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LibrePilot/flight/PiOS/STM32F10x/pios_usb_hid.c
peabody124 a6ca5b82e7 OP-155 Flight/HID: Make the HID stall when buffer full. Not sure the consequences on ground (i.e. if it handles the stall correctly)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1665 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-16 20:23:02 +00:00

350 lines
11 KiB
C

/**
******************************************************************************
* @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)<br>
* (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
/**
* @}
* @}
*/