OP-980 Fix usb reconnection issue for Revolution target.

step 2: check for cable disconnection (vbus) and issue a SW reconnection

flight/pios/inc/pios_usb.h

@@ -37,7 +37,7 @@ extern int32_t PIOS_USB_Reenumerate();
 extern int32_t PIOS_USB_ChangeConnectionState(bool connected);
 extern bool PIOS_USB_CableConnected(uint8_t id);
 extern bool PIOS_USB_CheckAvailable(uint32_t id);
-
+extern void PIOS_USB_RegisterDisconnectionCallback(void (*disconnectionCB)(void));
 #endif /* PIOS_USB_H */
 
 /**

flight/pios/stm32f4xx/pios_usb.c

@@ -34,12 +34,14 @@
 
 #include "usb_core.h"
 #include "pios_usb_board_data.h"
-#include "pios_usb_priv.h"
+#include <pios_usb_priv.h>
-
+#include <pios_helpers.h>
 
 /* Rx/Tx status */
 static uint8_t transfer_possible = 0;
 
+static void (*disconnection_cb_list[3])(void);
+
 enum pios_usb_dev_magic {
     PIOS_USB_DEV_MAGIC = 0x17365904,
 };
@@ -49,6 +51,8 @@ struct pios_usb_dev {
     const struct pios_usb_cfg *cfg;
 };
 
+static void raiseDisconnectionCallbacks(void);
+
 /**
  * @brief Validate the usb device structure
  * @returns true if valid device or false otherwise
@@ -162,15 +166,43 @@ uint32_t usb_found;
 bool PIOS_USB_CheckAvailable(__attribute__((unused)) uint32_t id)
 {
     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
-
+    static bool lastStatus = false;
     if (!PIOS_USB_validate(usb_dev)) {
         return false;
     }
 
     usb_found = ((usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin) != 0) ^ usb_dev->cfg->vsense_active_low;
-    return usb_found;
 
-    return usb_found != 0 && transfer_possible ? 1 : 0;
+    bool status = usb_found != 0 && transfer_possible ? 1 : 0;
+
+    if(lastStatus && !status){
+        raiseDisconnectionCallbacks();
+    }
+    lastStatus = status;
+    return status;
+}
+
+/*
+ *
+ * Register a physical disconnection callback
+ *
+ */
+void PIOS_USB_RegisterDisconnectionCallback(void (*disconnectionCB)(void)){
+    PIOS_Assert(disconnectionCB);
+    for(uint32_t i = 0; i < NELEMENTS(disconnection_cb_list); i++){
+        if(disconnection_cb_list[i] == NULL){
+            disconnection_cb_list[i] = disconnectionCB;
+            return;
+        }
+    }
+    PIOS_Assert(0);
+}
+
+static void raiseDisconnectionCallbacks(void){
+    uint32_t i = 0;
+    while(i < NELEMENTS(disconnection_cb_list) && disconnection_cb_list[i] != NULL){
+        (disconnection_cb_list[i++])();
+    }
 }
 
 /*

flight/pios/stm32f4xx/pios_usbhook.c

@@ -46,6 +46,8 @@
 #include "usbd_req.h" /* USBD_CtlError */
 #include "usb_dcd_int.h" /* USBD_OTG_ISR_Handler */
 
+static void reconnect(void);
+
 /*
  * External API
  */
@@ -82,6 +84,9 @@ static USBD_Usr_cb_TypeDef user_callbacks;
 
 void PIOS_USBHOOK_Activate(void)
 {
+
+    PIOS_USB_RegisterDisconnectionCallback(&reconnect);
+
     USBD_Init(&pios_usb_otg_core_handle,
               USB_OTG_FS_CORE_ID,
               &device_callbacks,
@@ -271,12 +276,7 @@ static USBD_DEVICE device_callbacks = {
 static void PIOS_USBHOOK_USR_Init(void)
 {
     PIOS_USB_ChangeConnectionState(false);
-
+    reconnect();
-#if 1
-    /* Force a physical disconnect/reconnect */
-    DCD_DevDisconnect(&pios_usb_otg_core_handle);
-    DCD_DevConnect(&pios_usb_otg_core_handle);
-#endif
 }
 
 static void PIOS_USBHOOK_USR_DeviceReset(__attribute__((unused)) uint8_t speed)
@@ -483,4 +483,10 @@ static USBD_Class_cb_TypeDef class_callbacks = {
 #endif /* USB_SUPPORT_USER_STRING_DESC */
 };
 
+static void reconnect(void){
+    /* Force a physical disconnect/reconnect */
+    DCD_DevDisconnect(&pios_usb_otg_core_handle);
+    DCD_DevConnect(&pios_usb_otg_core_handle);
+}
+
 #endif /* PIOS_INCLUDE_USB */