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https://bitbucket.org/librepilot/librepilot.git
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dab400c80d
The bootloader needs to understand whether the USB cable is connected. The HID and CDC drivers need to know if the cable is connected _and_ the device has been enumerated already. Separate these two concepts in the API. Combining these was resulting in the BL not properly detecting that the cable was plugged in, and trying to boot the firmware image immediately. This effectively bricked the board if you ever had an invalid firmware image. It also happens to be the case that the BU images automatically invalidate themselves after updating the BL so they don't run again. The cable detect bug + this intended behaviour of the BU image resulted in a bricked board after upgrading the BL.
242 lines
6.1 KiB
C
242 lines
6.1 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 USB Setup Functions
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* @brief PIOS USB device implementation
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* @{
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*
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* @file pios_usb.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief USB device 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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/* Project Includes */
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#include "pios.h"
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#include "usb_lib.h"
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#include "pios_usb_board_data.h"
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#include "stm32f10x.h"
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#include "pios_usb.h"
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#include "pios_usb_priv.h"
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#if defined(PIOS_INCLUDE_USB_HID)
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/* Rx/Tx status */
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static bool transfer_possible = false;
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enum pios_usb_dev_magic {
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PIOS_USB_DEV_MAGIC = 0x17365904,
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};
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struct pios_usb_dev {
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enum pios_usb_dev_magic magic;
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const struct pios_usb_cfg * cfg;
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};
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/**
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* @brief Validate the usb device structure
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* @returns 0 if valid device or -1 otherwise
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*/
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static int32_t PIOS_USB_validate(struct pios_usb_dev * usb_dev)
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{
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if(usb_dev == NULL)
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return -1;
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if (usb_dev->magic != PIOS_USB_DEV_MAGIC)
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return -1;
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return 0;
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_usb_dev * PIOS_USB_alloc(void)
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{
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struct pios_usb_dev * usb_dev;
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usb_dev = (struct pios_usb_dev *)pvPortMalloc(sizeof(*usb_dev));
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if (!usb_dev) return(NULL);
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usb_dev->magic = PIOS_USB_DEV_MAGIC;
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return(usb_dev);
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}
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#else
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static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS];
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static uint8_t pios_usb_num_devs;
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static struct pios_usb_dev * PIOS_USB_alloc(void)
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{
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struct pios_usb_dev * usb_dev;
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if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) {
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return (NULL);
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}
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usb_dev = &pios_usb_devs[pios_usb_num_devs++];
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usb_dev->magic = PIOS_USB_DEV_MAGIC;
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return (usb_dev);
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}
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#endif
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/**
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* Initialises USB COM layer
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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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static uint32_t pios_usb_com_id;
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int32_t PIOS_USB_Init(uint32_t * usb_id, const struct pios_usb_cfg * cfg)
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{
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PIOS_Assert(usb_id);
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PIOS_Assert(cfg);
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struct pios_usb_dev * usb_dev;
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usb_dev = (struct pios_usb_dev *) PIOS_USB_alloc();
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if (!usb_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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usb_dev->cfg = cfg;
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PIOS_USB_Reenumerate();
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/*
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* This is a horrible hack to make this available to
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* the interrupt callbacks. This should go away ASAP.
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*/
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pios_usb_com_id = (uint32_t) usb_dev;
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/* Enable the USB Interrupts */
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NVIC_Init(&usb_dev->cfg->irq.init);
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/* Select USBCLK source */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable the USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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USB_Init();
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USB_SIL_Init();
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*usb_id = (uint32_t) usb_dev;
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return 0; /* No error */
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out_fail:
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return(-1);
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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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int32_t PIOS_USB_ChangeConnectionState(bool Connected)
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{
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// In all cases: re-initialise USB HID driver
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if (Connected) {
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transfer_possible = true;
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//TODO: Check SetEPRxValid(ENDP1);
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#if defined(USB_LED_ON)
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USB_LED_ON; // turn the USB led on
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#endif
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} else {
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// Cable disconnected: disable transfers
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transfer_possible = false;
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#if defined(USB_LED_OFF)
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USB_LED_OFF; // turn the USB led off
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#endif
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}
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return 0;
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}
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int32_t PIOS_USB_Reenumerate()
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{
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/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
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_SetCNTR(CNTR_FRES | CNTR_PDWN);
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/* Using a "dirty" method to force a re-enumeration: */
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/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
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/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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PIOS_DELAY_WaitmS(50);
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/* Release power-down, still hold reset */
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_SetCNTR(CNTR_PDWN);
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PIOS_DELAY_WaituS(5);
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/* CNTR_FRES = 0 */
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_SetCNTR(0);
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/* Clear pending interrupts */
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_SetISTR(0);
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/* Configure USB clock */
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/* USBCLK = PLLCLK / 1.5 */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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return 0;
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}
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bool PIOS_USB_CableConnected(uint8_t id)
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{
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struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
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if (PIOS_USB_validate(usb_dev) != 0)
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return false;
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return usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin;
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}
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/**
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* This function returns the connection status of the USB HID 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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bool PIOS_USB_CheckAvailable(uint8_t id)
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{
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struct pios_usb_dev * usb_dev = (struct pios_usb_dev *) pios_usb_com_id;
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if (PIOS_USB_validate(usb_dev) != 0)
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return false;
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return PIOS_USB_CableConnected(id) && transfer_possible;
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}
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#endif
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/**
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* @}
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* @}
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*/
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