mirror of
https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
477 lines
14 KiB
C
477 lines
14 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_USBHOOK USB glue code
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* @brief Glue between PiOS and STM32 libs
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* @{
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*
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* @file pios_usbhook.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Glue between PiOS and STM32 libs
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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
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#include "pios_usb.h" /* PIOS_USB_* */
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#include "pios_usbhook.h"
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#include "pios_usb_defs.h" /* struct usb_* */
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#include "pios_usb_cdc_priv.h" /* PIOS_USB_CDC_* */
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#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
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/* STM32 USB Library Definitions */
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#include "usb_core.h" /* USBD_Class_cb_TypeDef */
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#include "usbd_core.h" /* USBD_Init USBD_OK*/
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#include "usbd_ioreq.h" /* USBD_CtlPrepareRx, USBD_CtlSendData */
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#include "usbd_req.h" /* USBD_CtlError */
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#include "usb_dcd_int.h" /* USBD_OTG_ISR_Handler */
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/*
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* External API
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*/
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static struct pios_usbhook_descriptor Device_Descriptor;
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void PIOS_USBHOOK_RegisterDevice(const uint8_t * desc, uint16_t length)
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{
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Device_Descriptor.descriptor = desc;
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Device_Descriptor.length = length;
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}
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static struct pios_usbhook_descriptor String_Descriptor[4];
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void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t * desc, uint16_t desc_size)
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{
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if (string_id < NELEMENTS(String_Descriptor)) {
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String_Descriptor[string_id].descriptor = desc;
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String_Descriptor[string_id].length = desc_size;
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}
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}
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static struct pios_usbhook_descriptor Config_Descriptor;
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void PIOS_USBHOOK_RegisterConfig(__attribute__((unused)) uint8_t config_id, const uint8_t * desc, uint16_t desc_size)
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{
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Config_Descriptor.descriptor = desc;
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Config_Descriptor.length = desc_size;
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}
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static USB_OTG_CORE_HANDLE pios_usb_otg_core_handle;
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static USBD_Class_cb_TypeDef class_callbacks;
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static USBD_DEVICE device_callbacks;
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static USBD_Usr_cb_TypeDef user_callbacks;
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void PIOS_USBHOOK_Activate(void)
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{
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USBD_Init(&pios_usb_otg_core_handle,
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USB_OTG_FS_CORE_ID,
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&device_callbacks,
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&class_callbacks,
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&user_callbacks);
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}
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void PIOS_USBHOOK_Deactivate(void)
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{
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DCD_DevDisconnect(&pios_usb_otg_core_handle);
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USBD_DeInit(&pios_usb_otg_core_handle);
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USB_OTG_StopDevice(&pios_usb_otg_core_handle);
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}
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void OTG_FS_IRQHandler(void)
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{
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if(!USBD_OTG_ISR_Handler(&pios_usb_otg_core_handle)) {
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/* spurious interrupt, disable IRQ */
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}
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}
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struct usb_if_entry {
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struct pios_usb_ifops *ifops;
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uint32_t context;
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};
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static struct usb_if_entry usb_if_table[3];
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void PIOS_USBHOOK_RegisterIfOps(uint8_t ifnum, struct pios_usb_ifops * ifops, uint32_t context)
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{
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PIOS_Assert(ifnum < NELEMENTS(usb_if_table));
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PIOS_Assert(ifops);
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usb_if_table[ifnum].ifops = ifops;
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usb_if_table[ifnum].context = context;
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}
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struct usb_ep_entry {
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pios_usbhook_epcb cb;
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uint32_t context;
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uint16_t max_len;
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};
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static struct usb_ep_entry usb_epin_table[6];
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void PIOS_USBHOOK_RegisterEpInCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
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{
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PIOS_Assert(epnum < NELEMENTS(usb_epin_table));
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PIOS_Assert(cb);
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usb_epin_table[epnum].cb = cb;
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usb_epin_table[epnum].context = context;
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usb_epin_table[epnum].max_len = max_len;
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DCD_EP_Open(&pios_usb_otg_core_handle,
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epnum | 0x80,
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max_len,
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USB_OTG_EP_INT);
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/*
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* FIXME do not hardcode endpoint type
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*/
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}
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extern void PIOS_USBHOOK_DeRegisterEpInCallback(uint8_t epnum)
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{
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PIOS_Assert(epnum < NELEMENTS(usb_epin_table));
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usb_epin_table[epnum].cb = NULL;
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DCD_EP_Close(&pios_usb_otg_core_handle, epnum | 0x80);
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}
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static struct usb_ep_entry usb_epout_table[6];
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void PIOS_USBHOOK_RegisterEpOutCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
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{
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PIOS_Assert(epnum < NELEMENTS(usb_epout_table));
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PIOS_Assert(cb);
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usb_epout_table[epnum].cb = cb;
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usb_epout_table[epnum].context = context;
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usb_epout_table[epnum].max_len = max_len;
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DCD_EP_Open(&pios_usb_otg_core_handle,
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epnum,
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max_len,
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USB_OTG_EP_INT);
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/*
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* FIXME do not hardcode endpoint type
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*/
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}
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extern void PIOS_USBHOOK_DeRegisterEpOutCallback(uint8_t epnum)
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{
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PIOS_Assert(epnum < NELEMENTS(usb_epout_table));
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usb_epout_table[epnum].cb = NULL;
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DCD_EP_Close(&pios_usb_otg_core_handle, epnum);
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}
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void PIOS_USBHOOK_CtrlTx(const uint8_t *buf, uint16_t len)
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{
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USBD_CtlSendData(&pios_usb_otg_core_handle, buf, len);
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}
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void PIOS_USBHOOK_CtrlRx(uint8_t *buf, uint16_t len)
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{
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USBD_CtlPrepareRx(&pios_usb_otg_core_handle, buf, len);
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}
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void PIOS_USBHOOK_EndpointTx(uint8_t epnum, const uint8_t *buf, uint16_t len)
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{
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if (pios_usb_otg_core_handle.dev.device_status == USB_OTG_CONFIGURED) {
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DCD_EP_Tx(&pios_usb_otg_core_handle, epnum, buf, len);
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}
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}
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void PIOS_USBHOOK_EndpointRx(uint8_t epnum, uint8_t *buf, uint16_t len)
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{
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DCD_EP_PrepareRx(&pios_usb_otg_core_handle, epnum, buf, len);
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}
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/*
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* Device level hooks into STM USB library
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*/
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static const uint8_t * PIOS_USBHOOK_DEV_GetDeviceDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = Device_Descriptor.length;
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return Device_Descriptor.descriptor;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetLangIDStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = String_Descriptor[USB_STRING_DESC_LANG].length;
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return String_Descriptor[USB_STRING_DESC_LANG].descriptor;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = String_Descriptor[USB_STRING_DESC_VENDOR].length;
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return String_Descriptor[USB_STRING_DESC_VENDOR].descriptor;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetProductStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = String_Descriptor[USB_STRING_DESC_PRODUCT].length;
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return String_Descriptor[USB_STRING_DESC_PRODUCT].descriptor;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetSerialStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = String_Descriptor[USB_STRING_DESC_SERIAL].length;
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return String_Descriptor[USB_STRING_DESC_SERIAL].descriptor;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
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{
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return NULL;
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}
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static const uint8_t * PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
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{
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return NULL;
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}
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static USBD_DEVICE device_callbacks = {
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.GetDeviceDescriptor = PIOS_USBHOOK_DEV_GetDeviceDescriptor,
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.GetLangIDStrDescriptor = PIOS_USBHOOK_DEV_GetLangIDStrDescriptor,
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.GetManufacturerStrDescriptor = PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor,
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.GetProductStrDescriptor = PIOS_USBHOOK_DEV_GetProductStrDescriptor,
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.GetSerialStrDescriptor = PIOS_USBHOOK_DEV_GetSerialStrDescriptor,
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.GetConfigurationStrDescriptor = PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor,
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.GetInterfaceStrDescriptor = PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor,
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};
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static void PIOS_USBHOOK_USR_Init(void)
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{
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PIOS_USB_ChangeConnectionState(false);
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#if 1
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/* Force a physical disconnect/reconnect */
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DCD_DevDisconnect(&pios_usb_otg_core_handle);
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DCD_DevConnect(&pios_usb_otg_core_handle);
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#endif
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}
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static void PIOS_USBHOOK_USR_DeviceReset(__attribute__((unused)) uint8_t speed)
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{
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PIOS_USB_ChangeConnectionState(false);
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}
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static void PIOS_USBHOOK_USR_DeviceConfigured(void)
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{
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PIOS_USB_ChangeConnectionState(true);
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}
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static void PIOS_USBHOOK_USR_DeviceSuspended(void)
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{
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/* Unhandled */
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}
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static void PIOS_USBHOOK_USR_DeviceResumed(void)
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{
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/* Unhandled */
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}
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static void PIOS_USBHOOK_USR_DeviceConnected(void)
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{
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/* NOP */
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}
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static void PIOS_USBHOOK_USR_DeviceDisconnected(void)
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{
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PIOS_USB_ChangeConnectionState(false);
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}
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static USBD_Usr_cb_TypeDef user_callbacks = {
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.Init = PIOS_USBHOOK_USR_Init,
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.DeviceReset = PIOS_USBHOOK_USR_DeviceReset,
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.DeviceConfigured = PIOS_USBHOOK_USR_DeviceConfigured,
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.DeviceSuspended = PIOS_USBHOOK_USR_DeviceSuspended,
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.DeviceResumed = PIOS_USBHOOK_USR_DeviceResumed,
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.DeviceConnected = PIOS_USBHOOK_USR_DeviceConnected,
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.DeviceDisconnected = PIOS_USBHOOK_USR_DeviceDisconnected,
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};
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static uint8_t PIOS_USBHOOK_CLASS_Init(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
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{
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/* Call all of the registered init callbacks */
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for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
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struct usb_if_entry * usb_if = &(usb_if_table[i]);
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if (usb_if->ifops && usb_if->ifops->init) {
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usb_if->ifops->init(usb_if->context);
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}
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}
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_DeInit(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
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{
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/* Call all of the registered deinit callbacks */
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for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
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struct usb_if_entry * usb_if = &(usb_if_table[i]);
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if (usb_if->ifops && usb_if->ifops->deinit) {
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usb_if->ifops->deinit(usb_if->context);
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}
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}
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return USBD_OK;
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}
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static struct usb_setup_request usb_ep0_active_req;
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static uint8_t PIOS_USBHOOK_CLASS_Setup(__attribute__((unused)) void *pdev, USB_SETUP_REQ *req)
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{
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switch (req->bmRequest & (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK)) {
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case (USB_REQ_TYPE_STANDARD | USB_REQ_RECIPIENT_INTERFACE):
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case (USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE):
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{
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uint8_t ifnum = LOBYTE(req->wIndex);
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if ((ifnum < NELEMENTS(usb_if_table)) &&
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(usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->setup)) {
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usb_if_table[ifnum].ifops->setup(usb_if_table[ifnum].context,
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(struct usb_setup_request *)req);
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if (req->bmRequest & 0x80 && req->wLength > 0) {
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/* Request is a host-to-device data setup packet, keep track of the request details for the EP0_RxReady call */
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usb_ep0_active_req.bmRequestType = req->bmRequest;
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usb_ep0_active_req.bRequest = req->bRequest;
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usb_ep0_active_req.wValue = req->wValue;
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usb_ep0_active_req.wIndex = req->wIndex;
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usb_ep0_active_req.wLength = req->wLength;
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}
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} else {
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/* No Setup handler or Setup handler failed */
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USBD_CtlError (&pios_usb_otg_core_handle, req);
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}
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break;
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}
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default:
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/* Unhandled Setup */
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USBD_CtlError (&pios_usb_otg_core_handle, req);
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break;
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}
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_EP0_TxSent(__attribute__((unused)) void *pdev)
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{
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_EP0_RxReady(__attribute__((unused)) void *pdev)
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{
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uint8_t ifnum = LOBYTE(usb_ep0_active_req.wIndex);
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if ((ifnum < NELEMENTS(usb_if_table)) &&
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(usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->ctrl_data_out)) {
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usb_if_table[ifnum].ifops->ctrl_data_out(usb_if_table[ifnum].context,
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&usb_ep0_active_req);
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}
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_DataIn(void *pdev, uint8_t epnum)
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{
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/* Make sure the previous transfer has completed before starting a new one */
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DCD_EP_Flush(pdev, epnum); /* NOT SURE IF THIS IS REQUIRED */
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/* Remove the direction bit so we can use this as an index */
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uint8_t epnum_idx = epnum & 0x7F;
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if ((epnum_idx < NELEMENTS(usb_epin_table)) && usb_epin_table[epnum_idx].cb) {
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struct usb_ep_entry *ep = &(usb_epin_table[epnum_idx]);
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if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
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/* NOTE: use real endpoint number including direction bit */
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DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_TX_NAK);
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}
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}
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_DataOut(void *pdev, uint8_t epnum)
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{
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/* Remove the direction bit so we can use this as an index */
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uint8_t epnum_idx = epnum & 0x7F;
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if ((epnum_idx < NELEMENTS(usb_epout_table)) && usb_epout_table[epnum_idx].cb) {
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struct usb_ep_entry *ep = &(usb_epout_table[epnum_idx]);
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if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
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/* NOTE: use real endpoint number including direction bit */
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DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_RX_NAK);
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}
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}
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_SOF(__attribute__((unused)) void *pdev)
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{
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_IsoINIncomplete(__attribute__((unused)) void *pdev)
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{
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return USBD_OK;
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}
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static uint8_t PIOS_USBHOOK_CLASS_IsoOUTIncomplete(__attribute__((unused)) void *pdev)
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{
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return USBD_OK;
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}
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static const uint8_t * PIOS_USBHOOK_CLASS_GetConfigDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
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*length = Config_Descriptor.length;
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return Config_Descriptor.descriptor;
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}
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#ifdef USB_OTG_HS_CORE
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static const uint8_t * PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor(uint8_t speed, uint16_t *length)
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{
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return PIOS_USBHOOK_CLASS_GetConfigDescriptor(speed, length);
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}
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#endif /* USB_OTG_HS_CORE */
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#ifdef USB_SUPPORT_USER_STRING_DESC
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static const uint8_t * PIOS_USBHOOK_CLASS_GetUsrStrDescriptor(uint8_t speed, uint8_t index, uint16_t *length)
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{
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return NULL;
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}
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#endif /* USB_SUPPORT_USER_STRING_DESC */
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static USBD_Class_cb_TypeDef class_callbacks = {
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.Init = PIOS_USBHOOK_CLASS_Init,
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.DeInit = PIOS_USBHOOK_CLASS_DeInit,
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.Setup = PIOS_USBHOOK_CLASS_Setup,
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.EP0_TxSent = PIOS_USBHOOK_CLASS_EP0_TxSent,
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.EP0_RxReady = PIOS_USBHOOK_CLASS_EP0_RxReady,
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.DataIn = PIOS_USBHOOK_CLASS_DataIn,
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.DataOut = PIOS_USBHOOK_CLASS_DataOut,
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.SOF = PIOS_USBHOOK_CLASS_SOF,
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.IsoINIncomplete = PIOS_USBHOOK_CLASS_IsoINIncomplete,
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.IsoOUTIncomplete = PIOS_USBHOOK_CLASS_IsoOUTIncomplete,
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.GetConfigDescriptor = PIOS_USBHOOK_CLASS_GetConfigDescriptor,
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#ifdef USB_OTG_HS_CORE
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.GetOtherConfigDescriptor = PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor,
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#endif /* USB_OTG_HS_CORE */
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#ifdef USB_SUPPORT_USER_STRING_DESC
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.GetUsrStrDescriptor = PIOS_USBHOOK_CLASS_GetUsrStrDescriptor,
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#endif /* USB_SUPPORT_USER_STRING_DESC */
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};
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#endif /* PIOS_INCLUDE_USB */
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