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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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Diff: MicroBridge/USBHost/USBHost.cpp
- Revision:
- 17:f0a973f17917
--- /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