/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_USB_HID USB COM Functions * @brief PIOS USB COM implementation for HID interfaces * @notes This implements serial emulation over HID reports * @{ * * @file pios_usb_hid.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief USB COM 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" #if defined(PIOS_INCLUDE_USB_HID) #include "pios_usb.h" #include "pios_usb_hid_priv.h" #include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */ /* STM32 USB Library Definitions */ #include "usb_lib.h" static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context); static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context); static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail); static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail); const struct pios_com_driver pios_usb_hid_com_driver = { .tx_start = PIOS_USB_HID_TxStart, .rx_start = PIOS_USB_HID_RxStart, .bind_tx_cb = PIOS_USB_HID_RegisterTxCallback, .bind_rx_cb = PIOS_USB_HID_RegisterRxCallback, .available = PIOS_USB_CheckAvailable, }; enum pios_usb_hid_dev_magic { PIOS_USB_HID_DEV_MAGIC = 0xAA00BB00, }; struct pios_usb_hid_dev { enum pios_usb_hid_dev_magic magic; const struct pios_usb_hid_cfg * cfg; uint32_t lower_id; pios_com_callback rx_in_cb; uint32_t rx_in_context; pios_com_callback tx_out_cb; uint32_t tx_out_context; uint8_t rx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH]; uint8_t tx_packet_buffer[PIOS_USB_BOARD_HID_DATA_LENGTH]; uint32_t rx_dropped; uint32_t rx_oversize; }; static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev) { return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC); } #if defined(PIOS_INCLUDE_FREERTOS) static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { struct pios_usb_hid_dev * usb_hid_dev; usb_hid_dev = (struct pios_usb_hid_dev *)pvPortMalloc(sizeof(*usb_hid_dev)); if (!usb_hid_dev) return(NULL); usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; return(usb_hid_dev); } #else static struct pios_usb_hid_dev pios_usb_hid_devs[PIOS_USB_HID_MAX_DEVS]; static uint8_t pios_usb_hid_num_devs; static struct pios_usb_hid_dev * PIOS_USB_HID_alloc(void) { struct pios_usb_hid_dev * usb_hid_dev; if (pios_usb_hid_num_devs >= PIOS_USB_HID_MAX_DEVS) { return (NULL); } usb_hid_dev = &pios_usb_hid_devs[pios_usb_hid_num_devs++]; usb_hid_dev->magic = PIOS_USB_HID_DEV_MAGIC; return (usb_hid_dev); } #endif static void PIOS_USB_HID_EP_IN_Callback(void); static void PIOS_USB_HID_EP_OUT_Callback(void); static uint32_t pios_usb_hid_id; /* Need a better way to pull these in */ extern void (*pEpInt_IN[7])(void); extern void (*pEpInt_OUT[7])(void); int32_t PIOS_USB_HID_Init(uint32_t * usbhid_id, const struct pios_usb_hid_cfg * cfg, uint32_t lower_id) { PIOS_Assert(usbhid_id); PIOS_Assert(cfg); struct pios_usb_hid_dev * usb_hid_dev; usb_hid_dev = (struct pios_usb_hid_dev *) PIOS_USB_HID_alloc(); if (!usb_hid_dev) goto out_fail; /* Bind the configuration to the device instance */ usb_hid_dev->cfg = cfg; usb_hid_dev->lower_id = lower_id; pios_usb_hid_id = (uint32_t) usb_hid_dev; /* Bind lower level callbacks into the USB infrastructure */ pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_HID_EP_IN_Callback; pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_HID_EP_OUT_Callback; *usbhid_id = (uint32_t) usb_hid_dev; return 0; out_fail: return -1; } static void PIOS_USB_HID_SendReport(struct pios_usb_hid_dev * usb_hid_dev) { uint16_t bytes_to_tx; if (!usb_hid_dev->tx_out_cb) { return; } bool need_yield = false; #ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, &usb_hid_dev->tx_packet_buffer[1], sizeof(usb_hid_dev->tx_packet_buffer)-1, NULL, &need_yield); #else bytes_to_tx = (usb_hid_dev->tx_out_cb)(usb_hid_dev->tx_out_context, &usb_hid_dev->tx_packet_buffer[2], sizeof(usb_hid_dev->tx_packet_buffer)-2, NULL, &need_yield); #endif if (bytes_to_tx == 0) { return; } /* Always set type as report ID */ usb_hid_dev->tx_packet_buffer[0] = 1; #ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep), bytes_to_tx + 1); #else usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx; UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(usb_hid_dev->cfg->data_tx_ep), bytes_to_tx + 2); #endif /* Is this correct? Why do we always send the whole buffer? */ SetEPTxCount(usb_hid_dev->cfg->data_tx_ep, sizeof(usb_hid_dev->tx_packet_buffer)); SetEPTxValid(usb_hid_dev->cfg->data_tx_ep); #if defined(PIOS_INCLUDE_FREERTOS) if (need_yield) { vPortYieldFromISR(); } #endif /* PIOS_INCLUDE_FREERTOS */ } static void PIOS_USB_HID_RxStart(uint32_t usbhid_id, uint16_t rx_bytes_avail) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { return; } // 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 >= max_payload_length)) { SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_VALID); } PIOS_IRQ_Enable(); } static void PIOS_USB_HID_TxStart(uint32_t usbhid_id, uint16_t tx_bytes_avail) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { return; } if (GetEPTxStatus(usb_hid_dev->cfg->data_tx_ep) == EP_TX_VALID) { /* Endpoint is already transmitting */ return; } PIOS_USB_HID_SendReport(usb_hid_dev); } static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbhid_id, pios_com_callback rx_in_cb, uint32_t context) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); /* * Order is important in these assignments since ISR uses _cb * field to determine if it's ok to dereference _cb and _context */ usb_hid_dev->rx_in_context = context; usb_hid_dev->rx_in_cb = rx_in_cb; } static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbhid_id, pios_com_callback tx_out_cb, uint32_t context) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbhid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); /* * Order is important in these assignments since ISR uses _cb * field to determine if it's ok to dereference _cb and _context */ usb_hid_dev->tx_out_context = context; usb_hid_dev->tx_out_cb = tx_out_cb; } /** * @brief Callback used to indicate a transmission from device INto host completed * Checks if any data remains, pads it into HID packet and sends. */ static void PIOS_USB_HID_EP_IN_Callback(void) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); if (!PIOS_USB_CheckAvailable(usb_hid_dev->lower_id)) { return; } PIOS_USB_HID_SendReport(usb_hid_dev); } /** * EP1 OUT Callback Routine */ static void PIOS_USB_HID_EP_OUT_Callback(void) { struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)pios_usb_hid_id; bool valid = PIOS_USB_HID_validate(usb_hid_dev); PIOS_Assert(valid); uint32_t DataLength; /* Read received data (63 bytes) */ /* Get the number of received data on the selected Endpoint */ DataLength = GetEPRxCount(usb_hid_dev->cfg->data_rx_ep); if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) { DataLength = sizeof(usb_hid_dev->rx_packet_buffer); } /* Use the memory interface function to read from the selected endpoint */ PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, GetEPRxAddr(usb_hid_dev->cfg->data_rx_ep), DataLength); if (!usb_hid_dev->rx_in_cb) { /* No Rx call back registered, disable the receiver */ SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK); return; } /* The first byte is report ID (not checked), the second byte is the valid data length */ uint16_t headroom; bool need_yield = false; #ifdef PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, &usb_hid_dev->rx_packet_buffer[1], sizeof(usb_hid_dev->rx_packet_buffer)-1, &headroom, &need_yield); #else (usb_hid_dev->rx_in_cb)(usb_hid_dev->rx_in_context, &usb_hid_dev->rx_packet_buffer[2], usb_hid_dev->rx_packet_buffer[1], &headroom, &need_yield); #endif #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 { /* Not enough room left for a message, apply backpressure */ SetEPRxStatus(usb_hid_dev->cfg->data_rx_ep, EP_RX_NAK); } #if defined(PIOS_INCLUDE_FREERTOS) if (need_yield) { vPortYieldFromISR(); } #endif /* PIOS_INCLUDE_FREERTOS */ } #endif /* PIOS_INCLUDE_USB_HID */