This program is for an autonomous robot for the competition at the Hochschule Luzern. We are one of the 32 teams. <a href="http://cruisingcrepe.wordpress.com/">http://cruisingcrepe.wordpress.com/</a> 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: <a href="http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf">http://www.dis.uniroma1.it/~labrob/pub/papers/Ramsete01.pdf</a>
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Revision 17:f0a973f17917, committed 2013-05-03
- Comitter:
- chrigelburri
- Date:
- Fri May 03 06:30:46 2013 +0000
- Parent:
- 16:b5d949136a21
- Commit message:
- bastel mit adb
Changed in this revision
--- a/AndroidADKTerm/AndroidAccessory/AndroidAccessory.cpp Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,323 +0,0 @@ -#include <stdio.h> -#include <stdlib.h> -#include <string.h> - -#include "USBHost.h" -#include "AndroidAccessory.h" -#include "mbed.h" - -AndroidAccessory* _adk; - -void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData); -void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData); - - - -AndroidAccessory::AndroidAccessory(int rbuffsize,int wbuffsize, - const char* manufacturer, - const char *model, - const char *description, - const char *version, - const char *uri, - const char *serial - ) { - - _adk=this; - - this->manufacturer=manufacturer; - this->model=model; - this->description=description; - this->version=version; - this->uri=uri; - this->serial=serial; - - u32 len; - u8* p=USBGetBuffer(&len); - if (len<(rbuffsize+wbuffsize+255)) { - error("buff size too big.please resize max=%d. currentSize=%d\r\n",len,(rbuffsize+wbuffsize+255)); - } - - _readbuff=p; - _readbuffsize=rbuffsize; - p+=rbuffsize; - _writebuff=p; - _writebuffsize=wbuffsize; - p+=wbuffsize; - _strbuff=p; - p+=255; - -} - - - -int AndroidAccessory::write(u8 *buff, int len) { - log("AndroidAccessory::write "); - // __disable_irq(); - int ret=USBBulkTransfer(_device,output_ep,buff,len,AdkwriteCallback,this); - // __enable_irq(); - log("--ret=%d \r\n",ret); - return ret; -} -int AndroidAccessory::writeNC(u8 *buff, int len) { - log("AndroidAccessory::write "); - // __disable_irq(); - int ret=USBBulkTransfer(_device,output_ep,buff,len); - // __enable_irq(); - log("--ret=%d \r\n",ret); - return ret; -} - - - -int AndroidAccessory::read(u8 *buff, int len) { - // if(_initok==false)return 0; - - log("AndroidAccessory::read "); - // __disable_irq(); - int ret=USBBulkTransfer(_device,input_ep|0x80,buff,len); - // __enable_irq(); - log("--ret=%d \r\n",ret); - return ret; -} - - -void AndroidAccessory::init(int device, int configuration, int interfaceNumber) { - - log("AndroidAccessory::init \r\n"); - -// _initok=false; - _device = device; - _configuration = configuration; - _interfaceNumber = interfaceNumber; - printf("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber); - int err; - - u8* buffer=_strbuff; - err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4); - - if (err < 0) { - log("Failed to get descriptor\r\n"); - return; - } - - - int len = buffer[2] | (buffer[3] << 8); - if (len > 255) { - log("config descriptor too large\n"); - /* might want to truncate here */ - return; - } - err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len); - u8* p = buffer; - input_ep=0; - output_ep=0; - EndpointDescriptor *epDesc; - while (p<(buffer+len)) { - u8 descLen = p[0]; - u8 descType = p[1]; - log("descLen=%d,descType=%d\r\n",descLen,descType); - switch (descType) { - case DESCRIPTOR_TYPE_CONFIGURATION: - log("config desc\r\n"); - break; - case DESCRIPTOR_TYPE_INTERFACE: - log("interface desc\r\n"); - break; - case DESCRIPTOR_TYPE_ENDPOINT: - epDesc=(EndpointDescriptor*)p; - if (!input_ep && (epDesc->bEndpointAddress& 0x80)) { - input_ep=epDesc->bEndpointAddress& 0x7f; - //PacketSize drop - log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); - - } else if (!output_ep) { - output_ep=epDesc->bEndpointAddress& 0x7f; - //PacketSize drop - log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); - } else { - //other - log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); - } - break; - default: - log("unkown desc type(%d) \r\n",descType); - } - p+=descLen; - } - - if (!(input_ep && output_ep)) { - log("can't find accessory endpoints\r\n"); - return; - } - - log("SetConfiguration\r\n"); - err = SetConfiguration(device,configuration); - if (err < 0) { - log("SetConfiguration error\r\n"); - return; - } - - - log("interrupt setup\r\n"); - //interrupt setup - if (_readbuff==NULL || _readbuffsize<=0) { - error("_readbuffer error please setup buffer call setReadBuffer function\r\n"); - } - - if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,_readbuff,_readbuffsize,AdkreadCallback,this)) - return; - - - log("setupDevice\r\n"); - this->setupDevice(); -// _initok=true; -} - - - -bool AndroidAccessory::switchDevice(int device) { - - if (1==getProtocol(device)) { - log("device supports protocol 1\r\n"); - - } else { - log("could not read device protocol version\r\n"); - return false; - } - - - sendString(device,ACCESSORY_STRING_MANUFACTURER,manufacturer); - sendString(device,ACCESSORY_STRING_MODEL,model); - sendString(device,ACCESSORY_STRING_DESCRIPTION,description); - sendString(device,ACCESSORY_STRING_VERSION,version); - sendString(device,ACCESSORY_STRING_URI,uri); - sendString(device,ACCESSORY_STRING_SERIAL,serial); - USBControlTransfer(device, - HOST_TO_DEVICE |REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE, - ACCESSORY_START, - 0,//value - 0, //index - 0, - 0, - 0, - 0 ); - - wait_ms(4); - //reset usb host - USBInit(); - - return true; - -} - - -int AndroidAccessory::getProtocol(int device) { - s16 data=-1; - USBControlTransfer(device, - DEVICE_TO_HOST|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE, - ACCESSORY_GET_PROTOCOL, - 0,//value - 0, //index - (u8*)&data, - 2, - 0, - 0 ); - return data; - -} - -void AndroidAccessory::sendString(const char *str) { - sendString(_device,1,str); - -} - -void AndroidAccessory::sendString(int device, int index, const char *str) { - - LOG("send_string start(%d,%d,%s) %d \r\n",device,index,str,strlen(str)+1); - strcpy((char*)_strbuff,str); - //thankyou curryman san - USBControlTransfer(device, - HOST_TO_DEVICE|REQUEST_TYPE_VENDOR|RECIPIENT_DEVICE, - ACCESSORY_SEND_STRING, - 0,//value - index, - _strbuff, - strlen(str)+1 - ); - - LOG("send_string end(%d,%d,%s)\r\n",device,index,str); - -} - - -/** from USBHost load function. initialize Android device**/ -void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) { - printf("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol); - char s[128]; - - for (int i = 1; i < 3; i++) { - if (GetString(device,i,s,sizeof(s)) < 0) - break; - printf("%d: %s\r\n",i,s); - } - - //for android ADK - if ( ( deviceDesc->idVendor != 0x18D1 || - ( deviceDesc->idProduct != 0x2D00 && deviceDesc->idProduct != 0x2D01)) - &&_adk->switchDevice(device)) { - - printf(" try to change accmode.interfaceDesc->bInterfaceClass=%d\r\n",interfaceDesc->bInterfaceClass); - //1th root - //accmode_support=true; - printf("accessory mode ok.\r\n"); - return; - } - - if (deviceDesc->idVendor == 0x18D1 && - (deviceDesc->idProduct == 0x2D00 || deviceDesc->idProduct == 0x2D01)) { - //2th root - printf("connecting Android.\r\n"); - printf("idVender=%x idProduct=%x interfaceDesc->bInterfaceClass=%d\r\n",deviceDesc->idVendor,deviceDesc->idProduct,interfaceDesc->bInterfaceClass); - _adk->init(device,1,0); - //_AdkUSB.loop(); - return; - } -} - -void AdkreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) { - log("AdkreadCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n", - device,endpoint,status,buf,len,userData); -// __disable_irq(); - AndroidAccessory* t = (AndroidAccessory*)userData; - if (status!=0 && status!=8) { - log("adk end.\r\n"); - t->adkEnd(); -// __enable_irq(); - USBInit(); - return; - } - - - //virtual method run - t->callbackRead(buf,len); - - USBBulkTransfer(device, endpoint , buf, len, AdkreadCallback, userData); - -// wait_ms(4); -// __enable_irq(); -} - - - - -void AdkwriteCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) { - - log("AdkwriteCallback(int device=%d, int endpoint=%x, int status=%d, u8* buf=%p, int len=%d, void* userData=%p)\r\n", - device,endpoint,status,buf,len,userData); - - AndroidAccessory* t = (AndroidAccessory*)userData; - t->callbackWrite(); - //wait_ms(4); - //USBBulkTransfer(device, endpoint , buf, len, AdkwriteCallback, userData); -} -
--- a/AndroidADKTerm/AndroidAccessory/AndroidAccessory.h Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,195 +0,0 @@ -/* mbed AndroidAccessory Library - * Created by p07gbar from work by Makoto Abe - * - */ -#ifndef ADK_H_INCLUDED -#define ADK_H_INCLUDED - -#include "mbed.h" -#include "USBHost.h" - - -//#define ADKLOG 1 -#if ADKLOG -#define LOG(...) printf(__VA_ARGS__) -#define Log(...) printf(__VA_ARGS__) -#define log(...) printf(__VA_ARGS__) - -#else -#define LOG(...) do {} while(0) -#define Log(...) do {} while(0) -#define log(...) do {} while(0) - -#endif - -#define ACCESSORY_STRING_MANUFACTURER 0 -#define ACCESSORY_STRING_MODEL 1 -#define ACCESSORY_STRING_DESCRIPTION 2 -#define ACCESSORY_STRING_VERSION 3 -#define ACCESSORY_STRING_URI 4 -#define ACCESSORY_STRING_SERIAL 5 - -#define ACCESSORY_GET_PROTOCOL 51 -#define ACCESSORY_SEND_STRING 52 -#define ACCESSORY_START 53 - - - -/** An AndroidAccessory control class - * - * It allows easy creation of a mbed android ADK accessory, with minimal low level fussing. - * Base code should have methods resetDevice(), setupDevice(), callbackRead(u8 *buff, int len) and callBackWrite() functions - * - */ - -class AndroidAccessory { -public: - - - -/** Create a AndroidAccessory object - * - * Create a AndroidAccessoryobject with specified buffer sizes and infomation - * - * @param rbuffsize The size of the read buffer - * @param wbuffsize The size of the write buffer - * @param manufacturer The manufacturer of the accessory - * @param model The model of the accessory - * @param description A short description of the accessory - * @param version The current version of the accessory - * @param uri Some data to go with the accessory (URL or more description) - * @param serial The serial number of the accessory - */ - AndroidAccessory(int rbuffsize,int wbuffsize, - const char* manufacturer, - const char *model, - const char *description, - const char *version, - const char *uri, - const char *serial - ); - - /** Init the device - * This is meant to be implimented by the user of the class - * - * @param device Device number - * @param configuration Configuration - * @param interfaceNumber Inteface number - */ - virtual void init(int device, int configuration, int interfaceNumber); - -/** Reset the device - * This is meant to be implimented by the user of the class - * - */ - virtual void resetDevice()=0; - -/** Setup the device - * This is meant to be implimented by the user of the class. Called when the device is first intialised - * - */ - virtual void setupDevice()=0; - - /** Callback on Read - * This is meant to be implimented by the user of the class. Called when some data has been read in. - * - * @param buff The buffered read in data - * @param len The length of the packet recived - * - */ - virtual int callbackRead(u8 *buff, int len)=0; - - /** Callback after Write - * This is meant to be implimented by the user of the class. Called when the write has been finished. - * - */ - virtual int callbackWrite()=0; - - /** Write over USB - * This sends the data in the buffer over USB in a packet - * - * @param buff The buffer to write out - * @param len The length of the packet to send - * - */ - int write(u8 *buff, int len); - -/** Write over USB - * This sends the data in the buffer over USB in a packet, sends _writebuff and _writebuffsize - * - */ - int write() { - return write(_writebuff,_writebuffsize); - } - - /** Write over USB with no callback - * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback - * - * @param buff The buffer to write out - * @param len The length of the packet to send - * - */ - int writeNC(u8 *buff, int len); - - /** Write over USB - * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback, sends _writebuff and _writebuffsize - * - */ - int writeNC() { - return writeNC(_writebuff,_writebuffsize); - } - - /** Read the buffer USB - * This sends the data in the buffer over USB in a packet, waits until the packet is sent, rather than doing a callback - * - * @param buff The buffer to read into - * @param len The length of the packet to read in - * - * @param returns The number of bytes read - * - */ - int read(u8 *buff, int len); - - - void adkEnd() { - // _initok=false; - resetDevice(); - }; //if connection close - bool switchDevice(int device); - - //buffer - u8* _readbuff; - int _readbuffsize; - u8* _writebuff; - int _writebuffsize; - u8* _strbuff;//255bytes; - void sendString(const char *str); - -private: - - void sendString(int device, int index, const char *str); - int getProtocol(int device); - - const char *manufacturer; - const char *model; - const char *description; - const char *version; - const char *uri; - const char *serial; - - //endpoints - int input_ep; - int output_ep; - - int _device; - int _configuration; - int _interfaceNumber; - - //bool _initok; - -}; - -extern AndroidAccessory* _adk; //declared in cpp - - -#endif \ No newline at end of file
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.cpp Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1093 +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" -#ifndef 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() - { - 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) - { - LOG("Sorting Callbacks %i\n\r",endpoint->CurrentState); - _callbacksPending--; - endpoint->CurrentState = Endpoint::Idle; - LOG("SatusChanged %i\n\r",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; - } - } - - // 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) - { - //LOG("Transfer %02X T:%d Len:%d S:%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); - - switch (endpoint->Flags & 3) - { - case ENDPOINT_CONTROL: - LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle - 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: - LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED); - endpoint->CurrentState = state; - LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled; - LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable; - break; - - case ENDPOINT_INTERRUPT: - CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]); - endpoint->CurrentState = state; - LPC_USB->HcControl |= PeriodicListEnable; - break; - } - 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) - { - 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); - endpoint->CurrentState = Endpoint::Idle; - } else { - switch (endpoint->CurrentState) - { - case Endpoint::SetupQueued: - if (endpoint->Length == 0) - Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase - else - 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) - Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only - else - endpoint->CurrentState = Endpoint::Idle; - break; - - case Endpoint::StatusQueued: // Transaction is done - endpoint->CurrentState = Endpoint::Idle; - break; - } - } - - // Complete, flag if we need a callback - if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle) - { - endpoint->CurrentState = Endpoint::CallbackPending; - _callbacksPending++; - } - } - } - - // 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 -{ - u32 int_status = LPC_USB->HcInterruptStatus; - - if(int_status & UnrecoverableError) //Error - { - LOG("USB_IRQHandler UnrecoverableError Please reset\r\n"); - } - - - if (int_status & RootHubStatusChange) // Root hub status change - _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; - } - LPC_USB->HcInterruptStatus = int_status; - - if (head) - _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG -} - -//==================================================================================== -//==================================================================================== -// 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("Waiting\n\r"); - if (endpoint->CurrentState == Endpoint::NotQueued) - return 0; - while (endpoint->CurrentState != Endpoint::Idle) - //LOG("Loopz"); - USBLoop(); // May generate callbacks, mount or unmount devices etc - int status = endpoint->Status(); - if (status == 0) - return endpoint->Length; - LOG("DATA SENT\n\r"); - return -status; -} - -int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData) -{ - Endpoint* endpoint = _controller.GetEndpoint(device,ep); - if (!endpoint) - return ERR_ENDPOINT_NOT_FOUND; - - WaitIODone(endpoint); - LOG("before ep=%x,callback=%p\r\n",endpoint,endpoint->Callback); - endpoint->Flags = flags; - endpoint->Data = data; - endpoint->Length = length; - endpoint->Callback = callback; - endpoint->UserData = userData; - LOG("ep=%x,callback=%p\r\n",ep,callback); - if (ep == 0) - _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued); - else - _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued); - if (callback) - return IO_PENDING; - 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; - 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
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost.h Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,221 +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. -*/ - - -#ifndef USBHOST_H -#define USBHOST_H - -//log mode on off -//#define USBHOST_LOG - - -#ifndef u8 -typedef unsigned char u8; -typedef unsigned short u16; -typedef unsigned long u32; - -typedef char s8; -typedef short s16; -typedef char s32; -#endif - -#define ENDPOINT_CONTROL 0 -#define ENDPOINT_ISOCRONOUS 1 -#define ENDPOINT_BULK 2 -#define ENDPOINT_INTERRUPT 3 - -#define DESCRIPTOR_TYPE_DEVICE 1 -#define DESCRIPTOR_TYPE_CONFIGURATION 2 -#define DESCRIPTOR_TYPE_STRING 3 -#define DESCRIPTOR_TYPE_INTERFACE 4 -#define DESCRIPTOR_TYPE_ENDPOINT 5 - -#define DESCRIPTOR_TYPE_HID 0x21 -#define DESCRIPTOR_TYPE_REPORT 0x22 -#define DESCRIPTOR_TYPE_PHYSICAL 0x23 -#define DESCRIPTOR_TYPE_HUB 0x29 - -enum USB_CLASS_CODE -{ - CLASS_DEVICE, - CLASS_AUDIO, - CLASS_COMM_AND_CDC_CONTROL, - CLASS_HID, - CLASS_PHYSICAL = 0x05, - CLASS_STILL_IMAGING, - CLASS_PRINTER, - CLASS_MASS_STORAGE, - CLASS_HUB, - CLASS_CDC_DATA, - CLASS_SMART_CARD, - CLASS_CONTENT_SECURITY = 0x0D, - CLASS_VIDEO = 0x0E, - CLASS_DIAGNOSTIC_DEVICE = 0xDC, - CLASS_WIRELESS_CONTROLLER = 0xE0, - CLASS_MISCELLANEOUS = 0xEF, - CLASS_APP_SPECIFIC = 0xFE, - CLASS_VENDOR_SPECIFIC = 0xFF -}; - -#define DEVICE_TO_HOST 0x80 -#define HOST_TO_DEVICE 0x00 -#define REQUEST_TYPE_STANDARD 0x00 -#define REQUEST_TYPE_CLASS 0x20 -#define REQUEST_TYPE_VENDOR 0x40 -#define RECIPIENT_DEVICE 0x00 -#define RECIPIENT_INTERFACE 0x01 -#define RECIPIENT_ENDPOINT 0x02 -#define RECIPIENT_OTHER 0x03 - -#define GET_STATUS 0 -#define CLEAR_FEATURE 1 -#define SET_FEATURE 3 -#define SET_ADDRESS 5 -#define GET_DESCRIPTOR 6 -#define SET_DESCRIPTOR 7 -#define GET_CONFIGURATION 8 -#define SET_CONFIGURATION 9 -#define GET_INTERFACE 10 -#define SET_INTERFACE 11 -#define SYNCH_FRAME 11 - -/* HID Request Codes */ -#define HID_REQUEST_GET_REPORT 0x01 -#define HID_REQUEST_GET_IDLE 0x02 -#define HID_REQUEST_GET_PROTOCOL 0x03 -#define HID_REQUEST_SET_REPORT 0x09 -#define HID_REQUEST_SET_IDLE 0x0A -#define HID_REQUEST_SET_PROTOCOL 0x0B - -/* HID Report Types */ -#define HID_REPORT_INPUT 0x01 -#define HID_REPORT_OUTPUT 0x02 -#define HID_REPORT_FEATURE 0x03 - - -// -5 is nak -/* -0010 ACK Handshake -1010 NAK Handshake -1110 STALL Handshake -0110 NYET (No Response Yet) -*/ - -#define IO_PENDING -100 -#define ERR_ENDPOINT_NONE_LEFT -101 -#define ERR_ENDPOINT_NOT_FOUND -102 -#define ERR_DEVICE_NOT_FOUND -103 -#define ERR_DEVICE_NONE_LEFT -104 -#define ERR_HUB_INIT_FAILED -105 -#define ERR_INTERFACE_NOT_FOUND -106 - -typedef struct -{ - u8 bLength; - u8 bDescriptorType; - u16 bcdUSB; - u8 bDeviceClass; - u8 bDeviceSubClass; - u8 bDeviceProtocol; - u8 bMaxPacketSize; - u16 idVendor; - u16 idProduct; - u16 bcdDevice; // version - u8 iManufacturer; - u8 iProduct; - u8 iSerialNumber; - u8 bNumConfigurations; -} DeviceDescriptor; // 16 bytes - -typedef struct -{ - u8 bLength; - u8 bDescriptorType; - u16 wTotalLength; - u8 bNumInterfaces; - u8 bConfigurationValue; // Value to use as an argument to select this configuration - u8 iConfiguration; // Index of String Descriptor describing this configuration - u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0 - u8 bMaxPower; // Maximum Power Consumption in 2mA units -} ConfigurationDescriptor; - -typedef struct -{ - u8 bLength; - u8 bDescriptorType; - u8 bInterfaceNumber; - u8 bAlternateSetting; - u8 bNumEndpoints; - u8 bInterfaceClass; - u8 bInterfaceSubClass; - u8 bInterfaceProtocol; - u8 iInterface; // Index of String Descriptor Describing this interface -} InterfaceDescriptor; - -typedef struct -{ - u8 bLength; - u8 bDescriptorType; - u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints) - u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt - u16 wMaxPacketSize; - u8 bInterval; // Interval for polling endpoint data transfers. -} EndpointDescriptor; - -typedef struct { - u8 bLength; - u8 bDescriptorType; - u16 bcdHID; - u8 bCountryCode; - u8 bNumDescriptors; - u8 bDescriptorType2; - u16 wDescriptorLength; -} HIDDescriptor; - -//============================================================================ -//============================================================================ - - -void USBInit(); -void USBLoop(); -u8* USBGetBuffer(u32* len); - -// Optional callback for transfers, called at interrupt time -typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData); - -// Transfers -int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0); -int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0); -int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0); - -// Standard Device methods -int GetDescriptor(int device, int descType, int descIndex, u8* data, int length); -int GetString(int device, int index, char* dst, int length); -int SetAddress(int device, int new_addr); -int SetConfiguration(int device, int configNum); -int SetInterface(int device, int ifNum, int altNum); - -// Implemented to notify app of the arrival of a device -void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc); - -#endif \ No newline at end of file
--- a/AndroidADKTerm/AndroidAccessory/USBHost/USBHost_log.cpp Fri Apr 26 06:36:57 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
--- a/AndroidADKTerm/android.cpp Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,154 +0,0 @@ -#include "android.h" -//#define PI 3.141592654f -using namespace std; - -AdkTerm::AdkTerm(RobotControl* robotControl, - state_t* s, - float period) - : AndroidAccessory(INBL, - OUTL, - "ARM", - "mbed", - "mbed Terminal", - "0.1", - "http://www.mbed.org", - "0000000012345678"), - Task(period) -{ - this->robotControl = robotControl; - this->period = period; - this->s = s; -}; - -void AdkTerm::setupDevice() -{ - for (int i = 0; i<OUTL; i++) { - buffer[i] = 0; - } - bcount = 0; -} - -float AdkTerm::getDesiredX() -{ - return desiredX/1000; -} - -float AdkTerm::getDesiredY() -{ - return desiredY/1000; -} - -float AdkTerm::getDesiredTheta() -{ - return desiredTheta * PI / 180; -} - - -void AdkTerm::run() -{ - - u8* wbuf = _writebuff; - - // floats to string - char str[100]; - - //send to android - sprintf( str, "%f;%f;%f;%i;%i;%i;%f;;", robotControl->getxActualPosition(), - robotControl->getyActualPosition(), - robotControl->getActualTheta() * 180 / PI, - s->state&STATE_UNDER == 0 ? 0 : 1, - s->state&STATE_LEFT == 0 ? 0 : 1, - s->state&STATE_RIGHT == 0 ? 0 : 1, - s->voltageBattery); - - //copy to wbuf - strcpy( (char*) wbuf, str ); - - this->write(wbuf,100); - -} - -void AdkTerm::resetDevice() -{ - for (int i = 0; i<OUTL; i++) { - buffer[i] = 0; - } - bcount = 0; -} - -void AdkTerm::Tokenize(const string& str, - vector<string>& tokens, - const string& delimiters /*= " "*/) -{ - // Skip delimiters at beginning. - string::size_type lastPos = str.find_first_not_of(delimiters, 0); - // Find first "non-delimiter". - string::size_type pos = str.find_first_of(delimiters, lastPos); - - while (string::npos != pos || string::npos != lastPos) { - // Found a token, add it to the vector. - tokens.push_back(str.substr(lastPos, pos - lastPos)); - // Skip delimiters. Note the "not_of" - lastPos = str.find_first_not_of(delimiters, pos); - // Find next "non-delimiter" - pos = str.find_first_of(delimiters, lastPos); - } -} - -int AdkTerm::callbackRead(u8 *buf, int len) -{ - // convert buffer (unsigned char) to string - std::string str(reinterpret_cast<char*>(buf), len); - - // new vector of strings - vector<string> tokens; - - // tokenize the string with the semicolon separator - Tokenize(str, tokens, ";"); - copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", ")); - - - if(tokens.size() > 2) { - - //string to float - desiredX = ::atof(tokens.at(0).c_str()); - desiredY = ::atof(tokens.at(1).c_str()); - desiredTheta = ::atof(tokens.at(2).c_str()); - } - - return 0; -} - -int AdkTerm::callbackWrite() -{ - ind = false; - return 0; -} - -void AdkTerm::serialIRQ() -{ - //buffer[bcount] = pc.getc(); - - - if (buffer[bcount] == '\n' || buffer[bcount] == '\r') { - u8* wbuf = _writebuff; - for (int i = 0; i<OUTL; i++) { - wbuf[i] = buffer[i]; - buffer[i] = 0; - } - //pc.printf("Sending: %s\n\r",wbuf); - ind = true; - this->write(wbuf,bcount); - bcount = 0; - } else { - if (buffer[bcount] != 0x08 && buffer[bcount] != 0x7F ) { - bcount++; - if (bcount == OUTL) { - bcount = 0; - } - } else { - bcount--; - } - } - -} \ No newline at end of file
--- a/AndroidADKTerm/android.h Fri Apr 26 06:36:57 2013 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,139 +0,0 @@ -#ifndef _ANDROID_H_ -#define _ANDROID_H_ - -#include "RobotControl.h" -#include "mbed.h" -#include "AndroidAccessory.h" -#include "defines.h" -#include <string> -#include <sstream> -#include <vector> -#include <iostream> -#include <stdlib.h> - -/** - * @author Arno Galliker - * - * @copyright Copyright © 2013 HSLU Pren Team #1 Cruising Crêpe - * All rights reserved. - * - * @brief - * - * This class implements communication with the android smartphone - * For more information see the Android ADK Cookbook: - * <a href="http://mbed.org/cookbook/mbed-with-Android-ADK">http://mbed.org/cookbook/mbed-with-Android-ADK</a> - * - * Originally created by p07gbar from work by Makoto Abe. - */ - -class AdkTerm : public AndroidAccessory, public Task -{ - -private: - - /** @brief Instance of RobotControl*/ - RobotControl* robotControl; - - float period; - - /** @brief Char buffer with a size of OUTL */ - char buffer[OUTL]; - - state_t* s; - - /** @brief Buffer count ??? */ - int bcount; - - /** @brief States if something is written to the buffer?? */ - bool ind; - - /** @brief Desired position in meters for x-coordinate, given by android */ - float desiredX; - - /** @brief Desired position in meters for y-coordinate, given by android */ - float desiredY; - - /** @brief Desired position in degrees for theta, given by android */ - float desiredTheta; - -public: - - /** - * @brief Creates a <code>AdkTerm</code> object and initializes all private - * state variables. Constructor - * @param robotControl RobotControl obejct reference - * @param s referenz to the state struct. - * @param period length of a period in seconds - */ - AdkTerm(RobotControl* robotControl, state_t* s, float period); - - /** - * @brief Sets initial configurations and clears the buffer - */ - void setupDevice(); - - /** - * @brief Returns the desired position in meters for x-coordinate, given by android - * @return x-coordinate,given in [m] - */ - float getDesiredX(); - - /** - * @brief Returns the desired position in meters for y-coordinate, given by android - * @return y-coordinate,given in [m] - */ - float getDesiredY(); - - /** - * @brief Returns the desired position in degrees for theta, given by android - * @return y-coordinate,given in degrees [°] - */ - float getDesiredTheta(); - - /** @brief Method to call when a tick period is over */ - void onTick(); - -private: - - /** - * @brief Clears the buffer and bcount - */ - void resetDevice(); - - /** - * @brief Takes an string, a vector of strings for the delimited tokens, and a with the - * @param str - * @param tokens - * @param delimiters - */ - void Tokenize(const string& str, - vector<string>& tokens, - const string& delimiters = " "); - - /** - * @brief Read and cast incomming messages. - * @param buf - * @param len - * @return success - */ - int callbackRead(u8 *buf, int len); - - /** - * @brief To send the buffer over the USB-Connection - * @return success - */ - int callbackWrite(); - - /** - * @brief Generating messages via serial interface for debuging. - */ - void serialIRQ(); - - /** - * @brief Run method actualize every period - */ - void run(); - -}; - -#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/ADB/Adb.cpp Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,891 @@ +/* + Copyright 2011 Niels Brouwers + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + +/* Changed by Junichi Katsu */ + +#include <string.h> +#include <Adb.h> + +//#define DEBUG + +#define MAX_BUF_SIZE 128 + +#ifdef DEBUG +#define log(...) printf(__VA_ARGS__) +#else +#define log(...) do {} while(0) +#endif + +int input_ep; +int output_ep; +int _device; +int _configuration; +int _interfaceNumber; + +static Connection * firstConnection; +static boolean connected; +static int connectionLocalId = 1; +unsigned char readbuff[MAX_BUF_SIZE]; + +// Event handler callback function. +adb_eventHandler * eventHandler; + +ADB* _adb; +PacketBuffer recv_packet_buf(100,MAX_BUF_SIZE); +Ticker timer; + +int time_ms = 0; + + +void attime(void) +{ + time_ms++; +} + +int millis() +{ + return(time_ms); +} + +char *strdup(const char *src) +{ + char *p; + + if(src == NULL){ + return NULL; + } + + p = (char *)malloc(strlen(src) + 1); + if(p != NULL) strcpy(p, src); + return p; + +} + +/** + * Initialises the ADB protocol. This function initialises the USB layer underneath so no further setup is required. + */ +void ADB::init() +{ + recv_packet_buf.clear(); + + // Signal that we are not connected. + _device = 0; + connected = false; + + + // Initialise Usb host. + USBInit(); + + timer.attach_us(&attime, 1000); +} + +/** + * Sets the ADB event handler function. This function will be called by the ADB layer + * when interesting events occur, such as ADB connect/disconnect, connection open/close, and + * connection writes from the ADB device. + * + * @param handler event handler function. + */ +void ADB::setEventHandler(adb_eventHandler * handler) +{ + eventHandler = handler; +} + +/** + * Fires an ADB event. + * @param connection ADB connection. May be NULL in case of global connect/disconnect events. + * @param type event type. + * @param length payload length or zero if no payload. + * @param data payload data if relevant or NULL otherwise. + */ +void ADB::fireEvent(Connection * connection, adb_eventType type, uint16_t length, uint8_t * data) +{ + // Fire the global event handler, if set. + if (eventHandler!=NULL) + eventHandler(connection, type, length, data); + + // Fire the event handler of the connection in question, if relevant + if (connection!=NULL && connection->eventHandler!=NULL) + connection->eventHandler(connection, type, length, data); +} + +/** + * Adds a new ADB connection. The connection string is per ADB specs, for example "tcp:1234" opens a + * connection to tcp port 1234, and "shell:ls" outputs a listing of the phone root filesystem. Connections + * can be made persistent by setting reconnect to true. Persistent connections will be automatically + * reconnected when the USB cable is re-plugged in. Non-persistent connections will connect only once, + * and should never be used after they are closed. + * + * The connection string is copied into the Connection record and may not exceed ADB_CONNECTIONSTRING_LENGTH-1 + * characters. + * + * @param connectionString ADB connectionstring. I.e. "tcp:1234" or "shell:ls". + * @param reconnect true for automatic reconnect (persistent connections). + * @param handler event handler. + * @return an ADB connection record or NULL on failure (not enough slots or connection string too long). + */ +Connection * ADB::addConnection(const char * connectionString, boolean reconnect, adb_eventHandler * handler) +{ + + // Allocate a new ADB connection object + Connection * connection = (Connection*)malloc(sizeof(Connection)); + if (connection == NULL) return NULL; + + // Allocate memory for the connection string + connection->connectionString = (char*)strdup(connectionString); + if (connection->connectionString==NULL) + { + // Free the connection object and return null + free(connection); + return NULL; + } + + // Initialise the newly created object. + connection->localID = connectionLocalId ++; + connection->status = ADB_CLOSED; + connection->lastConnectionAttempt = 0; + connection->reconnect = reconnect; + connection->eventHandler = handler; + + // Add the connection to the linked list. Note that it's easier to just insert + // at position 0 because you don't have to traverse the list :) + connection->next = firstConnection; + firstConnection = connection; + + // Unable to find an empty spot, all connection slots in use. + return connection; +} + +/** + * Prints an ADB_message, for debugging purposes. + * @param message ADB message to print. + */ +#ifdef DEBUG +static void adb_printMessage(adb_message * message) +{ + switch(message->command) + { + case A_OKAY: + printf("OKAY message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + case A_CLSE: + printf("CLSE message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + case A_WRTE: + printf("WRTE message [%lx] %ld %ld, %ld bytes\r\n", message->command, message->arg0, message->arg1, message->data_length); + break; + case A_CNXN: + printf("CNXN message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + case A_SYNC: + printf("SYNC message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + case A_OPEN: + printf("OPEN message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + default: + printf("WTF message [%lx] %ld %ld\r\n", message->command, message->arg0, message->arg1); + break; + } +} +#endif + +/** + * Writes an empty message (without payload) to the ADB device. + * + * @param device USB device handle. + * @param command ADB command. + * @param arg0 first ADB argument (command dependent). + * @param arg0 second ADB argument (command dependent). + * @return error code or 0 for success. + */ +int ADB::writeEmptyMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1) +{ + adb_message message; + + message.command = command; + message.arg0 = arg0; + message.arg1 = arg1; + message.data_length = 0; + message.data_check = 0; + message.magic = command ^ 0xffffffff; + +#ifdef DEBUG + printf("OUT << "); adb_printMessage(&message); +#endif + + int r = USBBulkTransfer( device , output_ep , (uint8_t*)&message , sizeof(adb_message) ); + +#ifdef DEBUG + log("[writeMessage1] size:%d\r\n",r); + + int ii,jj; + uint8_t* buf = (uint8_t*)&message; + for(ii = 0 ; ii < r ; ii+=16) + { + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log(" : "); + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%c%c",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log("\r\n"); + if((ii+jj) > r) break; + } +#endif + + return r; +} + +/** + * Writes an ADB message with payload to the ADB device. + * + * @param device USB device handle. + * @param command ADB command. + * @param arg0 first ADB argument (command dependent). + * @param arg0 second ADB argument (command dependent). + * @param length payload length. + * @param data command payload. + * @return error code or 0 for success. + */ +int ADB::writeMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, uint32_t length, uint8_t * data) +{ + adb_message message; + uint8_t msg[256]; + uint32_t count, sum = 0; + uint8_t * x; + + // Calculate data checksum + count = length; + x = data; + while(count-- > 0) sum += *x++; + + // Fill out the message record. + message.command = command; + message.arg0 = arg0; + message.arg1 = arg1; + message.data_length = length; + message.data_check = (sum); + message.magic = command ^ 0xffffffff; + +#ifdef DEBUG + printf("OUT << "); adb_printMessage(&message); +#endif + + int r = USBBulkTransfer( device , output_ep , (uint8_t*)&message , sizeof(adb_message) ); + + if (r<0) return r; + +#ifdef DEBUG + log("[writeMessage1] size:%d\r\n",r); + + int ii,jj; + uint8_t* buf = (uint8_t*)&message; + for(ii = 0 ; ii < r ; ii+=16) + { + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log(" : "); + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%c%c",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log("\r\n"); + if((ii+jj) > r) break; + } +#endif + + memcpy( msg , data , length ); + + r = USBBulkTransfer( device , output_ep , msg , length ); + log("USB SEND RET2:%d\r\n",r); + + if (r<0) return r; + +#ifdef DEBUG + log("[writeMessage2] size:%d\r\n",r); + + buf = msg; + for(ii = 0 ; ii < r ; ii+=16) + { + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log(" : "); + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%c%c",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > r) break; + } + log("\r\n"); + if((ii+jj) > r) break; + } +#endif + + r = 0; + + return r; +} + +/** + * Writes an ADB command with a string as payload. + * + * @param device USB device handle. + * @param command ADB command. + * @param arg0 first ADB argument (command dependent). + * @param arg0 second ADB argument (command dependent). + * @param str payload string. + * @return error code or 0 for success. + */ +int ADB::writeStringMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, char * str) +{ + return ADB::writeMessage(device, command, arg0, arg1, strlen(str) + 1, (uint8_t*)str); +} + +/** + * Poll an ADB message. + * @param message on success, the ADB message will be returned in this struct. + * @param poll true to poll for a packet on the input endpoint, false to wait for a packet. Use false here when a packet is expected (i.e. OKAY in response to WRTE) + * @return true iff a packet was successfully received, false otherwise. + */ +boolean ADB::pollMessage(adb_message * message, boolean poll) +{ + int bytesRead = 0; + uint8_t buf[ADB_USB_PACKETSIZE]; + + // Poll a packet from the USB + bytesRead = recv_packet_buf.GetPacket((char*)buf); + + // Check if the USB in transfer was successful. + if (bytesRead<=0) return false; + + log("[pollMessage] byteRead size:%d\r\n",bytesRead); + + // Check if the buffer contains a valid message + memcpy((void*)message, (void*)buf, sizeof(adb_message)); + + // If the message is corrupt, return. +#if 1 + if (message->magic != (message->command ^ 0xffffffff)) + { +#ifdef DEBUG + printf("Broken message, magic mismatch, %d bytes\r\n", bytesRead); + return false; +#endif + } +#endif + // Check if the received number of bytes matches our expected 24 bytes of ADB message header. + if (bytesRead != sizeof(adb_message)) return false; + + return true; +} + +/** + * Sends an ADB OPEN message for any connections that are currently in the CLOSED state. + */ +void ADB::openClosedConnections() +{ + uint32_t timeSinceLastConnect; + Connection * connection; + + // Iterate over the connection list and send "OPEN" for the ones that are currently closed. + for (connection = firstConnection; connection!=NULL; connection = connection->next) + { + timeSinceLastConnect = millis() - connection->lastConnectionAttempt; + if (connection->status==ADB_CLOSED && timeSinceLastConnect>ADB_CONNECTION_RETRY_TIME) + { + // Issue open command. + ADB::writeStringMessage(_device, A_OPEN, connection->localID, 0, connection->connectionString); + + // Record the last attempt time + connection->lastConnectionAttempt = millis(); + connection->status = ADB_OPENING; + + } + } + +} + +/** + * Handles and ADB OKAY message, which represents a transition in the connection state machine. + * + * @param connection ADB connection + * @param message ADB message struct. + */ +void ADB::handleOkay(Connection * connection, adb_message * message) +{ + // Check if the OKAY message was a response to a CONNECT message. + if (connection->status==ADB_OPENING) + { + connection->status = ADB_OPEN; + connection->remoteID = message->arg0; + + ADB::fireEvent(connection, ADB_CONNECTION_OPEN, 0, NULL); + } + + // Check if the OKAY message was a response to a WRITE message. + if (connection->status == ADB_WRITING) + connection->status = ADB_OPEN; + +} + +/** + * Handles an ADB CLOSE message, and fires an ADB event accordingly. + * + * @param connection ADB connection + */ +void ADB::handleClose(Connection * connection) +{ + // Check if the CLOSE message was a response to a CONNECT message. + if (connection->status==ADB_OPENING) + ADB::fireEvent(connection, ADB_CONNECTION_FAILED, 0, NULL); + else + ADB::fireEvent(connection, ADB_CONNECTION_CLOSE, 0, NULL); + + // Connection failed + if (connection->reconnect) + connection->status = ADB_CLOSED; + else + connection->status = ADB_UNUSED; + +} + +/** + * Handles an ADB WRITE message. + * + * @param connection ADB connection + * @param message ADB message struct. + */ +void ADB::handleWrite(Connection * connection, adb_message * message) +{ + uint32_t bytesLeft = message->data_length; + uint8_t buf[ADB_USB_PACKETSIZE]; + ConnectionStatus previousStatus; + int bytesRead; + + previousStatus = connection->status; + + connection->status = ADB_RECEIVING; + connection->dataRead = 0; + connection->dataSize = message->data_length; + + while (bytesLeft>0) + { + int len = bytesLeft < ADB_USB_PACKETSIZE ? bytesLeft : ADB_USB_PACKETSIZE; + + // Read payload + bytesRead = recv_packet_buf.GetPacket((char*)buf); + + + // Poll the USB layer. + USBLoop(); + + log("[handleWrite] byteRead size:%d\r\n",bytesRead); + +// if (len != bytesRead) +// printf("bytes read mismatch: %d expected, %d read, %ld left\r\n", len, bytesRead, bytesLeft); + + // Break out of the read loop if there's no data to read :( + if (bytesRead==-1) break; + else if(bytesRead!=0) + { + connection->dataRead += len; + ADB::fireEvent(connection, ADB_CONNECTION_RECEIVE, len, buf); + + bytesLeft -= bytesRead; + } + } + + // Send OKAY message in reply. + bytesRead = ADB::writeEmptyMessage(_device, A_OKAY, message->arg1, message->arg0); + + connection->status = previousStatus; + +} + +/** + * Close all ADB connections. + * + * @param connection ADB connection + * @param message ADB message struct. + */ +void ADB::closeAll() +{ + Connection * connection; + + // Iterate over all connections and close the ones that are currently open. + for (connection = firstConnection; connection != NULL; connection = connection->next) + if (!(connection->status==ADB_UNUSED || connection->status==ADB_CLOSED)) + ADB::handleClose(connection); + +} + +/** + * Handles an ADB connect message. This is a response to a connect message sent from our side. + * @param message ADB message. + */ +void ADB::handleConnect(adb_message * message) +{ + unsigned int bytesRead; + uint8_t buf[MAX_BUF_SIZE]; + uint16_t len; + + // Read payload (remote ADB device ID) + len = message->data_length < MAX_BUF_SIZE ? message->data_length : MAX_BUF_SIZE; + bytesRead = recv_packet_buf.GetPacket((char*)buf); + + log("[handleConnect] byteRead size:%d\r\n",bytesRead); + + // Signal that we are now connected to an Android device (yay!) + connected = true; + + // Fire event. + ADB::fireEvent(NULL, ADB_CONNECT, len, buf); + +} + +/** + * This method is called periodically to check for new messages on the USB bus and process them. + */ +void ADB::poll() +{ + Connection * connection; + adb_message message; + + // Poll the USB layer. + USBLoop(); + + // If no USB device, there's no work for us to be done, so just return. + if (_device==0) return; + + // If not connected, send a connection string to the device. + if (!connected) + { + ADB::writeStringMessage(_device, A_CNXN, 0x01000000, 4096, (char*)"host::microbridge"); + for(int ii=0;ii<400;ii++) + { + USBLoop(); + wait_ms(1); + } + //wait_ms(500); // Give the device some time to respond. + } + + // If we are connected, check if there are connections that need to be opened + if (connected) + ADB::openClosedConnections(); + + // Check for an incoming ADB message. + if (!ADB::pollMessage(&message, true)) + return; + + // Handle a response from the ADB device to our CONNECT message. + if (message.command == A_CNXN) + ADB::handleConnect(&message); + + // Handle messages for specific connections + for (connection = firstConnection; connection != NULL; connection = connection->next) + { + if(connection->status!=ADB_UNUSED && connection->localID==message.arg1) + { + switch(message.command) + { + case A_OKAY: + //printf("HANDLE OKEY\r\n"); + ADB::handleOkay(connection, &message); + break; + case A_CLSE: + printf("HANDLE CLOSE\r\n"); + ADB::handleClose(connection); + break; + case A_WRTE: + //printf("HANDLE WRITE\r\n"); + ADB::handleWrite(connection, &message); + break; + default: + break; + } + } + } + +} + +void ADB::AdbreadCallback(int device, int endpoint, int status, u8* buf, int len, void* userData) { + + recv_packet_buf.PutPacket((char*)buf,len); + +#ifdef DEBUG + log("[AdbreadCallback] size:%d\r\n",len); + + int ii,jj; + for(ii = 0 ; ii < len ; ii+=16) + { + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%02X%02X ",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > len) break; + } + log(" : "); + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%c%c",buf[ii+jj],buf[ii+jj+1]); + if((ii+jj) > len) break; + } + log("\r\n"); + if((ii+jj) > len) break; + } +#endif + USBBulkTransfer(device, endpoint ,readbuff,sizeof(readbuff), AdbreadCallback, userData); + // wait_ms(4); +} + +/** + * Checks whether the a connected USB device is an ADB device and populates a configuration record if it is. + * + * @param device USB device. + * @param handle pointer to a configuration record. The endpoint device address, configuration, and endpoint information will be stored here. + * @return true iff the device is an ADB device. + */ +boolean ADB::isAdbDevice(int device, int configuration, int interfaceNumber) +{ + boolean ret = false; + + log("connecting Android \r\n"); + + _device = device; + _configuration = configuration; + _interfaceNumber = interfaceNumber; + + log("device = %d configuration = %d interfaceNumber = %d\r\n", device, configuration, interfaceNumber); + + int err; + + u8 buffer[255]; + err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,4); + + if (err < 0) { + log("Failed to get descriptor\r\n"); + return(ret); + } + + int len = buffer[2] | (buffer[3] << 8); + if (len > sizeof(buffer)) { + log("config descriptor too large\r\n"); + /* might want to truncate here */ + return(ret); + } + err = GetDescriptor(_device,DESCRIPTOR_TYPE_CONFIGURATION,0,buffer,len); + u8* p = buffer; + input_ep=0; + output_ep=0; + EndpointDescriptor *epDesc; + + log("Descriptor size:%d\r\n",len); + int ii,jj; + for(ii = 0 ; ii < len ; ii+=16) + { + for(jj = 0 ; jj < 16 ; jj+=2 ) + { + log("%02X%02X ",buffer[ii+jj],buffer[ii+jj+1]); + if((ii+jj) > len) break; + } + log("\r\n"); + if((ii+jj) > len) break; + } + u8 interface_num = 0; + + while (p<(buffer+len)) { + u8 descLen = p[0]; + u8 descType = p[1]; + log("descLen=%d,descType=%d\r\n",descLen,descType); + switch (descType) { + case DESCRIPTOR_TYPE_CONFIGURATION: + log("config desc\r\n"); + break; + case DESCRIPTOR_TYPE_INTERFACE: + interface_num = p[2]; + log("interface desc num[%d]\r\n",interface_num); + break; + case DESCRIPTOR_TYPE_ENDPOINT: + epDesc=(EndpointDescriptor*)p; + if( interface_num == 1 ) + { + if (!input_ep && (epDesc->bEndpointAddress& 0x80)) { + input_ep=epDesc->bEndpointAddress& 0x7f; + //PacketSize drop + log("input Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); + + } else if (!output_ep) { + output_ep=epDesc->bEndpointAddress& 0x7f; + //PacketSize drop + log("output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",output_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); + } else { + //other + log("non input,output Endpoint address=%d,wMaxPacketSize=%d,bmAttributes=%d\r\n",input_ep,epDesc->wMaxPacketSize,epDesc->bmAttributes); + } + } + break; + default: + log("unkown desc type(%d) \r\n",descType); + } + p+=descLen; + } + + if (!(input_ep && output_ep)) { + log("can't find accessory endpoints\r\n"); + return(false); + } + + log("SetConfiguration\r\n"); + err = SetConfiguration(device,configuration); + if (err < 0) { + log("SetConfiguration error\r\n"); + return(false); + } + + log("interrupt setup\r\n"); + //interrupt setup + if (IO_PENDING!=USBBulkTransfer(_device,input_ep|0x80,readbuff,sizeof(readbuff),AdbreadCallback,NULL)) return(ret); + + log("ADB Standby\r\n"); + ret = true; + + return(ret); +} + + +void desconnect(void) +{ + ADB::closeAll(); + _device = 0; + connected = false; +} + +/** + * Write a set of bytes to an open ADB connection. + * + * @param connection ADB connection to write the data to. + * @param length number of bytes to transmit. + * @param data data to send. + * @return number of transmitted bytes, or -1 on failure. + */ +int ADB::write(Connection * connection, uint16_t length, uint8_t * data) +{ + int ret; + + // First check if we have a working ADB connection + if (_device==0 || !connected) return -1; + + // Check if the connection is open for writing. + if (connection->status != ADB_OPEN) return -2; + + // Write payload + ret = ADB::writeMessage(_device, A_WRTE, connection->localID, connection->remoteID, length, data); + if (ret==0) + connection->status = ADB_WRITING; + + return ret; +} + +/** + * Write a string to an open ADB connection. The trailing zero is not transmitted. + * + * @param connection ADB connection to write the data to. + * @param length number of bytes to transmit. + * @param data data to send. + * @return number of transmitted bytes, or -1 on failure. + */ +int ADB::writeString(Connection * connection, char * str) +{ + int ret; + + // First check if we have a working ADB connection + if (_device==0 || !connected) return -1; + + // Check if the connection is open for writing. + if (connection->status != ADB_OPEN) return -2; + + // Write payload + ret = ADB::writeStringMessage(_device, A_WRTE, connection->localID, connection->remoteID, str); + if (ret==0) + connection->status = ADB_WRITING; + + return ret; +} + +/** + * Write a set of bytes to this ADB connection. + * + * @param length number of bytes to transmit. + * @param data data to send. + * @return number of transmitted bytes, or -1 on failure. + */ +int Connection::write(uint16_t length, uint8_t * data) +{ + return ADB::write(this, length, data); +} + +/** + * Write a string to this connection. + * + * @param length number of bytes to transmit. + * @param data data to send. + * @return number of transmitted bytes, or -1 on failure. + */ +int Connection::writeString(char * str) +{ + return ADB::writeString(this, str); +} + +/** + * Checks if the connection is open for writing. + * @return true iff the connection is open and ready to accept write commands. + */ +bool Connection::isOpen() +{ + return this->status == ADB_OPEN; +} + + +/** from USBHost load function. initialize Android device**/ +void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc) { + char s[128]; + + log("LoadDevice %d %02X:%02X:%02X\r\n",device,interfaceDesc->bInterfaceClass,interfaceDesc->bInterfaceSubClass,interfaceDesc->bInterfaceProtocol); + + for (int i = 1; i < 4; i++) { + if (GetString(device,i,s,sizeof(s)) < 0) + break; + printf("%d: %s\r\n",i,s); + } + + // Adb? + if(1) + { + ADB::isAdbDevice(device,1,2); + } + +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/ADB/Adb.h Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,152 @@ +/* + Copyright 2011 Niels Brouwers + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License.#include <string.h> +*/ + +/* Changed by Junichi Katsu */ + +#ifndef __adb_h__ +#define __adb_h__ + +#include "mbed.h" +#include "USBHost.h" +#include "PacketBuffer.h" + +typedef bool boolean; +typedef unsigned char uint8_t; +typedef unsigned short uint16_t; +typedef unsigned int uint32_t; + + +#define MAX_PAYLOAD 4096; + +#define A_SYNC 0x434e5953 +#define A_CNXN 0x4e584e43 +#define A_OPEN 0x4e45504f +#define A_OKAY 0x59414b4f +#define A_CLSE 0x45534c43 +#define A_WRTE 0x45545257 + +#define ADB_CLASS 0xff +#define ADB_SUBCLASS 0x42 +#define ADB_PROTOCOL 0x1 + +#define ADB_USB_PACKETSIZE 0x40 +#define ADB_CONNECTION_RETRY_TIME 1000 + +typedef struct +{ + uint8_t address; + uint8_t configuration; + uint8_t interface; + uint8_t inputEndPointAddress; + uint8_t outputEndPointAddress; +} adb_usbConfiguration; + +typedef struct +{ + // Command identifier constant + uint32_t command; + + // First argument + uint32_t arg0; + + // Second argument + uint32_t arg1; + + // Payload length (0 is allowed) + uint32_t data_length; + + // Checksum of data payload + uint32_t data_check; + + // Command ^ 0xffffffff + uint32_t magic; + +} adb_message; + +typedef enum +{ + ADB_UNUSED = 0, + ADB_CLOSED, + ADB_OPEN, + ADB_OPENING, + ADB_RECEIVING, + ADB_WRITING +} ConnectionStatus; + +typedef enum +{ + ADB_CONNECT = 0, + ADB_DISCONNECT, + ADB_CONNECTION_OPEN, + ADB_CONNECTION_CLOSE, + ADB_CONNECTION_FAILED, + ADB_CONNECTION_RECEIVE +} adb_eventType; + +class Connection; + +// Event handler +typedef void(adb_eventHandler)(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data); + +class Connection +{ +private: +public: + char * connectionString; + uint32_t localID, remoteID; + uint32_t lastConnectionAttempt; + uint16_t dataSize, dataRead; + ConnectionStatus status; + boolean reconnect; + adb_eventHandler * eventHandler; + Connection * next; + + int write(uint16_t length, uint8_t * data); + int writeString(char * str); + bool isOpen(); +}; + +class ADB +{ + +private: + static void fireEvent(Connection * connection, adb_eventType type, uint16_t length, uint8_t * data); + static int writeEmptyMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1); + static int writeMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, uint32_t length, uint8_t * data); + static int writeStringMessage(int device, uint32_t command, uint32_t arg0, uint32_t arg1, char * str); + static boolean pollMessage(adb_message * message, boolean poll); + static void openClosedConnections(); + static void handleOkay(Connection * connection, adb_message * message); + static void handleClose(Connection * connection); + static void handleWrite(Connection * connection, adb_message * message); + static void handleConnect(adb_message * message); + static void AdbreadCallback(int device, int endpoint, int status, uint8_t* buf, int len, void* userData); + +public: + static void init(); + static void poll(); + + static void setEventHandler(adb_eventHandler * handler); + virtual void setupDevice()=0; + static Connection * addConnection(const char * connectionString, boolean reconnect, adb_eventHandler * eventHandler); + static int write(Connection * connection, uint16_t length, uint8_t * data); + static int writeString(Connection * connection, char * str); + + static boolean isAdbDevice(int device, int configuration, int interfaceNumber); + static void closeAll(); +}; + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/PacketBuffer/PacketBuffer.cpp Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,84 @@ + +/** @file PacketBuffer.cpp + * @brief Ring Buffer + */ + +#include "PacketBuffer.h" + + +PacketBuffer::PacketBuffer(int num,int packet_size) +{ + max_num = num; + max_size = packet_size; + + p_buf = new PacketBufInf[num]; + + for(int i = 0 ; i < num ; i++) + { + p_buf[i].buf = new char[packet_size]; + p_buf[i].size = 0; + } + addr_w = 0; + addr_r = 0; +} + +PacketBuffer::~PacketBuffer() +{ + + for(int i = 0 ; i < max_num ; i++) + { + delete [] p_buf[i].buf; + } + delete [] p_buf; +} + +int PacketBuffer::PutPacket(char *packet, int len) +{ + int next; + + if(max_size < len) return(-1); + + next = (addr_w + 1) % max_num; + + if( next == addr_r ) return(0); + + memcpy( p_buf[addr_w].buf , packet , len ); + + p_buf[addr_w].size = len; + + addr_w = next; + + return(len); +} + +int PacketBuffer::GetPacket(char *packet) +{ + int len; + + if( addr_w == addr_r ) return(0); + + len = p_buf[addr_r].size; + + memcpy( packet , p_buf[addr_r].buf , len ); + + addr_r = (addr_r + 1) % max_num; + + return len; +} + +int PacketBuffer::available () { + if (addr_w < addr_r) { + return addr_r - addr_w - 1; + } else { + return (max_num - addr_w) + addr_r - 1; + } +} + +int PacketBuffer::use () { + return max_num - available() - 1; +} + +void PacketBuffer::clear () { + addr_w = 0; + addr_r = 0; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/PacketBuffer/PacketBuffer.h Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,49 @@ + + +/** @file PacketBuffer.h + * @brief Packet Buffer + */ + +#ifndef PacketBuffer_H +#define PacketBuffer_H + +#include "mbed.h" + +typedef struct +{ + char *buf; + int size; +} PacketBufInf; + +class PacketBuffer { +public: + /** init Stack class + * @param num buffering packet num + * @param packet_size size of packet(max size) + */ + PacketBuffer(int num,int packet_size); + ~PacketBuffer(); + + /** put to Packet buffer + * @param packet packet data + * @param len packet length + * @return put length + */ + int PutPacket(char *packet, int len); + + /** get from ring buffer + * @param packet packet data + * @return get length + */ + int GetPacket(char *packet); + + void clear(); + int available(); + int use(); + +private: + PacketBufInf *p_buf; + int max_num,max_size; + int addr_w, addr_r; +}; +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/USBHost/USBHost.cpp Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,1097 @@ + +/* +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" +#ifndef USBHOST_LOG + +#define DESC_INDEX 0 + +// 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 0 +#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() + { + 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) + { + LOG("Sorting Callbacks %i\r\n\r",endpoint->CurrentState); + _callbacksPending--; + endpoint->CurrentState = Endpoint::Idle; + LOG("SatusChanged %i\r\n\r",endpoint->CurrentState); + LOG("CallBack DataSize:%d",endpoint->Length); + 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; + } + } + + // 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\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\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\r\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) + { + //LOG("Transfer %02X T:%d Len:%d S:%d\r\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\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next); + //LOG("%04X ED %08X %08X %08X\r\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd); + + switch (endpoint->Flags & 3) + { + case ENDPOINT_CONTROL: + LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle + 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: + LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED); + endpoint->CurrentState = state; + LPC_USB->HcCommandStatus = LPC_USB->HcCommandStatus | BulkListFilled; + LPC_USB->HcControl = LPC_USB->HcControl | BulkListEnable; + break; + + case ENDPOINT_INTERRUPT: + CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]); + endpoint->CurrentState = state; + LPC_USB->HcControl |= PeriodicListEnable; + break; + } + 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) + { + 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\r\n",ep,endpoint->TDHead.Control); + + if (status != 0) + { + LOG("ProcessDoneQueue status %02X %d\r\r\n",ep,status); + endpoint->CurrentState = Endpoint::Idle; + } else { + switch (endpoint->CurrentState) + { + case Endpoint::SetupQueued: + if (endpoint->Length == 0) + Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Skip Data Phase + else + 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) + Transfer(endpoint,in ? TOKEN_OUT : TOKEN_IN,0,0,Endpoint::StatusQueued); // Data is done, now Status, Control only + else + endpoint->CurrentState = Endpoint::Idle; + break; + + case Endpoint::StatusQueued: // Transaction is done + endpoint->CurrentState = Endpoint::Idle; + break; + } + } + + // Complete, flag if we need a callback + if (endpoint->Callback && endpoint->CurrentState == Endpoint::Idle) + { + endpoint->CurrentState = Endpoint::CallbackPending; + _callbacksPending++; + } + } + } + + // 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\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\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("\r\nClass %02X found %04X:%04X\r\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); + r = SetConfigurationAndInterface(device,1,1,&desc); + //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,DESC_INDEX,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\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\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\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\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\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\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 +{ + u32 int_status = LPC_USB->HcInterruptStatus; + + if(int_status & UnrecoverableError) //Error + { + LOG("USB_IRQHandler UnrecoverableError Please reset\r\r\n"); + } + + + if (int_status & RootHubStatusChange) // Root hub status change + _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; + } + LPC_USB->HcInterruptStatus = int_status; + + if (head) + _controller.ProcessDoneQueue(head); // TODO - low bit can be set BUGBUG +} + +//==================================================================================== +//==================================================================================== +// 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("Waiting\r\n\r"); + if (endpoint->CurrentState == Endpoint::NotQueued) + return 0; + while (endpoint->CurrentState != Endpoint::Idle) + //LOG("Loopz"); + USBLoop(); // May generate callbacks, mount or unmount devices etc + int status = endpoint->Status(); + if (status == 0) + return endpoint->Length; + LOG("DATA SENT\r\n\r"); + return -status; +} + +int USBTransfer(int device, int ep, u8 flags, u8* data, int length, USBCallback callback, void* userData) +{ + Endpoint* endpoint = _controller.GetEndpoint(device,ep); + if (!endpoint) + return ERR_ENDPOINT_NOT_FOUND; + + WaitIODone(endpoint); + LOG("before ep=%x,callback=%p\r\r\n",endpoint,endpoint->Callback); + endpoint->Flags = flags; + endpoint->Data = data; + endpoint->Length = length; + endpoint->Callback = callback; + endpoint->UserData = userData; + LOG("ep=%x,callback=%p\r\r\n",ep,callback); + if (ep == 0) + _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued); + else + _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued); + if (callback) + return IO_PENDING; + 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; + 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/USBHost/USBHost.h Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,221 @@ + +/* +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. +*/ + + +#ifndef USBHOST_H +#define USBHOST_H + +//log mode on off +//#define USBHOST_LOG +#include "Adb.h" + +#ifndef u8 +typedef unsigned char u8; +typedef unsigned short u16; +typedef unsigned long u32; + +typedef char s8; +typedef short s16; +typedef char s32; +#endif + +#define ENDPOINT_CONTROL 0 +#define ENDPOINT_ISOCRONOUS 1 +#define ENDPOINT_BULK 2 +#define ENDPOINT_INTERRUPT 3 + +#define DESCRIPTOR_TYPE_DEVICE 1 +#define DESCRIPTOR_TYPE_CONFIGURATION 2 +#define DESCRIPTOR_TYPE_STRING 3 +#define DESCRIPTOR_TYPE_INTERFACE 4 +#define DESCRIPTOR_TYPE_ENDPOINT 5 + +#define DESCRIPTOR_TYPE_HID 0x21 +#define DESCRIPTOR_TYPE_REPORT 0x22 +#define DESCRIPTOR_TYPE_PHYSICAL 0x23 +#define DESCRIPTOR_TYPE_HUB 0x29 + +enum USB_CLASS_CODE +{ + CLASS_DEVICE, + CLASS_AUDIO, + CLASS_COMM_AND_CDC_CONTROL, + CLASS_HID, + CLASS_PHYSICAL = 0x05, + CLASS_STILL_IMAGING, + CLASS_PRINTER, + CLASS_MASS_STORAGE, + CLASS_HUB, + CLASS_CDC_DATA, + CLASS_SMART_CARD, + CLASS_CONTENT_SECURITY = 0x0D, + CLASS_VIDEO = 0x0E, + CLASS_DIAGNOSTIC_DEVICE = 0xDC, + CLASS_WIRELESS_CONTROLLER = 0xE0, + CLASS_MISCELLANEOUS = 0xEF, + CLASS_APP_SPECIFIC = 0xFE, + CLASS_VENDOR_SPECIFIC = 0xFF +}; + +#define DEVICE_TO_HOST 0x80 +#define HOST_TO_DEVICE 0x00 +#define REQUEST_TYPE_STANDARD 0x00 +#define REQUEST_TYPE_CLASS 0x20 +#define REQUEST_TYPE_VENDOR 0x40 +#define RECIPIENT_DEVICE 0x00 +#define RECIPIENT_INTERFACE 0x01 +#define RECIPIENT_ENDPOINT 0x02 +#define RECIPIENT_OTHER 0x03 + +#define GET_STATUS 0 +#define CLEAR_FEATURE 1 +#define SET_FEATURE 3 +#define SET_ADDRESS 5 +#define GET_DESCRIPTOR 6 +#define SET_DESCRIPTOR 7 +#define GET_CONFIGURATION 8 +#define SET_CONFIGURATION 9 +#define GET_INTERFACE 10 +#define SET_INTERFACE 11 +#define SYNCH_FRAME 11 + +/* HID Request Codes */ +#define HID_REQUEST_GET_REPORT 0x01 +#define HID_REQUEST_GET_IDLE 0x02 +#define HID_REQUEST_GET_PROTOCOL 0x03 +#define HID_REQUEST_SET_REPORT 0x09 +#define HID_REQUEST_SET_IDLE 0x0A +#define HID_REQUEST_SET_PROTOCOL 0x0B + +/* HID Report Types */ +#define HID_REPORT_INPUT 0x01 +#define HID_REPORT_OUTPUT 0x02 +#define HID_REPORT_FEATURE 0x03 + + +// -5 is nak +/* +0010 ACK Handshake +1010 NAK Handshake +1110 STALL Handshake +0110 NYET (No Response Yet) +*/ + +#define IO_PENDING -100 +#define ERR_ENDPOINT_NONE_LEFT -101 +#define ERR_ENDPOINT_NOT_FOUND -102 +#define ERR_DEVICE_NOT_FOUND -103 +#define ERR_DEVICE_NONE_LEFT -104 +#define ERR_HUB_INIT_FAILED -105 +#define ERR_INTERFACE_NOT_FOUND -106 + +typedef struct +{ + u8 bLength; + u8 bDescriptorType; + u16 bcdUSB; + u8 bDeviceClass; + u8 bDeviceSubClass; + u8 bDeviceProtocol; + u8 bMaxPacketSize; + u16 idVendor; + u16 idProduct; + u16 bcdDevice; // version + u8 iManufacturer; + u8 iProduct; + u8 iSerialNumber; + u8 bNumConfigurations; +} DeviceDescriptor; // 16 bytes + +typedef struct +{ + u8 bLength; + u8 bDescriptorType; + u16 wTotalLength; + u8 bNumInterfaces; + u8 bConfigurationValue; // Value to use as an argument to select this configuration + u8 iConfiguration; // Index of String Descriptor describing this configuration + u8 bmAttributes; // Bitmap D7 Reserved, set to 1. (USB 1.0 Bus Powered),D6 Self Powered,D5 Remote Wakeup,D4..0 = 0 + u8 bMaxPower; // Maximum Power Consumption in 2mA units +} ConfigurationDescriptor; + +typedef struct +{ + u8 bLength; + u8 bDescriptorType; + u8 bInterfaceNumber; + u8 bAlternateSetting; + u8 bNumEndpoints; + u8 bInterfaceClass; + u8 bInterfaceSubClass; + u8 bInterfaceProtocol; + u8 iInterface; // Index of String Descriptor Describing this interface +} InterfaceDescriptor; + +typedef struct +{ + u8 bLength; + u8 bDescriptorType; + u8 bEndpointAddress; // Bits 0:3 endpoint, Bits 7 Direction 0 = Out, 1 = In (Ignored for Control Endpoints) + u8 bmAttributes; // Bits 0:1 00 = Control, 01 = Isochronous, 10 = Bulk, 11 = Interrupt + u16 wMaxPacketSize; + u8 bInterval; // Interval for polling endpoint data transfers. +} EndpointDescriptor; + +typedef struct { + u8 bLength; + u8 bDescriptorType; + u16 bcdHID; + u8 bCountryCode; + u8 bNumDescriptors; + u8 bDescriptorType2; + u16 wDescriptorLength; +} HIDDescriptor; + +//============================================================================ +//============================================================================ + + +void USBInit(); +void USBLoop(); +u8* USBGetBuffer(u32* len); + +// Optional callback for transfers, called at interrupt time +typedef void (*USBCallback)(int device, int endpoint, int status, u8* data, int len, void* userData); + +// Transfers +int USBControlTransfer(int device, int request_type, int request, int value, int index, u8* data, int length, USBCallback callback = 0, void* userData = 0); +int USBInterruptTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0); +int USBBulkTransfer(int device, int ep, u8* data, int length, USBCallback callback = 0, void* userData = 0); + +// Standard Device methods +int GetDescriptor(int device, int descType, int descIndex, u8* data, int length); +int GetString(int device, int index, char* dst, int length); +int SetAddress(int device, int new_addr); +int SetConfiguration(int device, int configNum); +int SetInterface(int device, int ifNum, int altNum); + +// Implemented to notify app of the arrival of a device +void OnLoadDevice(int device, DeviceDescriptor* deviceDesc, InterfaceDescriptor* interfaceDesc); + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/USBHost/USBHost_log.cpp Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,1175 @@ + +/* +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\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\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\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\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\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\r\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\r\n"); + LOG("Transfer ep=%02X Token:%d Len:%d State:%d\r\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\r\n",CommunicationArea.FrameNumber,td->Control,td->CurrBufPtr,td->BufEnd,td->Next); + //LOG("%04X ED %08X %08X %08X\r\r\n",CommunicationArea.FrameNumber,ed->Control,ed->HeadTd,ed->TailTd); + + //LOG("Transfer run01\r\r\n"); + switch (endpoint->Flags & 3) + { + case ENDPOINT_CONTROL: + LOG("Transfer run ENDPOINT_CONTROL\r\r\n"); + LPC_USB->HcControlHeadED = endpoint->Enqueue(LPC_USB->HcControlHeadED); // May change state NotQueued->Idle + //LOG("Transfer run02\r\r\n"); + LOG("endpoint->CurrentState change %d->%d\r\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\r\n"); + LPC_USB->HcBulkHeadED = endpoint->Enqueue(LPC_USB->HcBulkHeadED); + LOG("endpoint->CurrentState change %d->%d\r\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\r\n"); + CommunicationArea.InterruptTable[0] = endpoint->Enqueue(CommunicationArea.InterruptTable[0]); + LOG("endpoint->CurrentState change %d->%d\r\r\n",endpoint->CurrentState,state); + endpoint->CurrentState = state; + LPC_USB->HcControl |= PeriodicListEnable; + break; + } + + LOG("Transfer end\r\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\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\r\n",ep,endpoint->TDHead.Control); + + if (status != 0) + { + LOG("ProcessDoneQueue status %02X %d\r\r\n",ep,status); + LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\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\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\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\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\r\n",endpoint->CurrentState); + endpoint->CurrentState = Endpoint::Idle; + LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\r\n",endpoint->Address(),endpoint->CurrentState); + } + break; + + case Endpoint::StatusQueued: // Transaction is done + LOG("CurrentState Change Idle endpoint(%d) currentState =%d\r\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\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\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\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("\r\nClass %02X found %04X:%04X\r\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\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\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\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\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\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\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\r\n"); + u32 int_status = LPC_USB->HcInterruptStatus; + LOG("USB_IRQHandler int_status=%0x\r\r\n",int_status); + + if(int_status & UnrecoverableError) //Error + { + LOG("USB_IRQHandler UnrecoverableError Please reset\r\r\n"); + } + + if(int_status & MasterInterruptEnable) + { + LOG("USB_IRQHandler MasterInterruptEnable\r\r\n"); + } + + if(int_status &OwnershipChange) + { + LOG("USB_IRQHandler OwnershipChange\r\r\n"); + } + + if(int_status &FrameNumberOverflow) + { + LOG("USB_IRQHandler FrameNumberOverflow\r\r\n"); + } + if(int_status&ResumeDetected) + { + LOG("USB_IRQHandler ResumeDetected\r\r\n"); + } + if(int_status&StartofFrame) + { + LOG("USB_IRQHandler StartofFrame\r\r\n"); + } + + + if (int_status & RootHubStatusChange) // Root hub status change + { + LOG("USB_IRQHandler _rootHubStatusChange %0x->%0x \r\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\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\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\r\n"); + if (endpoint->CurrentState == Endpoint::NotQueued) + return 0; + while (endpoint->CurrentState != Endpoint::Idle) + { + LOG("WaitIODone goto USBloop endpoint->CurrentState =%d \r\r\n",endpoint->CurrentState); + USBLoop(); // May generate callbacks, mount or unmount devices etc + } + int status = endpoint->Status(); + + LOG("WaitIODone end\r\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\r\n"); + Endpoint* endpoint = _controller.GetEndpoint(device,ep); + if (!endpoint) + { + LOG("USBTRANSFER error Endpoint not found!!\r\r\n"); + return ERR_ENDPOINT_NOT_FOUND; + } + + //LOG("USBTRANSFER run01\r\r\n"); + WaitIODone(endpoint); + endpoint->Flags = flags; + endpoint->Data = data; + endpoint->Length = length; + endpoint->Callback = callback; + endpoint->UserData = userData; + //LOG("USBTRANSFER run02\r\r\n"); + if (ep == 0) + { + LOG("USBTRANSFER ep == 0(Setup) ------------------------------\r\r\n"); + _controller.Transfer(endpoint,TOKEN_SETUP,(u8*)GetSetup(device),8,Endpoint::SetupQueued); + } + else + { + LOG("USBTRANSFER ep != 0\r\r\n"); + _controller.Transfer(endpoint,flags & 0x80 ? TOKEN_IN : TOKEN_OUT,data,length,Endpoint::DataQueued); + } + if (callback) + { + LOG("USBTRANSFER end io_pending\r\r\n"); + return IO_PENDING; + } + LOG("USBTRANSFER end wait io done \r\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\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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/android.cpp Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,121 @@ +#include "androidADB.h" + +void Tokenize(const string& str, + vector<string>& tokens, + const string& delimiters /*= " "*/) +{ + // Skip delimiters at beginning. + string::size_type lastPos = str.find_first_not_of(delimiters, 0); + // Find first "non-delimiter". + string::size_type pos = str.find_first_of(delimiters, lastPos); + + while (string::npos != pos || string::npos != lastPos) { + // Found a token, add it to the vector. + tokens.push_back(str.substr(lastPos, pos - lastPos)); + // Skip delimiters. Note the "not_of" + lastPos = str.find_first_not_of(delimiters, pos); + // Find next "non-delimiter" + pos = str.find_first_of(delimiters, lastPos); + } +} + +void adbEventHandler(Connection * connection, adb_eventType event, uint16_t length, uint8_t * data) +{ + + if (event == ADB_CONNECTION_OPEN) { + androidConnected = true; + //pc.printf("Android Connected\n"); + } else if (event == ADB_CONNECTION_CLOSE) { + androidConnected = false; + //pc.printf("Android Disonnected\n"); + } + + if (event == ADB_CONNECTION_RECEIVE) { + parseMessage(length, data); + + } +} + +void parseMessage(uint16_t length, uint8_t * data) +{ + //received = "[ADB RECV]"; printf("[ADB RECV]:%d %d\r\n",data[0],data[1]); + + char str[32]; + + // convert buffer (unsigned char) to char + sprintf( str, "%s", data); + + // new vector of strings + vector<string> tokens; + + // tokenize the string with the semicolon separator + Tokenize(str, tokens, ";"); + copy(tokens.begin(), tokens.end(), ostream_iterator<string>(cout, ", ")); + + if(tokens.size() > 2) { + + //string to float + androidx = ::atof(tokens.at(0).c_str()); + androidy = ::atof(tokens.at(1).c_str()); + androidtheta = ::atof(tokens.at(2).c_str()); + + /*pc.printf("Android x(%d): %f\n\r\n",length,androidx); + pc.printf("Android y(%d): %f\n\r\n",length,androidy); + pc.printf("Android t(%d): %f\n\r\n",length,androidt);*/ + } else { + /*pc.printf("Android sayys(%d): %s\n\r\n",length,str);*/ + } + +} + +void connect() +{ + ADB::poll(); + //pc.printf("connecting..."); + char c = 'c'; + connection->write(sizeof(c), (unsigned char*)&c); + //wait(0.5); +} + +/*int main() +{ + + pc.baud(460800); + + pc.printf("********************* MicroBridge 4568 ********************************\n\r"); + + // Initialise the ADB subsystem. + ADB::init(); + + // Open an ADB stream on tcp port 4568. Auto-reconnect + connection = ADB::addConnection("tcp:4568", true, adbEventHandler); + + // Connecting to android + while(!(androidConnected)) { + connect(); + wait(0.5); + } + + pc.printf("connection isOpen\n"); + + float flt = 0.0; + float flt2 = 0.2; + float flt3 = 1.2; + + while(1) { + + ADB::poll(); + + flt = flt - 0.1; + flt2 = flt2 + 0.2; + flt3 = flt3 - 0.05; + + char str[32]; + sprintf( str, "%f;%f;%f;", flt, flt2, flt3); + + pc.printf("Sending: %s\n\r",str); + connection->write(sizeof(str),(unsigned char*)&str); + wait(1); + + } +}*/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MicroBridge/androidADB.h Fri May 03 06:30:46 2013 +0000 @@ -0,0 +1,47 @@ +//#ifndef _ANDROIDADB_H_ +//#define _ANDROIDADB_H_ + +//#include "mbed.h" +#include "Adb.h" +//#include "define.h" + +#include <string> +#include <sstream> +#include <vector> +#include <iostream> +#include <stdlib.h> + +Connection * connection; + +//Serial pc(USBTX, USBRX); + + +/** @brief Desired position in meters for x-coordinate, given by android */ +float androidx; + +/** @brief Desired position in meters for y-coordinate, given by android */ +float androidy; + +/** @brief Desired position in degrees for theta, given by android */ +float androidtheta; + +/** @brief Indicates if a ADB connection to a android phone is established */ +boolean androidConnected = false; + +/** + * @brief Takes an string, a vector of strings for the delimited tokens, and a with the + * @param str + * @param tokens + * @param delimiters + */ +void Tokenize(const string& str, + vector<string>& tokens, + const string& delimiters = " "); + + void parseMessage(uint16_t length, uint8_t * data); + +void connect(); + +void init(); + +//#endif \ No newline at end of file
--- a/defines.h Fri Apr 26 06:36:57 2013 +0000 +++ b/defines.h Fri May 03 06:30:46 2013 +0000 @@ -198,22 +198,6 @@ /*! @} */ /** - * @name Android Buffer Size for communication - * @{ - */ - -/** - * @brief Buffer Output - */ -#define OUTL 100 - -/** - * @brief Buffer Input - */ -#define INBL 100 -/*! @} */ - -/** * @brief struct state * structure containing system sensor data */
--- a/main.cpp Fri Apr 26 06:36:57 2013 +0000 +++ b/main.cpp Fri May 03 06:30:46 2013 +0000 @@ -24,7 +24,7 @@ * * The connection to an android smartphone is realise with the library AndroidAccessory from Rich Bayliss. * For more information see here: <a href="https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/">https://mbed.org/users/richbayliss/code/AndroidAccessory/docs/tip/</a> - * + * * The rest of the classes are only based on standard library from mbed. * For more information see here: <a href="http://mbed.org/users/mbed_official/code/mbed/">http://mbed.org/users/mbed_official/code/mbed/</a> */ @@ -36,7 +36,8 @@ #include "defines.h" #include "State.h" #include "RobotControl.h" -//#include "android.h" + +#include "androidADB.h" /** * @name Hallsensor @@ -141,95 +142,35 @@ //robotControl.setAllToZero(0, 0, PI/2 ); robotControl.setAllToZero(START_X_OFFSET, START_Y_OFFSET, PI/2 ); robotControl.start(); - /* - pc.baud(460800); - pc.printf("Welcome to adkTerm\n\n\n\n\n\n\r"); - pc.printf("here we go... \n"); - adkTerm.setupDevice(); - pc.printf("Android Development Kit: start\r\n"); - USBInit(); - - //wait(3); - - adkTerm.start(); - */ - - // Epä Parkour fahrä - - robotControl.setDesiredPositionAndAngle(START_X_OFFSET, START_Y_OFFSET, PI/2); - wait(0.1); + init(); - robotControl.setDesiredPositionAndAngle(-1.50f, 1.50f, 3*PI/4); - while(!(robotControl.getDistanceError() <= 0.9)) { - state.savePlotFile(s); - }; - - robotControl.setDesiredPositionAndAngle(-1.20f, 2.1f, PI/4); - while(!(robotControl.getDistanceError() <= 0.7)) { - state.savePlotFile(s); - }; + //pc.printf("connection isOpen\n"); - robotControl.setDesiredPositionAndAngle(-0.5f, 3.0f, PI/2); //0.75 - while(!(robotControl.getDistanceError() <= 0.7)) { - state.savePlotFile(s); - }; + while(1) { - robotControl.setDesiredPositionAndAngle(-1.0f, 3.75f, 3*PI/4); - while(!(robotControl.getDistanceError() <= 0.55)) { - state.savePlotFile(s); - }; - + ADB::poll(); - robotControl.setDesiredPositionAndAngle(-1.5f, 3.6f, PI); - while(!(robotControl.getDistanceError() <= 0.05)) { - state.savePlotFile(s); - }; + //robotControl.setDesiredPositionAndAngle(androidx, androidy, androidt); + robotControl.setDesiredPositionAndAngle(androidx, 1.4, 1.3); - robotControl.setDesiredPositionAndAngle(-2.6f, 3.0f, -PI/2); - while(!(robotControl.getDistanceError() <= 1.0)) { - state.savePlotFile(s); - }; - - robotControl.setDesiredPositionAndAngle(-2.0f, 2.0f, -PI/2); - while(!(robotControl.getDistanceError() <= 1.0)) { - state.savePlotFile(s); - }; + char str[32]; - robotControl.setDesiredPositionAndAngle(-2.65f, 1.30f, -PI/2); - while(!(robotControl.getDistanceError() <= 0.4)) { - state.savePlotFile(s); - }; - robotControl.setDesiredPositionAndAngle(-2.65f, 0.80f, -PI/2); - while(!(s.millis >= 32000)) { - state.savePlotFile(s); - } + // to mbed + sprintf( str, "%f;%f;%f;", robotControl.getxActualPosition(), robotControl.getyActualPosition(), robotControl.getDesiredTheta()); + //pc.printf("Sending: %s\n\r",str); + connection->write(sizeof(str),(unsigned char*)&str); - - /* - while (1) { - USBLoop(); - - robotControl.setDesiredPositionAndAngle(adkTerm.getDesiredX(), adkTerm.getDesiredY(), adkTerm.getDesiredTheta()); - - //pc.printf("."); + wait(1); - /*pc.printf("From Android x: %f y: %f t: %f",adkTerm.getDesiredX(), adkTerm.getDesiredY(),adkTerm.getDesiredTheta()); - - - pc.printf( "To Android: x: %f y: %f t: %f; \n \n", robotControl.getxActualPosition(), - robotControl.getyActualPosition(), - robotControl.getActualTheta()); - }*/ - - + } /** - * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm - */ + * Close the File PLOTS.txt to read the file after with the computer and draw a diagramm + */ state.savePlotFile(s); state.closePlotFile(); state.stop(); robotControl.setEnable(false); - + }