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AP_HAL_ChibiOS: add support for usb passthrough with baud changes

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This commit is contained in:
bugobliterator 2021-07-10 23:46:24 +05:30 committed by Andrew Tridgell
parent f3bc75c538
commit d1b0438412
8 changed files with 78 additions and 27 deletions
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25
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -569,6 +569,17 @@ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
void UARTDriver::begin(uint32_t b)
{
if (lock_write_key != 0) {
return;
}
begin(b, 0, 0);
}
void UARTDriver::begin_locked(uint32_t b, uint32_t key)
{
if (lock_write_key != 0 && key != lock_write_key) {
return;
}
begin(b, 0, 0);
}
@ -618,6 +629,20 @@ void UARTDriver::set_blocking_writes(bool blocking)
bool UARTDriver::tx_pending() { return false; }
/*
get the requested usb baudrate - 0 = none
*/
uint32_t UARTDriver::get_usb_baud() const
{
#if HAL_USE_SERIAL_USB
if (sdef.is_usb) {
return ::get_usb_baud(sdef.endpoint_id);
}
#endif
return 0;
}
/* Empty implementations of Stream virtual methods */
uint32_t UARTDriver::available() {
if (!_rx_initialised || lock_read_key) {

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -37,13 +37,14 @@ public:
UARTDriver &operator=(const UARTDriver&) = delete;
void begin(uint32_t b) override;
void begin_locked(uint32_t b, uint32_t write_key) override;
void begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
void end() override;
void flush() override;
bool is_initialized() override;
void set_blocking_writes(bool blocking) override;
bool tx_pending() override;
uint32_t get_usb_baud() const override;
uint32_t available() override;
uint32_t available_locked(uint32_t key) override;
@ -91,6 +92,7 @@ public:
uint8_t rxinv_polarity;
int8_t txinv_gpio;
uint8_t txinv_polarity;
uint8_t endpoint_id;
uint8_t get_index(void) const {
return uint8_t(this - &_serial_tab[0]);
}

12
libraries/AP_HAL_ChibiOS/Util.cpp
View File

@ -24,7 +24,6 @@
#include "hwdef/common/stm32_util.h"
#include "hwdef/common/watchdog.h"
#include "hwdef/common/flash.h"
#include "hwdef/common/usbcfg.h"
#include <AP_ROMFS/AP_ROMFS.h>
#include <AP_Common/ExpandingString.h>
#include "sdcard.h"
@ -226,17 +225,6 @@ uint64_t Util::get_hw_rtc() const
return stm32_get_utc_usec();
}
/*
get the requested usb baudrate - 0 = none
*/
uint32_t Util::get_usb_baud(uint16_t endpoint_id)
{
#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
return ::get_usb_baud(endpoint_id);
#endif
return 0;
}
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)

6
libraries/AP_HAL_ChibiOS/Util.h
View File

@ -110,12 +110,6 @@ private:
get system clock in UTC microseconds
*/
uint64_t get_hw_rtc() const override;
/*
get the requested usb baudrate - 0 = none
*/
uint32_t get_usb_baud(uint16_t endpoint_id) override;
#if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
FlashBootloader flash_bootloader() override;
#endif

45
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c
View File

@ -39,6 +39,11 @@
/* Virtual serial port over USB.*/
SerialUSBDriver SDU1;
cdc_linecoding_t linecoding = {
{0x00, 0x96, 0x00, 0x00}, /* 38400. */
LC_STOP_1, LC_PARITY_NONE, 8
};
/*
* Endpoints to be used for USBD1.
*/
@ -233,6 +238,17 @@ static const USBDescriptor *get_descriptor(USBDriver *usbp,
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)
return *((uint32_t*)linecoding.dwDTERate);
return 0;
}
#endif
/**
* @brief IN EP1 state.
*/
@ -329,6 +345,33 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
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;
}
if ((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS && usbp->setup[4] == 0x00 && usbp->setup[5] == 0x00) {
switch (usbp->setup[1]) {
case CDC_GET_LINE_CODING:
usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
return true;
case CDC_SET_LINE_CODING:
usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
return true;
case CDC_SET_CONTROL_LINE_STATE:
/* Nothing to do, there are no control lines.*/
usbSetupTransfer(usbp, NULL, 0, NULL);
return true;
}
}
return sduRequestsHook(usbp);
}
/*
* Handles the USB driver global events.
*/
@ -347,7 +390,7 @@ static void sof_handler(USBDriver *usbp) {
const USBConfig usbcfg = {
usb_event,
get_descriptor,
sduRequestsHook,
requests_hook,
sof_handler
};

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

@ -44,8 +44,8 @@ extern SerialUSBDriver SDU1;
#if HAL_HAVE_DUAL_USB_CDC
extern SerialUSBDriver SDU2;
extern const SerialUSBConfig serusbcfg2;
uint32_t get_usb_baud(uint16_t endpoint_id);
#endif //HAL_HAVE_DUAL_USB_CDC
uint32_t get_usb_baud(uint16_t endpoint_id);
#endif
#define USB_DESC_MAX_STRLEN 100
void setup_usb_strings(void);

5
libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c
View File

@ -300,17 +300,16 @@ static const USBDescriptor *get_descriptor(USBDriver *usbp,
/*
get the requested usb baudrate - 0 = none
*/
#if HAL_USE_SERIAL_USB
uint32_t get_usb_baud(uint16_t endpoint_id)
{
#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
if(endpoint_id == 0)
return *((uint32_t*)linecoding.dwDTERate);
if(endpoint_id == 2)
return *((uint32_t*)linecoding2.dwDTERate);
#endif
return 0;
}
#endif
/**
* @brief IN EP1 state.
*/

6
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -1343,13 +1343,13 @@ def write_UART_config(f):
if dev.startswith('OTG2'):
f.write(
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0}\n'
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 2}\n'
% dev)
OTG2_index = uart_list.index(dev)
dual_USB_enabled = True
elif dev.startswith('OTG'):
f.write(
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0}\n'
'#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0, 0}\n'
% dev)
else:
need_uart_driver = True
@ -1366,7 +1366,7 @@ def write_UART_config(f):
f.write("%d, " % get_gpio_bylabel(dev + "_RXINV"))
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"))
f.write("%s, 0}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0"))
if have_rts_cts:
f.write('#define AP_FEATURE_RTSCTS 1\n')
if OTG2_index is not None: