mirror of https://github.com/ArduPilot/ardupilot
415 lines
14 KiB
C
415 lines
14 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* 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 file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License 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, see <http://www.gnu.org/licenses/>.
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*
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "hal.h"
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#include "hwdef.h"
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#include <stdlib.h>
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#include <string.h>
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#include "usbcfg.h"
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// #pragma GCC optimize("O0")
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#if defined(HAL_USB_PRODUCT_ID) && !HAL_HAVE_DUAL_USB_CDC
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/* Virtual serial port over USB.*/
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SerialUSBDriver SDU1;
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static cdc_linecoding_t linecoding = {
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{0x00, 0x96, 0x00, 0x00}, /* 38400. */
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LC_STOP_1, LC_PARITY_NONE, 8
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};
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/*
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* Endpoints to be used for USB.
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*/
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#define USB_DATA_REQUEST_EP 1
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#define USB_DATA_AVAILABLE_EP 1
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#define USB_INTERRUPT_REQUEST_EP 2
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/*
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* USB Device Descriptor.
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*/
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static const uint8_t vcom_device_descriptor_data[18] = {
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USB_DESC_DEVICE(
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0x0110, /* bcdUSB (1.1). */
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0x02, /* bDeviceClass (CDC). */
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0x00, /* bDeviceSubClass. */
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0x00, /* bDeviceProtocol. */
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0x40, /* bMaxPacketSize. */
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HAL_USB_VENDOR_ID, /* idVendor (ST). */
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HAL_USB_PRODUCT_ID, /* idProduct. */
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0x0200, /* bcdDevice. */
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1, /* iManufacturer. */
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2, /* iProduct. */
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3, /* iSerialNumber. */
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1) /* bNumConfigurations. */
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};
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/*
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* Device Descriptor wrapper.
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*/
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static const USBDescriptor vcom_device_descriptor = {
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sizeof vcom_device_descriptor_data,
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vcom_device_descriptor_data
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};
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/* Configuration Descriptor tree for a CDC.*/
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static const uint8_t vcom_configuration_descriptor_data[67] = {
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/* Configuration Descriptor.*/
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USB_DESC_CONFIGURATION(67, /* wTotalLength. */
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0x02, /* bNumInterfaces. */
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0x01, /* bConfigurationValue. */
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0, /* iConfiguration. */
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0xC0, /* bmAttributes (self powered). */
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50), /* bMaxPower (100mA). */
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/* Interface Descriptor.*/
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USB_DESC_INTERFACE (0x00, /* bInterfaceNumber. */
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0x00, /* bAlternateSetting. */
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0x01, /* bNumEndpoints. */
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0x02, /* bInterfaceClass (Communications
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Interface Class, CDC section
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4.2). */
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0x02, /* bInterfaceSubClass (Abstract
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Control Model, CDC section 4.3). */
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0x01, /* bInterfaceProtocol (AT commands,
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CDC section 4.4). */
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0), /* iInterface. */
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/* Header Functional Descriptor (CDC section 5.2.3).*/
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USB_DESC_BYTE (5), /* bLength. */
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USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
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USB_DESC_BYTE (0x00), /* bDescriptorSubtype (Header
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Functional Descriptor. */
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USB_DESC_BCD (0x0110), /* bcdCDC. */
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/* Call Management Functional Descriptor. */
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USB_DESC_BYTE (5), /* bFunctionLength. */
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USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
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USB_DESC_BYTE (0x01), /* bDescriptorSubtype (Call Management
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Functional Descriptor). */
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USB_DESC_BYTE (0x00), /* bmCapabilities (D0+D1). */
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USB_DESC_BYTE (0x01), /* bDataInterface. */
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/* ACM Functional Descriptor.*/
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USB_DESC_BYTE (4), /* bFunctionLength. */
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USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
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USB_DESC_BYTE (0x02), /* bDescriptorSubtype (Abstract
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Control Management Descriptor). */
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USB_DESC_BYTE (0x02), /* bmCapabilities. */
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/* Union Functional Descriptor.*/
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USB_DESC_BYTE (5), /* bFunctionLength. */
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USB_DESC_BYTE (0x24), /* bDescriptorType (CS_INTERFACE). */
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USB_DESC_BYTE (0x06), /* bDescriptorSubtype (Union
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Functional Descriptor). */
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USB_DESC_BYTE (0x00), /* bMasterInterface (Communication
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Class Interface). */
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USB_DESC_BYTE (0x01), /* bSlaveInterface0 (Data Class
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Interface). */
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/* Endpoint 2 Descriptor.*/
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USB_DESC_ENDPOINT (USB_INTERRUPT_REQUEST_EP|0x80,
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0x03, /* bmAttributes (Interrupt). */
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0x0008, /* wMaxPacketSize. */
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0xFF), /* bInterval. */
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/* Interface Descriptor.*/
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USB_DESC_INTERFACE (0x01, /* bInterfaceNumber. */
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0x00, /* bAlternateSetting. */
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0x02, /* bNumEndpoints. */
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0x0A, /* bInterfaceClass (Data Class
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Interface, CDC section 4.5). */
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0x00, /* bInterfaceSubClass (CDC section
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4.6). */
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0x00, /* bInterfaceProtocol (CDC section
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4.7). */
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0x00), /* iInterface. */
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/* Endpoint 3 Descriptor.*/
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USB_DESC_ENDPOINT (USB_DATA_AVAILABLE_EP, /* bEndpointAddress.*/
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0x02, /* bmAttributes (Bulk). */
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0x0040, /* wMaxPacketSize. */
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0x00), /* bInterval. */
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/* Endpoint 1 Descriptor.*/
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USB_DESC_ENDPOINT (USB_DATA_REQUEST_EP|0x80, /* bEndpointAddress.*/
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0x02, /* bmAttributes (Bulk). */
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0x0040, /* wMaxPacketSize. */
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0x00) /* bInterval. */
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};
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/*
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* Configuration Descriptor wrapper.
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*/
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static const USBDescriptor vcom_configuration_descriptor = {
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sizeof vcom_configuration_descriptor_data,
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vcom_configuration_descriptor_data
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};
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/*
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* U.S. English language identifier.
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*/
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static const uint8_t vcom_string0[] = {
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USB_DESC_BYTE(4), /* bLength. */
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USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
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USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
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};
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/*
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* Strings wrappers array. The strings are created dynamically to
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* allow them to be setup with apj_tool
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*/
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static USBDescriptor vcom_strings[] = {
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{sizeof vcom_string0, vcom_string0},
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{0, NULL}, // manufacturer
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{0, NULL}, // product
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{0, NULL}, // version
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};
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static uint8_t vcom_buffers[3][2+2*USB_DESC_MAX_STRLEN];
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/*
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dynamically allocate a USB descriptor string
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*/
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static void setup_usb_string(USBDescriptor *desc, const char *str, uint8_t *b)
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{
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char str2[USB_DESC_MAX_STRLEN];
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string_substitute(str, str2);
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uint8_t len = strlen(str2);
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desc->ud_size = 2+2*len;
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desc->ud_string = (const uint8_t *)b;
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b[0] = USB_DESC_BYTE(desc->ud_size);
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b[1] = USB_DESC_BYTE(USB_DESCRIPTOR_STRING);
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uint8_t i;
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for (i=0; i<len; i++) {
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b[2+i*2] = str2[i];
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b[2+i*2+1] = 0;
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}
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}
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/*
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dynamically allocate a USB descriptor strings
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*/
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void setup_usb_strings(void)
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{
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setup_usb_string(&vcom_strings[1], HAL_USB_STRING_MANUFACTURER, vcom_buffers[0]);
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setup_usb_string(&vcom_strings[2], HAL_USB_STRING_PRODUCT, vcom_buffers[1]);
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setup_usb_string(&vcom_strings[3], HAL_USB_STRING_SERIAL, vcom_buffers[2]);
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}
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/*
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* Handles the GET_DESCRIPTOR callback. All required descriptors must be
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* handled here.
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*/
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static const USBDescriptor *get_descriptor(USBDriver *usbp,
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uint8_t dtype,
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uint8_t dindex,
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uint16_t lang) {
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(void)usbp;
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(void)lang;
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switch (dtype) {
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case USB_DESCRIPTOR_DEVICE:
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return &vcom_device_descriptor;
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case USB_DESCRIPTOR_CONFIGURATION:
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return &vcom_configuration_descriptor;
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case USB_DESCRIPTOR_STRING:
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if (dindex < 4) {
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return &vcom_strings[dindex];
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}
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}
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return NULL;
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}
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/*
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get the requested usb baudrate - 0 = none
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*/
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#if HAL_USE_SERIAL_USB
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uint32_t get_usb_baud(uint16_t endpoint_id)
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{
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if (endpoint_id == 0) {
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uint32_t rate;
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memcpy(&rate, &linecoding.dwDTERate[0], sizeof(rate));
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return rate;
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}
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return 0;
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}
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#endif
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/**
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* @brief IN EP1 state.
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*/
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static USBInEndpointState ep1instate;
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/**
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* @brief OUT EP1 state.
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*/
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static USBOutEndpointState ep1outstate;
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/**
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* @brief EP1 initialization structure (both IN and OUT).
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*/
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static const USBEndpointConfig ep1config = {
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USB_EP_MODE_TYPE_BULK,
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NULL,
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sduDataTransmitted,
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sduDataReceived,
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0x0040,
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0x0040,
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&ep1instate,
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&ep1outstate,
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2,
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NULL
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};
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/**
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* @brief IN EP2 state.
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*/
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static USBInEndpointState ep2instate;
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/**
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* @brief EP2 initialization structure (IN only).
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*/
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static const USBEndpointConfig ep2config = {
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USB_EP_MODE_TYPE_INTR,
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NULL,
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sduInterruptTransmitted,
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NULL,
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0x0010,
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0x0000,
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&ep2instate,
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NULL,
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1,
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NULL
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};
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/*
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* Handles the USB driver global events.
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*/
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static void usb_event(USBDriver *usbp, usbevent_t event) {
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extern SerialUSBDriver SDU1;
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switch (event) {
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case USB_EVENT_ADDRESS:
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return;
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case USB_EVENT_CONFIGURED:
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chSysLockFromISR();
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/* Enables the endpoints specified into the configuration.
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Note, this callback is invoked from an ISR so I-Class functions
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must be used.*/
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usbInitEndpointI(usbp, USB_DATA_REQUEST_EP, &ep1config);
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usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP, &ep2config);
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/* Resetting the state of the CDC subsystem.*/
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sduConfigureHookI(&SDU1);
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chSysUnlockFromISR();
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return;
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case USB_EVENT_RESET:
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/* Falls into.*/
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case USB_EVENT_UNCONFIGURED:
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/* Falls into.*/
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case USB_EVENT_SUSPEND:
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chSysLockFromISR();
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/* Disconnection event on suspend.*/
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sduSuspendHookI(&SDU1);
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chSysUnlockFromISR();
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return;
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case USB_EVENT_WAKEUP:
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chSysLockFromISR();
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/* Disconnection event on suspend.*/
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sduWakeupHookI(&SDU1);
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chSysUnlockFromISR();
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return;
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case USB_EVENT_STALLED:
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return;
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}
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return;
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}
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/*
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* Handling messages not implemented in the default handler nor in the
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* SerialUSB handler.
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*/
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static bool requests_hook(USBDriver *usbp) {
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if (((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) == USB_RTYPE_RECIPIENT_INTERFACE) &&
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(usbp->setup[1] == USB_REQ_SET_INTERFACE)) {
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usbSetupTransfer(usbp, NULL, 0, NULL);
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return true;
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}
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if ((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS && usbp->setup[4] == 0x00 && usbp->setup[5] == 0x00) {
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switch (usbp->setup[1]) {
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case CDC_GET_LINE_CODING:
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usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
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return true;
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case CDC_SET_LINE_CODING:
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usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
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return true;
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case CDC_SET_CONTROL_LINE_STATE:
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/* Nothing to do, there are no control lines.*/
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usbSetupTransfer(usbp, NULL, 0, NULL);
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return true;
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}
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}
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return sduRequestsHook(usbp);
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}
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/*
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* Handles the USB driver global events.
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*/
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static void sof_handler(USBDriver *usbp) {
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(void)usbp;
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osalSysLockFromISR();
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sduSOFHookI(&SDU1);
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osalSysUnlockFromISR();
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}
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/*
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* USB driver configuration.
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*/
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const USBConfig usbcfg = {
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usb_event,
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get_descriptor,
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requests_hook,
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sof_handler
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};
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/*
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* Serial over USB driver configuration.
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*/
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const SerialUSBConfig serusbcfg1 = {
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#if STM32_USB_USE_OTG2 || STM32_OTG2_IS_OTG1
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&USBD2,
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#else
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&USBD1,
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#endif
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USB_DATA_REQUEST_EP,
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USB_DATA_AVAILABLE_EP,
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USB_INTERRUPT_REQUEST_EP
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};
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#endif // HAL_USB_PRODUCT_ID
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