dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

The PIC32 USB device driver is (finally) functional 

git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4457 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo 2012-03-06 15:51:03 +00:00
parent a1a8abff71
commit 29772a3432
3 changed files with 269 additions and 132 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
nuttx/ChangeLog
View File

@ -2529,3 +2529,5 @@
* include/nuttx/net/: Major re-organization of networking headerf files.
Moved all non-standard, NuttX-specific header files from include/net and
include/nuttx into include/nuttx/net.
* arch/mips/src/pic32mx/pic32mx_usbdev.c: The PIC32 USB driver now appears to
be fully functional.

373
nuttx/arch/mips/src/pic32mx/pic32mx-usbdev.c
View File

@ -166,8 +166,8 @@
/* Request queue operations *************************************************/
#define pic32mx_rqempty(ep) ((ep)->head == NULL)
#define pic32mx_rqpeek(ep) ((ep)->head)
#define pic32mx_rqempty(q) ((q)->head == NULL)
#define pic32mx_rqpeek(q) ((q)->head)
/* USB trace ****************************************************************/
/* Trace error codes */
@ -214,30 +214,29 @@
#define PIC32MX_TRACEINTID_EPINDONE 0x000b
#define PIC32MX_TRACEINTID_EPINQEMPTY 0x000c
#define PIC32MX_TRACEINTID_EPOUTDONE 0x000d
#define PIC32MX_TRACEINTID_EPOUTPENDING 0x000e
#define PIC32MX_TRACEINTID_EPOUTQEMPTY 0x000f
#define PIC32MX_TRACEINTID_SOF 0x0010
#define PIC32MX_TRACEINTID_GETCONFIG 0x0011
#define PIC32MX_TRACEINTID_GETSETDESC 0x0012
#define PIC32MX_TRACEINTID_GETSETIF 0x0013
#define PIC32MX_TRACEINTID_GETSTATUS 0x0014
#define PIC32MX_TRACEINTID_IFGETSTATUS 0x0015
#define PIC32MX_TRACEINTID_TRNC 0x0016
#define PIC32MX_TRACEINTID_TRNCS 0x0017
#define PIC32MX_TRACEINTID_INTERRUPT 0x0018
#define PIC32MX_TRACEINTID_NOSTDREQ 0x0019
#define PIC32MX_TRACEINTID_RESET 0x001a
#define PIC32MX_TRACEINTID_SETCONFIG 0x001b
#define PIC32MX_TRACEINTID_SETFEATURE 0x001c
#define PIC32MX_TRACEINTID_IDLE 0x001d
#define PIC32MX_TRACEINTID_SYNCHFRAME 0x001e
#define PIC32MX_TRACEINTID_WKUP 0x001f
#define PIC32MX_TRACEINTID_T1MSEC 0x0020
#define PIC32MX_TRACEINTID_OTGID 0x0021
#define PIC32MX_TRACEINTID_STALL 0x0022
#define PIC32MX_TRACEINTID_UERR 0x0023
#define PIC32MX_TRACEINTID_SUSPENDED 0x0024
#define PIC32MX_TRACEINTID_WAITRESET 0x0025
#define PIC32MX_TRACEINTID_EPOUTQEMPTY 0x000e
#define PIC32MX_TRACEINTID_SOF 0x000f
#define PIC32MX_TRACEINTID_GETCONFIG 0x0010
#define PIC32MX_TRACEINTID_GETSETDESC 0x0011
#define PIC32MX_TRACEINTID_GETSETIF 0x0012
#define PIC32MX_TRACEINTID_GETSTATUS 0x0013
#define PIC32MX_TRACEINTID_IFGETSTATUS 0x0014
#define PIC32MX_TRACEINTID_TRNC 0x0015
#define PIC32MX_TRACEINTID_TRNCS 0x0016
#define PIC32MX_TRACEINTID_INTERRUPT 0x0017
#define PIC32MX_TRACEINTID_NOSTDREQ 0x0018
#define PIC32MX_TRACEINTID_RESET 0x0019
#define PIC32MX_TRACEINTID_SETCONFIG 0x001a
#define PIC32MX_TRACEINTID_SETFEATURE 0x001b
#define PIC32MX_TRACEINTID_IDLE 0x001c
#define PIC32MX_TRACEINTID_SYNCHFRAME 0x001d
#define PIC32MX_TRACEINTID_WKUP 0x001e
#define PIC32MX_TRACEINTID_T1MSEC 0x001f
#define PIC32MX_TRACEINTID_OTGID 0x0020
#define PIC32MX_TRACEINTID_STALL 0x0021
#define PIC32MX_TRACEINTID_UERR 0x0022
#define PIC32MX_TRACEINTID_SUSPENDED 0x0023
#define PIC32MX_TRACEINTID_WAITRESET 0x0024
/* Misc Helper Macros *******************************************************/
@ -343,7 +342,9 @@ union wb_u
uint8_t b[2];
};
/* A container for a request so that the request make be retained in a list */
/* A container for a request so that the request make be retained in a
* singly-linked list.
*/
struct pic32mx_req_s
{
@ -352,6 +353,14 @@ struct pic32mx_req_s
struct pic32mx_req_s *flink; /* Supports a singly linked list */
};
/* This structure represents the 'head' of a singly linked list of requests */
struct pic32mx_queue_s
{
struct pic32mx_req_s *head; /* Head of the request queue */
struct pic32mx_req_s *tail; /* Tail of the request queue */
};
/* This is the internal representation of an endpoint */
struct pic32mx_ep_s
@ -366,8 +375,8 @@ struct pic32mx_ep_s
/* PIC32MX-specific fields */
struct pic32mx_usbdev_s *dev; /* Reference to private driver data */
struct pic32mx_req_s *head; /* Request list for this endpoint */
struct pic32mx_req_s *tail;
struct pic32mx_queue_s pend; /* List of pending (inactive) requests for this endpoint */
struct pic32mx_queue_s active; /* List of active requests for this endpoint */
uint8_t stalled:1; /* true: Endpoint is stalled */
uint8_t halted:1; /* true: Endpoint feature halted */
uint8_t txnullpkt:1; /* Null packet needed at end of TX transfer */
@ -423,23 +432,32 @@ static void pic32mx_putreg(uint16_t val, uint32_t addr);
static void pic32mx_suspend(struct pic32mx_usbdev_s *priv);
static void pic32mx_resume(struct pic32mx_usbdev_s *priv);
/* Request Queue Management *************************************************/
static struct pic32mx_req_s *pic32mx_remfirst(struct pic32mx_queue_s *queue);
static struct pic32mx_req_s *pic32mx_remlast(struct pic32mx_queue_s *queue);
static void pic32mx_addlast(struct pic32mx_queue_s *queue,
struct pic32mx_req_s *req);
static void pic32mx_addfirst(struct pic32mx_queue_s *queue,
struct pic32mx_req_s *req);
/* Request Helpers **********************************************************/
static struct pic32mx_req_s *
pic32mx_rqdequeue(struct pic32mx_ep_s *privep);
static void pic32mx_rqenqueue(struct pic32mx_ep_s *privep,
struct pic32mx_req_s *req);
static inline void
pic32mx_abortrequest(struct pic32mx_ep_s *privep,
struct pic32mx_req_s *privreq, int16_t result);
static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result);
static void pic32mx_reqreturn(struct pic32mx_ep_s *privep,
struct pic32mx_req_s *privreq, int16_t result);
static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep,
int16_t result);
static void pic32mx_epwrite(struct pic32mx_ep_s *privep,
volatile struct usbotg_bdtentry_s *bdt,
const uint8_t *src, uint32_t nbytes);
static void pic32mx_wrcomplete(struct pic32mx_usbdev_s *priv,
struct pic32mx_ep_s *privep);
static void pic32mx_wrrestart(struct pic32mx_usbdev_s *priv,
static void pic32mx_rqrestart(struct pic32mx_usbdev_s *priv,
struct pic32mx_ep_s *privep);
static void pic32mx_rqstop(struct pic32mx_ep_s *privep);
static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv,
struct pic32mx_ep_s *privep);
static int pic32mx_rdcomplete(struct pic32mx_usbdev_s *priv,
@ -450,7 +468,8 @@ static int pic32mx_rdsetup(struct pic32mx_ep_s *privep, uint8_t *dest,
int readlen);
static int pic32mx_rdrequest(struct pic32mx_usbdev_s *priv,
struct pic32mx_ep_s *privep);
static void pic32mx_cancelrequests(struct pic32mx_ep_s *privep);
static void pic32mx_cancelrequests(struct pic32mx_ep_s *privep,
int16_t result);
/* Interrupt level processing ***********************************************/
@ -652,19 +671,56 @@ static void pic32mx_putreg(uint16_t val, uint32_t addr)
* Request Helpers
****************************************************************************/
/****************************************************************************
* Name: pic32mx_rqdequeue
* Name: pic32mx_remfirst
****************************************************************************/
static struct pic32mx_req_s *pic32mx_rqdequeue(struct pic32mx_ep_s *privep)
static struct pic32mx_req_s *pic32mx_remfirst(struct pic32mx_queue_s *queue)
{
struct pic32mx_req_s *ret = privep->head;
struct pic32mx_req_s *ret = queue->head;
if (ret)
{
privep->head = ret->flink;
if (!privep->head)
queue->head = ret->flink;
if (!queue->head)
{
privep->tail = NULL;
queue->tail = NULL;
}
ret->flink = NULL;
}
return ret;
}
/****************************************************************************
* Name: pic32mx_remlast
****************************************************************************/
static struct pic32mx_req_s *pic32mx_remlast(struct pic32mx_queue_s *queue)
{
struct pic32mx_req_s *prev;
struct pic32mx_req_s *ret = queue->tail;
ret = queue->tail;
if (ret)
{
if (queue->head == queue->tail)
{
queue->head = NULL;
queue->tail = NULL;
}
else
{
for (prev = queue->head;
prev && prev->flink != ret;
prev = prev->flink);
if (prev)
{
prev->flink = NULL;
queue->tail = prev;
}
}
ret->flink = NULL;
@ -674,24 +730,38 @@ static struct pic32mx_req_s *pic32mx_rqdequeue(struct pic32mx_ep_s *privep)
}
/****************************************************************************
* Name: pic32mx_rqenqueue
* Name: pic32mx_addlast
****************************************************************************/
static void pic32mx_rqenqueue(struct pic32mx_ep_s *privep, struct pic32mx_req_s *req)
static void pic32mx_addlast(struct pic32mx_queue_s *queue, struct pic32mx_req_s *req)
{
req->flink = NULL;
if (!privep->head)
if (!queue->head)
{
privep->head = req;
privep->tail = req;
queue->head = req;
queue->tail = req;
}
else
{
privep->tail->flink = req;
privep->tail = req;
queue->tail->flink = req;
queue->tail = req;
}
}
/****************************************************************************
* Name: pic32mx_addfirst
****************************************************************************/
static void pic32mx_addfirst(struct pic32mx_queue_s *queue, struct pic32mx_req_s *req)
{
req->flink = queue->head;
if (!queue->head)
{
queue->tail = req;
}
queue->head = req;
}
/****************************************************************************
* Name: pic32mx_abortrequest
****************************************************************************/
@ -711,21 +781,11 @@ pic32mx_abortrequest(struct pic32mx_ep_s *privep, struct pic32mx_req_s *privreq,
}
/****************************************************************************
* Name: pic32mx_reqcomplete
* Name: pic32mx_reqreturn
****************************************************************************/
static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result)
{
struct pic32mx_req_s *privreq;
irqstate_t flags;
/* Remove the completed request at the head of the endpoint request list */
flags = irqsave();
privreq = pic32mx_rqdequeue(privep);
irqrestore(flags);
if (privreq)
static void pic32mx_reqreturn(struct pic32mx_ep_s *privep,
struct pic32mx_req_s *privreq, int16_t result)
{
/* If endpoint 0, temporarily reflect the state of protocol stalled
* in the callback.
@ -750,6 +810,30 @@ static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result)
privep->stalled = stalled;
}
/****************************************************************************
* Name: pic32mx_reqcomplete
****************************************************************************/
static void pic32mx_reqcomplete(struct pic32mx_ep_s *privep, int16_t result)
{
struct pic32mx_req_s *privreq;
irqstate_t flags;
/* Remove the completed request at the head of the endpoint's active
* request list.
*/
flags = irqsave();
privreq = pic32mx_remfirst(&privep->active);
irqrestore(flags);
if (privreq)
{
/* Return the request to the class driver */
pic32mx_reqreturn(privep, privreq, result);
}
}
/****************************************************************************
@ -806,12 +890,12 @@ static void pic32mx_wrcomplete(struct pic32mx_usbdev_s *priv,
int bytesleft;
int epno;
/* Check the request from the head of the endpoint request queue. Since
* we got here from a write completion event, the request queue should
* be non-NULL.
/* Check the request from the head of the endpoint's active request queue.
* Since we got here from a write completion event, the active request queue
* should not be empty.
*/
privreq = pic32mx_rqpeek(privep);
privreq = pic32mx_rqpeek(&privep->active);
DEBUGASSERT(privreq != NULL);
/* An outgoing IN packet has completed. bdtin should point to the BDT
@ -878,28 +962,65 @@ static void pic32mx_wrcomplete(struct pic32mx_usbdev_s *priv,
}
/****************************************************************************
* Name: pic32mx_wrrestart
* Name: pic32mx_rqrestart
****************************************************************************/
static void pic32mx_wrrestart(struct pic32mx_usbdev_s *priv,
static void pic32mx_rqrestart(struct pic32mx_usbdev_s *priv,
struct pic32mx_ep_s *privep)
{
struct pic32mx_req_s *privreq;
int ret;
/* Reset some endpoint state variables */
privep->txnullpkt = false;
/* Check the request from the head of the endpoint request queue */
/* Loop, rstarting all of the requests that we can */
privreq = pic32mx_rqpeek(privep);
for (;;)
{
/* Check the request from the head of the endpoint's active request queue */
privreq = pic32mx_rqpeek(&privep->pend);
if (!privreq)
{
/* No more requests... We are finished */
break;
}
/* Restart transmission after we have recovered from a stall */
privreq->req.xfrd = 0;
privreq->inflight = 0;
(void)pic32mx_wrrequest(priv, privep);
ret = pic32mx_wrrequest(priv, privep);
if (ret < 0)
{
/* We count not start this request (probably because the hardware
* has accepted all of the requests that it can).
*/
break;
}
}
}
/****************************************************************************
* Name: pic32mx_rqstop
****************************************************************************/
static void pic32mx_rqstop(struct pic32mx_ep_s *privep)
{
struct pic32mx_req_s *privreq;
/* Move all of the active requests back to the pending request queue */
while ((privreq = pic32mx_remlast(&privep->active)))
{
/* Move the request back to the head of the pending list */
pic32mx_addfirst(&privep->pend, privreq);
}
}
@ -924,9 +1045,9 @@ static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv, struct pic32mx_ep_s
epno = USB_EPNO(privep->ep.eplog);
/* Check the request from the head of the endpoint request queue */
/* Check the request from the head of the endpoint's pending request queue */
privreq = pic32mx_rqpeek(privep);
privreq = pic32mx_rqpeek(&privep->pend);
if (!privreq)
{
/* There are no queue TX requests to be sent. */
@ -1026,6 +1147,13 @@ static int pic32mx_wrrequest(struct pic32mx_usbdev_s *priv, struct pic32mx_ep_s
priv->ctrlstate = CTRLSTATE_WRREQUEST;
}
/* Move the request from the head of the pending list to the tail of
* the active list.
*/
privreq = pic32mx_remfirst(&privep->pend);
pic32mx_addlast(&privep->active, privreq);
/* Update for the next data IN interrupt */
privreq->inflight = nbytes;
@ -1044,9 +1172,9 @@ static int pic32mx_rdcomplete(struct pic32mx_usbdev_s *priv,
int epno;
int readlen;
/* Check the request from the head of the endpoint request queue */
/* Check the request at the head of the endpoint's active request queue */
privreq = pic32mx_rqpeek(privep);
privreq = pic32mx_rqpeek(&privep->active);
if (!privreq)
{
/* There is no packet to receive any data. Then why are we here? */
@ -1288,7 +1416,7 @@ static int pic32mx_rdsetup(struct pic32mx_ep_s *privep, uint8_t *dest, int readl
bdtout->addr = (uint8_t *)PHYS_ADDR(dest);
/* Get the correct data toggle (as well as other BDT bits) */
/* Get the correct data toggle. */
if (privep->rxdata1)
{
@ -1327,7 +1455,7 @@ static int pic32mx_rdrequest(struct pic32mx_usbdev_s *priv,
/* Check the request from the head of the endpoint request queue */
privreq = pic32mx_rqpeek(privep);
privreq = pic32mx_rqpeek(&privep->pend);
if (!privreq)
{
/* There is no packet to receive any data. */
@ -1376,6 +1504,17 @@ static int pic32mx_rdrequest(struct pic32mx_usbdev_s *priv,
{
ret = pic32mx_rdsetup(privep, dest, readlen);
}
/* If the read request was successfully setup, then move the request from
* the head of the pending request queue to the tail of the active request
* queue.
*/
if (ret == OK)
{
privreq = pic32mx_remfirst(&privep->pend);
pic32mx_addlast(&privep->active, privreq);
}
return ret;
}
@ -1383,13 +1522,20 @@ static int pic32mx_rdrequest(struct pic32mx_usbdev_s *priv,
* Name: pic32mx_cancelrequests
****************************************************************************/
static void pic32mx_cancelrequests(struct pic32mx_ep_s *privep)
static void pic32mx_cancelrequests(struct pic32mx_ep_s *privep, int16_t result)
{
while (!pic32mx_rqempty(privep))
struct pic32mx_req_s *privreq;
while ((privreq = pic32mx_remfirst(&privep->active)))
{
usbtrace(TRACE_COMPLETE(USB_EPNO(privep->ep.eplog)),
(pic32mx_rqpeek(privep))->req.xfrd);
pic32mx_reqcomplete(privep, -ESHUTDOWN);
usbtrace(TRACE_COMPLETE(USB_EPNO(privep->ep.eplog)), privreq->req.xfrd);
pic32mx_reqreturn(privep, privreq, result);
}
while ((privreq = pic32mx_remfirst(&privep->pend)))
{
usbtrace(TRACE_COMPLETE(USB_EPNO(privep->ep.eplog)), privreq->req.xfrd);
pic32mx_reqreturn(privep, privreq, result);
}
}
@ -1467,6 +1613,7 @@ static void pic32mx_eptransfer(struct pic32mx_usbdev_s *priv, uint8_t epno,
uint16_t ustat)
{
struct pic32mx_ep_s *privep;
int ret;
/* Decode and service non control endpoints interrupt */
@ -1480,22 +1627,18 @@ static void pic32mx_eptransfer(struct pic32mx_usbdev_s *priv, uint8_t epno,
usbtrace(TRACE_INTDECODE(PIC32MX_TRACEINTID_EPOUTDONE), ustat);
/* Handle read requests. First check if a read request is available to
* accept the host data.
/* Handle read requests. Call pic32mx_rdcomplete() to complete the OUT
* transfer and setup the next out transfer.
*/
if (!pic32mx_rqempty(privep))
ret = pic32mx_rdcomplete(priv, privep);
if (ret == OK)
{
/* Read host data into the current read request */
/* If that succeeds, then try to set up on me OUT transfer (for the
* case where we just learned the correct data toggle.
*/
pic32mx_rdcomplete(priv, privep);
}
/* NAK further OUT packets if there there no more read requests */
if (pic32mx_rqempty(privep))
{
usbtrace(TRACE_INTDECODE(PIC32MX_TRACEINTID_EPOUTPENDING), (uint16_t)epno);
(void)pic32mx_rdrequest(priv, privep);
}
}
else
@ -1602,8 +1745,7 @@ static void pic32mx_ep0rdcomplete(struct pic32mx_usbdev_s *priv)
static void pic32mx_ep0setup(struct pic32mx_usbdev_s *priv)
{
volatile struct usbotg_bdtentry_s *bdt;
struct pic32mx_ep_s *ep0 = &priv->eplist[EP0];
struct pic32mx_req_s *privreq = pic32mx_rqpeek(ep0);
struct pic32mx_ep_s *ep0;
struct pic32mx_ep_s *privep;
union wb_u value;
union wb_u index;
@ -1615,21 +1757,10 @@ static void pic32mx_ep0setup(struct pic32mx_usbdev_s *priv)
int nbytes = 0; /* Assume zero-length packet */
int ret;
/* Terminate any pending requests (doesn't work if the pending request
* was a zero-length transfer!)
*/
/* Cancel any pending requests. */
while (!pic32mx_rqempty(ep0))
{
int16_t result = OK;
if (privreq->req.xfrd != privreq->req.len)
{
result = -EPROTO;
}
usbtrace(TRACE_COMPLETE(ep0->ep.eplog), privreq->req.xfrd);
pic32mx_reqcomplete(ep0, result);
}
ep0 = &priv->eplist[EP0];
pic32mx_cancelrequests(ep0, -EPROTO);
/* Check if the USB currently owns the buffer */
@ -3026,7 +3157,7 @@ static int pic32mx_epdisable(struct usbdev_ep_s *ep)
/* Cancel any ongoing activity */
flags = irqsave();
pic32mx_cancelrequests(privep);
pic32mx_cancelrequests(privep, -ESHUTDOWN);
/* Disable the endpoint */
@ -3154,7 +3285,7 @@ static int pic32mx_epsubmit(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
{
/* Add the new request to the request queue for the IN endpoint */
pic32mx_rqenqueue(privep, privreq);
pic32mx_addlast(&privep->pend, privreq);
usbtrace(TRACE_INREQQUEUED(epno), req->len);
/* If an IN endpoint BDT is available, then transfer the data now */
@ -3169,7 +3300,7 @@ static int pic32mx_epsubmit(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
/* Add the new request to the request queue for the OUT endpoint */
privep->txnullpkt = 0;
pic32mx_rqenqueue(privep, privreq);
pic32mx_addlast(&privep->pend, privreq);
usbtrace(TRACE_OUTREQQUEUED(epno), req->len);
/* Set up the read operation. Because the PIC32MX supports ping-pong
@ -3206,7 +3337,7 @@ static int pic32mx_epcancel(struct usbdev_ep_s *ep, struct usbdev_req_s *req)
priv = privep->dev;
flags = irqsave();
pic32mx_cancelrequests(privep);
pic32mx_cancelrequests(privep, -EAGAIN);
irqrestore(flags);
return OK;
}
@ -3267,10 +3398,6 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
bdtdbg("EP%d BDT OUT [%p] {%08x, %08x}\n", epno, bdt, status, bdt->addr);
bdt->status = status;
/* Restart any queued write requests */
pic32mx_wrrestart(priv, privep);
}
else
{
@ -3288,6 +3415,10 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
bdt->status = status;
}
/* Restart any queued requests */
pic32mx_rqrestart(priv, privep);
}
/* Handle the stall condition */
@ -3311,6 +3442,10 @@ static int pic32mx_epbdtstall(struct usbdev_ep_s *ep,
bdtdbg("EP%d BDT OUT [%p] {%08x, %08x}\n", epno, bdt, status, bdt->addr);
bdt->status = status;
/* Stop any queued requests */
pic32mx_rqstop(privep);
}
return OK;
@ -3765,7 +3900,7 @@ static void pic32mx_swreset(struct pic32mx_usbdev_s *priv)
* for each of its configured endpoints.
*/
pic32mx_cancelrequests(privep);
pic32mx_cancelrequests(privep, -EAGAIN);
/* Reset endpoint status */