Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: add support for dual usd cdc

This commit is contained in:
Siddharth Purohit 2019-04-08 18:57:54 +05:30 committed by Andrew Tridgell
parent 89484a8f64
commit 2f0d1336e6
8 changed files with 659 additions and 83 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
View File

@ -33,7 +33,10 @@ void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* upd
void SLCANRouter::run()
{
_port = AP_SerialManager::get_singleton()->get_serial_by_id(AP::can().get_slcan_serial());
_port = AP::can().get_slcan_serial();
if (_port == nullptr) {
return;
}
if (_slcan_if.init(921600, SLCAN::CAN::OperatingMode::NormalMode, _port) < 0) {
return;
}
@ -57,7 +60,7 @@ void SLCANRouter::run()
void SLCANRouter::timer()
{
if ((!_thread_started || _thread_suspended) && (AP::can().get_slcan_serial() != -1)) {
if ((!_thread_started || _thread_suspended) && (AP::can().get_slcan_serial() != nullptr)) {
run();
AP::can().reset_slcan_serial();
_last_active_time = AP_HAL::millis();

28
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -204,17 +204,23 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
* Initializes a serial-over-USB CDC driver.
*/
if (!_device_initialised) {
sduObjectInit((SerialUSBDriver*)sdef.serial);
sduStart((SerialUSBDriver*)sdef.serial, &serusbcfg);
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg.usbp);
hal.scheduler->delay_microseconds(1500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
if ((SerialUSBDriver*)sdef.serial == &SDU1) {
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg1);
#if HAL_HAVE_DUAL_USB_CDC
sduObjectInit(&SDU2);
sduStart(&SDU2, &serusbcfg2);
#endif
/*
* Activates the USB driver and then the USB bus pull-up on D+.
* Note, a delay is inserted in order to not have to disconnect the cable
* after a reset.
*/
usbDisconnectBus(serusbcfg1.usbp);
hal.scheduler->delay_microseconds(1500);
usbStart(serusbcfg1.usbp, &usbcfg);
usbConnectBus(serusbcfg1.usbp);
}
_device_initialised = true;
}
#endif

2
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
View File

@ -117,6 +117,8 @@ CSRC = $(sort $(ALLCSRC))
CSRC += $(HWDEF)/common/stubs.c \
$(HWDEF)/common/board.c \
$(HWDEF)/common/usbcfg.c \
$(HWDEF)/common/usbcfg_dualcdc.c \
$(HWDEF)/common/usbcfg_common.c \
$(HWDEF)/common/flash.c \
$(HWDEF)/common/malloc.c \
$(HWDEF)/common/hrt.c \

68
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c
View File

@ -31,10 +31,10 @@
#include <stdlib.h>
#include <string.h>
#include "usbcfg.h"
// #pragma GCC optimize("O0")
#ifdef HAL_USB_PRODUCT_ID
#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC
/* Virtual serial port over USB.*/
SerialUSBDriver SDU1;
@ -178,70 +178,8 @@ static USBDescriptor vcom_strings[] = {
{0, NULL}, // version
};
#define USB_DESC_MAX_STRLEN 100
static uint8_t vcom_buffers[3][2+2*USB_DESC_MAX_STRLEN];
/*
check if one string contains another
*/
static bool string_contains(const char *haystack, const char *needle)
{
uint8_t needle_len = strlen(needle);
while (*haystack) {
if (strncmp(haystack, needle, needle_len) == 0) {
return true;
}
haystack++;
}
return false;
}
/*
handle substitution of variables in strings for USB descriptors
*/
static void string_substitute(const char *str, char *str2)
{
const char *board = "%BOARD%";
const char *serial = "%SERIAL%";
uint8_t new_len = strlen(str);
if (string_contains(str, board)) {
new_len += strlen(HAL_BOARD_NAME) - strlen(board);
}
if (string_contains(str, serial)) {
new_len += 24 - strlen(serial);
}
if (new_len+1 > USB_DESC_MAX_STRLEN) {
strcpy(str2, str);
return;
}
char *p = str2;
while (*str) {
char c = *str;
if (c == '%') {
if (strncmp(str, board, strlen(board)) == 0) {
memcpy(p, HAL_BOARD_NAME, strlen(HAL_BOARD_NAME));
str += 7;
p += strlen(HAL_BOARD_NAME);
continue;
}
if (strncmp(str, serial, strlen(serial)) == 0) {
const char *hex = "0123456789ABCDEF";
const uint8_t *cpu_id = (const uint8_t *)UDID_START;
uint8_t i;
for (i=0; i<12; i++) {
*p++ = hex[(cpu_id[i]>>4)&0xF];
*p++ = hex[cpu_id[i]&0xF];
}
str += 8;
continue;
}
}
*p++ = *str++;
}
*p = 0;
}
/*
dynamically allocate a USB descriptor string
*/
@ -416,7 +354,7 @@ const USBConfig usbcfg = {
/*
* Serial over USB driver configuration.
*/
const SerialUSBConfig serusbcfg = {
const SerialUSBConfig serusbcfg1 = {
&USBD1,
USBD1_DATA_REQUEST_EP,
USBD1_DATA_AVAILABLE_EP,

15
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h
View File

@ -27,6 +27,11 @@
* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include "hwdef.h"
#ifndef HAL_HAVE_DUAL_USB_CDC
#define HAL_HAVE_DUAL_USB_CDC 0
#endif
#if defined(__cplusplus)
extern "C" {
@ -34,11 +39,17 @@ extern "C" {
#if HAL_USE_SERIAL_USB
extern const USBConfig usbcfg;
extern SerialUSBConfig serusbcfg;
extern const SerialUSBConfig serusbcfg1;
extern SerialUSBDriver SDU1;
#if HAL_HAVE_DUAL_USB_CDC
extern SerialUSBDriver SDU2;
extern const SerialUSBConfig serusbcfg2;
#endif //HAL_HAVE_DUAL_USB_CDC
#endif
#define USB_DESC_MAX_STRLEN 100
void setup_usb_strings(void);
void string_substitute(const char *str, char *str2);
bool string_contains(const char *haystack, const char *needle);
#if defined(__cplusplus)
}

97
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_common.c Normal file
View File

@ -0,0 +1,97 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/*
* This file 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 file 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, see <http://www.gnu.org/licenses/>.
*
* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "hal.h"
#include "hwdef.h"
#include <stdlib.h>
#include <string.h>
#include "usbcfg.h"
#if defined(HAL_USB_PRODUCT_ID)
/*
check if one string contains another
*/
bool string_contains(const char *haystack, const char *needle)
{
uint8_t needle_len = strlen(needle);
while (*haystack) {
if (strncmp(haystack, needle, needle_len) == 0) {
return true;
}
haystack++;
}
return false;
}
/*
handle substitution of variables in strings for USB descriptors
*/
void string_substitute(const char *str, char *str2)
{
const char *board = "%BOARD%";
const char *serial = "%SERIAL%";
uint8_t new_len = strlen(str);
if (string_contains(str, board)) {
new_len += strlen(HAL_BOARD_NAME) - strlen(board);
}
if (string_contains(str, serial)) {
new_len += 24 - strlen(serial);
}
if (new_len+1 > USB_DESC_MAX_STRLEN) {
strcpy(str2, str);
return;
}
char *p = str2;
while (*str) {
char c = *str;
if (c == '%') {
if (strncmp(str, board, strlen(board)) == 0) {
memcpy(p, HAL_BOARD_NAME, strlen(HAL_BOARD_NAME));
str += 7;
p += strlen(HAL_BOARD_NAME);
continue;
}
if (strncmp(str, serial, strlen(serial)) == 0) {
const char *hex = "0123456789ABCDEF";
const uint8_t *cpu_id = (const uint8_t *)UDID_START;
uint8_t i;
for (i=0; i<12; i++) {
*p++ = hex[(cpu_id[i]>>4)&0xF];
*p++ = hex[cpu_id[i]&0xF];
}
str += 8;
continue;
}
}
*p++ = *str++;
}
*p = 0;
}
#endif

500
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c Normal file
View File

@ -0,0 +1,500 @@
/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
/*
* This file 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 file 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, see <http://www.gnu.org/licenses/>.
*
* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
*/
#include "hal.h"
#include "hwdef.h"
#include <stdlib.h>
#include <string.h>
#include "usbcfg.h"
#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
/*
* Virtual serial ports over USB.
*/
SerialUSBDriver SDU1;
SerialUSBDriver SDU2;
/*
* Endpoints.
*/
#define USB_INTERRUPT_REQUEST_EP_A 1
#define USB_DATA_AVAILABLE_EP_A 2
#define USB_DATA_REQUEST_EP_A 2
#define USB_INTERRUPT_REQUEST_EP_B 3
#define USB_DATA_AVAILABLE_EP_B 4
#define USB_DATA_REQUEST_EP_B 4
#define USB_INTERRUPT_REQUEST_SIZE 0x10
#define USB_DATA_SIZE 0x40
/*
* Interfaces
*/
#define USB_NUM_INTERFACES 4
#define USB_CDC_CIF_NUM0 0
#define USB_CDC_DIF_NUM0 1
#define USB_CDC_CIF_NUM1 2
#define USB_CDC_DIF_NUM1 3
/*
* USB Device Descriptor.
*/
static const uint8_t vcom_device_descriptor_data[] = {
USB_DESC_DEVICE(
0x0200, /* bcdUSB (1.1). */
0xEF, /* bDeviceClass (misc). */
0x02, /* bDeviceSubClass (common). */
0x01, /* bDeviceProtocol (IAD). */
USB_DATA_SIZE, /* bMaxPacketSize. */
HAL_USB_VENDOR_ID, /* idVendor. */
HAL_USB_PRODUCT_ID, /* idProduct. */
0x0200, /* bcdDevice. */
1, /* iManufacturer. */
2, /* iProduct. */
3, /* iSerialNumber. */
1) /* bNumConfigurations. */
};
/*
* Device Descriptor wrapper.
*/
static const USBDescriptor vcom_device_descriptor = {
sizeof vcom_device_descriptor_data,
vcom_device_descriptor_data
};
#define CDC_IF_DESC_SET_SIZE \
(USB_DESC_INTERFACE_SIZE + 5 + 5 + 4 + 5 + USB_DESC_ENDPOINT_SIZE + \
USB_DESC_INTERFACE_SIZE + (USB_DESC_ENDPOINT_SIZE * 2))
#define CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp) \
/* Interface Descriptor.*/ \
USB_DESC_INTERFACE( \
comIfNum, /* bInterfaceNumber. */ \
0x00, /* bAlternateSetting. */ \
0x01, /* bNumEndpoints. */ \
CDC_COMMUNICATION_INTERFACE_CLASS, /* bInterfaceClass. */ \
CDC_ABSTRACT_CONTROL_MODEL, /* bInterfaceSubClass. */ \
0x01, /* bInterfaceProtocol (AT
commands, CDC section
4.4). */ \
0), /* iInterface. */ \
/* Header Functional Descriptor (CDC section 5.2.3).*/ \
USB_DESC_BYTE (5), /* bLength. */ \
USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
USB_DESC_BYTE (CDC_HEADER), /* bDescriptorSubtype. */ \
USB_DESC_BCD (0x0110), /* bcdCDC. */ \
/* Call Management Functional Descriptor.*/ \
USB_DESC_BYTE (5), /* bFunctionLength. */ \
USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
USB_DESC_BYTE (CDC_CALL_MANAGEMENT), /* bDescriptorSubtype. */ \
USB_DESC_BYTE (0x03), /*******/ /* bmCapabilities. */ \
USB_DESC_BYTE (datIfNum), /* bDataInterface. */ \
/* Abstract Control Management Functional Descriptor.*/ \
USB_DESC_BYTE (4), /* bFunctionLength. */ \
USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
USB_DESC_BYTE (CDC_ABSTRACT_CONTROL_MANAGEMENT), \
USB_DESC_BYTE (0x02), /* bmCapabilities. */ \
/* Union Functional Descriptor.*/ \
USB_DESC_BYTE (5), /* bFunctionLength. */ \
USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
USB_DESC_BYTE (CDC_UNION), /* bDescriptorSubtype. */ \
USB_DESC_BYTE (comIfNum), /* bMasterInterface. */ \
USB_DESC_BYTE (datIfNum), /* bSlaveInterface. */ \
/* Endpoint, Interrupt IN.*/ \
USB_DESC_ENDPOINT ( \
comInEp, \
USB_EP_MODE_TYPE_INTR, /* bmAttributes. */ \
USB_INTERRUPT_REQUEST_SIZE, /* wMaxPacketSize. */ \
0x01), /* bInterval. */ \
\
/* CDC Data Interface Descriptor.*/ \
USB_DESC_INTERFACE( \
datIfNum, /* bInterfaceNumber. */ \
0x00, /* bAlternateSetting. */ \
0x02, /* bNumEndpoints. */ \
CDC_DATA_INTERFACE_CLASS, /* bInterfaceClass. */ \
0x00, /* bInterfaceSubClass (CDC
section 4.6). */ \
0x00, /* bInterfaceProtocol (CDC
section 4.7). */ \
0x00), /* iInterface. */ \
/* Endpoint, Bulk OUT.*/ \
USB_DESC_ENDPOINT( \
datOutEp, /* bEndpointAddress. */ \
USB_EP_MODE_TYPE_BULK, /* bmAttributes. */ \
USB_DATA_SIZE, /* wMaxPacketSize. */ \
0x00), /* bInterval. */ \
/* Endpoint, Bulk IN.*/ \
USB_DESC_ENDPOINT( \
datInEp, /* bEndpointAddress. */ \
USB_EP_MODE_TYPE_BULK, /* bmAttributes. */ \
USB_DATA_SIZE, /* wMaxPacketSize. */ \
0x00) /* bInterval. */
#define IAD_CDC_IF_DESC_SET_SIZE \
(USB_DESC_INTERFACE_ASSOCIATION_SIZE + CDC_IF_DESC_SET_SIZE)
#define IAD_CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp) \
/* Interface Association Descriptor.*/ \
USB_DESC_INTERFACE_ASSOCIATION( \
comIfNum, /* bFirstInterface. */ \
2, /* bInterfaceCount. */ \
CDC_COMMUNICATION_INTERFACE_CLASS, /* bFunctionClass. */ \
CDC_ABSTRACT_CONTROL_MODEL, /* bFunctionSubClass. */ \
1, /* bFunctionProcotol. */ \
0 /* iInterface. */ \
), \
/* CDC Interface descriptor set */ \
CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp)
/* Configuration Descriptor tree for a CDC.*/
static const uint8_t vcom_configuration_descriptor_data[] = {
/* Configuration Descriptor.*/
USB_DESC_CONFIGURATION(
USB_DESC_CONFIGURATION_SIZE +
(IAD_CDC_IF_DESC_SET_SIZE * 2), /* wTotalLength. */
USB_NUM_INTERFACES, /* bNumInterfaces. */
0x01, /* bConfigurationValue. */
0, /* iConfiguration. */
0xC0, /* bmAttributes (self powered). */
50 /* bMaxPower (100mA). */
),
IAD_CDC_IF_DESC_SET(
USB_CDC_CIF_NUM0,
USB_CDC_DIF_NUM0,
USB_ENDPOINT_IN(USB_INTERRUPT_REQUEST_EP_A),
USB_ENDPOINT_OUT(USB_DATA_AVAILABLE_EP_A),
USB_ENDPOINT_IN(USB_DATA_REQUEST_EP_A)
),
IAD_CDC_IF_DESC_SET(
USB_CDC_CIF_NUM1,
USB_CDC_DIF_NUM1,
USB_ENDPOINT_IN(USB_INTERRUPT_REQUEST_EP_B),
USB_ENDPOINT_OUT(USB_DATA_AVAILABLE_EP_B),
USB_ENDPOINT_IN(USB_DATA_REQUEST_EP_B)
),
};
/*
* Configuration Descriptor wrapper.
*/
static const USBDescriptor vcom_configuration_descriptor = {
sizeof vcom_configuration_descriptor_data,
vcom_configuration_descriptor_data
};
/*
* U.S. English language identifier.
*/
static const uint8_t vcom_string0[] = {
USB_DESC_BYTE(4), /* bLength. */
USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
};
/*
* Strings wrappers array. The strings are created dynamically to
* allow them to be setup with apj_tool
*/
static USBDescriptor vcom_strings[] = {
{sizeof vcom_string0, vcom_string0},
{0, NULL}, // manufacturer
{0, NULL}, // product
{0, NULL}, // version
};
#define USB_DESC_MAX_STRLEN 100
static uint8_t vcom_buffers[3][2+2*USB_DESC_MAX_STRLEN];
/*
dynamically allocate a USB descriptor string
*/
static void setup_usb_string(USBDescriptor *desc, const char *str, uint8_t *b)
{
char str2[USB_DESC_MAX_STRLEN];
string_substitute(str, str2);
uint8_t len = strlen(str2);
desc->ud_size = 2+2*len;
desc->ud_string = (const uint8_t *)b;
b[0] = USB_DESC_BYTE(desc->ud_size);
b[1] = USB_DESC_BYTE(USB_DESCRIPTOR_STRING);
uint8_t i;
for (i=0; i<len; i++) {
b[2+i*2] = str2[i];
b[2+i*2+1] = 0;
}
}
/*
dynamically allocate a USB descriptor strings
*/
void setup_usb_strings(void)
{
setup_usb_string(&vcom_strings[1], HAL_USB_STRING_MANUFACTURER, vcom_buffers[0]);
setup_usb_string(&vcom_strings[2], HAL_USB_STRING_PRODUCT, vcom_buffers[1]);
setup_usb_string(&vcom_strings[3], HAL_USB_STRING_SERIAL, vcom_buffers[2]);
}
/*
* Handles the GET_DESCRIPTOR callback. All required descriptors must be
* handled here.
*/
static const USBDescriptor *get_descriptor(USBDriver *usbp,
uint8_t dtype,
uint8_t dindex,
uint16_t lang) {
(void)usbp;
(void)lang;
switch (dtype) {
case USB_DESCRIPTOR_DEVICE:
return &vcom_device_descriptor;
case USB_DESCRIPTOR_CONFIGURATION:
return &vcom_configuration_descriptor;
case USB_DESCRIPTOR_STRING:
if (dindex < 4)
return &vcom_strings[dindex];
}
return NULL;
}
/**
* @brief IN EP1 state.
*/
static USBInEndpointState ep1instate;
/**
* @brief EP1 initialization structure (IN only).
*/
static const USBEndpointConfig ep1config = {
USB_EP_MODE_TYPE_INTR,
NULL,
sduInterruptTransmitted,
NULL,
USB_INTERRUPT_REQUEST_SIZE,
0x0000,
&ep1instate,
NULL,
1,
NULL
};
/**
* @brief IN EP2 state.
*/
static USBInEndpointState ep2instate;
/**
* @brief OUT EP2 state.
*/
static USBOutEndpointState ep2outstate;
/**
* @brief EP2 initialization structure (both IN and OUT).
*/
static const USBEndpointConfig ep2config = {
USB_EP_MODE_TYPE_BULK,
NULL,
sduDataTransmitted,
sduDataReceived,
USB_DATA_SIZE,
USB_DATA_SIZE,
&ep2instate,
&ep2outstate,
2,
NULL
};
/**
* @brief IN EP3 state.
*/
static USBInEndpointState ep3instate;
/**
* @brief EP3 initialization structure (IN only).
*/
static const USBEndpointConfig ep3config = {
USB_EP_MODE_TYPE_INTR,
NULL,
sduInterruptTransmitted,
NULL,
USB_INTERRUPT_REQUEST_SIZE,
0x0000,
&ep3instate,
NULL,
1,
NULL
};
/**
* @brief IN EP4 state.
*/
static USBInEndpointState ep4instate;
/**
* @brief OUT EP4 state.
*/
static USBOutEndpointState ep4outstate;
/**
* @brief EP4 initialization structure (both IN and OUT).
*/
static const USBEndpointConfig ep4config = {
USB_EP_MODE_TYPE_BULK,
NULL,
sduDataTransmitted,
sduDataReceived,
USB_DATA_SIZE,
USB_DATA_SIZE,
&ep4instate,
&ep4outstate,
2,
NULL
};
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
extern SerialUSBDriver SDU1;
extern SerialUSBDriver SDU2;
switch (event) {
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
if (usbp->state == USB_ACTIVE) {
/* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions
must be used.*/
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_A, &ep1config);
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_A, &ep2config);
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_B, &ep3config);
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_B, &ep4config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
sduConfigureHookI(&SDU2);
}
else if (usbp->state == USB_SELECTED) {
usbDisableEndpointsI(usbp);
}
chSysUnlockFromISR();
return;
case USB_EVENT_RESET:
/* Falls into.*/
case USB_EVENT_UNCONFIGURED:
/* Falls into.*/
case USB_EVENT_SUSPEND:
chSysLockFromISR();
/* Disconnection event on suspend.*/
sduSuspendHookI(&SDU1);
sduSuspendHookI(&SDU2);
chSysUnlockFromISR();
return;
case USB_EVENT_WAKEUP:
chSysLockFromISR();
/* Connection event on wakeup.*/
sduWakeupHookI(&SDU1);
sduWakeupHookI(&SDU2);
chSysUnlockFromISR();
return;
case USB_EVENT_STALLED:
return;
}
return;
}
/*
* Handling messages not implemented in the default handler nor in the
* SerialUSB handler.
*/
static bool requests_hook(USBDriver *usbp) {
if (((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) == USB_RTYPE_RECIPIENT_INTERFACE) &&
(usbp->setup[1] == USB_REQ_SET_INTERFACE)) {
usbSetupTransfer(usbp, NULL, 0, NULL);
return true;
}
return sduRequestsHook(usbp);
}
/*
* Handles the USB driver global events.
*/
static void sof_handler(USBDriver *usbp) {
(void)usbp;
osalSysLockFromISR();
sduSOFHookI(&SDU1);
sduSOFHookI(&SDU2);
osalSysUnlockFromISR();
}
/*
* USB driver configuration.
*/
const USBConfig usbcfg = {
usb_event,
get_descriptor,
requests_hook,
sof_handler
};
/*
* Serial over USB driver configuration 1.
*/
const SerialUSBConfig serusbcfg1 = {
&USBD1,
USB_DATA_REQUEST_EP_A,
USB_DATA_AVAILABLE_EP_A,
USB_INTERRUPT_REQUEST_EP_A
};
/*
* Serial over USB driver configuration 2.
*/
const SerialUSBConfig serusbcfg2 = {
&USBD1,
USB_DATA_REQUEST_EP_B,
USB_DATA_AVAILABLE_EP_B,
USB_INTERRUPT_REQUEST_EP_B
};
#endif

25
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -912,6 +912,7 @@ def write_UART_config(f):
f.write('\n')
need_uart_driver = False
OTG2_index = None
devlist = []
for dev in uart_list:
if dev.startswith('UART'):
@ -930,7 +931,12 @@ def write_UART_config(f):
rts_line = 'PAL_LINE(GPIO%s,%uU)' % (p.port, p.pin)
else:
rts_line = "0"
if dev.startswith('OTG'):
if dev.startswith('OTG2'):
f.write(
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, true, false, 0, 0, false, 0, 0}\n'
% dev)
OTG2_index = uart_list.index(dev)
elif dev.startswith('OTG'):
f.write(
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, true, false, 0, 0, false, 0, 0}\n'
% dev)
@ -947,7 +953,14 @@ def write_UART_config(f):
f.write("%s, " % get_extra_bylabel(dev + "_RXINV", "POL", "0"))
f.write("%d, " % get_gpio_bylabel(dev + "_TXINV"))
f.write("%s}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0"))
if OTG2_index is not None:
f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index)
f.write('''
#if HAL_WITH_UAVCAN
#define HAL_SERIAL%d_PROTOCOL SerialProtocol_SLCAN
#define HAL_SERIAL%d_BAUD 115200
#endif
''' % (OTG2_index, OTG2_index))
f.write('#define HAL_UART_DEVICE_LIST %s\n\n' % ','.join(devlist))
if not need_uart_driver and not args.bootloader:
f.write('''
@ -963,14 +976,20 @@ def write_UART_config_bootloader(f):
f.write('\n// UART configuration\n')
devlist = []
have_uart = False
OTG2_index = None
for u in uart_list:
if u.startswith('OTG'):
if u.startswith('OTG2'):
devlist.append('(BaseChannel *)&SDU2')
OTG2_index = uart_list.index(u)
elif u.startswith('OTG'):
devlist.append('(BaseChannel *)&SDU1')
else:
unum = int(u[-1])
devlist.append('(BaseChannel *)&SD%u' % unum)
have_uart = True
f.write('#define BOOTLOADER_DEV_LIST %s\n' % ','.join(devlist))
if OTG2_index is not None:
f.write('#define HAL_OTG2_UART_INDEX %d\n' % OTG2_index)
if not have_uart:
f.write('''
#ifndef HAL_USE_SERIAL