src/main/drivers/serial_usb_vcp.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdbool.h>
  20
  21 #include "platform.h"
  22
  23 #ifdef USE_VCP
  24
  25 #include "build/build_config.h"
  26
  27 #include "common/utils.h"
  28 #include "drivers/io.h"
  29
  30 #if defined(STM32F4)
  31 #include "usb_core.h"
  32 #include "usbd_cdc_vcp.h"
  33 #include "usb_io.h"
  34 #elif defined(STM32F7) || defined(STM32H7)
  35 #include "vcp_hal/usbd_cdc_interface.h"
  36 #include "usb_io.h"
  37 USBD_HandleTypeDef USBD_Device;
  38 #else
  39 #include "usb_core.h"
  40 #include "usb_init.h"
  41 #include "hw_config.h"
  42 #endif
  43
  44 #include "drivers/time.h"
  45
  46 #include "serial.h"
  47 #include "serial_usb_vcp.h"
  48
  49
  50 #define USB_TIMEOUT  50
  51
  52 static vcpPort_t vcpPort;
  53
  54 static void usbVcpSetBaudRate(serialPort_t *instance, uint32_t baudRate)
  55 {
  56     UNUSED(instance);
  57     UNUSED(baudRate);
  58
  59     // TODO implement
  60 }
  61
  62 static void usbVcpSetMode(serialPort_t *instance, portMode_t mode)
  63 {
  64     UNUSED(instance);
  65     UNUSED(mode);
  66
  67     // TODO implement
  68 }
  69
  70 static void usbVcpSetOptions(serialPort_t *instance, portOptions_t options)
  71 {
  72     UNUSED(instance);
  73     UNUSED(options);
  74
  75     // TODO implement
  76 }
  77
  78 static bool isUsbVcpTransmitBufferEmpty(const serialPort_t *instance)
  79 {
  80     UNUSED(instance);
  81     return true;
  82 }
  83
  84 static uint32_t usbVcpAvailable(const serialPort_t *instance)
  85 {
  86     UNUSED(instance);
  87
  88     return CDC_Receive_BytesAvailable();
  89 }
  90
  91 static uint8_t usbVcpRead(serialPort_t *instance)
  92 {
  93     UNUSED(instance);
  94
  95     uint8_t buf[1];
  96
  97     while (true) {
  98         if (CDC_Receive_DATA(buf, 1))
  99             return buf[0];
 100     }
 101 }
 102
 103 static bool usbVcpIsConnected(const serialPort_t *instance)
 104 {
 105     (void)instance;
 106     return usbIsConnected() && usbIsConfigured();
 107 }
 108
 109 static void usbVcpWriteBuf(serialPort_t *instance, const void *data, int count)
 110 {
 111     UNUSED(instance);
 112
 113     if (!usbVcpIsConnected(instance)) {
 114         return;
 115     }
 116
 117     uint32_t start = millis();
 118     const uint8_t *p = data;
 119     while (count > 0) {
 120         uint32_t txed = CDC_Send_DATA(p, count);
 121         count -= txed;
 122         p += txed;
 123
 124         if (millis() - start > USB_TIMEOUT) {
 125             break;
 126         }
 127     }
 128 }
 129
 130 static bool usbVcpFlush(vcpPort_t *port)
 131 {
 132     uint32_t count = port->txAt;
 133     port->txAt = 0;
 134
 135     if (count == 0) {
 136         return true;
 137     }
 138
 139     if (!usbIsConnected() || !usbIsConfigured()) {
 140         return false;
 141     }
 142
 143     uint32_t start = millis();
 144     uint8_t *p = port->txBuf;
 145     while (count > 0) {
 146         uint32_t txed = CDC_Send_DATA(p, count);
 147         count -= txed;
 148         p += txed;
 149
 150         if (millis() - start > USB_TIMEOUT) {
 151             break;
 152         }
 153     }
 154     return count == 0;
 155 }
 156
 157 static void usbVcpWrite(serialPort_t *instance, uint8_t c)
 158 {
 159     vcpPort_t *port = container_of(instance, vcpPort_t, port);
 160
 161     port->txBuf[port->txAt++] = c;
 162     if (!port->buffering || port->txAt >= ARRAYLEN(port->txBuf)) {
 163         usbVcpFlush(port);
 164     }
 165 }
 166
 167 static void usbVcpBeginWrite(serialPort_t *instance)
 168 {
 169     vcpPort_t *port = container_of(instance, vcpPort_t, port);
 170     port->buffering = true;
 171 }
 172
 173 static uint32_t usbTxBytesFree(const serialPort_t *instance)
 174 {
 175     UNUSED(instance);
 176     return CDC_Send_FreeBytes();
 177 }
 178
 179 static void usbVcpEndWrite(serialPort_t *instance)
 180 {
 181     vcpPort_t *port = container_of(instance, vcpPort_t, port);
 182     port->buffering = false;
 183     usbVcpFlush(port);
 184 }
 185
 186 static const struct serialPortVTable usbVTable[] = {
 187     {
 188         .serialWrite = usbVcpWrite,
 189         .serialTotalRxWaiting = usbVcpAvailable,
 190         .serialTotalTxFree = usbTxBytesFree,
 191         .serialRead = usbVcpRead,
 192         .serialSetBaudRate = usbVcpSetBaudRate,
 193         .isSerialTransmitBufferEmpty = isUsbVcpTransmitBufferEmpty,
 194         .setMode = usbVcpSetMode,
 195         .setOptions = usbVcpSetOptions,
 196         .isConnected = usbVcpIsConnected,
 197         .writeBuf = usbVcpWriteBuf,
 198         .beginWrite = usbVcpBeginWrite,
 199         .endWrite = usbVcpEndWrite,
 200         .isIdle = NULL,
 201     }
 202 };
 203
 204 void usbVcpInitHardware(void)
 205 {
 206 #if defined(STM32F4)
 207     usbGenerateDisconnectPulse();
 208
 209     IOInit(IOGetByTag(IO_TAG(PA11)), OWNER_USB, RESOURCE_INPUT, 0);
 210     IOInit(IOGetByTag(IO_TAG(PA12)), OWNER_USB, RESOURCE_OUTPUT, 0);
 211     USBD_Init(&USB_OTG_dev, USB_OTG_FS_CORE_ID, &USR_desc, &USBD_CDC_cb, &USR_cb);
 212 #elif defined(STM32F7) || defined(STM32H7)
 213     usbGenerateDisconnectPulse();
 214
 215     IOInit(IOGetByTag(IO_TAG(PA11)), OWNER_USB, RESOURCE_INPUT, 0);
 216     IOInit(IOGetByTag(IO_TAG(PA12)), OWNER_USB, RESOURCE_OUTPUT, 0);
 217     /* Init Device Library */
 218     USBD_Init(&USBD_Device, &VCP_Desc, 0);
 219
 220     /* Add Supported Class */
 221     USBD_RegisterClass(&USBD_Device, USBD_CDC_CLASS);
 222
 223     /* Add CDC Interface Class */
 224     USBD_CDC_RegisterInterface(&USBD_Device, &USBD_CDC_fops);
 225
 226     /* Start Device Process */
 227     USBD_Start(&USBD_Device);
 228
 229 #ifdef STM32H7
 230     HAL_PWREx_EnableUSBVoltageDetector();
 231     delay(100); // Cold boot failures observed without this, even when USB cable is not connected
 232 #endif
 233
 234 #else
 235     Set_System();
 236     Set_USBClock();
 237     USB_Interrupts_Config();
 238     USB_Init();
 239 #endif
 240 }
 241
 242 serialPort_t *usbVcpOpen(void)
 243 {
 244     vcpPort_t *s;
 245
 246     s = &vcpPort;
 247     s->port.vTable = usbVTable;
 248
 249     return (serialPort_t *)s;
 250 }
 251
 252 uint32_t usbVcpGetBaudRate(serialPort_t *instance)
 253 {
 254     UNUSED(instance);
 255
 256     return CDC_BaudRate();
 257 }
 258
 259 #endif