Added alt interface setting to panda firmware to support can read via bulk or int EP.
Jessy Diamond Exum
parent
28d2f04853
commit
cdd1b18374
104
board/usb.h
104
board/usb.h
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@ -128,29 +128,49 @@ uint8_t device_desc[] = {
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uint8_t configuration_desc[] = {
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DSCR_CONFIG_LEN, DSCR_CONFIG_TYPE, // Length, Type,
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0x27, 0x00, // Total Len (uint16)
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TOUSBORDER(0x0045), // Total Len (uint16)
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0x01, 0x01, 0x00, // Num Interface, Config Value, Configuration
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0xc0, 0x32, // Attributes, Max Power
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// interface 0
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// interface 0 ALT 0
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DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
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0x00, 0x00, 0x03, // Index, Alt Index idx, Endpoint count
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0xff, 0xFF, 0xFF, // Class, Subclass, Protocol
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0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
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0x00, // Interface
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x05, // Polling Interval (5 frames)
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval (NA)
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// interface 0 ALT 1
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DSCR_INTERFACE_LEN, DSCR_INTERFACE_TYPE, // Length, Type
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0x00, 0x01, 0x03, // Index, Alt Index idx, Endpoint count
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0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol
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0x00, // Interface
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// endpoint 1, read CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x05, // Polling Interval (5 frames)
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// endpoint 2, send serial
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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// endpoint 3, send CAN
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DSCR_ENDPOINT_LEN, DSCR_ENDPOINT_TYPE, // Length, Type
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ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type
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TOUSBORDER(0x0040), // Max Packet (0x0040)
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0x00, // Polling Interval
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};
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uint8_t string_0_desc[] = {
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@ -183,6 +203,9 @@ uint16_t string_3_desc[] = {
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USB_Setup_TypeDef setup;
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uint8_t usbdata[0x100];
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// Store the current interface alt setting.
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int current_int0_alt_setting = 0;
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// packet read and write
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void *USB_ReadPacket(void *dest, uint16_t len) {
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@ -201,11 +224,13 @@ void USB_WritePacket(const uint8_t *src, uint16_t len, uint32_t ep) {
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puts("writing ");
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hexdump(src, len);
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#endif
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uint8_t numpacket = (len+63)/64;
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uint32_t count32b = 0, i = 0;
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count32b = (len + 3) / 4;
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// bullshit
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USBx_INEP(ep)->DIEPTSIZ = (USB_OTG_DIEPTSIZ_PKTCNT & (1 << 19)) | (len & USB_OTG_DIEPTSIZ_XFRSIZ);
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USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) |
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(len & USB_OTG_DIEPTSIZ_XFRSIZ);
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USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA);
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// load the FIFO
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@ -374,6 +399,12 @@ void usb_setup() {
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USB_WritePacket((void*)&resp, 2, 0);
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USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
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break;
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case USB_REQ_SET_INTERFACE:
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// Store the alt setting number for IN EP behavior.
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current_int0_alt_setting = setup.b.wValue.w;
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USB_WritePacket(0, 0, 0);
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USBx_OUTEP(0)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK;
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break;
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default:
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resp_len = usb_cb_control_msg(&setup, resp, 1);
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USB_WritePacket(resp, min(resp_len, setup.b.wLength.w), 0);
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@ -644,21 +675,42 @@ void usb_irqhandler(void) {
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// Should likely check the EP of the IN request even if there is
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// only one IN endpoint.
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// May need to set NAK in OTG_DIEPCTL0 when nothing to send.
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// Appears USB core automatically sets NAK. WritePacket clear.
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// No need to set NAK in OTG_DIEPCTL0 when nothing to send,
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// Appears USB core automatically sets NAK. WritePacket clears it.
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// Check if there is anything to actually send.
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if (can_rx_q.w_ptr != can_rx_q.r_ptr) {
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// Handle the two interface alternate settings. Setting 0 is has
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// EP1 as bulk. Setting 1 has EP1 as interrupt. The code to handle
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// these two EP variations are very similar and can be
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// restructured for smaller code footprint. Keeping split out for
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// now for clarity.
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//TODO add default case. Should it NAK?
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switch(current_int0_alt_setting){
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case 0: ////// Bulk config
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// *** IN token received when TxFIFO is empty
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
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#ifdef DEBUG_USB
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puts(" IN PACKET QUEUE\n");
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#endif
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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}
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}
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break;
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case 1: ////// Interrupt config
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// Check if there is anything to actually send.
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if (can_rx_q.w_ptr != can_rx_q.r_ptr) {
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// *** IN token received when TxFIFO is empty
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if (USBx_INEP(1)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) {
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#ifdef DEBUG_USB
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puts(" IN PACKET QUEUE\n");
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#endif
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// TODO: always assuming max len, can we get the length?
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USB_WritePacket((void *)resp, usb_cb_ep1_in(resp, 0x40, 1), 1);
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}
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}
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break;
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}
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// clear interrupts
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USBx_INEP(0)->DIEPINT = USBx_INEP(0)->DIEPINT; // Why ep0?
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