flight/pios/stm32f4xx/pios_usb.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup   PIOS_USB USB Setup Functions
   6  * @brief PIOS USB device implementation
   7  * @{
   8  *
   9  * @file       pios_usb.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      USB device functions (STM32 dependent code)
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include "pios.h"
  32
  33 #ifdef PIOS_INCLUDE_USB
  34
  35 #include "usb_core.h"
  36 #include "pios_usb_board_data.h"
  37 #include <pios_usb_priv.h>
  38 #include <pios_helpers.h>
  39
  40 /* Rx/Tx status */
  41 static uint8_t transfer_possible = 0;
  42
  43 static void(*disconnection_cb_list[3]) (void);
  44
  45 enum pios_usb_dev_magic {
  46     PIOS_USB_DEV_MAGIC = 0x17365904,
  47 };
  48
  49 struct pios_usb_dev {
  50     enum pios_usb_dev_magic   magic;
  51     const struct pios_usb_cfg *cfg;
  52 #ifdef PIOS_INCLUDE_FREERTOS
  53     xSemaphoreHandle statusCheckSemaphore;
  54 #endif
  55 };
  56 #ifdef PIOS_INCLUDE_FREERTOS
  57 static void raiseDisconnectionCallbacks(void);
  58 #endif
  59 /**
  60  * @brief Validate the usb device structure
  61  * @returns true if valid device or false otherwise
  62  */
  63 static bool PIOS_USB_validate(struct pios_usb_dev *usb_dev)
  64 {
  65     return usb_dev && (usb_dev->magic == PIOS_USB_DEV_MAGIC);
  66 }
  67
  68 #if defined(PIOS_INCLUDE_FREERTOS)
  69 static struct pios_usb_dev *PIOS_USB_alloc(void)
  70 {
  71     struct pios_usb_dev *usb_dev;
  72
  73     usb_dev = (struct pios_usb_dev *)pios_malloc(sizeof(*usb_dev));
  74     if (!usb_dev) {
  75         return NULL;
  76     }
  77     vSemaphoreCreateBinary(usb_dev->statusCheckSemaphore);
  78     xSemaphoreGive(usb_dev->statusCheckSemaphore);
  79     usb_dev->magic = PIOS_USB_DEV_MAGIC;
  80     return usb_dev;
  81 }
  82 #else
  83 static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS];
  84 static uint8_t pios_usb_num_devs;
  85 static struct pios_usb_dev *PIOS_USB_alloc(void)
  86 {
  87     struct pios_usb_dev *usb_dev;
  88
  89     if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) {
  90         return NULL;
  91     }
  92
  93     usb_dev = &pios_usb_devs[pios_usb_num_devs++];
  94     usb_dev->magic = PIOS_USB_DEV_MAGIC;
  95
  96     return usb_dev;
  97 }
  98 #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
  99
 100
 101 /**
 102  * Bind configuration to USB BSP layer
 103  * \return < 0 if initialisation failed
 104  */
 105 static uint32_t pios_usb_id;
 106 int32_t PIOS_USB_Init(uint32_t *usb_id, const struct pios_usb_cfg *cfg)
 107 {
 108     PIOS_Assert(usb_id);
 109     PIOS_Assert(cfg);
 110
 111     struct pios_usb_dev *usb_dev;
 112
 113     usb_dev = (struct pios_usb_dev *)PIOS_USB_alloc();
 114     if (!usb_dev) {
 115         goto out_fail;
 116     }
 117
 118     /* Bind the configuration to the device instance */
 119     usb_dev->cfg = cfg;
 120
 121     /*
 122      * This is a horrible hack to make this available to
 123      * the interrupt callbacks.  This should go away ASAP.
 124      */
 125     pios_usb_id  = (uint32_t)usb_dev;
 126
 127     *usb_id = (uint32_t)usb_dev;
 128
 129     return 0; /* No error */
 130
 131 out_fail:
 132     return -1;
 133 }
 134
 135 /**
 136  * This function is called by the USB driver on cable connection/disconnection
 137  * \param[in] connected connection status (1 if connected)
 138  * \return < 0 on errors
 139  * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
 140  */
 141 int32_t PIOS_USB_ChangeConnectionState(bool connected)
 142 {
 143     // In all cases: re-initialise USB HID driver
 144     if (connected) {
 145         transfer_possible = 1;
 146
 147         // TODO: Check SetEPRxValid(ENDP1);
 148
 149 #if defined(USB_LED_ON)
 150         USB_LED_ON; // turn the USB led on
 151 #endif
 152     } else {
 153         // Cable disconnected: disable transfers
 154         transfer_possible = 0;
 155
 156 #if defined(USB_LED_OFF)
 157         USB_LED_OFF; // turn the USB led off
 158 #endif
 159     }
 160
 161     return 0;
 162 }
 163
 164 /**
 165  * This function returns the connection status of the USB interface
 166  * \return 1: interface available
 167  * \return 0: interface not available
 168  */
 169 uint32_t usb_found;
 170 bool PIOS_USB_CheckAvailable(__attribute__((unused)) uint32_t id)
 171 {
 172     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 173
 174     if (!PIOS_USB_validate(usb_dev)) {
 175         return false;
 176     }
 177
 178     usb_found = ((usb_dev->cfg->vsense.gpio->IDR & usb_dev->cfg->vsense.init.GPIO_Pin) != 0) ^ usb_dev->cfg->vsense_active_low;
 179 // Please note that checks of transfer_possible and the reconnection handling is
 180 // suppressed for non freertos mode (aka bootloader) as this is causing problems detecting connection and
 181 // broken communications.
 182 #ifdef PIOS_INCLUDE_FREERTOS
 183     static bool lastStatus = false;
 184     bool status    = usb_found != 0 && transfer_possible ? 1 : 0;
 185     bool reconnect = false;
 186     if (xSemaphoreTakeFromISR(usb_dev->statusCheckSemaphore, NULL) == pdTRUE) {
 187         reconnect  = (lastStatus && !status);
 188         lastStatus = status;
 189         xSemaphoreGiveFromISR(usb_dev->statusCheckSemaphore, NULL);
 190     }
 191     if (reconnect) {
 192         raiseDisconnectionCallbacks();
 193     }
 194     return status;
 195
 196 #else
 197     return usb_found;
 198
 199 #endif
 200 }
 201
 202 /*
 203  *
 204  * Register a physical disconnection callback
 205  *
 206  */
 207 void PIOS_USB_RegisterDisconnectionCallback(void (*disconnectionCB)(void))
 208 {
 209     PIOS_Assert(disconnectionCB);
 210     for (uint32_t i = 0; i < NELEMENTS(disconnection_cb_list); i++) {
 211         if (disconnection_cb_list[i] == NULL) {
 212             disconnection_cb_list[i] = disconnectionCB;
 213             return;
 214         }
 215     }
 216     PIOS_Assert(0);
 217 }
 218 #ifdef PIOS_INCLUDE_FREERTOS
 219 static void raiseDisconnectionCallbacks(void)
 220 {
 221     uint32_t i = 0;
 222
 223     while (i < NELEMENTS(disconnection_cb_list) && disconnection_cb_list[i] != NULL) {
 224         (disconnection_cb_list[i++])();
 225     }
 226 }
 227 #endif
 228 /*
 229  *
 230  * Provide STM32 USB OTG BSP layer API
 231  *
 232  */
 233
 234 #include "usb_bsp.h"
 235
 236 void USB_OTG_BSP_Init(__attribute__((unused)) USB_OTG_CORE_HANDLE *pdev)
 237 {
 238     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 239
 240     bool valid = PIOS_USB_validate(usb_dev);
 241
 242     PIOS_Assert(valid);
 243
 244 #define FORCE_DISABLE_USB_IRQ 1
 245 #if FORCE_DISABLE_USB_IRQ
 246     /* Make sure we disable the USB interrupt since it may be left on by bootloader */
 247     NVIC_InitTypeDef NVIC_InitStructure;
 248     NVIC_InitStructure = usb_dev->cfg->irq.init;
 249     NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
 250     NVIC_Init(&NVIC_InitStructure);
 251 #endif
 252
 253     /* Configure USB D-/D+ (DM/DP) pins */
 254     GPIO_InitTypeDef GPIO_InitStructure;
 255     GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_11 | GPIO_Pin_12;
 256     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
 257     GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
 258     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
 259     GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
 260     GPIO_Init(GPIOA, &GPIO_InitStructure);
 261
 262     GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_OTG_FS);
 263     GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_OTG_FS);
 264
 265     /* Configure VBUS sense pin */
 266     GPIO_Init(usb_dev->cfg->vsense.gpio, &usb_dev->cfg->vsense.init);
 267
 268     /* Enable USB OTG Clock */
 269     RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, ENABLE);
 270 }
 271
 272 void USB_OTG_BSP_EnableInterrupt(__attribute__((unused)) USB_OTG_CORE_HANDLE *pdev)
 273 {
 274     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 275
 276     bool valid = PIOS_USB_validate(usb_dev);
 277
 278     PIOS_Assert(valid);
 279
 280     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 281
 282     NVIC_Init(&usb_dev->cfg->irq.init);
 283 }
 284
 285 #ifdef USE_HOST_MODE
 286 void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev, uint8_t state)
 287 {}
 288
 289 void USB_OTG_BSP_ConfigVBUS(USB_OTG_CORE_HANDLE *pdev)
 290 {}
 291 #endif /* USE_HOST_MODE */
 292
 293 void USB_OTG_BSP_TimeInit(void)
 294 {}
 295
 296 void USB_OTG_BSP_uDelay(const uint32_t usec)
 297 {
 298     uint32_t count = 0;
 299     const uint32_t utime = (120 * usec / 7);
 300
 301     do {
 302         if (++count > utime) {
 303             return;
 304         }
 305     } while (1);
 306 }
 307
 308 void USB_OTG_BSP_mDelay(const uint32_t msec)
 309 {
 310     USB_OTG_BSP_uDelay(msec * 1000);
 311 }
 312
 313 void USB_OTG_BSP_TimerIRQ(void)
 314 {}
 315
 316 #endif /* PIOS_INCLUDE_USB */
 317
 318 /**
 319  * @}
 320  * @}
 321  */