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LibrePilot/flight/pios/stm32f10x/pios_usb_hid.c
2013-05-18 14:17:26 +02:00

371 lines
12 KiB
C

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