK_GetProtocolValue(uint16_t Length)
 {
 	if (Length == 0) {
 		pInformation->Ctrl_Info.Usb_wLength = 1;

flight/PiOS/inc/pios_com.h

@@ -31,6 +31,9 @@
 #ifndef PIOS_COM_H
 #define PIOS_COM_H
 
+#include <stdint.h>		/* uint*_t */
+#include <stdbool.h>		/* bool */
+
 typedef uint16_t (*pios_com_callback)(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * task_woken);
 
 struct pios_com_driver {
@@ -43,7 +46,6 @@ struct pios_com_driver {
 };
 
 /* Public Functions */
-extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
 extern int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud);
 extern int32_t PIOS_COM_SendCharNonBlocking(uint32_t com_id, char c);
 extern int32_t PIOS_COM_SendChar(uint32_t com_id, char c);

flight/PiOS/inc/pios_com_msg.h

@@ -0,0 +1,45 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_COM COM MSG layer functions
+ * @brief Hardware communication layer
+ * @{
+ *
+ * @file       pios_com_msg.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      COM MSG 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_COM_MSG_H
+#define PIOS_COM_MSG_H
+
+#include <stdint.h>		/* uint*_t */
+
+/* Public Functions */
+extern int32_t PIOS_COM_MSG_Send(uint32_t com_id, const uint8_t *msg, uint16_t msg_len);
+extern uint16_t PIOS_COM_MSG_Receive(uint32_t com_id, uint8_t * buf, uint16_t buf_len);
+
+#endif /* PIOS_COM_MSG_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_com_msg_priv.h

@@ -1,42 +1,44 @@
-/**
+/**
- ******************************************************************************
+ ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
+ * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
+ * @addtogroup PIOS_COM COM MSG layer functions
- * @{
+ * @brief Hardware communication layer
- * @file       taskmonitor.h
+ * @{
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ *
- * @brief      Include file of the task monitoring library
+ * @file       pios_com_msg_priv.h
- * @see        The GNU Public License (GPL) Version 3
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- *
+ * @brief      COM MSG private definitions.
- *****************************************************************************/
+ * @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
+ * This program is free software; you can redistribute it and/or modify
- * (at your option) any later version.
+ * it under the terms of the GNU General Public License as published by
- *
+ * the Free Software Foundation; either version 3 of the License, or
- * This program is distributed in the hope that it will be useful, but
+ * (at your option) any later version.
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ *
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * This program is distributed in the hope that it will be useful, but
- * for more details.
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- *
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * You should have received a copy of the GNU General Public License along
+ * for more details.
- * with this program; if not, write to the Free Software Foundation, Inc.,
+ *
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ * 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.,
-#ifndef TASKMONITOR_H
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-#define TASKMONITOR_H
+ */
-
+
-#include "taskinfo.h"
+#ifndef PIOS_COM_MSG_PRIV_H
-
+#define PIOS_COM_MSG_PRIV_H
-int32_t TaskMonitorInitialize(void);
+
-int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle);
+#include <stdint.h>		/* uint*_t */
-void TaskMonitorUpdateAll(void);
+#include "pios_com_priv.h"	/* struct pios_com_driver */
-
+
-#endif // TASKMONITOR_H
+extern int32_t PIOS_COM_MSG_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id);
-
+
-/**
+#endif /* PIOS_COM_MSG_PRIV_H */
- * @}
+
- * @}
+/**
- */
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_com_priv.h

@@ -31,6 +31,8 @@
 #ifndef PIOS_COM_PRIV_H
 #define PIOS_COM_PRIV_H
 
+extern int32_t PIOS_COM_Init(uint32_t * com_id, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t * rx_buffer, uint16_t rx_buffer_len, uint8_t * tx_buffer, uint16_t tx_buffer_len);
+
 #endif /* PIOS_COM_PRIV_H */
 
 /**

flight/PiOS/inc/pios_usb_board_data_priv.h

@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD USB board layer functions
+ * @{
+ *
+ * @file       pios_usb_board_data_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines the API to the board-specific USB data setup code
+ * @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_BOARD_DATA_PRIV_H
+#define PIOS_USB_BOARD_DATA_PRIV_H
+
+extern int32_t PIOS_USB_BOARD_DATA_Init(void);
+
+#endif /* PIOS_USB_BOARD_DATA_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_usb_cdc_priv.h

@@ -46,7 +46,7 @@ extern const struct pios_com_driver pios_usb_cdc_com_driver;
 
 extern int32_t PIOS_USB_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id);
 
-extern uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
+extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
 extern RESULT PIOS_USB_CDC_SetControlLineState(void);
 extern RESULT PIOS_USB_CDC_SetLineCoding(void);
 

flight/PiOS/inc/pios_usb_desc_hid_cdc_priv.h

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_DESC USB descriptor layer functions
+ * @{
+ *
+ * @file       pios_usb_desc_hid_cdc_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines the API to set up the HID + CDC USB descriptor config
+ * @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_DESC_HID_CDC_PRIV_H
+#define PIOS_USB_DESC_HID_CDC_PRIV_H
+
+#include <stdint.h>
+
+extern int32_t PIOS_USB_DESC_HID_CDC_Init(void);
+
+#endif	/* PIOS_USB_DESC_HID_CDC_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_usb_desc_hid_only_priv.h

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_DESC USB descriptor layer functions
+ * @{
+ *
+ * @file       pios_usb_desc_hid_only_priv.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines the API to set up the HID-only USB descriptor config
+ * @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_DESC_HID_ONLY_PRIV_H
+#define PIOS_USB_DESC_HID_ONLY_PRIV_H
+
+#include <stdint.h>
+
+extern int32_t PIOS_USB_DESC_HID_ONLY_Init(void);
+
+#endif	/* PIOS_USB_DESC_HID_ONLY_PRIV_H */
+
+/**
+  * @}
+  * @}
+  */

flight/PiOS/inc/pios_usbhook.h

@@ -47,5 +47,18 @@ typedef enum CDC_REQUESTS {
 	SET_CONTROL_LINE_STATE = 0x23,
 } CDC_REQUESTS;
 
+enum usb_string_desc {
+	USB_STRING_DESC_LANG    = 0,
+	USB_STRING_DESC_VENDOR  = 1,
+	USB_STRING_DESC_PRODUCT = 2,
+	USB_STRING_DESC_SERIAL  = 3,
+} __attribute__((packed));
+
+extern void PIOS_USBHOOK_RegisterDevice(const uint8_t * desc, uint16_t desc_size);
+extern void PIOS_USBHOOK_RegisterConfig(uint8_t config_id, const uint8_t * desc, uint16_t desc_size);
+extern void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t * desc, uint16_t desc_size);
+extern void PIOS_USBHOOK_RegisterHidInterface(const uint8_t * desc, uint16_t desc_size);
+extern void PIOS_USBHOOK_RegisterHidReport(const uint8_t * desc, uint16_t desc_size);
+
 #endif /* PIOS_USBHOOK_H */
 

flight/PiOS/pios.h

@@ -112,7 +112,10 @@
 #if defined(PIOS_INCLUDE_IMU3000)
 #include <pios_imu3000.h>
 #endif
+
+#if defined(PIOS_INCLUDE_IAP)
 #include <pios_iap.h>
+#endif
 
 #if defined(PIOS_INCLUDE_ADXL345)
 #include <pios_adxl345.h>
@@ -134,6 +137,7 @@
 #if defined(PIOS_INCLUDE_USB)
 /* USB Libs */
 #include <usb_lib.h>
+#include <pios_usb.h>
 #endif
 
 #include <pios_crc.h>

flight/PipXtreme/inc/pios_usb_board_data.h

@@ -37,33 +37,6 @@
 
 #include "pios_usb_defs.h" 	/* struct usb_* */
 
-struct usb_board_config {
-	struct usb_configuration_desc         config;
-	struct usb_interface_desc             hid_if;
-	struct usb_hid_desc                   hid;
-	struct usb_endpoint_desc              hid_in;
-	struct usb_endpoint_desc              hid_out;
-} __attribute__((packed));
-
-extern const struct usb_device_desc PIOS_USB_BOARD_DeviceDescriptor;
-extern const struct usb_board_config PIOS_USB_BOARD_Configuration;
-extern const struct usb_string_langid PIOS_USB_BOARD_StringLangID;
-
-/* NOTE NOTE NOTE
- *
- * Care must be taken to ensure that the _actual_ contents of
- * these arrays (in each board's pios_usb_board_data.c) is no
- * smaller than the stated sizes here or these descriptors 
- * will end up with trailing zeros on the wire.
- *
- * The compiler will catch any time that these definitions are
- * too small.
- */
-extern const uint8_t PIOS_USB_BOARD_HidReportDescriptor[36];
-extern const uint8_t PIOS_USB_BOARD_StringVendorID[28];
-extern const uint8_t PIOS_USB_BOARD_StringProductID[20];
-extern uint8_t PIOS_USB_BOARD_StringSerial[52];
-
 #define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_PIPXTREME
 #define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_PIPXTREME, USB_OP_BOARD_MODE_FW)
 

flight/PipXtreme/inc/pios_usb_hid_desc.h

@@ -1,56 +0,0 @@
-/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
-* File Name          : usb_desc.h
-* Author             : MCD Application Team
-* Version            : V3.2.1
-* Date               : 07/05/2010
-* Description        : Descriptor Header for Custom HID Demo
-********************************************************************************
-* 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_DESC_H
-#define __USB_DESC_H
-
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported define -----------------------------------------------------------*/
-#define USB_DEVICE_DESCRIPTOR_TYPE              0x01
-#define USB_CONFIGURATION_DESCRIPTOR_TYPE       0x02
-#define USB_STRING_DESCRIPTOR_TYPE              0x03
-#define USB_INTERFACE_DESCRIPTOR_TYPE           0x04
-#define USB_ENDPOINT_DESCRIPTOR_TYPE            0x05
-
-#define HID_DESCRIPTOR_TYPE                     0x21
-#define PIOS_HID_SIZ_HID_DESC                  0x09
-#define PIOS_HID_OFF_HID_DESC                  0x12
-
-#define PIOS_HID_SIZ_DEVICE_DESC               18
-#define PIOS_HID_SIZ_CONFIG_DESC               41
-#define PIOS_HID_SIZ_REPORT_DESC               36
-#define PIOS_HID_SIZ_STRING_LANGID             4
-#define PIOS_HID_SIZ_STRING_VENDOR             28
-#define PIOS_HID_SIZ_STRING_PRODUCT            20
-#define PIOS_HID_SIZ_STRING_SERIAL             52 /* 96 bits, 12 bytes, 24 characters, 48 in unicode */
-
-#define STANDARD_ENDPOINT_DESC_SIZE             0x09
-
-/* Exported functions ------------------------------------------------------- */
-extern const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC];
-extern const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC];
-extern const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC];
-extern const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID];
-extern const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR];
-extern const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT];
-extern uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL];
-
-#endif /* __USB_DESC_H */
-
-/******************* (C) COPYRIGHT 2010 STMicroelectronics *****END OF FILE****/

flight/PipXtreme/pios_board.c

@@ -324,6 +324,10 @@ static const struct pios_usb_cfg pios_usb_main_cfg = {
     },
   },
 };
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
 #endif	/* PIOS_INCLUDE_USB */
 
 #if defined(PIOS_INCLUDE_USB_HID)
@@ -369,10 +373,16 @@ void PIOS_Board_Init(void) {
 	}
 
 #if defined(PIOS_INCLUDE_USB)
-	uint32_t pios_usb_id;
+	/* Initialize board specific USB data */
-	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
+	PIOS_USB_BOARD_DATA_Init();
+
+	if (PIOS_USB_DESC_HID_ONLY_Init()) {
 		PIOS_Assert(0);
 	}
+
+	uint32_t pios_usb_id;
+	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
+
 #if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
 	uint32_t pios_usb_hid_id;
 	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {

flight/PipXtreme/pios_usb_board_data.c

@@ -29,9 +29,11 @@
  */
 
 #include "pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include "pios_sys.h"		 /* PIOS_SYS_SerialNumberGet */
+#include "pios_usbhook.h"	 /* PIOS_USBHOOK_* */
 
-const uint8_t PIOS_USB_BOARD_StringProductID[] = {
+static const uint8_t usb_product_id[20] = {
-	sizeof(PIOS_USB_BOARD_StringProductID),
+	sizeof(usb_product_id),
 	USB_DESC_TYPE_STRING,
 	'P', 0,
 	'i', 0,
@@ -44,3 +46,74 @@ const uint8_t PIOS_USB_BOARD_StringProductID[] = {
 	'e', 0,
 };
 
+static uint8_t usb_serial_number[52] = {
+	sizeof(usb_serial_number),
+	USB_DESC_TYPE_STRING,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0,
+	0, 0
+};
+
+static const struct usb_string_langid usb_lang_id = {
+	.bLength = sizeof(usb_lang_id),
+	.bDescriptorType = USB_DESC_TYPE_STRING,
+	.bLangID = htousbs(USB_LANGID_ENGLISH_UK),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+	sizeof(usb_vendor_id),
+	USB_DESC_TYPE_STRING,
+	'o', 0,
+	'p', 0,
+	'e', 0,
+	'n', 0,
+	'p', 0,
+	'i', 0,
+	'l', 0,
+	'o', 0,
+	't', 0,
+	'.', 0,
+	'o', 0,
+	'r', 0,
+	'g', 0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+	/* Load device serial number into serial number string */
+	uint8_t sn[25];
+	PIOS_SYS_SerialNumberGet((char *)sn);
+	for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < usb_serial_number[0]; i++) {
+		usb_serial_number[2 + 2 * i] = sn[i];
+	}
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+	PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+	return 0;
+}

flight/PipXtreme/pios_usb_hid_desc.c

@@ -1,220 +0,0 @@
-/******************** (C) COPYRIGHT 2010 STMicroelectronics ********************
-* File Name          : usb_desc.c
-* Author             : MCD Application Team
-* Version            : V3.2.1
-* Date               : 07/05/2010
-* Description        : Descriptors for Custom HID Demo
-********************************************************************************
-* 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.
-*******************************************************************************/
-
-#include "usb_lib.h"
-#include "pios_usb.h"
-#include "pios_usb_hid.h"
-#include "pios_usb_hid_desc.h"
-
-// *************************************************
-// USB Standard Device Descriptor
-
-const uint8_t PIOS_HID_DeviceDescriptor[PIOS_HID_SIZ_DEVICE_DESC] =
-  {
-    0x12,                       // bLength
-    USB_DEVICE_DESCRIPTOR_TYPE, // bDescriptorType
-    0x00,                       // bcdUSB
-    0x02,
-    0x00,                       // bDeviceClass
-    0x00,                       // bDeviceSubClass
-    0x00,                       // bDeviceProtocol
-    0x40,                       // bMaxPacketSize40
-    (uint8_t)((PIOS_USB_VENDOR_ID) & 0xff),   // idVendor
-    (uint8_t)((PIOS_USB_VENDOR_ID) >> 8),
-    (uint8_t)((PIOS_USB_PRODUCT_ID) & 0xff),  // idProduct
-    (uint8_t)((PIOS_USB_PRODUCT_ID) >> 8),
-    (uint8_t)((PIOS_USB_VERSION_ID) & 0xff),  // bcdDevice
-    (uint8_t)((PIOS_USB_VERSION_ID) >> 8),
-    0x01,                        // Index of string descriptor describing manufacturer
-    0x02,                        // Index of string descriptor describing product
-    0x03,                        // Index of string descriptor describing the device serial number
-    0x01                         // bNumConfigurations
-  };
-
-// *************************************************
-// USB Configuration Descriptor
-//   All Descriptors (Configuration, Interface, Endpoint, Class, Vendor
-
-const uint8_t PIOS_HID_ConfigDescriptor[PIOS_HID_SIZ_CONFIG_DESC] =
-  {
-    0x09,         // bLength: Configuation Descriptor size
-    USB_CONFIGURATION_DESCRIPTOR_TYPE, // bDescriptorType: Configuration
-    PIOS_HID_SIZ_CONFIG_DESC,
-    // wTotalLength: Bytes returned
-    0x00,
-    0x01,         // bNumInterfaces: 1 interface
-    0x01,         // bConfigurationValue: Configuration value
-    0x00,         // iConfiguration: Index of string descriptor describing the configuration
-    0xC0,         // bmAttributes: Bus powered
-    0x7D,         // MaxPower 250 mA - needed to power the RF transmitter
-
-    // ************** Descriptor of Custom HID interface ****************
-    // 09
-    0x09,         // bLength: Interface Descriptor size
-    USB_INTERFACE_DESCRIPTOR_TYPE, // 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
-    HID_DESCRIPTOR_TYPE, // 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_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
-    0x40,          // wMaxPacketSize: 2 Bytes max
-    0x00,
-    0x04,          // bInterval: Polling Interval in ms
-    // 34
-    	
-    0x07,	// bLength: Endpoint Descriptor size
-    USB_ENDPOINT_DESCRIPTOR_TYPE,	// bDescriptorType:
-			// Endpoint descriptor type
-    0x01,	// bEndpointAddress:
-			//	Endpoint Address (OUT)
-    0x03,	// bmAttributes: Interrupt endpoint
-    0x40,	// wMaxPacketSize: 2 Bytes max
-    0x00,
-    0x04,	// bInterval: Polling Interval in ms
-    // 41
-  };
-
-// *************************************************
-
- const uint8_t PIOS_HID_ReportDescriptor[PIOS_HID_SIZ_REPORT_DESC] =
-  {                    
-    0x06, 0x9c, 0xff,      // USAGE_PAGE (Vendor Page: 0xFF00)
-    0x09, 0x01,            // USAGE (Demo Kit)
-    0xa1, 0x01,            // COLLECTION (Application)
-    // 6
-    
-    // Data 1
-    0x85, 0x01,            //     REPORT_ID (1)
-    0x09, 0x02,            //     USAGE (LED 1)
-    0x15, 0x00,            //     LOGICAL_MINIMUM (0)
-    0x25, 0xff,            //     LOGICAL_MAXIMUM (255)
-    0x75, 0x08,            //     REPORT_SIZE (8)
-    0x95, PIOS_USB_COM_DATA_LENGTH+1,            //     REPORT_COUNT (1)
-    0x81, 0x83,            //     INPUT (Const,Var,Array)
-    // 20
-	  
-    // Data 1
-    0x85, 0x02,            //     REPORT_ID (2)
-    0x09, 0x03,            //     USAGE (LED 1)
-    0x15, 0x00,            //     LOGICAL_MINIMUM (0)
-    0x25, 0xff,            //     LOGICAL_MAXIMUM (255)
-    0x75, 0x08,            //     REPORT_SIZE (8)
-    0x95, PIOS_USB_COM_DATA_LENGTH+1,            //     REPORT_COUNT (1)
-    0x91, 0x82,            //     OUTPUT (Data,Var,Abs,Vol)
-    // 34
-	  
-    0xc0 	          //     END_COLLECTION
-  };
-
-// *************************************************
-// USB String Descriptors (optional)
-
-const uint8_t PIOS_HID_StringLangID[PIOS_HID_SIZ_STRING_LANGID] =
-  {
-    PIOS_HID_SIZ_STRING_LANGID,
-    USB_STRING_DESCRIPTOR_TYPE,
-    0x09, 0x08			// LangID = 0x0809: UK. English
-//    0x09, 0x04			// LangID = 0x0409: U.S. English
-  };
-
-const uint8_t PIOS_HID_StringVendor[PIOS_HID_SIZ_STRING_VENDOR] =
-  {
-    PIOS_HID_SIZ_STRING_VENDOR, // Size of Vendor string
-    USB_STRING_DESCRIPTOR_TYPE,  // bDescriptorType
-    // Manufacturer: "STMicroelectronics"
-    'o', 0,
-    'p', 0,
-    'e', 0,
-    'n', 0,
-    'p', 0,
-    'i', 0,
-    'l', 0,
-    'o', 0,
-    't', 0,
-    '.', 0,
-    'o', 0,
-    'r', 0,
-    'g', 0
-  };
-
-const uint8_t PIOS_HID_StringProduct[PIOS_HID_SIZ_STRING_PRODUCT] =
-  {
-    PIOS_HID_SIZ_STRING_PRODUCT,       // bLength
-    USB_STRING_DESCRIPTOR_TYPE,        // bDescriptorType
-    'P', 0,
-    'i', 0,
-    'p', 0,
-    'X', 0,
-    't', 0,
-    'r', 0,
-    'e', 0,
-    'm', 0,
-    'e', 0
-  };
-
-uint8_t PIOS_HID_StringSerial[PIOS_HID_SIZ_STRING_SERIAL] =
-  {
-    PIOS_HID_SIZ_STRING_SERIAL,        // bLength
-    USB_STRING_DESCRIPTOR_TYPE,        // bDescriptorType
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0,
-    0, 0
-  };
-
-// *************************************************

make/boards/openpilot/board-info.mk

@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x01
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x00
+BOOTLOADER_VERSION  := 0x01
 HW_TYPE             := 0x00
 
 MCU                 := cortex-m3

make/boards/pipxtreme/board-info.mk

@@ -1,6 +1,6 @@
 BOARD_TYPE          := 0x03
 BOARD_REVISION      := 0x01
-BOOTLOADER_VERSION  := 0x00
+BOOTLOADER_VERSION  := 0x01
 HW_TYPE             := 0x01
 
 MCU                 := cortex-m3

shared/uavobjectdefinition/hwsettings.xml

@@ -12,6 +12,7 @@
 		<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="ComUsbBridgeSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
+		<field name="USB_DeviceType" units="descriptor" type="enum" elements="1" options="HID-only,HID+VCP,VCP-only" defaultvalue="HID-only"/>
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>