mirror of
https://bitbucket.org/librepilot/librepilot.git
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b94f4b49a4
Summary of changes:
* USB CDC and HID drivers are completely split apart.
* This will allow different max buffer sizes for HID and CDC.
* USB descriptors have been overhauled:
* Proper structs/macros/enums declared for USB (see pios_usb_defs.h)
* Two common descriptor definitions. One for HID+CDC another for HID only.
See pios_usb_desc_{hid_cdc,hid_only}.c for details.
* Long standing bugs in OP USB descriptors became much more obvious with the
new struct definitions.
* Board specific USB initialization is now in pios_usb_board_data.h in each build target.
* Definition of USB descriptors is now entirely indpendent of STM32 libs.
Glue into STM32 libs is provided by pios_usbhook.c.
* Removed a lot of stale/irrelevant USB #defines throughout the tree.
* Improved naming consistency throughout USB code:
* PIOS_USB_HID_* now refers to the HID endpoint code.
* PIOS_USB_CDC_* now refers to the CDC endpoint code.
* PIOS_USB_* now refers to the low-level USB code.
* PIOS_USB_BOARD_* now refers to board-specific USB data
* PIOS_USBHOOK_* is glue between PIOS and STM32 USB libs.
* struct usb_* and enum usb_* and USB_* and HID_* are all types from the USB spec.
* Shrunk the buffer size on the CDC call mgmt endpoint to save some RAM.
* Made a few more USB related variables static to save some RAM.
118 lines
3.5 KiB
C
118 lines
3.5 KiB
C
/**
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******************************************************************************
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the PipBee board.
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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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// ***********************************************************************************
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#if defined(PIOS_INCLUDE_COM)
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#include <pios_com_priv.h>
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
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static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
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static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
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#endif /* PIOS_INCLUDE_COM */
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// ***********************************************************************************
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#if defined(PIOS_INCLUDE_USB)
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#include "pios_usb_priv.h"
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static const struct pios_usb_cfg pios_usb_main_cfg = {
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.irq = {
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.init = {
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.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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};
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#endif /* PIOS_INCLUDE_USB */
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#if defined(PIOS_INCLUDE_USB_HID)
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#include <pios_usb_hid_priv.h>
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const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
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.data_if = 0,
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.data_rx_ep = 1,
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.data_tx_ep = 1,
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};
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#endif /* PIOS_INCLUDE_USB_HID */
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uint32_t pios_com_telem_usb_id;
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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static bool board_init_complete = false;
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void PIOS_Board_Init(void) {
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if (board_init_complete) {
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return;
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}
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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/* Delay system */
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PIOS_DELAY_Init();
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/* Initialize the PiOS library */
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PIOS_GPIO_Init();
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#if defined(PIOS_INCLUDE_USB)
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uint32_t pios_usb_id;
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if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
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PIOS_Assert(0);
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}
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#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM)
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uint32_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
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pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
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#endif /* PIOS_INCLUDE_USB */
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar
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board_init_complete = true;
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}
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