mirror of
https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
245 lines
6.1 KiB
C
245 lines
6.1 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_USB USB Setup Functions
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* @brief PIOS USB device implementation
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* @{
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*
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* @file pios_usb.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief USB device functions (STM32 dependent code)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_USB
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#include "usb_lib.h"
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#include "pios_usb_board_data.h"
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#include "stm32f10x.h"
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#include "pios_usb_priv.h"
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#ifdef PIOS_INCLUDE_USB_HID
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/* Rx/Tx status */
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static bool transfer_possible = false;
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enum pios_usb_dev_magic {
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PIOS_USB_DEV_MAGIC = 0x17365904,
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};
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struct pios_usb_dev {
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enum pios_usb_dev_magic magic;
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const struct pios_usb_cfg * cfg;
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};
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/**
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* @brief Validate the usb device structure
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* @returns 0 if valid device or -1 otherwise
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*/
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static int32_t PIOS_USB_validate(struct pios_usb_dev * usb_dev)
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{
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if(usb_dev == NULL)
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return -1;
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if (usb_dev->magic != PIOS_USB_DEV_MAGIC)
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return -1;
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return 0;
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}
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#ifdef PIOS_INCLUDE_FREERTOS
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static struct pios_usb_dev * PIOS_USB_alloc(void)
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{
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struct pios_usb_dev * usb_dev;
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usb_dev = (struct pios_usb_dev *)pvPortMalloc(sizeof(*usb_dev));
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if (!usb_dev) return(NULL);
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usb_dev->magic = PIOS_USB_DEV_MAGIC;
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return(usb_dev);
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}
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#else
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static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS];
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static uint8_t pios_usb_num_devs;
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static struct pios_usb_dev * PIOS_USB_alloc(void)
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{
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struct pios_usb_dev * usb_dev;
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if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) {
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return (NULL);
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}
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usb_dev = &pios_usb_devs[pios_usb_num_devs++];
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usb_dev->magic = PIOS_USB_DEV_MAGIC;
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return (usb_dev);
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}
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#endif
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/**
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* Initialises USB COM layer
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* \return < 0 if initialisation failed
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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static uint32_t pios_usb_com_id;
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int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg)
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{
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PIOS_Assert(usb_id);
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PIOS_Assert(cfg);
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struct pios_usb_dev * usb_dev;
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usb_dev = (struct pios_usb_dev *) PIOS_USB_alloc();
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if (!usb_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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usb_dev->cfg = cfg;
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PIOS_USB_Reenumerate();
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/*
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* This is a horrible hack to make this available to
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* the interrupt callbacks. This should go away ASAP.
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*/
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pios_usb_com_id = (uint32_t) usb_dev;
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/* Enable the USB Interrupts */
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NVIC_Init(&usb_dev->cfg->irq.init);
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/* Select USBCLK source */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable the USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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USB_Init();
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USB_SIL_Init();
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*usb_id = (uint32_t) usb_dev;
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return 0; /* No error */
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out_fail:
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return(-1);
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}
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/**
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* This function is called by the USB driver on cable connection/disconnection
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* \param[in] connected connection status (1 if connected)
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* \return < 0 on errors
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_ChangeConnectionState(bool Connected)
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{
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// In all cases: re-initialise USB HID driver
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if (Connected) {
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transfer_possible = true;
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//TODO: Check SetEPRxValid(ENDP1);
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#ifdef USB_LED_ON
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USB_LED_ON; // turn the USB led on
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#endif
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} else {
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// Cable disconnected: disable transfers
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transfer_possible = false;
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#ifdef USB_LED_OFF
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USB_LED_OFF; // turn the USB led off
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#endif
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}
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return 0;
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}
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int32_t PIOS_USB_Reenumerate()
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{
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/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
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_SetCNTR(CNTR_FRES | CNTR_PDWN);
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/* Using a "dirty" method to force a re-enumeration: */
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/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
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/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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PIOS_DELAY_WaitmS(50);
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/* Release power-down, still hold reset */
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_SetCNTR(CNTR_PDWN);
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PIOS_DELAY_WaituS(5);
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/* CNTR_FRES = 0 */
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_SetCNTR(0);
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/* Clear pending interrupts */
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_SetISTR(0);
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/* Configure USB clock */
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/* USBCLK = PLLCLK / 1.5 */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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return 0;
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}
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bool PIOS_USB_CableConnected(__attribute__((unused)) uint8_t id)
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{
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struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
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if (PIOS_USB_validate(usb_dev) != 0)
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return false;
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return usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin;
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}
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/**
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* This function returns the connection status of the USB HID interface
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* \return 1: interface available
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* \return 0: interface not available
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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bool PIOS_USB_CheckAvailable(uint32_t id)
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{
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struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
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if (PIOS_USB_validate(usb_dev) != 0)
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return false;
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return PIOS_USB_CableConnected(id) && transfer_possible;
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}
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#endif /* PIOS_INCLUDE_USB_HID */
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#endif /* PIOS_INCLUDE_USB */
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/**
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* @}
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* @}
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*/
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