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