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https://bitbucket.org/librepilot/librepilot.git
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adcd47a31b
Added PIOS_USB_COM. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@202 ebee16cc-31ac-478f-84a7-5cbb03baadba
503 lines
17 KiB
C
503 lines
17 KiB
C
/**
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******************************************************************************
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*
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* @file pios_sys.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Sets up basic system hardware, functions are called from Main.
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_SYS System Functions
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* @{
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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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/* Project Includes */
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#include "pios.h"
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#include <usb_lib.h>
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#if !defined(PIOS_DONT_USE_USB_COM)
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/////////////////////////////////////////////////////////////////////////////
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// Local Defines
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/////////////////////////////////////////////////////////////////////////////
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#define SEND_ENCAPSULATED_COMMAND 0x00
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#define GET_ENCAPSULATED_RESPONSE 0x01
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#define SET_COMM_FEATURE 0x02
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#define GET_COMM_FEATURE 0x03
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#define CLEAR_COMM_FEATURE 0x04
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#define SET_LINE_CODING 0x20
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#define GET_LINE_CODING 0x21
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#define SET_CONTROL_LINE_STATE 0x22
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#define SEND_BREAK 0x23
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/////////////////////////////////////////////////////////////////////////////
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// Local Types
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/////////////////////////////////////////////////////////////////////////////
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typedef struct
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{
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u32 bitrate;
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u8 format;
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u8 paritytype;
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u8 datatype;
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} LINE_CODING;
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/////////////////////////////////////////////////////////////////////////////
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// Local prototypes
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/////////////////////////////////////////////////////////////////////////////
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void PIOS_USB_COM_TxBufferHandler(void);
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void PIOS_USB_COM_RxBufferHandler(void);
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/////////////////////////////////////////////////////////////////////////////
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// Local Variables
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/////////////////////////////////////////////////////////////////////////////
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// rx/tx status
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static volatile u8 rx_buffer_new_data_ctr;
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static volatile u8 rx_buffer_ix;
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static volatile u8 tx_buffer_busy;
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// transfer possible?
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static u8 transfer_possible = 0;
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// COM Requests
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u8 Request = 0;
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// Default linecoding
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LINE_CODING linecoding = {
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115200, /* baud rate*/
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0x00, /* stop bits-1*/
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0x00, /* parity - none*/
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0x08 /* no. of bits 8*/
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};
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/////////////////////////////////////////////////////////////////////////////
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//! Initializes USB COM layer
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//! \param[in] mode currently only mode 0 supported
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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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s32 PIOS_USB_COM_Init(u32 mode)
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{
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// currently only mode 0 supported
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if( mode != 0 )
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return -1; // unsupported mode
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return 0; // no error
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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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s32 PIOS_USB_COM_ChangeConnectionState(u8 connected)
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{
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// in all cases: re-initialize USB COM driver
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if( connected ) {
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transfer_possible = 1;
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rx_buffer_new_data_ctr = 0;
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SetEPRxValid(ENDP3);
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tx_buffer_busy = 0; // buffer not busy anymore
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} else {
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// cable disconnected: disable transfers
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transfer_possible = 0;
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rx_buffer_new_data_ctr = 0;
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tx_buffer_busy = 1; // buffer busy
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}
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return 0; // no error
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}
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/////////////////////////////////////////////////////////////////////////////
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//! This function returns the connection status of the USB COM 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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s32 PIOS_USB_COM_CheckAvailable(void)
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{
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return transfer_possible ? 1 : 0;
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Returns number of free bytes in receive buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return number of free bytes
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//! \return 0 if usb_com 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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s32 PIOS_USB_COM_RxBufferFree(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return 0; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return 0;
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else
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return PIOS_USB_COM_DATA_OUT_SIZE-rx_buffer_new_data_ctr;
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Returns number of used bytes in receive buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return number of used bytes
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//! \return 0 if usb_com 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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s32 PIOS_USB_COM_RxBufferUsed(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return 0; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return 0;
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else
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return rx_buffer_new_data_ctr;
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Gets a byte from the receive buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return -1 if USB_COM not available
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//! \return -2 if no new byte available
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//! \return >= 0: received byte
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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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s32 PIOS_USB_COM_RxBufferGet(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return -1; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return -1; // USB_COM not available
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if( !rx_buffer_new_data_ctr )
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return -2; // nothing new in buffer
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// get byte - this operation should be atomic!
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// PIOS_IRQ_Disable();
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// TODO: access buffer directly, so that we don't need to copy into temporary buffer
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u8 buffer_out[PIOS_USB_COM_DATA_OUT_SIZE];
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PMAToUserBufferCopy(buffer_out, PIOS_USB_ENDP3_RXADDR, GetEPRxCount(ENDP3));
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u8 b = buffer_out[rx_buffer_ix++];
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if( !--rx_buffer_new_data_ctr )
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SetEPRxValid(ENDP3);
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// PIOS_IRQ_Enable();
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return b; // return received byte
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Returns the next byte of the receive buffer without taking it
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return -1 if USB_COM not available
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//! \return -2 if no new byte available
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//! \return >= 0: received byte
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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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s32 PIOS_USB_COM_RxBufferPeek(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return -1; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return -1; // USB_COM not available
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if( !rx_buffer_new_data_ctr )
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return -2; // nothing new in buffer
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// get byte - this operation should be atomic!
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// PIOS_IRQ_Disable();
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// TODO: access buffer directly, so that we don't need to copy into temporary buffer
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u8 buffer_out[PIOS_USB_COM_DATA_OUT_SIZE];
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PMAToUserBufferCopy(buffer_out, PIOS_USB_ENDP3_RXADDR, GetEPRxCount(ENDP3));
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u8 b = buffer_out[rx_buffer_ix];
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// PIOS_IRQ_Enable();
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return b; // return received byte
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! returns number of free bytes in transmit buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return number of free bytes
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//! \return 0 if usb_com 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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s32 PIOS_USB_COM_TxBufferFree(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return 0; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return 0;
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else
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return tx_buffer_busy ? 0 : PIOS_USB_COM_DATA_IN_SIZE;
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Returns number of used bytes in transmit buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \return number of used bytes
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//! \return 0 if usb_com 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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s32 PIOS_USB_COM_TxBufferUsed(u8 usb_com)
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{
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#if PIOS_USB_COM_NUM == 0
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return 0; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return 0;
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else
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return tx_buffer_busy ? PIOS_USB_COM_DATA_IN_SIZE : 0;
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! puts more than one byte onto the transmit buffer (used for atomic sends)
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \param[in] *buffer pointer to buffer which should be transmitted
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//! \param[in] len number of bytes which should be transmitted
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//! \return 0 if no error
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//! \return -1 if USB_COM not available
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//! \return -2 if buffer full or cannot get all requested bytes (retry)
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//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
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//! \return -4 if too many bytes should be sent
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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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s32 PIOS_USB_COM_TxBufferPutMoreNonBlocking(u8 usb_com, u8 *buffer, u16 len)
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{
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#if PIOS_USB_COM_NUM == 0
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return -1; // no USB_COM available
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#else
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if( usb_com >= PIOS_USB_COM_NUM )
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return -1; // USB_COM not available
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if( len > PIOS_USB_COM_DATA_IN_SIZE )
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return -4; // cannot get all requested bytes
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if( tx_buffer_busy )
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return -2; // buffer full (retry)
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// copy bytes to be transmitted into transmit buffer
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UserToPMABufferCopy(buffer, PIOS_USB_ENDP4_TXADDR, len);
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// send buffer
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tx_buffer_busy = 1;
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SetEPTxCount(ENDP4, len);
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SetEPTxValid(ENDP4);
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return 0; // no error
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#endif
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}
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/////////////////////////////////////////////////////////////////////////////
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//! puts more than one byte onto the transmit buffer (used for atomic sends)<BR>
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//! (blocking function)
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \param[in] *buffer pointer to buffer which should be transmitted
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//! \param[in] len number of bytes which should be transmitted
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//! \return 0 if no error
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//! \return -1 if USB_COM not available
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//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
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//! \return -4 if too many bytes should be sent
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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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s32 PIOS_USB_COM_TxBufferPutMore(u8 usb_com, u8 *buffer, u16 len)
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{
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s32 error;
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while( (error=PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, buffer, len)) == -2 );
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return error;
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}
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/////////////////////////////////////////////////////////////////////////////
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//! puts a byte onto the transmit buffer
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \param[in] b byte which should be put into Tx buffer
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//! \return 0 if no error
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//! \return -1 if USB_COM not available
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//! \return -2 if buffer full (retry)
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//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
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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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s32 PIOS_USB_COM_TxBufferPut_NonBlocking(u8 usb_com, u8 b)
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{
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// for more comfortable usage...
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// -> just forward to PIOS_USB_COM_TxBufferPutMore
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return PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, &b, 1);
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}
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/////////////////////////////////////////////////////////////////////////////
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//! puts a byte onto the transmit buffer<BR>
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//! (blocking function)
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//! \param[in] usb_com USB_COM number (not supported yet, should always be 0)
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//! \param[in] b byte which should be put into Tx buffer
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//! \return 0 if no error
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//! \return -1 if USB_COM not available
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//! \return -3 if USB_COM not supported by PIOS_USB_COM_TxBufferPut Routine
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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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s32 PIOS_USB_COM_TxBufferPut(u8 usb_com, u8 b)
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{
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s32 error;
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while( (error=PIOS_USB_COM_TxBufferPutMoreNonBlocking(usb_com, &b, 1)) == -2 );
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return error;
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Called by STM32 USB driver to check for IN streams
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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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void PIOS_USB_COM_EP4_IN_Callback(void)
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{
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// package has been sent
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tx_buffer_busy = 0;
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}
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/////////////////////////////////////////////////////////////////////////////
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//! Called by STM32 USB driver to check for OUT streams
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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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void PIOS_USB_COM_EP3_OUT_Callback(void)
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{
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// new data has been received - notify this
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rx_buffer_new_data_ctr = GetEPRxCount(ENDP3);
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rx_buffer_ix = 0;
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}
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/////////////////////////////////////////////////////////////////////////////
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//! PIOS_USB callback functions (forwarded from STM32 USB driver)
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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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void PIOS_USB_COM_CB_StatusIn(void)
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{
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if( Request == SET_LINE_CODING ) {
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// configure UART here...
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Request = 0;
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}
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}
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// handles the data class specific requests
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static u8 *Virtual_Com_Port_GetLineCoding(u16 Length) {
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if( Length == 0 ) {
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pInformation->Ctrl_Info.Usb_wLength = sizeof(linecoding);
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return NULL;
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}
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return(u8 *)&linecoding;
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}
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u8 *Virtual_Com_Port_SetLineCoding(u16 Length)
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{
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if( Length == 0 ) {
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pInformation->Ctrl_Info.Usb_wLength = sizeof(linecoding);
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return NULL;
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}
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return(u8 *)&linecoding;
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}
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s32 PIOS_USB_COM_CB_Data_Setup(u8 RequestNo)
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{
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u8 *(*CopyRoutine)(u16) = NULL;
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if( RequestNo == GET_LINE_CODING ) {
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if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
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CopyRoutine = Virtual_Com_Port_GetLineCoding;
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}
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} else if( RequestNo == SET_LINE_CODING ) {
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if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
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CopyRoutine = Virtual_Com_Port_SetLineCoding;
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}
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Request = SET_LINE_CODING;
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}
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if( CopyRoutine == NULL ) {
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return USB_UNSUPPORT;
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}
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pInformation->Ctrl_Info.CopyData = CopyRoutine;
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pInformation->Ctrl_Info.Usb_wOffset = 0;
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(*CopyRoutine)(0);
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return USB_SUCCESS;
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}
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s32 PIOS_USB_COM_CB_NoData_Setup(u8 RequestNo)
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{
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if( Type_Recipient == (CLASS_REQUEST | INTERFACE_RECIPIENT) ) {
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if( RequestNo == SET_COMM_FEATURE ) {
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return USB_SUCCESS;
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} else if( RequestNo == SET_CONTROL_LINE_STATE ) {
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return USB_SUCCESS;
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}
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}
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return USB_UNSUPPORT;
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}
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#endif
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