/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_USB_HID USB HID Functions * @brief PIOS USB HID implementation * @notes This implements a very simple HID device with a simple data in * and data out endpoints. * @{ * * @file pios_usb_hid.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * Parts by Thorsten Klose (tk@midibox.org) * @brief USB HID functions (STM32 dependent 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 */ /* Project Includes */ #include "pios.h" #include "usb_lib.h" #include "pios_usb_hid_desc.h" #include "stm32f10x.h" #include "buffer.h" #if defined(PIOS_INCLUDE_USB_HID) const struct pios_com_driver pios_usb_com_driver = { .tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking, .tx = PIOS_USB_HID_TxBufferPutMore, .rx = PIOS_USB_HID_RxBufferGet, .rx_avail = PIOS_USB_HID_RxBufferUsed, }; // TODO: Eventually replace the transmit and receive buffers with bigger ring bufers // so there isn't hte 64 byte cap in place by the USB interrupt packet definition /* Rx/Tx status */ static volatile uint8_t rx_buffer_new_data_ctr = 0; static volatile uint8_t rx_buffer_ix; static uint8_t transfer_possible = 0; static uint8_t rx_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 }; static uint8_t tx_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 }; #define TX_BUFFER_SIZE 512 #define RX_BUFFER_SIZE 512 cBuffer rxBuffer; cBuffer txBuffer; static uint8_t rxBufferSpace[TX_BUFFER_SIZE]; static uint8_t txBufferSpace[RX_BUFFER_SIZE]; /** * Initialises USB COM layer * \param[in] mode currently only mode 0 supported * \return < 0 if initialisation failed * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_Init(uint32_t mode) { /* Currently only mode 0 supported */ if (mode != 0) { /* Unsupported mode */ return -1; } bufferInit(&rxBuffer, &rxBufferSpace[0], RX_BUFFER_SIZE); bufferInit(&txBuffer, &txBufferSpace[0], TX_BUFFER_SIZE); PIOS_USB_HID_Reenumerate(); /* Enable the USB Interrupts */ /* 2 bit for pre-emption priority, 2 bits for subpriority */ NVIC_InitTypeDef NVIC_InitStructure; NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); /* Select USBCLK source */ RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); /* 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_HID_StringSerial[0]; i++) { PIOS_HID_StringSerial[2 + 2 * i] = sn[i]; } USB_Init(); USB_SIL_Init(); return 0; /* No error */ } /** * This function is called by the USB driver on cable connection/disconnection * \param[in] connected connection status (1 if connected) * \return < 0 on errors * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected) { // In all cases: re-initialise USB HID driver if (Connected) { transfer_possible = 1; //TODO: Check SetEPRxValid(ENDP1); #if defined(USB_LED_ON) USB_LED_ON; // turn the USB led on #endif } else { // Cable disconnected: disable transfers transfer_possible = 0; #if defined(USB_LED_OFF) USB_LED_OFF; // turn the USB led off #endif } return 0; } int32_t PIOS_USB_HID_Reenumerate() { /* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */ _SetCNTR(CNTR_FRES | CNTR_PDWN); /* Using a "dirty" method to force a re-enumeration: */ /* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */ /* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */ GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); PIOS_DELAY_WaitmS(50); /* Release power-down, still hold reset */ _SetCNTR(CNTR_PDWN); PIOS_DELAY_WaituS(5); /* CNTR_FRES = 0 */ _SetCNTR(0); /* Clear pending interrupts */ _SetISTR(0); /* Configure USB clock */ /* USBCLK = PLLCLK / 1.5 */ RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5); /* Enable USB clock */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE); return 0; } /** * This function returns the connection status of the USB HID interface * \return 1: interface available * \return 0: interface not available * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_CheckAvailable(uint8_t id) { return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0; } void sendChunk() { uint32_t size = bufferBufferedData(&txBuffer); if (size > 0) { if (size > PIOS_USB_HID_DATA_LENGTH) size = PIOS_USB_HID_DATA_LENGTH; #ifdef USB_HID bufferGetChunkFromFront(&txBuffer, &tx_buffer[1], size + 1); tx_buffer[0] = 1; /* report ID */ #else bufferGetChunkFromFront(&txBuffer, &tx_buffer[2], size); tx_buffer[0] = 1; /* report ID */ tx_buffer[1] = size; /* valid data length */ #endif /* Wait for any pending transmissions to complete */ while (GetEPTxStatus(ENDP1) == EP_TX_VALID) { #if defined(PIOS_INCLUDE_FREERTOS) taskYIELD(); #endif } UserToPMABufferCopy((uint8_t *) tx_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2); SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH + 2); /* Send Buffer */ SetEPTxValid(ENDP1); } } /** * Puts more than one byte onto the transmit buffer (used for atomic sends) * \param[in] *buffer pointer to buffer which should be transmitted * \param[in] len number of bytes which should be transmitted * \return 0 if no error * \return -1 if too many bytes to be send * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buffer, uint16_t len) { /*if( len > PIOS_USB_HID_DATA_LENGTH ) return - 1; */ uint8_t previous_data = bufferBufferedData(&txBuffer); if (len > bufferRemainingSpace(&txBuffer)) return -1; /* Cannot send all requested bytes */ if (bufferAddChunkToEnd(&txBuffer, buffer, len) == 0) return -1; /* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */ if (previous_data == 0 && GetEPTxStatus(ENDP1) != EP_TX_VALID) sendChunk(); return 0; } /** * Puts more than one byte onto the transmit buffer (used for atomic sends)
* (Blocking Function) * \param[in] *buffer pointer to buffer which should be transmitted * \param[in] len number of bytes which should be transmitted * \return 0 if no error * \return -1 if too many bytes to be send * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_t len) { uint32_t error; if ((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(id, buffer, len)) != 0) return error; while (bufferBufferedData(&txBuffer)) { #if defined(PIOS_INCLUDE_FREERTOS) taskYIELD(); #endif } return 0; } /** * Gets a byte from the receive buffer * \return -1 if no new byte available * \return >= 0: received byte * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_RxBufferGet(uint8_t id) { uint8_t read = bufferGetFromFront(&rxBuffer); // If endpoint was stalled and there is now space make it valid if ((GetEPRxStatus(ENDP1) == EP_RX_STALL) && (bufferRemainingSpace(&rxBuffer) > 62)) { SetEPRxStatus(ENDP1, EP_RX_VALID); } return read; } /** * Returns number of used bytes in receive buffer * \return > 0: number of used bytes * \return 0 nothing available * \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions */ int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id) { return bufferBufferedData(&rxBuffer); } /** * @brief Callback used to indicate a transmission from device INto host completed * Checks if any data remains, pads it into HID packet and sends. */ void PIOS_USB_HID_EP1_IN_Callback(void) { sendChunk(); } /** * EP1 OUT Callback Routine */ void PIOS_USB_HID_EP1_OUT_Callback(void) { uint32_t DataLength = 0; /* Read received data (63 bytes) */ /* Get the number of received data on the selected Endpoint */ DataLength = GetEPRxCount(ENDP1 & 0x7F); /* Use the memory interface function to write to the selected endpoint */ PMAToUserBufferCopy((uint8_t *) rx_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength); /* The first byte is report ID (not checked), the second byte is the valid data length */ #ifdef USB_HID bufferAddChunkToEnd(&rxBuffer, &rx_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1); #else bufferAddChunkToEnd(&rxBuffer, &rx_buffer[2], rx_buffer[1]); #endif // Only reactivate endpoint if available space in buffer if (bufferRemainingSpace(&rxBuffer) > 62) { SetEPRxStatus(ENDP1, EP_RX_VALID); } else { SetEPRxStatus(ENDP1, EP_RX_STALL); } } #endif /** * @} * @} */