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LibrePilot/flight/PiOS/STM32F10x/pios_usb_hid.c
Stacey Sheldon 43b31efb76 pios: allocate driver instance data from heap 
Allocate per-instance data for drivers from the heap
rather than as static variables from the .data segment.

This converts > 800 bytes of RAM from being always consumed
as static data into being allocated from the heap only when
a particular feature is enabled in the hwsettings object.

A minimal config (no receivers, flexi port disabled, main port
disabled) leaves 2448 bytes of free heap.  That's our new baseline.

Approximate RAM (heap) costs of enabling various features:
 + 632 Serial Telemetry (includes 400 bytes of Rx/Tx buffers)
 + 108 PWM Rcvr
 + 152 PPM Rcvr
 + 112 Spektrum Rcvr
 + 24  S.Bus (Should be closer to 68 since driver is still using
              static memory)

There are still some drivers that pre-allocate all of their memory
as static data.  It'll take some work to convert those over to
dynamically allocating their instance data.
2011-08-31 22:35:03 -04:00

436 lines
12 KiB
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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_HID USB HID Functions
* @brief PIOS USB HID implementation
* @notes This implements a very simple HID device with a simple data in
* and data out endpoints.
* @{
*
* @file pios_usb_hid.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org)
* @brief USB HID 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
*/
/* Project Includes */
#include "pios.h"
#include "usb_lib.h"
#include "pios_usb_hid_desc.h"
#include "stm32f10x.h"
#include "pios_usb_hid_priv.h"
#if defined(PIOS_INCLUDE_USB_HID)
static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail);
static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail);
static void PIOS_USB_HID_RegisterTxCallback(uint32_t usbcom_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context);
const struct pios_com_driver pios_usb_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,
};
enum pios_usb_hid_dev_magic {
PIOS_USB_HID_DEV_MAGIC = 0xAABBCCDD,
};
struct pios_usb_hid_dev {
enum pios_usb_hid_dev_magic magic;
const struct pios_usb_hid_cfg * cfg;
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_HID_DATA_LENGTH + 2];
uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2];
};
static bool PIOS_USB_HID_validate(struct pios_usb_hid_dev * usb_hid_dev)
{
return (usb_hid_dev->magic == PIOS_USB_HID_DEV_MAGIC);
}
#if defined(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
/* Rx/Tx status */
static uint8_t transfer_possible = 0;
/**
* Initialises USB COM layer
* \return < 0 if initialisation failed
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
static uint32_t pios_usb_hid_id;
int32_t PIOS_USB_HID_Init(uint32_t * usb_hid_id, const struct pios_usb_hid_cfg * cfg)
{
PIOS_Assert(usb_hid_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;
PIOS_USB_HID_Reenumerate();
/*
* This is a horrible hack to make this available to
* the interrupt callbacks. This should go away ASAP.
*/
pios_usb_hid_id = (uint32_t) usb_hid_dev;
/* Enable the USB Interrupts */
NVIC_Init(&usb_hid_dev->cfg->irq.init);
/* Select USBCLK source */
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
/* Enable the USB clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
/* Update the USB serial number from the chip */
uint8_t sn[25];
PIOS_SYS_SerialNumberGet((char *)sn);
for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_HID_StringSerial[0]; i++) {
PIOS_HID_StringSerial[2 + 2 * i] = sn[i];
}
USB_Init();
USB_SIL_Init();
*usb_hid_id = (uint32_t) usb_hid_dev;
return 0; /* No error */
out_fail:
return(-1);
}
/**
* This function is called by the USB driver on cable connection/disconnection
* \param[in] connected connection status (1 if connected)
* \return < 0 on errors
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected)
{
// In all cases: re-initialise USB HID driver
if (Connected) {
transfer_possible = 1;
//TODO: Check SetEPRxValid(ENDP1);
#if defined(USB_LED_ON)
USB_LED_ON; // turn the USB led on
#endif
} else {
// Cable disconnected: disable transfers
transfer_possible = 0;
#if defined(USB_LED_OFF)
USB_LED_OFF; // turn the USB led off
#endif
}
return 0;
}
int32_t PIOS_USB_HID_Reenumerate()
{
/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
_SetCNTR(CNTR_FRES | CNTR_PDWN);
/* Using a "dirty" method to force a re-enumeration: */
/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
PIOS_DELAY_WaitmS(50);
/* Release power-down, still hold reset */
_SetCNTR(CNTR_PDWN);
PIOS_DELAY_WaituS(5);
/* CNTR_FRES = 0 */
_SetCNTR(0);
/* Clear pending interrupts */
_SetISTR(0);
/* Configure USB clock */
/* USBCLK = PLLCLK / 1.5 */
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
/* Enable USB clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
return 0;
}
/**
* This function returns the connection status of the USB HID interface
* \return 1: interface available
* \return 0: interface not available
* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
*/
int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
{
return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
}
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 USB_HID
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 USB_HID
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 1);
#else
usb_hid_dev->tx_packet_buffer[1] = bytes_to_tx;
UserToPMABufferCopy(usb_hid_dev->tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), bytes_to_tx + 2);
#endif
/* Is this correct? Why do we always send the whole buffer? */
SetEPTxCount((EP1_IN & 0x7F), sizeof(usb_hid_dev->tx_packet_buffer));
SetEPTxValid(ENDP1);
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
static void PIOS_USB_HID_RxStart(uint32_t usbcom_id, uint16_t rx_bytes_avail) {
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
if (!transfer_possible) {
return;
}
// If endpoint was stalled and there is now space make it valid
PIOS_IRQ_Disable();
if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) &&
(rx_bytes_avail > PIOS_USB_HID_DATA_LENGTH)) {
SetEPRxStatus(ENDP1, EP_RX_VALID);
}
PIOS_IRQ_Enable();
}
static void PIOS_USB_HID_TxStart(uint32_t usbcom_id, uint16_t tx_bytes_avail)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_id;
bool valid = PIOS_USB_HID_validate(usb_hid_dev);
PIOS_Assert(valid);
if (!transfer_possible) {
return;
}
if (GetEPTxStatus(ENDP1) == EP_TX_VALID) {
/* Endpoint is already transmitting */
return;
}
PIOS_USB_HID_SendReport(usb_hid_dev);
}
static void PIOS_USB_HID_RegisterRxCallback(uint32_t usbcom_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_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 usbcom_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_usb_hid_dev * usb_hid_dev = (struct pios_usb_hid_dev *)usbcom_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.
*/
void PIOS_USB_HID_EP1_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 (!transfer_possible) {
return;
}
PIOS_USB_HID_SendReport(usb_hid_dev);
}
/**
* EP1 OUT Callback Routine
*/
void PIOS_USB_HID_EP1_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 = 0;
/* Read received data (63 bytes) */
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(ENDP1 & 0x7F);
if (DataLength > sizeof(usb_hid_dev->rx_packet_buffer)) {
DataLength = sizeof(usb_hid_dev->rx_packet_buffer);
}
/* Use the memory interface function to write to the selected endpoint */
PMAToUserBufferCopy((uint8_t *) usb_hid_dev->rx_packet_buffer, GetEPRxAddr(ENDP1 & 0x7F), DataLength);
if (!usb_hid_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
SetEPRxStatus(ENDP1, 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 USB_HID
(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
if (headroom > PIOS_USB_HID_DATA_LENGTH) {
/* We have room for a maximum length message */
SetEPRxStatus(ENDP1, EP_RX_VALID);
} else {
/* Not enough room left for a message, apply backpressure */
SetEPRxStatus(ENDP1, EP_RX_NAK);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
#endif
/**
* @}
* @}
*/
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