Christian Burri
This program is for an autonomous robot for the competition at the Hochschule Luzern. http://cruisingcrepe.wordpress.com/ We are one of the 32 teams. http://cruisingcrepe.wordpress.com/ The postition control is based on this Documentation: Control of Wheeled Mobile Robots: An Experimental Overview from Alessandro De Luca, Giuseppe Oriolo, Marilena Vendittelli. For more information see here: http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf
Fork of
autonomous Robot Android
by 
Christian Burri
Diff: Android/AndroidAccessory/USBHost/USBHost_log.cpp
- Revision:
- 12:235e318a414f
- Parent:
- 11:775ebb69d5e1
- Child:
- 13:a7c30ee09bae
--- a/Android/AndroidAccessory/USBHost/USBHost_log.cpp Fri Apr 05 10:58:42 2013 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1175 +0,0 @@
-
-/*
-Copyright (c) 2010 Peter Barrett
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
-*/
-
-
-#include "mbed.h"
-#include "USBHost.h"
-//#define USBHOST_LOG
-#ifdef USBHOST_LOG
-
-// Config (default uses x bytes)
-#define MAX_DEVICES 8 // Max number of devices
-#define MAX_ENDPOINTS_TOTAL 16 // Max number of endpoints total
-#define MAX_ENDPOINTS_PER_DEVICE 8 // Max number of endpoints for any one device
-
-//#define USBLOG 1
-#if USBLOG
-#define LOG(...) printf(__VA_ARGS__)
-#else
-#define LOG(...) do {} while(0)
-#endif
-
-// USB host structures
-
-#define USB_RAM_SIZE 16*1024 // AHB SRAM block 1 TODO MACHINE DEPENDENT
-#define USB_RAM_BASE 0x2007C000
-
-#define TOKEN_SETUP 0
-#define TOKEN_IN 1
-#define TOKEN_OUT 2
-
-// Status flags from hub
-#define PORT_CONNECTION 0
-#define PORT_ENABLE 1
-#define PORT_SUSPEND 2
-#define PORT_OVER_CURRENT 3
-#define PORT_RESET 4
-#define PORT_POWER 8
-#define PORT_LOW_SPEED 9
-
-#define C_PORT_CONNECTION 16
-#define C_PORT_ENABLE 17
-#define C_PORT_SUSPEND 18
-#define C_PORT_OVER_CURRENT 19
-#define C_PORT_RESET 20
-
-typedef struct {
- u8 bm_request_type;
- u8 b_request;
- u16 w_value;
- u16 w_index;
- u16 w_length;
-} Setup;
-
-
-// Hub stuff is kept private just to keep api simple
-int SetPortFeature(int device, int feature, int index);
-int ClearPortFeature(int device, int feature, int index);
-int SetPortPower(int device, int port);
-int SetPortReset(int device, int port);
-int GetPortStatus(int device, int port, u32* status);
-
-//===================================================================
-//===================================================================
-// Hardware defines
-
-// HcControl
-#define PeriodicListEnable 0x00000004
-#define IsochronousEnable 0x00000008
-#define ControlListEnable 0x00000010
-#define BulkListEnable 0x00000020
-#define OperationalMask 0x00000080
-#define HostControllerFunctionalState 0x000000C0
-
-// HcCommandStatus
-#define HostControllerReset 0x00000001
-#define ControlListFilled 0x00000002
-#define BulkListFilled 0x00000004
-
-// HcInterruptStatus Register
-#define WritebackDoneHead 0x00000002
-#define StartofFrame 0x00000004
-#define ResumeDetected 0x00000008
-#define UnrecoverableError 0x00000010
-#define FrameNumberOverflow 0x00000020
-#define RootHubStatusChange 0x00000040
-#define OwnershipChange 0x00000080
-#define MasterInterruptEnable 0x80000000
-
-// HcRhStatus
-#define SetGlobalPower 0x00010000
-#define DeviceRemoteWakeupEnable 0x00008000
-
-// HcRhPortStatus (hub 0, port 1)
-#define CurrentConnectStatus 0x00000001
-#define PortEnableStatus 0x00000002
-#define PortSuspendStatus 0x00000004
-#define PortOverCurrentIndicator 0x00000008
-#define PortResetStatus 0x00000010
-
-#define PortPowerStatus 0x00000100
-#define LowspeedDevice 0x00000200
-#define HighspeedDevice 0x00000400
-
-#define ConnectStatusChange (CurrentConnectStatus << 16)
-#define PortResetStatusChange (PortResetStatus << 16)
-
-
-#define TD_ROUNDING (u32)0x00040000
-#define TD_SETUP (u32)0x00000000
-#define TD_IN (u32)0x00100000
-#define TD_OUT (u32)0x00080000
-#define TD_DELAY_INT(x) (u32)((x) << 21)
-#define TD_TOGGLE_0 (u32)0x02000000
-#define TD_TOGGLE_1 (u32)0x03000000
-#define TD_CC (u32)0xF0000000
-
-// HostController EndPoint Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 TailTd;
- volatile u32 HeadTd;
- volatile u32 Next;
-} HCED;
-
-// HostController Transfer Descriptor
-typedef struct {
- volatile u32 Control;
- volatile u32 CurrBufPtr;
- volatile u32 Next;
- volatile u32 BufEnd;
-} HCTD;
-
-// Host Controller Communication Area
-typedef struct {
- volatile u32 InterruptTable[32];
- volatile u16 FrameNumber;
- volatile u16 FrameNumberPad;
- volatile u32 DoneHead;
- volatile u8 Reserved[120];
-} HCCA;
-
-//====================================================================================
-//====================================================================================
-
-class HostController;
-class Endpoint;
-class Device;
-
-// must be 3*16 bytes long
-class Endpoint
-{
-public:
- HCED EndpointDescriptor; // Pointer to EndpointDescriptor == Pointer to Endpoint
- HCTD TDHead;
-
- enum State
- {
- Free,
- NotQueued,
- Idle,
- SetupQueued,
- DataQueued,
- StatusQueued,
- CallbackPending
- };
-
- volatile u8 CurrentState;
- u8 Flags; // 0x80 In, 0x03 mask endpoint type
-
- u16 Length;
- u8* Data;
- USBCallback Callback; // Must be a multiple of 16 bytes long
- void* UserData;
-
- int Address()
- {
- int ep = (EndpointDescriptor.Control >> 7) & 0xF;
- if (ep)
- ep |= Flags & 0x80;
- return ep;
- }
-
- int Device()
- {
- return EndpointDescriptor.Control & 0x7F;
- }
-
- int Status()
- {
- return (TDHead.Control >> 28) & 0xF;
- }
-
- u32 Enqueue(u32 head)
- {
- if (CurrentState == NotQueued)
- {
- EndpointDescriptor.Next = head;
- head = (u32)&EndpointDescriptor;
- CurrentState = Idle;
- }
- return head;
- }
-};
-
-class Device
-{
-public:
- u8 _endpointMap[MAX_ENDPOINTS_PER_DEVICE*2];
- u8 Hub;
- u8 Port;
- u8 Addr;
- u8 Pad;
-
- // Only if this device is a hub
- u8 HubPortCount; // nonzero if this is a hub
- u8 HubInterruptData;
- u8 HubMap;
- u8 HubMask;
-
- int Flags; // 1 = Disconnected
-
- Setup SetupBuffer;
-
- // Allocate endpoint zero
- int Init(DeviceDescriptor* d, int hub, int port, int addr, int lowSpeed)
- {
- Hub = hub;
- Port = port;
- Addr = addr;
- Flags = lowSpeed;
- memset(_endpointMap,0xFF,sizeof(_endpointMap));
- return 0;
- }
-
- int SetEndpointIndex(int ep, int endpointIndex)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == 0xFF) // Add endpoint to map
- {
- _endpointMap[i] = ep;
- _endpointMap[i+1] = endpointIndex;
- return 0;
- }
- }
- return ERR_ENDPOINT_NONE_LEFT;
- }
-
- int GetEndpointIndex(int ep)
- {
- for (int i = 0; i < MAX_ENDPOINTS_PER_DEVICE*2; i += 2)
- {
- if (_endpointMap[i] == ep)
- return _endpointMap[i+1];
- if (_endpointMap[i] == 0xFF)
- break;
- }
- return -1;
- }
-};
-
-class HostController
-{
-public:
- HCCA CommunicationArea;
- Endpoint Endpoints[MAX_ENDPOINTS_TOTAL]; // Multiple of 16
-
- Endpoint EndpointZero; // For device enumeration
- HCTD _commonTail;
- Setup _setupZero;
-
- Device Devices[MAX_DEVICES];
- u32 _frameNumber; // 32 bit ms counter
-
- u8 _callbacksPending; // Endpoints with callbacks are pending, set from ISR via ProcessDoneQueue
- u8 _rootHubStatusChange; // Root hub status has changed, set from ISR
- u8 _unused0;
- u8 _unused1;
-
- u8 _connectPending; // Reset has initiated a connect
- u8 _connectCountdown; // Number of ms left after reset before we can connect
- u8 _connectHub; // Will connect on this hub
- u8 _connectPort; // ... and this port
-
- u8 SRAM[0]; // Start of free SRAM
-
- void Loop()
- {
- // printf("Enter Loop \r\n");
- u16 elapsed = CommunicationArea.FrameNumber - (u16)_frameNumber; // extend to 32 bits
- _frameNumber += elapsed;
-
- // Do callbacks, if any
- while (_callbacksPending)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* endpoint = Endpoints + i;
- if (endpoint->CurrentState == Endpoint::CallbackPending)
- {
- _callbacksPending--;
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->Callback(endpoint->Device(),endpoint->Address(),endpoint->Status(),endpoint->Data,endpoint->Length,endpoint->UserData);
- }
- }
- }
-
- // Deal with changes on the root hub
- if (_rootHubStatusChange)
- {
- u32 status = LPC_USB->HcRhPortStatus1;
- _rootHubStatusChange = 0;
- if (status >> 16)
- {
- HubStatusChange(0,1,status);
- LPC_USB->HcRhPortStatus1 = status & 0xFFFF0000; // clear status changes
- }
- }
-
- // Connect after reset timeout
- if (_connectCountdown)
- {
- if (elapsed >= _connectCountdown)
- {
- _connectCountdown = 0;
- Connect(_connectHub,_connectPort & 0x7F,_connectPort & 0x80);
- } else
- _connectCountdown -= elapsed;
- }
-
- // printf("Outer Loop \r\n");
- }
-
- // HubInterrupt - bitmap in dev->HubInterruptData
- void HubInterrupt(int device)
- {
- Device* dev = &Devices[device-1];
- for (int i = 0; i < dev->HubPortCount; i++)
- {
- int port = i+1;
- if (dev->HubInterruptData & (1 << port))
- {
- u32 status = 0;
- GetPortStatus(device,port,&status);
- if (status >> 16)
- {
- if (_connectPending && (status & ConnectStatusChange))
- continue; // Don't connect again until previous device has been added and addressed
-
- HubStatusChange(device,port,status);
- if (status & ConnectStatusChange)
- ClearPortFeature(device,C_PORT_CONNECTION,port);
- if (status & PortResetStatusChange)
- ClearPortFeature(device,C_PORT_RESET,port);
- }
- }
- }
- }
-
- static void HubInterruptCallback(int device, int endpoint, int status, u8* data, int len, void* userData)
- {
- HostController* controller = (HostController*)userData;
- if (status == 0)
- controller->HubInterrupt(device);
- USBInterruptTransfer(device,endpoint,data,1,HubInterruptCallback,userData);
- }
-
- int InitHub(int device)
- {
- u8 buf[16];
- int r= USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_DEVICE,GET_DESCRIPTOR,(DESCRIPTOR_TYPE_HUB << 8),0,buf,sizeof(buf));
- if (r < 0)
- return ERR_HUB_INIT_FAILED;
-
- // turn on power on the hubs ports
- Device* dev = &Devices[device-1];
- int ports = buf[2];
- dev->HubPortCount = ports;
- for (int i = 0; i < ports; i++)
- SetPortPower(device,i+1);
-
- // Enable hub change interrupts
- return USBInterruptTransfer(device,0x81,&dev->HubInterruptData,1,HubInterruptCallback,this);
- }
-
- int AddEndpoint(int device, int ep, int attributes, int maxPacketSize, int interval)
- {
- LOG("AddEndpoint D:%02X A:%02X T:%02X P:%04X I:%02X\r\n",device,ep,attributes,maxPacketSize,interval);
- Device* dev = &Devices[device-1];
- Endpoint* endpoint = AllocateEndpoint(device,ep,attributes,maxPacketSize);
- if (!endpoint)
- return ERR_ENDPOINT_NONE_LEFT;
- dev->SetEndpointIndex(ep,endpoint - Endpoints);
- endpoint->EndpointDescriptor.Control |= dev->Flags; // Map in slow speed
- return 0; // TODO ed->bInterval
- }
-
- int AddEndpoint(int device, EndpointDescriptor* ed)
- {
- return AddEndpoint(device,ed->bEndpointAddress,ed->bmAttributes,ed->wMaxPacketSize,ed->bInterval);
- }
-
- // allocate a endpoint
- Endpoint* AllocateEndpoint(int device, int endpointAddress, int type, int maxPacketSize)
- {
- for (int i = 0; i < MAX_ENDPOINTS_TOTAL; i++)
- {
- Endpoint* ep = &Endpoints[i];
- if (ep->CurrentState == 0)
- {
- //LOG("Allocated endpoint %d to %02X:%02X\r\n",i,device,endpointAddress);
- ep->Flags = (endpointAddress & 0x80) | (type & 3);
- ep->CurrentState = Endpoint::NotQueued;
- ep->EndpointDescriptor.Control = (maxPacketSize << 16) | ((endpointAddress & 0x7F) << 7) | device;
- return ep;
- }
- }
- return 0;
- }
-
- Endpoint* GetEndpoint(int device, int ep)
- {
- if (device == 0)
- {
- //printf("WARNING: USING DEVICE 0\n");
- return &EndpointZero;
- }
- if (device > MAX_DEVICES)
- return 0;
- int i = Devices[device-1].GetEndpointIndex(ep);
- if (i == -1)
- return 0;
- return Endpoints + i;
- }
-
- int Transfer(Endpoint* endpoint, int token, u8* data, int len, int state)
- {
- //Makoto edit comment out
- // LOG("Transfer start\r\n");
- LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\n",endpoint->Address(),token,len,state);
-
- int toggle = 0;
- if (endpoint->Address() == 0)
- toggle = (token == TOKEN_SETUP) ? TD_TOGGLE_0 : TD_TOGGLE_1;
-
- if (token != TOKEN_SETUP)
- token = (token == TOKEN_IN ? TD_IN : TD_OUT);
-
- HCTD* head = &endpoint->TDHead;
- HCTD* tail = &_commonTail;
-
- head->Control = TD_ROUNDING | token | TD_DELAY_INT(0) | toggle | TD_CC;
- head->CurrBufPtr = (u32)data;
- head->BufEnd = (u32)(data + len - 1);
- head->Next = (u32)tail;
-
- HCED* ed = &endpoint->EndpointDescriptor;
- ed->HeadTd = (u32)head | (ed->HeadTd & 0x00000002); // carry toggle
- ed->TailTd = (u32)tail;
-
- //HCTD* td = head;
- //LOG("%04X TD %08X %08X %08X Next:%08X\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next);
- //LOG("%04X ED %08X %08X %08X\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd);
-
- //LOG("Transfer run01\r\n");
- switch (endpoint->Flags & 3)
- {
- case ENDPOINT_CONTROL:
- LOG("Transfer run ENDPOINT_CONTROL\r\n");
- LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle
- //LOG("Transfer run02\r\n");
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state; // Get in before an int
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | ControlListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | ControlListEnable;
-
- break;
-
- case ENDPOINT_BULK:
- LOG("Transfer run ENDPOINT_BULK\r\n");
- LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled;
- LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable;
- break;
-
- case ENDPOINT_INTERRUPT:
- LOG("Transfer run ENDPOINT_INTERRUPT\r\n");
- CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]);
- LOG("endpoint->CurrentState change %d->%d\r\n",endpoint->CurrentState,state);
- endpoint->CurrentState = state;
- LPC_USB->HcControl |= PeriodicListEnable;
- break;
- }
-
- LOG("Transfer end\r\n");
- return 0;
- }
-
- // Remove an endpoint from an active queue
- bool Remove(HCED* ed, volatile HCED** queue)
- {
- if (*queue == 0)
- return false;
- if (*queue == (volatile HCED*)ed)
- {
- *queue = (volatile HCED*)ed->Next; // At head of queue
- return true;
- }
-
- volatile HCED* head = *queue;
- while (head)
- {
- if (head->Next == (u32)ed)
- {
- head->Next = ed->Next;
- return true;
- }
- head = (volatile HCED*)head->Next;
- }
- return false;
- }
-
- void Release(Endpoint* endpoint)
- {
- if (endpoint->CurrentState == Endpoint::NotQueued)
- {
- // Never event used it, nothing to do
- }
- else
- {
- HCED* ed = (HCED*)endpoint;
- ed->Control |= 0x4000; // SKIP
- switch (endpoint->Flags & 0x03)
- {
- case ENDPOINT_CONTROL:
- Remove(ed,(volatile HCED**)&LPC_USB->HcControlHeadED);
- break;
- case ENDPOINT_BULK:
- Remove(ed,(volatile HCED**)&LPC_USB->HcBulkHeadED);
- break;
- case ENDPOINT_INTERRUPT:
- for (int i = 0; i < 32; i++)
- Remove(ed,(volatile HCED**)&CommunicationArea.InterruptTable[i]);
- break;
- }
-
- u16 fn = CommunicationArea.FrameNumber;
- while (fn == CommunicationArea.FrameNumber)
- ; // Wait for next frame
-
- }
-
- // In theory, the endpoint is now dead.
- // TODO: Will Callbacks ever be pending? BUGBUG
- memset(endpoint,0,sizeof(Endpoint));
- }
-
- // Pop the last TD from the list
- HCTD* Reverse(HCTD* current)
- {
- HCTD *result = NULL,*temp;
- while (current)
- {
- temp = (HCTD*)current->Next;
- current->Next = (u32)result;
- result = current;
- current = temp;
- }
- return result;
- }
-
- // Called from interrupt...
- // Control endpoints use a state machine to progress through the transfers
- void ProcessDoneQueue(u32 tdList)
- {
-
- LOG("<<ProcessDoneQueue enter>>\r\n");
- HCTD* list = Reverse((HCTD*)tdList);
- while (list)
- {
- Endpoint* endpoint = (Endpoint*)(list-1);
- list = (HCTD*)list->Next;
- int ep = endpoint->Address();
- bool in = endpoint->Flags & 0x80;
- int status = (endpoint->TDHead.Control >> 28) & 0xF;
-
- //LOG("ProcessDoneQueue %02X %08X\r\n",ep,endpoint->TDHead.Control);
-
- if (status != 0)
- {
- LOG("ProcessDoneQueue status %02X %d\r\n",ep,status);
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
-
-
- } else {
- switch (endpoint->CurrentState)
- {
- case Endpoint::SetupQueued:
- if (endpoint->Length == 0)
- {
- LOG("ProcessDoneQueue endpoint->Length == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase
- }
- else
- {
- LOG("ProcessDoneQueue endpoint->Length != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_IN : TOKEN_OUT,endpoint->Data,endpoint->Length, Endpoint::DataQueued); // Setup is done, now Data
- }
- break;
-
- case Endpoint::DataQueued:
- if (endpoint->TDHead.CurrBufPtr)
- endpoint->Length = endpoint->TDHead.CurrBufPtr - (u32)endpoint->Data;
-
- if (ep == 0)
- {
- LOG("ProcessDoneQueue ep == 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only
- }
- else
- {
-
- LOG("ProcessDoneQueue ep != 0 endpoint->CurrentState=%d\r\n",endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- }
- break;
-
- case Endpoint::StatusQueued: // Transaction is done
- LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\n",endpoint->Address(),endpoint->CurrentState);
- endpoint->CurrentState = Endpoint::Idle;
- break;
- }
- }
-
- // Complete, flag if we need a callback
- if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle)
- {
- endpoint->CurrentState = Endpoint::CallbackPending;
- _callbacksPending++;
- }
- }
- LOG("<<ProcessDoneQueue out>>\r\n");
- }
-
- // Hack to reset devices that don't want to connect
- int AddDevice(int hub, int port, bool isLowSpeed)
- {
- int device = AddDeviceCore(hub,port,isLowSpeed);
- if (device < 0)
- {
- LOG("========RETRY ADD DEVICE========\r\n"); // This will go for ever.. TODO power cycle root?
- Disconnect(hub,port); // Could not read descriptor at assigned address, reset this port and try again
- ResetPort(hub,port); // Cheap bluetooth dongles often need this on a hotplug
- return -1;
- }
- return device;
- }
-
- int AddDeviceCore(int hub, int port, bool isLowSpeed)
- {
- int lowSpeed = isLowSpeed ? 0x2000 : 0;
- DeviceDescriptor desc;
- EndpointZero.EndpointDescriptor.Control = (8 << 16) | lowSpeed; // MaxPacketSize == 8
- int r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,8);
- if (r < 0)
- {
- LOG("FAILED TO LOAD DESCRIPTOR FOR DEVICE 0\r\n");
- return r;
- }
-
- EndpointZero.EndpointDescriptor.Control = (desc.bMaxPacketSize << 16) | lowSpeed; // Actual MaxPacketSize
- r = GetDescriptor(0,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- LOG("\nClass %02X found %04X:%04X\r\n",desc.bDeviceClass,desc.idVendor,desc.idProduct);
-
- // Now assign the device an address, move off EndpointZero
- int device = 0;
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- if (Devices[i].Port == 0)
- {
- device = i+1;
- break;
- }
- }
- if (!device)
- return ERR_DEVICE_NONE_LEFT;
-
- r = SetAddress(0,device);
- if (r)
- return r;
- DelayMS(2);
-
- // Now at a nonzero address, create control endpoint
- Device* dev = &Devices[device-1];
- dev->Init(&desc,hub,port,device,lowSpeed);
- AddEndpoint(device,0,ENDPOINT_CONTROL,desc.bMaxPacketSize,0);
- _connectPending = 0;
-
- // Verify this all works
- r = GetDescriptor(device,DESCRIPTOR_TYPE_DEVICE,0,(u8*)&desc,sizeof(desc));
- if (r < 0)
- return r;
-
- // Set to interface 0 by default
- // Calls LoadDevice if interface is found
- r = SetConfigurationAndInterface(device,1,0,&desc);
-
- if (desc.bDeviceClass == CLASS_HUB)
- InitHub(device); // Handle hubs in this code
-
- return device;
- }
-
- // Walk descriptors and create endpoints for a given device
- // TODO configuration !=1, alternate settings etc.
- int SetConfigurationAndInterface(int device, int configuration, int interfaceNumber, DeviceDescriptor* desc)
- {
- u8 buffer[255];
- int err = GetDescriptor(device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,sizeof(buffer));
- if (err < 0)
- return err;
-
- err = SetConfiguration(device,configuration);
- if (err < 0)
- return err;
-
- // Add the endpoints for this interface
- int len = buffer[2] | (buffer[3] << 8);
- u8* d = buffer;
- u8* end = d + len;
- InterfaceDescriptor* found = 0;
- while (d < end)
- {
- if (d[1] == DESCRIPTOR_TYPE_INTERFACE)
- {
- InterfaceDescriptor* id = (InterfaceDescriptor*)d;
- if (id->bInterfaceNumber == interfaceNumber)
- {
- found = id;
- d += d[0];
- while (d < end && d[1] != DESCRIPTOR_TYPE_INTERFACE)
- {
- switch (d[1])
- {
- case DESCRIPTOR_TYPE_ENDPOINT:
- AddEndpoint(device,(EndpointDescriptor*)d);
- break;
- default:
- LOG("Skipping descriptor %02X (%d bytes)\r\n",d[1],d[0]);
- }
- d += d[0];
- }
- }
- }
- d += d[0];
- }
-
- if (!found)
- return ERR_INTERFACE_NOT_FOUND;
- OnLoadDevice(device,desc,found);
- return 0;
- }
-
- void Init()
- {
- LOG("USB INIT (Controller is %d bytes)\r\n",sizeof(*this));
- memset(this,0,sizeof(HostController));
- EndpointZero.CurrentState = Endpoint::NotQueued;
- HWInit(&CommunicationArea);
- DelayMS(10);
- }
-
- void ResetPort(int hub, int port)
- {
- LOG("ResetPort Hub:%d Port:%d\r\n",hub,port);
- _connectPending++; // Only reset/add 1 device at a time
- if (hub == 0)
- LPC_USB->HcRhPortStatus1 = PortResetStatus; // Reset Root Hub, port 1
- else
- SetPortReset(hub,port); // or reset other hub
- }
-
- void Disconnect(int hub, int port)
- {
- LOG("Disconnect Hub:%d Port:%d\r\n",hub,port); // Mark a device for destruction
- for (int i = 0; i < MAX_DEVICES; i++)
- {
- Device* dev = Devices + i;
- if (dev->Port == port && dev->Hub == hub)
- {
- // Disconnect everything that is attached to this device if it is a hub
- for (int p = 0; p < dev->HubPortCount; p++)
- Disconnect(i+1,p+1);
-
- // Now release endpoints
- for (int j = 1; j < MAX_ENDPOINTS_PER_DEVICE*2; j += 2)
- {
- u8 endpointIndex = dev->_endpointMap[j];
- if (endpointIndex != 0xFF)
- Release(Endpoints + endpointIndex);
- }
- dev->Port = 0; // Device is now free
- dev->Flags = 0;
- return;
- }
- }
- }
-
- // called after reset
- void Connect(int hub, int port, bool lowspeed)
- {
- LOG("Connect Hub:%d Port:%d %s\r\n",hub,port,lowspeed ? "slow" : "full");
- AddDevice(hub,port,lowspeed);
- }
-
- // Called from interrupt
- void HubStatusChange(int hub, int port, u32 status)
- {
- LOG("HubStatusChange Hub:%d Port:%d %08X\r\n",hub,port,status);
- if (status & ConnectStatusChange)
- {
- if (status & CurrentConnectStatus) // Connecting
- ResetPort(hub,port); // Reset to initiate connect (state machine?)
- else
- Disconnect(hub,port);
- }
-
- if (status & PortResetStatusChange)
- {
- if (!(status & PortResetStatus))
- {
- _connectCountdown = 200; // Schedule a connection in 200ms
- if (status & LowspeedDevice)
- port |= 0x80;
- _connectHub = hub;
- _connectPort = port;
- }
- }
- }
-
- #define HOST_CLK_EN (1<<0)
- #define PORTSEL_CLK_EN (1<<3)
- #define AHB_CLK_EN (1<<4)
- #define CLOCK_MASK (HOST_CLK_EN | PORTSEL_CLK_EN | AHB_CLK_EN)
-
- #define FRAMEINTERVAL (12000-1) // 1ms
- #define DEFAULT_FMINTERVAL ((((6 * (FRAMEINTERVAL - 210)) / 7) << 16) | FRAMEINTERVAL)
-
- void DelayMS(int ms)
- {
- u16 f = ms + CommunicationArea.FrameNumber;
- while (f != CommunicationArea.FrameNumber)
- ;
- }
-
- static void HWInit(HCCA* cca)
- {
- NVIC_DisableIRQ(USB_IRQn);
-
- // turn on power for USB
- LPC_SC->PCONP |= (1UL<<31);
- // Enable USB host clock, port selection and AHB clock
- LPC_USB->USBClkCtrl |= CLOCK_MASK;
- // Wait for clocks to become available
- while ((LPC_USB->USBClkSt & CLOCK_MASK) != CLOCK_MASK)
- ;
-
- // We are a Host
- LPC_USB->OTGStCtrl |= 1;
- LPC_USB->USBClkCtrl &= ~PORTSEL_CLK_EN; // we don't need port selection clock until we do OTG
-
- // configure USB pins
- LPC_PINCON->PINSEL1 &= ~((3<<26)|(3<<28));
- LPC_PINCON->PINSEL1 |= ((1<<26)|(1<<28)); // USB D+/D-
-
- LPC_PINCON->PINSEL3 &= ~((3 << 6) | (3 << 22)); // USB_PPWR, USB_OVRCR
- LPC_PINCON->PINSEL3 |= ((2 << 6) | (2 << 22));
-
- LPC_PINCON->PINSEL4 &= ~(3 << 18); // USB_CONNECT
- LPC_PINCON->PINSEL4 |= (1 << 18);
-
- // Reset OHCI block
- LPC_USB->HcControl = 0;
- LPC_USB->HcControlHeadED = 0;
- LPC_USB->HcBulkHeadED = 0;
-
- LPC_USB->HcCommandStatus = HostControllerReset;
- LPC_USB->HcFmInterval = DEFAULT_FMINTERVAL;
- LPC_USB->HcPeriodicStart = FRAMEINTERVAL*90/100;
-
- LPC_USB->HcControl = (LPC_USB->HcControl & (~HostControllerFunctionalState)) | OperationalMask;
- LPC_USB->HcRhStatus = SetGlobalPower;
-
- LPC_USB->HcHCCA = (u32)cca;
- LPC_USB->HcInterruptStatus |= LPC_USB->HcInterruptStatus;
- LPC_USB->HcInterruptEnable = MasterInterruptEnable | WritebackDoneHead | RootHubStatusChange | FrameNumberOverflow;
-
- NVIC_SetPriority(USB_IRQn, 0);
- NVIC_EnableIRQ(USB_IRQn);
- while (cca->FrameNumber < 10)
- ; // 10ms delay before diving in
- }
-};
-
-//====================================================================================
-//====================================================================================
-// Host controller instance and Interrupt handler
-
-static HostController _controller __attribute__((at(USB_RAM_BASE)));
-
-extern "C" void USB_IRQHandler(void) __irq;
-void USB_IRQHandler (void) __irq
-{
-LOG("USB_IRQHandler start \r\n");
- u32 int_status = LPC_USB->HcInterruptStatus;
- LOG("USB_IRQHandler int_status=%0x\r\n",int_status);
-
- if(int_status & UnrecoverableError) //Error
- {
- LOG("USB_IRQHandler UnrecoverableError Please reset\r\n");
- }
-
- if(int_status & MasterInterruptEnable)
- {
- LOG("USB_IRQHandler MasterInterruptEnable\r\n");
- }
-
- if(int_status &OwnershipChange)
- {
- LOG("USB_IRQHandler OwnershipChange\r\n");
- }
-
- if(int_status &FrameNumberOverflow)
- {
- LOG("USB_IRQHandler FrameNumberOverflow\r\n");
- }
- if(int_status&ResumeDetected)
- {
- LOG("USB_IRQHandler ResumeDetected\r\n");
- }
- if(int_status&StartofFrame)
- {
- LOG("USB_IRQHandler StartofFrame\r\n");
- }
-
-
- if (int_status & RootHubStatusChange) // Root hub status change
- {
- LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\n", _controller._rootHubStatusChange, _controller._rootHubStatusChange+1);
- _controller._rootHubStatusChange++; // Just flag the controller, will be processed in USBLoop
- }
-
- u32 head = 0;
- if (int_status & WritebackDoneHead)
- {
- head = _controller.CommunicationArea.DoneHead; // Writeback Done
- _controller.CommunicationArea.DoneHead = 0;
- LOG("USB_IRQHandler head=%0x\r\n",head);
- }
- LPC_USB->HcInterruptStatus = int_status;
-
- if (head)
- _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG
-LOG("USB_IRQHandler end \r\n");
-}
-
-//====================================================================================
-//====================================================================================
-// API Methods
-
-void USBInit()
-{
- return _controller.Init();
-}
-
-void USBLoop()
-{
- return _controller.Loop();
-}
-
-u8* USBGetBuffer(u32* len)
-{
- *len = USB_RAM_SIZE - sizeof(HostController);
- return _controller.SRAM;
-}
-
-static Setup* GetSetup(int device)
-{
- if (device == 0)
- return &_controller._setupZero;
-
- if (device < 1 || device > MAX_DEVICES)
- return 0;
- return &_controller.Devices[device-1].SetupBuffer;
-}
-
-// Loop until IO on endpoint is complete
-static int WaitIODone(Endpoint* endpoint)
-{
- LOG("WaitIODone start\r\n");
- if (endpoint->CurrentState == Endpoint::NotQueued)
- return 0;
- while (endpoint->CurrentState != Endpoint::Idle)
- {
- LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\n",endpoint->CurrentState);
- USBLoop(); // May generate callbacks, mount or unmount devices etc
- }
- int status = endpoint->Status();
-
- LOG("WaitIODone end\r\n");
- if (status == 0)
- return endpoint->Length;
- return -status;
-}
-
-int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData)
-{
- //LOG("USBTRANSFER start\r\n");
- Endpoint* endpoint = _controller.GetEndpoint(device,ep);
- if (!endpoint)
- {
- LOG("USBTRANSFER error Endpoint not found!!\r\n");
- return ERR_ENDPOINT_NOT_FOUND;
- }
-
- //LOG("USBTRANSFER run01\r\n");
- WaitIODone(endpoint);
- endpoint->Flags = flags;
- endpoint->Data = data;
- endpoint->Length = length;
- endpoint->Callback = callback;
- endpoint->UserData = userData;
- //LOG("USBTRANSFER run02\r\n");
- if (ep == 0)
- {
- LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\n");
- _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued);
- }
- else
- {
- LOG("USBTRANSFER ep != 0\r\n");
- _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued);
- }
- if (callback)
- {
- LOG("USBTRANSFER end io_pending\r\n");
- return IO_PENDING;
- }
- LOG("USBTRANSFER end wait io done \r\n");
- return WaitIODone(endpoint);
-}
-
-int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback, void * userData)
-{
- Setup* setup = GetSetup(device);
- if (!setup)
- return ERR_DEVICE_NOT_FOUND;
-
- // Async control calls may overwrite setup buffer of previous call, so we need to wait before setting up next call
- WaitIODone(_controller.GetEndpoint(device,0));
-
- setup->bm_request_type = request_type;
- setup->b_request = request;
- setup->w_value = value;
- setup->w_index = index;
- setup->w_length = length;
- LOG("USBControlTransfer(device=%d,reqtype=%d,req=%d,value=%d,index=%d,data=%p,len=%d,callbak=%p,udata=%p)\r\n",
- device,request_type,request,value,index,data,length,callback,userData);
- return USBTransfer(device,0,request_type & DEVICE_TO_HOST,data,length,callback,userData);
-}
-
-int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_INTERRUPT,data,length,callback,userData);
-}
-
-int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback, void* userData)
-{
- return USBTransfer(device,ep,(ep & 0x80) | ENDPOINT_BULK,data,length,callback,userData);
-}
-
-int GetDescriptor(int device, int descType,int descIndex, u8* data, int length)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | RECIPIENT_DEVICE, GET_DESCRIPTOR,(descType << 8)|(descIndex), 0, data, length, 0);
-}
-
-int GetString(int device, int index, char* dst, int length)
-{
- u8 buffer[255];
- int le = GetDescriptor(device,DESCRIPTOR_TYPE_STRING,index,buffer,sizeof(buffer));
- if (le < 0)
- return le;
- if (length < 1)
- return -1;
- length <<= 1;
- if (le > length)
- le = length;
- for (int j = 2; j < le; j += 2)
- *dst++ = buffer[j];
- *dst = 0;
- return (le>>1)-1;
-}
-
-int SetAddress(int device, int new_addr)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_ADDRESS, new_addr, 0, 0, 0, 0);
-}
-
-int SetConfiguration(int device, int configNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_DEVICE, SET_CONFIGURATION, configNum, 0, 0, 0, 0);
-}
-
-int SetInterface(int device, int ifNum, int altNum)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | RECIPIENT_INTERFACE, SET_INTERFACE, altNum, ifNum, 0, 0, 0);
-}
-
-// HUB stuff
-int SetPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,SET_FEATURE,feature,index,0,0);
-}
-
-int ClearPortFeature(int device, int feature, int index)
-{
- return USBControlTransfer(device,HOST_TO_DEVICE | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,CLEAR_FEATURE,feature,index,0,0);
-}
-
-int SetPortPower(int device, int port)
-{
- int r = SetPortFeature(device,PORT_POWER,port);
- _controller.DelayMS(20); // 80ms to turn on a hubs power... DESCRIPTOR? todo
- return r;
-}
-
-int SetPortReset(int device, int port)
-{
- return SetPortFeature(device,PORT_RESET,port);
-}
-
-int GetPortStatus(int device, int port, u32* status)
-{
- return USBControlTransfer(device,DEVICE_TO_HOST | REQUEST_TYPE_CLASS | RECIPIENT_OTHER,GET_STATUS,0,port,(u8*)status,4);
-}
-
-#endif
\ No newline at end of file