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AP_HAL_ChibiOS: add support for mass storage device

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This commit is contained in:
bugobliterator 2023-02-06 12:11:42 +11:00 committed by Andrew Tridgell
parent cc302d8b8c
commit 6d6c791fdf
7 changed files with 545 additions and 8 deletions
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2
libraries/AP_HAL_ChibiOS/hwdef/common/chibios_board.mk
View File

@ -133,6 +133,7 @@ CSRC += $(HWDEF)/common/stubs.c \
$(HWDEF)/common/usbcfg.c \
$(HWDEF)/common/usbcfg_dualcdc.c \
$(HWDEF)/common/usbcfg_common.c \
$(HWDEF)/common/usbcfg_cdc_msd.c \
$(HWDEF)/common/flash.c \
$(HWDEF)/common/malloc.c \
$(HWDEF)/common/hrt.c \
@ -183,6 +184,7 @@ ASMSRC = $(ALLASMSRC)
ASMXSRC = $(ALLXASMSRC)
INCDIR = $(CHIBIOS)/os/license \
$(CHIBIOS)/os/various \
$(ALLINC) $(HWDEF)/common
ifneq ($(CRASHCATCHER),)

4
libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
View File

@ -615,8 +615,8 @@
#endif
#define STM32_USB_OTG1_IRQ_PRIORITY 14
#define STM32_USB_OTG2_IRQ_PRIORITY 14
#define STM32_USB_OTG1_RX_FIFO_SIZE 512
#define STM32_USB_OTG2_RX_FIFO_SIZE 1024
#define STM32_USB_OTG1_RX_FIFO_SIZE 2048
#define STM32_USB_OTG2_RX_FIFO_SIZE 2048
#define STM32_USB_HOST_WAKEUP_DURATION 2
/*

2
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c
View File

@ -34,7 +34,7 @@
#include "usbcfg.h"
// #pragma GCC optimize("O0")
#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC
#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC && !HAL_HAVE_USB_CDC_MSD
/* Virtual serial port over USB.*/
SerialUSBDriver SDU1;

4
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h
View File

@ -33,6 +33,10 @@
#define HAL_HAVE_DUAL_USB_CDC 0
#endif
#ifndef HAL_HAVE_USB_CDC_MSD
#define HAL_HAVE_USB_CDC_MSD 0
#endif
#if defined(__cplusplus)
extern "C" {
#endif

494
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_cdc_msd.c Normal file
View File

@ -0,0 +1,494 @@
/*
ChibiOS - Copyright (C) 2006..2016 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.
*/
#include "hal.h"
#include "hwdef.h"
#include <stdlib.h>
#include <string.h>
#include "hal_usb_msd.h"
#include "usbcfg.h"
#if HAL_HAVE_USB_CDC_MSD
/*
* must be 64 for full speed and 512 for high speed
*/
#define USB_MSD_EP_SIZE 512U
#define USB_DATA_REQUEST_EP 2
#define USB_DATA_AVAILABLE_EP 2
#define USB_INTERRUPT_REQUEST_EP 3
SerialUSBDriver SDU1;
static cdc_linecoding_t linecoding = {
{0x00, 0x96, 0x00, 0x00}, /* 38400. */
LC_STOP_1, LC_PARITY_NONE, 8
};
/*
* USB Device Descriptor.
*/
static const uint8_t vcom_device_descriptor_data[18] = {
USB_DESC_DEVICE(
0x0110, /* bcdUSB (1.1). */
0x02, /* bDeviceClass (CDC). */
0x00, /* bDeviceSubClass. */
0x00, /* bDeviceProtocol. */
0x40, /* bMaxPacketSize. */
HAL_USB_VENDOR_ID, /* idVendor (ST). */
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
};
/* Configuration Descriptor tree for a CDC.*/
static const uint8_t vcom_configuration_descriptor_data[] = {
/* Configuration Descriptor.*/
USB_DESC_CONFIGURATION(0x0020, /* wTotalLength. */
0x01, /* bNumInterfaces. */
0x01, /* bConfigurationValue. */
0, /* iConfiguration. */
0xC0, /* bmAttributes (self powered). */
0x32), /* bMaxPower (100mA). */
/* Interface Descriptor.*/
USB_DESC_INTERFACE (0x00, /* bInterfaceNumber. */
0x00, /* bAlternateSetting. */
0x02, /* bNumEndpoints. */
0x08, /* bInterfaceClass (Mass Storage) */
0x06, /* bInterfaceSubClass (SCSI
Transparent storage class) */
0x50, /* bInterfaceProtocol (Bulk Only) */
0), /* iInterface. (none) */
/* Mass Storage Data In Endpoint Descriptor.*/
USB_DESC_ENDPOINT (USB_MSD_DATA_EP | 0x80,
0x02, /* bmAttributes (Bulk). */
USB_MSD_EP_SIZE, /* wMaxPacketSize. */
0x00), /* bInterval. 1ms */
/* Mass Storage Data Out Endpoint Descriptor.*/
USB_DESC_ENDPOINT (USB_MSD_DATA_EP,
0x02, /* bmAttributes (Bulk). */
USB_MSD_EP_SIZE, /* wMaxPacketSize. */
0x00), /* bInterval. 1ms */
// CDC
/* IAD Descriptor */
USB_DESC_INTERFACE_ASSOCIATION(0x01, /* bFirstInterface. */
0x02, /* bInterfaceCount. */
0x02, /* bFunctionClass (CDC). */
0x00, /* bFunctionSubClass. (2) */
0x00, /* bFunctionProtocol (1) */
2), /* iInterface. */
/* Interface Descriptor.*/
USB_DESC_INTERFACE (0x01, /* bInterfaceNumber. */
0x00, /* bAlternateSetting. */
0x01, /* bNumEndpoints. */
0x02, /* bInterfaceClass (Communications
Interface Class, CDC section
4.2). */
0x02, /* bInterfaceSubClass (Abstract
Control Model, CDC section 4.3). */
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 (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x00), /* bDescriptorSubtype (Header
Functional Descriptor. */
USB_DESC_BCD (0x0110), /* bcdCDC. */
/* Call Management Functional Descriptor. */
USB_DESC_BYTE (5), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x01), /* bDescriptorSubtype (Call Management
Functional Descriptor). */
USB_DESC_BYTE (0x00), /* bmCapabilities (D0+D1). */
USB_DESC_BYTE (0x02), /* bDataInterface. */
/* ACM Functional Descriptor.*/
USB_DESC_BYTE (4), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x02), /* bDescriptorSubtype (Abstract
Control Management Descriptor). */
USB_DESC_BYTE (0x02), /* bmCapabilities. */
/* Union Functional Descriptor.*/
USB_DESC_BYTE (5), /* bFunctionLength. */
USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
USB_DESC_BYTE (0x06), /* bDescriptorSubtype (Union
Functional Descriptor). */
USB_DESC_BYTE (0x01), /* bMasterInterface (Communication
Class Interface). */
USB_DESC_BYTE (0x02), /* bSlaveInterface0 (Data Class
Interface). */
/* Endpoint 5 Descriptor.*/
USB_DESC_ENDPOINT (USB_INTERRUPT_REQUEST_EP|0x80,
0x03, /* bmAttributes (Interrupt). */
0x0008, /* wMaxPacketSize. */
0xFF), /* bInterval. */
/* Interface Descriptor.*/
USB_DESC_INTERFACE (0x02, /* bInterfaceNumber. */
0x00, /* bAlternateSetting. */
0x02, /* bNumEndpoints. */
0x0A, /* bInterfaceClass (Data Class
Interface, CDC section 4.5). */
0x00, /* bInterfaceSubClass (CDC section
4.6). */
0x00, /* bInterfaceProtocol (CDC section
4.7). */
0x00), /* iInterface. */
/* Endpoint 4 Descriptor.*/
USB_DESC_ENDPOINT (USB_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
0x02, /* bmAttributes (Bulk). */
0x0040, /* wMaxPacketSize. */
0x00), /* bInterval. */
/* Endpoint 4 Descriptor.*/
USB_DESC_ENDPOINT (USB_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
0x02, /* bmAttributes (Bulk). */
0x0040, /* wMaxPacketSize. */
0x00) /* bInterval. */
};
/*
* 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
};
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;
}
/*
get the requested usb baudrate - 0 = none
*/
#if HAL_USE_SERIAL_USB
uint32_t get_usb_baud(uint16_t endpoint_id)
{
if (endpoint_id == 0) {
uint32_t rate;
memcpy(&rate, &linecoding.dwDTERate[0], sizeof(rate));
return rate;
}
return 0;
}
#endif
/**
* @brief IN EP1 state.
*/
static USBInEndpointState ep1instate;
/**
* @brief OUT EP1 state.
*/
static USBOutEndpointState ep1outstate;
/**
* @brief EP1 initialization structure (both IN and OUT).
*/
static const USBEndpointConfig ep1config = {
USB_EP_MODE_TYPE_BULK,
NULL,
NULL,
NULL,
USB_MSD_EP_SIZE,
USB_MSD_EP_SIZE,
&ep1instate,
&ep1outstate,
4,
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,
0x0040,
0x0040,
&ep2instate,
&ep2outstate,
1,
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,
0x0010,
0x0000,
&ep3instate,
NULL,
1,
NULL
};
/*
* Handles the USB driver global events.
*/
static void usb_event(USBDriver *usbp, usbevent_t event) {
extern SerialUSBDriver SDU1;
switch (event) {
case USB_EVENT_ADDRESS:
return;
case USB_EVENT_CONFIGURED:
chSysLockFromISR();
/* 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_MSD_DATA_EP, &ep1config);
usbInitEndpointI(usbp, USB_DATA_REQUEST_EP, &ep2config);
usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP, &ep3config);
/* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1);
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);
chSysUnlockFromISR();
return;
case USB_EVENT_WAKEUP:
chSysLockFromISR();
/* Disconnection event on suspend.*/
sduWakeupHookI(&SDU1);
chSysUnlockFromISR();
return;
case USB_EVENT_STALLED:
return;
}
return;
}
#define MSD_SETUP_WORD(setup, index) (uint16_t)(((uint16_t)setup[index+1] << 8)\
| (setup[index] & 0x00FF))
#define MSD_SETUP_VALUE(setup) MSD_SETUP_WORD(setup, 2)
#define MSD_SETUP_INDEX(setup) MSD_SETUP_WORD(setup, 4)
#define MSD_SETUP_LENGTH(setup) MSD_SETUP_WORD(setup, 6)
#define MSD_REQ_RESET 0xFF
#define MSD_GET_MAX_LUN 0xFE
static uint8_t zbuf = 0;
static bool hybridRequestHook(USBDriver *usbp) {
// handle MSD setup request -- we could change the interface here
#define USB_MSD_INTERFACE 0
if (((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS) &&
((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) ==
USB_RTYPE_RECIPIENT_INTERFACE)) {
if (MSD_SETUP_INDEX(usbp->setup) == USB_MSD_INTERFACE) {
switch(usbp->setup[1]) {
case MSD_REQ_RESET:
/* check that it is a HOST2DEV request */
if (((usbp->setup[0] & USB_RTYPE_DIR_MASK) != USB_RTYPE_DIR_HOST2DEV) ||
(MSD_SETUP_LENGTH(usbp->setup) != 0) ||
(MSD_SETUP_VALUE(usbp->setup) != 0)) {
return false;
}
chSysLockFromISR();
usbStallReceiveI(usbp, 1);
usbStallTransmitI(usbp, 1);
chSysUnlockFromISR();
/* response to this request using EP0 */
usbSetupTransfer(usbp, 0, 0, NULL);
return true;
case MSD_GET_MAX_LUN:
/* check that it is a DEV2HOST request */
if (((usbp->setup[0] & USB_RTYPE_DIR_MASK) != USB_RTYPE_DIR_DEV2HOST) ||
(MSD_SETUP_LENGTH(usbp->setup) != 1) ||
(MSD_SETUP_VALUE(usbp->setup) != 0)) {
return false;
}
// send 0 packet to indicate that we don't do LUN
zbuf = 0;
usbSetupTransfer(usbp, &zbuf, 1, NULL);
return true;
default:
return false;
}
}
}
return sduRequestsHook(usbp);
}
/*
* Handles the USB driver global events.
*/
static void sof_handler(USBDriver *usbp) {
(void)usbp;
osalSysLockFromISR();
sduSOFHookI(&SDU1);
osalSysUnlockFromISR();
}
// USB Driver configuration.
const USBConfig usbcfg = {
usb_event,
get_descriptor,
hybridRequestHook,
sof_handler
};
// Serial over USB driver configuration.
const SerialUSBConfig serusbcfg1 = {
#if STM32_USB_USE_OTG1
&USBD1,
#else
&USBD2,
#endif
USB_DATA_REQUEST_EP,
USB_DATA_AVAILABLE_EP,
USB_INTERRUPT_REQUEST_EP
};
#endif // HAL_HAVE_USB_CDC_MSD

9
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -937,6 +937,12 @@ class ChibiOSHWDef(object):
f.write('#define HAL_USE_USB TRUE\n')
f.write('#define HAL_USE_SERIAL_USB TRUE\n')
f.write('#define BOARD_OTG2_USES_ULPI\n')
if self.get_config('HAL_USE_USB_MSD', required=False):
f.write('#define HAL_USE_USB_MSD TRUE\n')
f.write('#define HAL_HAVE_USB_CDC_MSD 1\n')
self.build_flags.append('USE_USB_MSD=yes')
defines = self.get_mcu_config('DEFINES', False)
if defines is not None:
for d in defines.keys():
@ -988,9 +994,6 @@ class ChibiOSHWDef(object):
if result:
self.intdefines[result.group(1)] = int(result.group(2))
if self.intdefines.get('HAL_USE_USB_MSD',0) == 1:
self.build_flags.append('USE_USB_MSD=yes')
if self.have_type_prefix('CAN') and not using_chibios_can:
self.enable_can(f)
flash_size = self.get_config('FLASH_SIZE_KB', type=int)

38
libraries/AP_HAL_ChibiOS/sdcard.cpp
View File

@ -23,6 +23,7 @@
#include <AP_Filesystem/AP_Filesystem.h>
#include "bouncebuffer.h"
#include "stm32_util.h"
#include "hwdef/common/usbcfg.h"
extern const AP_HAL::HAL& hal;
@ -47,6 +48,11 @@ static SPIConfig lowspeed;
static SPIConfig highspeed;
#endif
#if HAL_HAVE_USB_CDC_MSD
static uint8_t blkbuf[512];
static uint8_t txbuf[512];
#endif
/*
initialise microSD card if avaialble. This is called during
AP_BoardConfig initialisation. The parameter BRD_SD_SLOWDOWN
@ -88,13 +94,41 @@ bool sdcard_init()
sdcStop(&sdcd);
continue;
}
if (f_mount(&SDC_FS, "/", 1) != FR_OK) {
FRESULT res = f_mount(&SDC_FS, "/", 1);
#if defined(HAL_SDMMC_TYPE_EMMC)
if (res == FR_NO_FILESYSTEM) {
//format eMMC
MKFS_PARM opt = {0};
opt.fmt = FM_EXFAT;
res = f_mkfs("/", &opt, 0, 4096);
if (res == FR_OK) {
res = f_mount(&SDC_FS, "/", 1);
}
}
#endif
if (res != FR_OK) {
sdcDisconnect(&sdcd);
sdcStop(&sdcd);
continue;
}
printf("Successfully mounted SDCard (slowdown=%u)\n", (unsigned)sd_slowdown);
#if HAL_HAVE_USB_CDC_MSD
if (USBMSD1.state == USB_MSD_UNINIT) {
msdObjectInit(&USBMSD1);
msdStart(&USBMSD1,
#if STM32_USB_USE_OTG1
&USBD1,
#else
&USBD2,
#endif
(BaseBlockDevice*)&SDCD1, blkbuf, txbuf, NULL, NULL);
usbDisconnectBus(serusbcfg1.usbp);
usbStop(serusbcfg1.usbp);
chThdSleep(chTimeUS2I(1500));
usbStart(serusbcfg1.usbp, &usbcfg);
usbConnectBus(serusbcfg1.usbp);
}
#endif
sdcard_running = true;
return true;
}