1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-10 18:24:11 +01:00
LibrePilot/flight/PiOS/STM32F10x/pios_usb_cdc.c

421 lines
12 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_COM USB COM Functions
* @brief PIOS USB COM implementation for CDC interfaces
* @notes This implements a CDC Serial Port
* @{
*
* @file pios_usb_com_cdc.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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_USB_CDC)
#include "pios_usb.h"
#include "pios_usb_cdc_priv.h"
#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */
/* STM32 USB Library Definitions */
#include "usb_lib.h"
static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail);
static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail);
const struct pios_com_driver pios_usb_cdc_com_driver = {
.tx_start = PIOS_USB_CDC_TxStart,
.rx_start = PIOS_USB_CDC_RxStart,
.bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback,
.available = PIOS_USB_CheckAvailable,
};
enum pios_usb_cdc_dev_magic {
PIOS_USB_CDC_DEV_MAGIC = 0xAABBCCDD,
};
struct pios_usb_cdc_dev {
enum pios_usb_cdc_dev_magic magic;
const struct pios_usb_cdc_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_CDC_DATA_LENGTH];
uint8_t tx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH];
uint32_t rx_dropped;
uint32_t rx_oversize;
};
static bool PIOS_USB_CDC_validate(struct pios_usb_cdc_dev * usb_cdc_dev)
{
return (usb_cdc_dev->magic == PIOS_USB_CDC_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev;
usb_cdc_dev = (struct pios_usb_cdc_dev *)pvPortMalloc(sizeof(*usb_cdc_dev));
if (!usb_cdc_dev) return(NULL);
usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
return(usb_cdc_dev);
}
#else
static struct pios_usb_cdc_dev pios_usb_cdc_devs[PIOS_USB_CDC_MAX_DEVS];
static uint8_t pios_usb_cdc_num_devs;
static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev;
if (pios_usb_cdc_num_devs >= PIOS_USB_CDC_MAX_DEVS) {
return (NULL);
}
usb_cdc_dev = &pios_usb_cdc_devs[pios_usb_cdc_num_devs++];
usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
return (usb_cdc_dev);
}
#endif
static void PIOS_USB_CDC_DATA_EP_IN_Callback(void);
static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void);
static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void);
static uint32_t pios_usb_cdc_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_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id)
{
PIOS_Assert(usbcdc_id);
PIOS_Assert(cfg);
struct pios_usb_cdc_dev * usb_cdc_dev;
usb_cdc_dev = (struct pios_usb_cdc_dev *) PIOS_USB_CDC_alloc();
if (!usb_cdc_dev) goto out_fail;
/* Bind the configuration to the device instance */
usb_cdc_dev->cfg = cfg;
usb_cdc_dev->lower_id = lower_id;
pios_usb_cdc_id = (uint32_t) usb_cdc_dev;
/* Bind lower level callbacks into the USB infrastructure */
pEpInt_OUT[cfg->ctrl_tx_ep - 1] = PIOS_USB_CDC_CTRL_EP_IN_Callback;
pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_CDC_DATA_EP_IN_Callback;
pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_CDC_DATA_EP_OUT_Callback;
*usbcdc_id = (uint32_t) usb_cdc_dev;
return 0;
out_fail:
return -1;
}
static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_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_cdc_dev->rx_in_context = context;
usb_cdc_dev->rx_in_cb = rx_in_cb;
}
static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_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_cdc_dev->tx_out_context = context;
usb_cdc_dev->tx_out_cb = tx_out_cb;
}
static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail) {
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
return;
}
// If endpoint was stalled and there is now space make it valid
PIOS_IRQ_Disable();
if ((GetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep) != EP_RX_VALID) &&
(rx_bytes_avail >= sizeof(usb_cdc_dev->rx_packet_buffer))) {
SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID);
}
PIOS_IRQ_Enable();
}
static void PIOS_USB_CDC_SendData(struct pios_usb_cdc_dev * usb_cdc_dev)
{
uint16_t bytes_to_tx;
if (!usb_cdc_dev->tx_out_cb) {
return;
}
bool need_yield = false;
bytes_to_tx = (usb_cdc_dev->tx_out_cb)(usb_cdc_dev->tx_out_context,
usb_cdc_dev->tx_packet_buffer,
sizeof(usb_cdc_dev->tx_packet_buffer),
NULL,
&need_yield);
if (bytes_to_tx == 0) {
return;
}
UserToPMABufferCopy(usb_cdc_dev->tx_packet_buffer,
GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep),
bytes_to_tx);
SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, bytes_to_tx);
SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep);
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
return;
}
if (GetEPTxStatus(usb_cdc_dev->cfg->data_tx_ep) == EP_TX_VALID) {
/* Endpoint is already transmitting */
return;
}
PIOS_USB_CDC_SendData(usb_cdc_dev);
}
static void PIOS_USB_CDC_DATA_EP_IN_Callback(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
PIOS_USB_CDC_SendData(usb_cdc_dev);
}
static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
uint32_t DataLength;
/* Get the number of received data on the selected Endpoint */
DataLength = GetEPRxCount(usb_cdc_dev->cfg->data_rx_ep);
if (DataLength > sizeof(usb_cdc_dev->rx_packet_buffer)) {
usb_cdc_dev->rx_oversize++;
DataLength = sizeof(usb_cdc_dev->rx_packet_buffer);
}
/* Use the memory interface function to read from the selected endpoint */
PMAToUserBufferCopy((uint8_t *) usb_cdc_dev->rx_packet_buffer,
GetEPRxAddr(usb_cdc_dev->cfg->data_rx_ep),
DataLength);
if (!usb_cdc_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK);
return;
}
uint16_t headroom;
bool need_yield = false;
uint16_t rc;
rc = (usb_cdc_dev->rx_in_cb)(usb_cdc_dev->rx_in_context,
usb_cdc_dev->rx_packet_buffer,
DataLength,
&headroom,
&need_yield);
if (rc < DataLength) {
/* Lost bytes on rx */
usb_cdc_dev->rx_dropped += (DataLength - rc);
}
if (headroom >= sizeof(usb_cdc_dev->rx_packet_buffer)) {
/* We have room for a maximum length message */
SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID);
} else {
/* Not enough room left for a message, apply backpressure */
SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK);
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
}
static uint16_t control_line_state;
RESULT PIOS_USB_CDC_SetControlLineState(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
if (!valid) {
/* No CDC interface is configured */
return USB_UNSUPPORT;
}
uint8_t wValue0 = pInformation->USBwValue0;
uint8_t wValue1 = pInformation->USBwValue1;
control_line_state = wValue1 << 8 | wValue0;
return USB_SUCCESS;
}
static struct usb_cdc_line_coding line_coding = {
.dwDTERate = htousbl(57600),
.bCharFormat = USB_CDC_LINE_CODING_STOP_1,
.bParityType = USB_CDC_LINE_CODING_PARITY_NONE,
.bDataBits = 8,
};
uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
if (!valid) {
/* No CDC interface is configured */
return NULL;
}
if (Length == 0) {
/* Report the number of bytes we're prepared to consume */
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
return NULL;
} else {
/* Give out a pointer to the data struct */
return ((uint8_t *) &line_coding);
}
}
const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
if (!valid) {
/* No CDC interface is configured */
return NULL;
}
if (Length == 0) {
pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
return NULL;
} else {
return ((uint8_t *) &line_coding);
}
}
struct usb_cdc_serial_state_report uart_state = {
.bmRequestType = 0xA1,
.bNotification = USB_CDC_NOTIFICATION_SERIAL_STATE,
.wValue = 0,
.wIndex = htousbs(1),
.wLength = htousbs(2),
.bmUartState = htousbs(0),
};
static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void)
{
struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/* Give back UART State Bitmap */
/* UART State Bitmap
* 15-7: reserved
* 6: bOverRun overrun error
* 5: bParity parity error
* 4: bFraming framing error
* 3: bRingSignal RI
* 2: bBreak break reception
* 1: bTxCarrier DSR
* 0: bRxCarrier DCD
*/
uart_state.bmUartState = htousbs(0x0003);
UserToPMABufferCopy((uint8_t *) &uart_state,
GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep),
sizeof(uart_state));
SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, PIOS_USB_BOARD_CDC_MGMT_LENGTH);
SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep);
}
#endif /* PIOS_INCLUDE_USB_CDC */