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 volatile uint8_t transfer_possible = 0;
  42
  43 #ifdef PIOS_INCLUDE_FREERTOS
  44 static void(*disconnection_cb_list[3]) (void);
  45
  46 struct {
  47     void     (*callback)(bool connected, uint32_t context);
  48     uint32_t context;
  49 } connectionState_cb_list[3];
  50 #endif
  51
  52 enum pios_usb_dev_magic {
  53     PIOS_USB_DEV_MAGIC = 0x17365904,
  54 };
  55
  56 struct pios_usb_dev {
  57     enum pios_usb_dev_magic   magic;
  58     const struct pios_usb_cfg *cfg;
  59 #ifdef PIOS_INCLUDE_FREERTOS
  60     xSemaphoreHandle statusCheckSemaphore;
  61 #endif
  62 };
  63 #ifdef PIOS_INCLUDE_FREERTOS
  64 static void raiseDisconnectionCallbacks(void);
  65 static void raiseConnectionStateCallback(bool connected);
  66 #endif
  67 /**
  68  * @brief Validate the usb device structure
  69  * @returns true if valid device or false otherwise
  70  */
  71 static bool PIOS_USB_validate(struct pios_usb_dev *usb_dev)
  72 {
  73     return usb_dev && (usb_dev->magic == PIOS_USB_DEV_MAGIC);
  74 }
  75
  76 #if defined(PIOS_INCLUDE_FREERTOS)
  77 static struct pios_usb_dev *PIOS_USB_alloc(void)
  78 {
  79     struct pios_usb_dev *usb_dev;
  80
  81     usb_dev = (struct pios_usb_dev *)pios_malloc(sizeof(*usb_dev));
  82     if (!usb_dev) {
  83         return NULL;
  84     }
  85     vSemaphoreCreateBinary(usb_dev->statusCheckSemaphore);
  86     xSemaphoreGive(usb_dev->statusCheckSemaphore);
  87     usb_dev->magic = PIOS_USB_DEV_MAGIC;
  88     return usb_dev;
  89 }
  90 #else
  91 static struct pios_usb_dev pios_usb_devs[PIOS_USB_MAX_DEVS];
  92 static uint8_t pios_usb_num_devs;
  93 static struct pios_usb_dev *PIOS_USB_alloc(void)
  94 {
  95     struct pios_usb_dev *usb_dev;
  96
  97     if (pios_usb_num_devs >= PIOS_USB_MAX_DEVS) {
  98         return NULL;
  99     }
 100
 101     usb_dev = &pios_usb_devs[pios_usb_num_devs++];
 102     usb_dev->magic = PIOS_USB_DEV_MAGIC;
 103
 104     return usb_dev;
 105 }
 106 #endif /* if defined(PIOS_INCLUDE_FREERTOS) */
 107
 108
 109 /**
 110  * Bind configuration to USB BSP layer
 111  * \return < 0 if initialisation failed
 112  */
 113 static uint32_t pios_usb_id;
 114 int32_t PIOS_USB_Init(uint32_t *usb_id, const struct pios_usb_cfg *cfg)
 115 {
 116     PIOS_Assert(usb_id);
 117     PIOS_Assert(cfg);
 118
 119     struct pios_usb_dev *usb_dev;
 120
 121     usb_dev = (struct pios_usb_dev *)PIOS_USB_alloc();
 122     if (!usb_dev) {
 123         goto out_fail;
 124     }
 125
 126     /* Bind the configuration to the device instance */
 127     usb_dev->cfg = cfg;
 128
 129     /*
 130      * This is a horrible hack to make this available to
 131      * the interrupt callbacks.  This should go away ASAP.
 132      */
 133     pios_usb_id  = (uint32_t)usb_dev;
 134
 135     *usb_id = (uint32_t)usb_dev;
 136
 137     return 0; /* No error */
 138
 139 out_fail:
 140     return -1;
 141 }
 142
 143 /**
 144  * This function is called by the USB driver on cable connection/disconnection
 145  * \param[in] connected connection status (1 if connected)
 146  * \return < 0 on errors
 147  * \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
 148  */
 149 int32_t PIOS_USB_ChangeConnectionState(bool connected)
 150 {
 151 #ifdef PIOS_INCLUDE_FREERTOS
 152     static volatile uint8_t lastStatus = 2; // 2 is "no last status"
 153 #endif
 154     // In all cases: re-initialise USB HID driver
 155     if (connected) {
 156         transfer_possible = 1;
 157
 158         // TODO: Check SetEPRxValid(ENDP1);
 159
 160 #if defined(USB_LED_ON)
 161         USB_LED_ON; // turn the USB led on
 162 #endif
 163     } else {
 164         // Cable disconnected: disable transfers
 165         transfer_possible = 0;
 166
 167 #if defined(USB_LED_OFF)
 168         USB_LED_OFF; // turn the USB led off
 169 #endif
 170     }
 171
 172 #ifdef PIOS_INCLUDE_FREERTOS
 173     raiseConnectionStateCallback(connected);
 174     if (lastStatus != transfer_possible) {
 175         if (lastStatus == 1) {
 176             raiseDisconnectionCallbacks();
 177         }
 178         lastStatus = transfer_possible;
 179     }
 180 #endif
 181
 182     return 0;
 183 }
 184
 185 /**
 186  * This function returns the connection status of the USB interface
 187  * \return 1: interface available
 188  * \return 0: interface not available
 189  */
 190 uint32_t usb_found;
 191 bool PIOS_USB_CheckAvailable(__attribute__((unused)) uint32_t id)
 192 {
 193     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 194
 195     if (!PIOS_USB_validate(usb_dev)) {
 196         return false;
 197     }
 198
 199     return transfer_possible;
 200 }
 201
 202 /*
 203  *
 204  * Register a physical disconnection callback
 205  *
 206  */
 207 #ifdef PIOS_INCLUDE_FREERTOS
 208 void PIOS_USB_RegisterDisconnectionCallback(void (*disconnectionCB)(void))
 209 {
 210     PIOS_Assert(disconnectionCB);
 211     for (uint32_t i = 0; i < NELEMENTS(disconnection_cb_list); i++) {
 212         if (disconnection_cb_list[i] == NULL) {
 213             disconnection_cb_list[i] = disconnectionCB;
 214             return;
 215         }
 216     }
 217     PIOS_Assert(0);
 218 }
 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
 228 void PIOS_USB_RegisterConnectionStateCallback(void (*connectionStateCallback)(bool connected, uint32_t context), uint32_t context)
 229 {
 230     PIOS_Assert(connectionStateCallback);
 231
 232     for (uint32_t i = 0; i < NELEMENTS(connectionState_cb_list); i++) {
 233         if (connectionState_cb_list[i].callback == NULL) {
 234             connectionState_cb_list[i].callback = connectionStateCallback;
 235             connectionState_cb_list[i].context  = context;
 236             return;
 237         }
 238     }
 239
 240     PIOS_Assert(0);
 241 }
 242
 243 static void raiseConnectionStateCallback(bool connected)
 244 {
 245     uint32_t i = 0;
 246
 247     while (i < NELEMENTS(connectionState_cb_list) && connectionState_cb_list[i].callback != NULL) {
 248         connectionState_cb_list[i].callback(connected, connectionState_cb_list[i].context);
 249         i++;
 250     }
 251 }
 252 #else /* PIOS_INCLUDE_FREERTOS */
 253 void PIOS_USB_RegisterDisconnectionCallback(__attribute__((unused)) void (*disconnectionCB)(void))
 254 {}
 255 void PIOS_USB_RegisterConnectionStateCallback(__attribute__((unused)) void (*connectionStateCallback)(bool connected, uint32_t context), __attribute__((unused)) uint32_t context)
 256 {}
 257 #endif /* PIOS_INCLUDE_FREERTOS */
 258
 259 /*
 260  *
 261  * Provide STM32 USB OTG BSP layer API
 262  *
 263  */
 264
 265 #include "usb_bsp.h"
 266
 267 void USB_OTG_BSP_Init(__attribute__((unused)) USB_OTG_CORE_HANDLE *pdev)
 268 {
 269     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 270
 271     bool valid = PIOS_USB_validate(usb_dev);
 272
 273     PIOS_Assert(valid);
 274
 275 #define FORCE_DISABLE_USB_IRQ 1
 276 #if FORCE_DISABLE_USB_IRQ
 277     /* Make sure we disable the USB interrupt since it may be left on by bootloader */
 278     NVIC_InitTypeDef NVIC_InitStructure;
 279     NVIC_InitStructure = usb_dev->cfg->irq.init;
 280     NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;
 281     NVIC_Init(&NVIC_InitStructure);
 282 #endif
 283
 284     /* Configure USB D-/D+ (DM/DP) pins */
 285     GPIO_InitTypeDef GPIO_InitStructure;
 286     GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_11 | GPIO_Pin_12;
 287     GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
 288     GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF;
 289     GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
 290     GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
 291     GPIO_Init(GPIOA, &GPIO_InitStructure);
 292
 293     GPIO_PinAFConfig(GPIOA, GPIO_PinSource11, GPIO_AF_OTG_FS);
 294     GPIO_PinAFConfig(GPIOA, GPIO_PinSource12, GPIO_AF_OTG_FS);
 295
 296     /* Configure VBUS sense pin */
 297     GPIO_Init(usb_dev->cfg->vsense.gpio, &usb_dev->cfg->vsense.init);
 298
 299     /* Enable USB OTG Clock */
 300     RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_OTG_FS, ENABLE);
 301 }
 302
 303 void USB_OTG_BSP_EnableInterrupt(__attribute__((unused)) USB_OTG_CORE_HANDLE *pdev)
 304 {
 305     struct pios_usb_dev *usb_dev = (struct pios_usb_dev *)pios_usb_id;
 306
 307     bool valid = PIOS_USB_validate(usb_dev);
 308
 309     PIOS_Assert(valid);
 310
 311     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 312
 313     NVIC_Init(&usb_dev->cfg->irq.init);
 314 }
 315
 316 #ifdef USE_HOST_MODE
 317 void USB_OTG_BSP_DriveVBUS(USB_OTG_CORE_HANDLE *pdev, uint8_t state)
 318 {}
 319
 320 void USB_OTG_BSP_ConfigVBUS(USB_OTG_CORE_HANDLE *pdev)
 321 {}
 322 #endif /* USE_HOST_MODE */
 323
 324 void USB_OTG_BSP_TimeInit(void)
 325 {}
 326
 327 void USB_OTG_BSP_uDelay(const uint32_t usec)
 328 {
 329     uint32_t count = 0;
 330     const uint32_t utime = (120 * usec / 7);
 331
 332     do {
 333         if (++count > utime) {
 334             return;
 335         }
 336     } while (1);
 337 }
 338
 339 void USB_OTG_BSP_mDelay(const uint32_t msec)
 340 {
 341     USB_OTG_BSP_uDelay(msec * 1000);
 342 }
 343
 344 void USB_OTG_BSP_TimerIRQ(void)
 345 {}
 346
 347 #endif /* PIOS_INCLUDE_USB */
 348
 349 /**
 350  * @}
 351  * @}
 352  */