/* USB EHCI Host for Teensy 3.6 * Copyright 2017 Paul Stoffregen (paul@pjrc.com) * * 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 USB_HOST_TEENSY36_ #define USB_HOST_TEENSY36_ #include #if !defined(__MK66FX1M0__) #error "USBHost_t36 only works with Teensy 3.6. Please select it in Tools > Boards" #endif // Dear inquisitive reader, USB is a complex protocol defined with // very specific terminology. To have any chance of understand this // source code, you absolutely must have solid knowledge of specific // USB terms such as host, device, endpoint, pipe, enumeration.... // You really must also have at least a basic knowledge of the // different USB transfers: control, bulk, interrupt, isochronous. // // The USB 2.0 specification explains these in chapter 4 (pages 15 // to 24), and provides more detail in the first part of chapter 5 // (pages 25 to 55). The USB spec is published for free at // www.usb.org. Here is a convenient link to just the main PDF: // // https://www.pjrc.com/teensy/beta/usb20.pdf // // This is a huge file, but chapter 4 is short and easy to read. // If you're not familiar with the USB lingo, please do yourself // a favor by reading at least chapter 4 to get up to speed on the // meaning of these important USB concepts and terminology. // // If you wish to ask questions (which belong on the forum, not // github issues) or discuss development of this library, you // ABSOLUTELY MUST know the basic USB terminology from chapter 4. // Please repect other people's valuable time & effort by making // your best effort to read chapter 4 before asking USB questions! //#define USBHOST_PRINT_DEBUG /************************************************/ /* Data Types */ /************************************************/ // These 6 types are the key to understanding how this USB Host // library really works. // USBHost is a static class controlling the hardware. // All common USB functionality is implemented here. class USBHost; // These 3 structures represent the actual USB entities // USBHost manipulates. One Device_t is created for // each active USB device. One Pipe_t is create for // each endpoint. Transfer_t structures are created // when any data transfer is added to the EHCI work // queues, and then returned to the free pool after the // data transfer completes and the driver has processed // the results. typedef struct Device_struct Device_t; typedef struct Pipe_struct Pipe_t; typedef struct Transfer_struct Transfer_t; // All USB device drivers inherit use these classes. // Drivers build user-visible functionality on top // of these classes, which receive USB events from // USBHost. class USBDriver; class USBDriverTimer; /************************************************/ /* Added Defines */ /************************************************/ #define KEYD_UP 0xDA #define KEYD_DOWN 0xD9 #define KEYD_LEFT 0xD8 #define KEYD_RIGHT 0xD7 #define KEYD_INSERT 0xD1 #define KEYD_DELETE 0xD4 #define KEYD_PAGE_UP 0xD3 #define KEYD_PAGE_DOWN 0xD6 #define KEYD_HOME 0xD2 #define KEYD_END 0xD5 #define KEYD_F1 0xC2 #define KEYD_F2 0xC3 #define KEYD_F3 0xC4 #define KEYD_F4 0xC5 #define KEYD_F5 0xC6 #define KEYD_F6 0xC7 #define KEYD_F7 0xC8 #define KEYD_F8 0xC9 #define KEYD_F9 0xCA #define KEYD_F10 0xCB #define KEYD_F11 0xCC #define KEYD_F12 0xCD /************************************************/ /* Data Structure Definitions */ /************************************************/ // setup_t holds the 8 byte USB SETUP packet data. // These unions & structs allow convenient access to // the setup fields. typedef union { struct { union { struct { uint8_t bmRequestType; uint8_t bRequest; }; uint16_t wRequestAndType; }; uint16_t wValue; uint16_t wIndex; uint16_t wLength; }; struct { uint32_t word1; uint32_t word2; }; } setup_t; typedef struct { enum {STRING_BUF_SIZE=50}; enum {STR_ID_MAN=0, STR_ID_PROD, STR_ID_SERIAL, STR_ID_CNT}; uint8_t iStrings[STR_ID_CNT]; // Index into array for the three indexes uint8_t buffer[STRING_BUF_SIZE]; } strbuf_t; #define DEVICE_STRUCT_STRING_BUF_SIZE 50 // Device_t holds all the information about a USB device struct Device_struct { Pipe_t *control_pipe; Pipe_t *data_pipes; Device_t *next; USBDriver *drivers; strbuf_t *strbuf; uint8_t speed; // 0=12, 1=1.5, 2=480 Mbit/sec uint8_t address; uint8_t hub_address; uint8_t hub_port; uint8_t enum_state; uint8_t bDeviceClass; uint8_t bDeviceSubClass; uint8_t bDeviceProtocol; uint8_t bmAttributes; uint8_t bMaxPower; uint16_t idVendor; uint16_t idProduct; uint16_t LanguageID; }; // Pipe_t holes all information about each USB endpoint/pipe // The first half is an EHCI QH structure for the pipe. struct Pipe_struct { // Queue Head (QH), EHCI page 46-50 struct { // must be aligned to 32 byte boundary volatile uint32_t horizontal_link; volatile uint32_t capabilities[2]; volatile uint32_t current; volatile uint32_t next; volatile uint32_t alt_next; volatile uint32_t token; volatile uint32_t buffer[5]; } qh; Device_t *device; uint8_t type; // 0=control, 1=isochronous, 2=bulk, 3=interrupt uint8_t direction; // 0=out, 1=in (changes for control, others fixed) uint8_t start_mask; uint8_t complete_mask; Pipe_t *next; void (*callback_function)(const Transfer_t *); uint16_t periodic_interval; uint16_t periodic_offset; uint32_t unused1; uint32_t unused2; uint32_t unused3; uint32_t unused4; uint32_t unused5; uint32_t unused6; uint32_t unused7; }; // Transfer_t represents a single transaction on the USB bus. // The first portion is an EHCI qTD structure. Transfer_t are // allocated as-needed from a memory pool, loaded with pointers // to the actual data buffers, linked into a followup list, // and placed on ECHI Queue Heads. When the ECHI interrupt // occurs, the followup lists are used to find the Transfer_t // in memory. Callbacks are made, and then the Transfer_t are // returned to the memory pool. struct Transfer_struct { // Queue Element Transfer Descriptor (qTD), EHCI pg 40-45 struct { // must be aligned to 32 byte boundary volatile uint32_t next; volatile uint32_t alt_next; volatile uint32_t token; volatile uint32_t buffer[5]; } qtd; // Linked list of queued, not-yet-completed transfers Transfer_t *next_followup; Transfer_t *prev_followup; Pipe_t *pipe; // Data to be used by callback function. When a group // of Transfer_t are created, these fields and the // interrupt-on-complete bit in the qTD token are only // set in the last Transfer_t of the list. void *buffer; uint32_t length; setup_t setup; USBDriver *driver; }; /************************************************/ /* Main USB EHCI Controller */ /************************************************/ class USBHost { public: static void begin(); static void Task(); protected: static Pipe_t * new_Pipe(Device_t *dev, uint32_t type, uint32_t endpoint, uint32_t direction, uint32_t maxlen, uint32_t interval=0); static bool queue_Control_Transfer(Device_t *dev, setup_t *setup, void *buf, USBDriver *driver); static bool queue_Data_Transfer(Pipe_t *pipe, void *buffer, uint32_t len, USBDriver *driver); static Device_t * new_Device(uint32_t speed, uint32_t hub_addr, uint32_t hub_port); static void disconnect_Device(Device_t *dev); static void enumeration(const Transfer_t *transfer); static void driver_ready_for_device(USBDriver *driver); static void contribute_Devices(Device_t *devices, uint32_t num); static void contribute_Pipes(Pipe_t *pipes, uint32_t num); static void contribute_Transfers(Transfer_t *transfers, uint32_t num); static void contribute_String_Buffers(strbuf_t *strbuf, uint32_t num); static volatile bool enumeration_busy; private: static void isr(); static void convertStringDescriptorToASCIIString(uint8_t string_index, Device_t *dev, const Transfer_t *transfer); static void claim_drivers(Device_t *dev); static uint32_t assign_address(void); static bool queue_Transfer(Pipe_t *pipe, Transfer_t *transfer); static void init_Device_Pipe_Transfer_memory(void); static Device_t * allocate_Device(void); static void delete_Pipe(Pipe_t *pipe); static void free_Device(Device_t *q); static Pipe_t * allocate_Pipe(void); static void free_Pipe(Pipe_t *q); static Transfer_t * allocate_Transfer(void); static void free_Transfer(Transfer_t *q); static strbuf_t * allocate_string_buffer(void); static void free_string_buffer(strbuf_t *strbuf); static bool allocate_interrupt_pipe_bandwidth(Pipe_t *pipe, uint32_t maxlen, uint32_t interval); static void add_qh_to_periodic_schedule(Pipe_t *pipe); static bool followup_Transfer(Transfer_t *transfer); static void followup_Error(void); protected: #ifdef USBHOST_PRINT_DEBUG static void print_(const Transfer_t *transfer); static void print_(const Transfer_t *first, const Transfer_t *last); static void print_token(uint32_t token); static void print_(const Pipe_t *pipe); static void print_driverlist(const char *name, const USBDriver *driver); static void print_qh_list(const Pipe_t *list); static void print_hexbytes(const void *ptr, uint32_t len); static void print_(const char *s) { Serial.print(s); } static void print_(int n) { Serial.print(n); } static void print_(unsigned int n) { Serial.print(n); } static void print_(long n) { Serial.print(n); } static void print_(unsigned long n) { Serial.print(n); } static void println_(const char *s) { Serial.println(s); } static void println_(int n) { Serial.println(n); } static void println_(unsigned int n) { Serial.println(n); } static void println_(long n) { Serial.println(n); } static void println_(unsigned long n) { Serial.println(n); } static void println_() { Serial.println(); } static void print_(uint32_t n, uint8_t b) { Serial.print(n, b); } static void println_(uint32_t n, uint8_t b) { Serial.println(n, b); } static void print_(const char *s, int n, uint8_t b = DEC) { Serial.print(s); Serial.print(n, b); } static void print_(const char *s, unsigned int n, uint8_t b = DEC) { Serial.print(s); Serial.print(n, b); } static void print_(const char *s, long n, uint8_t b = DEC) { Serial.print(s); Serial.print(n, b); } static void print_(const char *s, unsigned long n, uint8_t b = DEC) { Serial.print(s); Serial.print(n, b); } static void println_(const char *s, int n, uint8_t b = DEC) { Serial.print(s); Serial.println(n, b); } static void println_(const char *s, unsigned int n, uint8_t b = DEC) { Serial.print(s); Serial.println(n, b); } static void println_(const char *s, long n, uint8_t b = DEC) { Serial.print(s); Serial.println(n, b); } static void println_(const char *s, unsigned long n, uint8_t b = DEC) { Serial.print(s); Serial.println(n, b); } friend class USBDriverTimer; // for access to print & println #else static void print_(const Transfer_t *transfer) {} static void print_(const Transfer_t *first, const Transfer_t *last) {} static void print_token(uint32_t token) {} static void print_(const Pipe_t *pipe) {} static void print_driverlist(const char *name, const USBDriver *driver) {} static void print_qh_list(const Pipe_t *list) {} static void print_hexbytes(const void *ptr, uint32_t len) {} static void print_(const char *s) {} static void print_(int n) {} static void print_(unsigned int n) {} static void print_(long n) {} static void print_(unsigned long n) {} static void println_(const char *s) {} static void println_(int n) {} static void println_(unsigned int n) {} static void println_(long n) {} static void println_(unsigned long n) {} static void println_() {} static void print_(uint32_t n, uint8_t b) {} static void println_(uint32_t n, uint8_t b) {} static void print_(const char *s, int n, uint8_t b = DEC) {} static void print_(const char *s, unsigned int n, uint8_t b = DEC) {} static void print_(const char *s, long n, uint8_t b = DEC) {} static void print_(const char *s, unsigned long n, uint8_t b = DEC) {} static void println_(const char *s, int n, uint8_t b = DEC) {} static void println_(const char *s, unsigned int n, uint8_t b = DEC) {} static void println_(const char *s, long n, uint8_t b = DEC) {} static void println_(const char *s, unsigned long n, uint8_t b = DEC) {} #endif static void mk_setup(setup_t &s, uint32_t bmRequestType, uint32_t bRequest, uint32_t wValue, uint32_t wIndex, uint32_t wLength) { s.word1 = bmRequestType | (bRequest << 8) | (wValue << 16); s.word2 = wIndex | (wLength << 16); } }; /************************************************/ /* USB Device Driver Common Base Class */ /************************************************/ // All USB device drivers inherit from this base class. class USBDriver : public USBHost { public: operator bool() { return (device != nullptr); } uint16_t idVendor() { return (device != nullptr) ? device->idVendor : 0; } uint16_t idProduct() { return (device != nullptr) ? device->idProduct : 0; } const uint8_t *manufacturer() { return ((device == nullptr) || (device->strbuf == nullptr)) ? nullptr : &device->strbuf->buffer[device->strbuf->iStrings[strbuf_t::STR_ID_MAN]]; } const uint8_t *product() { return ((device == nullptr) || (device->strbuf == nullptr)) ? nullptr : &device->strbuf->buffer[device->strbuf->iStrings[strbuf_t::STR_ID_PROD]]; } const uint8_t *serialNumber() { return ((device == nullptr) || (device->strbuf == nullptr)) ? nullptr : &device->strbuf->buffer[device->strbuf->iStrings[strbuf_t::STR_ID_SERIAL]]; } // TODO: user-level functions // check if device is bound/active/online // query vid, pid // query string: manufacturer, product, serial number protected: USBDriver() : next(NULL), device(NULL) {} // Check if a driver wishes to claim a device or interface or group // of interfaces within a device. When this function returns true, // the driver is considered bound or loaded for that device. When // new devices are detected, enumeration.cpp calls this function on // all unbound driver objects, to give them an opportunity to bind // to the new device. // device has its vid&pid, class/subclass fields initialized // type is 0 for device level, 1 for interface level, 2 for IAD // descriptors points to the specific descriptor data virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); // When an unknown (not chapter 9) control transfer completes, this // function is called for all drivers bound to the device. Return // true means this driver originated this control transfer, so no // more drivers need to be offered an opportunity to process it. // This function is optional, only needed if the driver uses control // transfers and wishes to be notified when they complete. virtual void control(const Transfer_t *transfer) { } // When any of the USBDriverTimer objects a driver creates generates // a timer event, this function is called. virtual void timer_event(USBDriverTimer *whichTimer) { } // When the user calls USBHost::Task, this Task function for all // active drivers is called, so they may update state and/or call // any attached user callback functions. virtual void Task() { } // When a device disconnects from the USB, this function is called. // The driver must free all resources it allocated and update any // internal state necessary to deal with the possibility of user // code continuing to call its API. However, pipes and transfers // are the handled by lower layers, so device drivers do not free // pipes they created or cancel transfers they had in progress. virtual void disconnect(); // Drivers are managed by this single-linked list. All inactive // (not bound to any device) drivers are linked from // available_drivers in enumeration.cpp. When bound to a device, // drivers are linked from that Device_t drivers list. USBDriver *next; // The device this object instance is bound to. In words, this // is the specific device this driver is using. When not bound // to any device, this must be NULL. Drivers may set this to // any non-NULL value if they are in a state where they do not // wish to claim any device or interface (eg, if getting data // from the HID parser). Device_t *device; friend class USBHost; }; // Device drivers may create these timer objects to schedule a timer call class USBDriverTimer { public: USBDriverTimer() { } USBDriverTimer(USBDriver *d) : driver(d) { } void init(USBDriver *d) { driver = d; }; void start(uint32_t microseconds); void stop(); void *pointer; uint32_t integer; uint32_t started_micros; // testing only private: USBDriver *driver; uint32_t usec; USBDriverTimer *next; USBDriverTimer *prev; friend class USBHost; }; // Device drivers may inherit from this base class, if they wish to receive // HID input data fully decoded by the USBHIDParser driver class USBHIDInput { public: operator bool() { return (mydevice != nullptr); } uint16_t idVendor() { return (mydevice != nullptr) ? mydevice->idVendor : 0; } uint16_t idProduct() { return (mydevice != nullptr) ? mydevice->idProduct : 0; } const uint8_t *manufacturer() { return ((mydevice == nullptr) || (mydevice->strbuf == nullptr)) ? nullptr : &mydevice->strbuf->buffer[mydevice->strbuf->iStrings[strbuf_t::STR_ID_MAN]]; } const uint8_t *product() { return ((mydevice == nullptr) || (mydevice->strbuf == nullptr)) ? nullptr : &mydevice->strbuf->buffer[mydevice->strbuf->iStrings[strbuf_t::STR_ID_PROD]]; } const uint8_t *serialNumber() { return ((mydevice == nullptr) || (mydevice->strbuf == nullptr)) ? nullptr : &mydevice->strbuf->buffer[mydevice->strbuf->iStrings[strbuf_t::STR_ID_SERIAL]]; } private: virtual bool claim_collection(Device_t *dev, uint32_t topusage); virtual void hid_input_begin(uint32_t topusage, uint32_t type, int lgmin, int lgmax); virtual void hid_input_data(uint32_t usage, int32_t value); virtual void hid_input_end(); virtual void disconnect_collection(Device_t *dev); void add_to_list(); USBHIDInput *next; friend class USBHIDParser; protected: Device_t *mydevice = NULL; }; /************************************************/ /* USB Device Drivers */ /************************************************/ class USBHub : public USBDriver { public: USBHub(USBHost &host) : debouncetimer(this), resettimer(this) { init(); } USBHub(USBHost *host) : debouncetimer(this), resettimer(this) { init(); } // Hubs with more more than 7 ports are built from two tiers of hubs // using 4 or 7 port hub chips. While the USB spec seems to allow // hubs to have up to 255 ports, in practice all hub chips on the // market are only 2, 3, 4 or 7 ports. enum { MAXPORTS = 7 }; typedef uint8_t portbitmask_t; enum { PORT_OFF = 0, PORT_DISCONNECT = 1, PORT_DEBOUNCE1 = 2, PORT_DEBOUNCE2 = 3, PORT_DEBOUNCE3 = 4, PORT_DEBOUNCE4 = 5, PORT_DEBOUNCE5 = 6, PORT_RESET = 7, PORT_RECOVERY = 8, PORT_ACTIVE = 9 }; protected: virtual bool claim(Device_t *dev, int type, const uint8_t *descriptors, uint32_t len); virtual void control(const Transfer_t *transfer); virtual void timer_event(USBDriverTimer *whichTimer); virtual void disconnect(); void init(); bool can_send_control_now(); void send_poweron(uint32_t port); void send_getstatus(uint32_t port); void send_clearstatus_connect(uint32_t port); void send_clearstatus_enable(uint32_t port); void send_clearstatus_suspend(uint32_t port); void send_clearstatus_overcurrent(uint32_t port); void send_clearstatus_reset(uint32_t port); void send_setreset(uint32_t port); static void callback(const Transfer_t *transfer); void status_change(const Transfer_t *transfer); void new_port_status(uint32_t port, uint32_t status); void start_debounce_timer(uint32_t port); void stop_debounce_timer(uint32_t port); private: Device_t mydevices[MAXPORTS]; Pipe_t mypipes[2] __attribute__ ((aligned(32))); Transfer_t mytransfers[4] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; USBDriverTimer debouncetimer; USBDriverTimer resettimer; setup_t setup; Pipe_t *changepipe; Device_t *devicelist[MAXPORTS]; uint32_t changebits; uint32_t statusbits; uint8_t hub_desc[16]; uint8_t endpoint; uint8_t interval; uint8_t numports; uint8_t characteristics; uint8_t powertime; uint8_t sending_control_transfer; uint8_t port_doing_reset; uint8_t port_doing_reset_speed; uint8_t portstate[MAXPORTS]; portbitmask_t send_pending_poweron; portbitmask_t send_pending_getstatus; portbitmask_t send_pending_clearstatus_connect; portbitmask_t send_pending_clearstatus_enable; portbitmask_t send_pending_clearstatus_suspend; portbitmask_t send_pending_clearstatus_overcurrent; portbitmask_t send_pending_clearstatus_reset; portbitmask_t send_pending_setreset; portbitmask_t debounce_in_use; static volatile bool reset_busy; }; //-------------------------------------------------------------------------- class USBHIDParser : public USBDriver { public: USBHIDParser(USBHost &host) { init(); } static void driver_ready_for_hid_collection(USBHIDInput *driver); protected: enum { TOPUSAGE_LIST_LEN = 4 }; enum { USAGE_LIST_LEN = 24 }; virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); virtual void control(const Transfer_t *transfer); virtual void disconnect(); static void in_callback(const Transfer_t *transfer); static void out_callback(const Transfer_t *transfer); void in_data(const Transfer_t *transfer); void out_data(const Transfer_t *transfer); bool check_if_using_report_id(); void parse(); USBHIDInput * find_driver(uint32_t topusage); void parse(uint16_t type_and_report_id, const uint8_t *data, uint32_t len); void init(); private: Pipe_t *in_pipe; Pipe_t *out_pipe; static USBHIDInput *available_hid_drivers_list; //uint32_t topusage_list[TOPUSAGE_LIST_LEN]; USBHIDInput *topusage_drivers[TOPUSAGE_LIST_LEN]; uint16_t in_size; uint16_t out_size; setup_t setup; uint8_t descriptor[512]; uint8_t report[64]; uint16_t descsize; bool use_report_id; Pipe_t mypipes[3] __attribute__ ((aligned(32))); Transfer_t mytransfers[4] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; }; //-------------------------------------------------------------------------- class KeyboardController : public USBDriver /* , public USBHIDInput */ { public: typedef union { struct { uint8_t numLock : 1; uint8_t capsLock : 1; uint8_t scrollLock : 1; uint8_t compose : 1; uint8_t kana : 1; uint8_t reserved : 3; }; uint8_t byte; } KBDLeds_t; public: KeyboardController(USBHost &host) { init(); } KeyboardController(USBHost *host) { init(); } int available(); int read(); uint16_t getKey() { return keyCode; } uint8_t getModifiers() { return modifiers; } uint8_t getOemKey() { return keyOEM; } void attachPress(void (*f)(int unicode)) { keyPressedFunction = f; } void attachRelease(void (*f)(int unicode)) { keyReleasedFunction = f; } void LEDS(uint8_t leds); uint8_t LEDS() {return leds_.byte;} void updateLEDS(void); bool numLock() {return leds_.numLock;} bool capsLock() {return leds_.capsLock;} bool scrollLock() {return leds_.scrollLock;} void numLock(bool f); void capsLock(bool f); void scrollLock(bool f); protected: virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); virtual void control(const Transfer_t *transfer); virtual void disconnect(); static void callback(const Transfer_t *transfer); void new_data(const Transfer_t *transfer); void init(); private: void update(); uint16_t convert_to_unicode(uint32_t mod, uint32_t key); void key_press(uint32_t mod, uint32_t key); void key_release(uint32_t mod, uint32_t key); void (*keyPressedFunction)(int unicode); void (*keyReleasedFunction)(int unicode); Pipe_t *datapipe; setup_t setup; uint8_t report[8]; uint16_t keyCode; uint8_t modifiers; uint8_t keyOEM; uint8_t prev_report[8]; KBDLeds_t leds_ = {0}; bool update_leds_ = false; bool processing_new_data_ = false; Pipe_t mypipes[2] __attribute__ ((aligned(32))); Transfer_t mytransfers[4] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; }; //-------------------------------------------------------------------------- class KeyboardHIDExtrasController : public USBHIDInput { public: KeyboardHIDExtrasController(USBHost &host) { USBHIDParser::driver_ready_for_hid_collection(this); } void clear() { event_ = false;} bool available() { return event_; } void attachPress(void (*f)(uint32_t top, uint16_t code)) { keyPressedFunction = f; } void attachRelease(void (*f)(uint32_t top, uint16_t code)) { keyReleasedFunction = f; } enum {MAX_KEYS_DOWN=4}; // uint32_t buttons() { return buttons_; } protected: virtual bool claim_collection(Device_t *dev, uint32_t topusage); virtual void hid_input_begin(uint32_t topusage, uint32_t type, int lgmin, int lgmax); virtual void hid_input_data(uint32_t usage, int32_t value); virtual void hid_input_end(); virtual void disconnect_collection(Device_t *dev); private: void (*keyPressedFunction)(uint32_t top, uint16_t code); void (*keyReleasedFunction)(uint32_t top, uint16_t code); uint32_t topusage_ = 0; // What top report am I processing? uint8_t collections_claimed_ = 0; volatile bool event_ = false; volatile bool hid_input_begin_ = false; volatile bool hid_input_data_ = false; // did we receive any valid data with report? uint8_t count_keys_down_ = 0; uint16_t keys_down[MAX_KEYS_DOWN]; }; //-------------------------------------------------------------------------- class MouseController : public USBHIDInput { public: MouseController(USBHost &host) { USBHIDParser::driver_ready_for_hid_collection(this); } bool available() { return mouseEvent; } void mouseDataClear(); uint8_t getButtons() { return buttons; } int getMouseX() { return mouseX; } int getMouseY() { return mouseY; } int getWheel() { return wheel; } int getWheelH() { return wheelH; } protected: virtual bool claim_collection(Device_t *dev, uint32_t topusage); virtual void hid_input_begin(uint32_t topusage, uint32_t type, int lgmin, int lgmax); virtual void hid_input_data(uint32_t usage, int32_t value); virtual void hid_input_end(); virtual void disconnect_collection(Device_t *dev); private: uint8_t collections_claimed = 0; volatile bool mouseEvent = false; volatile bool hid_input_begin_ = false; uint8_t buttons = 0; int mouseX = 0; int mouseY = 0; int wheel = 0; int wheelH = 0; }; //-------------------------------------------------------------------------- class JoystickController : public USBHIDInput { public: JoystickController(USBHost &host) { USBHIDParser::driver_ready_for_hid_collection(this); } bool available() { return joystickEvent; } void joystickDataClear(); uint32_t getButtons() { return buttons; } int getAxis(uint32_t index) { return (index < (sizeof(axis)/sizeof(axis[0]))) ? axis[index] : 0; } protected: virtual bool claim_collection(Device_t *dev, uint32_t topusage); virtual void hid_input_begin(uint32_t topusage, uint32_t type, int lgmin, int lgmax); virtual void hid_input_data(uint32_t usage, int32_t value); virtual void hid_input_end(); virtual void disconnect_collection(Device_t *dev); private: uint8_t collections_claimed = 0; bool anychange = false; volatile bool joystickEvent = false; uint32_t buttons = 0; int16_t axis[10] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; }; //-------------------------------------------------------------------------- class MIDIDevice : public USBDriver { public: enum { SYSEX_MAX_LEN = 60 }; MIDIDevice(USBHost &host) { init(); } MIDIDevice(USBHost *host) { init(); } bool read(uint8_t channel=0, uint8_t cable=0); uint8_t getType(void) { return msg_type; }; uint8_t getChannel(void) { return msg_channel; }; uint8_t getData1(void) { return msg_data1; }; uint8_t getData2(void) { return msg_data2; }; void setHandleNoteOff(void (*f)(uint8_t channel, uint8_t note, uint8_t velocity)) { handleNoteOff = f; }; void setHandleNoteOn(void (*f)(uint8_t channel, uint8_t note, uint8_t velocity)) { handleNoteOn = f; }; void setHandleVelocityChange(void (*f)(uint8_t channel, uint8_t note, uint8_t velocity)) { handleVelocityChange = f; }; void setHandleControlChange(void (*f)(uint8_t channel, uint8_t control, uint8_t value)) { handleControlChange = f; }; void setHandleProgramChange(void (*f)(uint8_t channel, uint8_t program)) { handleProgramChange = f; }; void setHandleAfterTouch(void (*f)(uint8_t channel, uint8_t pressure)) { handleAfterTouch = f; }; void setHandlePitchChange(void (*f)(uint8_t channel, int pitch)) { handlePitchChange = f; }; void setHandleSysEx(void (*f)(const uint8_t *data, uint16_t length, bool complete)) { handleSysEx = (void (*)(const uint8_t *, uint16_t, uint8_t))f; } void setHandleRealTimeSystem(void (*f)(uint8_t realtimebyte)) { handleRealTimeSystem = f; }; void setHandleTimeCodeQuarterFrame(void (*f)(uint16_t data)) { handleTimeCodeQuarterFrame = f; }; void sendNoteOff(uint32_t note, uint32_t velocity, uint32_t channel) { write_packed(0x8008 | (((channel - 1) & 0x0F) << 8) | ((note & 0x7F) << 16) | ((velocity & 0x7F) << 24)); } void sendNoteOn(uint32_t note, uint32_t velocity, uint32_t channel) { write_packed(0x9009 | (((channel - 1) & 0x0F) << 8) | ((note & 0x7F) << 16) | ((velocity & 0x7F) << 24)); } void sendPolyPressure(uint32_t note, uint32_t pressure, uint32_t channel) { write_packed(0xA00A | (((channel - 1) & 0x0F) << 8) | ((note & 0x7F) << 16) | ((pressure & 0x7F) << 24)); } void sendControlChange(uint32_t control, uint32_t value, uint32_t channel) { write_packed(0xB00B | (((channel - 1) & 0x0F) << 8) | ((control & 0x7F) << 16) | ((value & 0x7F) << 24)); } void sendProgramChange(uint32_t program, uint32_t channel) { write_packed(0xC00C | (((channel - 1) & 0x0F) << 8) | ((program & 0x7F) << 16)); } void sendAfterTouch(uint32_t pressure, uint32_t channel) { write_packed(0xD00D | (((channel - 1) & 0x0F) << 8) | ((pressure & 0x7F) << 16)); } void sendPitchBend(uint32_t value, uint32_t channel) { write_packed(0xE00E | (((channel - 1) & 0x0F) << 8) | ((value & 0x7F) << 16) | ((value & 0x3F80) << 17)); } void sendSysEx(uint32_t length, const void *data); void sendRealTime(uint32_t type) { switch (type) { case 0xF8: // Clock case 0xFA: // Start case 0xFC: // Stop case 0xFB: // Continue case 0xFE: // ActiveSensing case 0xFF: // SystemReset write_packed((type << 8) | 0x0F); break; default: // Invalid Real Time marker break; } } void sendTimeCodeQuarterFrame(uint32_t type, uint32_t value) { uint32_t data = ( ((type & 0x07) << 4) | (value & 0x0F) ); sendTimeCodeQuarterFrame(data); } void sendTimeCodeQuarterFrame(uint32_t data) { write_packed(0xF108 | ((data & 0x7F) << 16)); } protected: virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); virtual void disconnect(); static void rx_callback(const Transfer_t *transfer); static void tx_callback(const Transfer_t *transfer); void rx_data(const Transfer_t *transfer); void tx_data(const Transfer_t *transfer); void init(); void write_packed(uint32_t data); void sysex_byte(uint8_t b); private: Pipe_t *rxpipe; Pipe_t *txpipe; enum { MAX_PACKET_SIZE = 64 }; enum { RX_QUEUE_SIZE = 80 }; // must be more than MAX_PACKET_SIZE/4 uint32_t rx_buffer[MAX_PACKET_SIZE/4]; uint32_t tx_buffer[MAX_PACKET_SIZE/4]; uint16_t rx_size; uint16_t tx_size; uint32_t rx_queue[RX_QUEUE_SIZE]; bool rx_packet_queued; uint16_t rx_head; uint16_t rx_tail; uint8_t rx_ep; uint8_t tx_ep; uint8_t msg_channel; uint8_t msg_type; uint8_t msg_data1; uint8_t msg_data2; uint8_t msg_sysex[SYSEX_MAX_LEN]; uint8_t msg_sysex_len; void (*handleNoteOff)(uint8_t ch, uint8_t note, uint8_t vel); void (*handleNoteOn)(uint8_t ch, uint8_t note, uint8_t vel); void (*handleVelocityChange)(uint8_t ch, uint8_t note, uint8_t vel); void (*handleControlChange)(uint8_t ch, uint8_t control, uint8_t value); void (*handleProgramChange)(uint8_t ch, uint8_t program); void (*handleAfterTouch)(uint8_t ch, uint8_t pressure); void (*handlePitchChange)(uint8_t ch, int pitch); void (*handleSysEx)(const uint8_t *data, uint16_t length, uint8_t complete); void (*handleRealTimeSystem)(uint8_t rtb); void (*handleTimeCodeQuarterFrame)(uint16_t data); Pipe_t mypipes[3] __attribute__ ((aligned(32))); Transfer_t mytransfers[7] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; }; //-------------------------------------------------------------------------- class USBSerial: public USBDriver, public Stream { public: // FIXME: need different USBSerial, with bigger buffers for 480 Mbit & faster speed enum { BUFFER_SIZE = 648 }; // must hold at least 6 max size packets, plus 2 extra bytes USBSerial(USBHost &host) : txtimer(this) { init(); } void begin(uint32_t baud, uint32_t format=0); void end(void); virtual int available(void); virtual int peek(void); virtual int read(void); virtual int availableForWrite(); virtual size_t write(uint8_t c); using Print::write; protected: virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); virtual void control(const Transfer_t *transfer); virtual void disconnect(); virtual void timer_event(USBDriverTimer *whichTimer); private: static void rx_callback(const Transfer_t *transfer); static void tx_callback(const Transfer_t *transfer); void rx_data(const Transfer_t *transfer); void tx_data(const Transfer_t *transfer); void rx_queue_packets(uint32_t head, uint32_t tail); void init(); static bool check_rxtx_ep(uint32_t &rxep, uint32_t &txep); bool init_buffers(uint32_t rsize, uint32_t tsize); private: Pipe_t mypipes[3] __attribute__ ((aligned(32))); Transfer_t mytransfers[7] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; USBDriverTimer txtimer; uint32_t bigbuffer[(BUFFER_SIZE+3)/4]; setup_t setup; uint8_t setupdata[8]; uint32_t baudrate; Pipe_t *rxpipe; Pipe_t *txpipe; uint8_t *rx1; // location for first incoming packet uint8_t *rx2; // location for second incoming packet uint8_t *rxbuf; // receive circular buffer uint8_t *tx1; // location for first outgoing packet uint8_t *tx2; // location for second outgoing packet uint8_t *txbuf; volatile uint16_t rxhead;// receive head volatile uint16_t rxtail;// receive tail volatile uint16_t txhead; volatile uint16_t txtail; uint16_t rxsize;// size of receive circular buffer uint16_t txsize;// size of transmit circular buffer volatile uint8_t rxstate;// bitmask: which receive packets are queued volatile uint8_t txstate; uint8_t pending_control; uint8_t interface; bool control_queued; enum { CDCACM, FTDI, PL2303, CH341 } sertype; }; //-------------------------------------------------------------------------- class AntPlus: public USBDriver { // Please post any AntPlus feedback or contributions on this forum thread: // https://forum.pjrc.com/threads/43110-Ant-libarary-and-USB-driver-for-Teensy-3-5-6 public: AntPlus(USBHost &host) : /* txtimer(this),*/ updatetimer(this) { init(); } void begin(const uint8_t key=0); void onStatusChange(void (*function)(int channel, int status)) { user_onStatusChange = function; } void onDeviceID(void (*function)(int channel, int devId, int devType, int transType)) { user_onDeviceID = function; } void onHeartRateMonitor(void (*f)(int bpm, int msec, int seqNum), uint32_t devid=0) { profileSetup_HRM(&ant.dcfg[PROFILE_HRM], devid); memset(&hrm, 0, sizeof(hrm)); user_onHeartRateMonitor = f; } void onSpeedCadence(void (*f)(float speed, float distance, float rpm), uint32_t devid=0) { profileSetup_SPDCAD(&ant.dcfg[PROFILE_SPDCAD], devid); memset(&spdcad, 0, sizeof(spdcad)); user_onSpeedCadence = f; } void onSpeed(void (*f)(float speed, float distance), uint32_t devid=0) { profileSetup_SPEED(&ant.dcfg[PROFILE_SPEED], devid); memset(&spd, 0, sizeof(spd)); user_onSpeed = f; } void onCadence(void (*f)(float rpm), uint32_t devid=0) { profileSetup_CADENCE(&ant.dcfg[PROFILE_CADENCE], devid); memset(&cad, 0, sizeof(cad)); user_onCadence = f; } void setWheelCircumference(float meters) { wheelCircumference = meters * 1000.0f; } protected: virtual void Task(); virtual bool claim(Device_t *device, int type, const uint8_t *descriptors, uint32_t len); virtual void disconnect(); virtual void timer_event(USBDriverTimer *whichTimer); private: static void rx_callback(const Transfer_t *transfer); static void tx_callback(const Transfer_t *transfer); void rx_data(const Transfer_t *transfer); void tx_data(const Transfer_t *transfer); void init(); size_t write(const void *data, const size_t size); int read(void *data, const size_t size); void transmit(); private: Pipe_t mypipes[2] __attribute__ ((aligned(32))); Transfer_t mytransfers[3] __attribute__ ((aligned(32))); strbuf_t mystring_bufs[1]; //USBDriverTimer txtimer; USBDriverTimer updatetimer; Pipe_t *rxpipe; Pipe_t *txpipe; bool first_update; uint8_t txbuffer[240]; uint8_t rxpacket[64]; volatile uint16_t txhead; volatile uint16_t txtail; volatile bool txready; volatile uint8_t rxlen; volatile bool do_polling; private: enum _eventi { EVENTI_MESSAGE = 0, EVENTI_CHANNEL, EVENTI_TOTAL }; enum _profiles { PROFILE_HRM = 0, PROFILE_SPDCAD, PROFILE_POWER, PROFILE_STRIDE, PROFILE_SPEED, PROFILE_CADENCE, PROFILE_TOTAL }; typedef struct { uint8_t channel; uint8_t RFFreq; uint8_t networkNumber; uint8_t stub; uint8_t searchTimeout; uint8_t channelType; uint8_t deviceType; uint8_t transType; uint16_t channelPeriod; uint16_t searchWaveform; uint32_t deviceNumber; // deviceId struct { uint8_t chanIdOnce; uint8_t keyAccepted; uint8_t profileValid; uint8_t channelStatus; uint8_t channelStatusOld; } flags; } TDCONFIG; struct { uint8_t initOnce; uint8_t key; // key index int iDevice; // index to the antplus we're interested in, if > one found TDCONFIG dcfg[PROFILE_TOTAL]; // channel config, we're using one channel per device } ant; void (*user_onStatusChange)(int channel, int status); void (*user_onDeviceID)(int channel, int devId, int devType, int transType); void (*user_onHeartRateMonitor)(int beatsPerMinute, int milliseconds, int sequenceNumber); void (*user_onSpeedCadence)(float speed, float distance, float cadence); void (*user_onSpeed)(float speed, float distance); void (*user_onCadence)(float cadence); void dispatchPayload(TDCONFIG *cfg, const uint8_t *payload, const int len); static const uint8_t *getAntKey(const uint8_t keyIdx); static uint8_t calcMsgChecksum (const uint8_t *buffer, const uint8_t len); static uint8_t * findStreamSync(uint8_t *stream, const size_t rlen, int *pos); static int msgCheckIntegrity(uint8_t *stream, const int len); static int msgGetLength(uint8_t *stream); int handleMessages(uint8_t *buffer, int tBytes); void sendMessageChannelStatus(TDCONFIG *cfg, const uint32_t channelStatus); void message_channel(const int chan, const int eventId, const uint8_t *payload, const size_t dataLength); void message_response(const int chan, const int msgId, const uint8_t *payload, const size_t dataLength); void message_event(const int channel, const int msgId, const uint8_t *payload, const size_t dataLength); int ResetSystem(); int RequestMessage(const int channel, const int message); int SetNetworkKey(const int netNumber, const uint8_t *key); int SetChannelSearchTimeout(const int channel, const int searchTimeout); int SetChannelPeriod(const int channel, const int period); int SetChannelRFFreq(const int channel, const int freq); int SetSearchWaveform(const int channel, const int wave); int OpenChannel(const int channel); int CloseChannel(const int channel); int AssignChannel(const int channel, const int channelType, const int network); int SetChannelId(const int channel, const int deviceNum, const int deviceType, const int transmissionType); int SendBurstTransferPacket(const int channelSeq, const uint8_t *data); int SendBurstTransfer(const int channel, const uint8_t *data, const int nunPackets); int SendBroadcastData(const int channel, const uint8_t *data); int SendAcknowledgedData(const int channel, const uint8_t *data); int SendExtAcknowledgedData(const int channel, const int devNum, const int devType, const int TranType, const uint8_t *data); int SendExtBroadcastData(const int channel, const int devNum, const int devType, const int TranType, const uint8_t *data); int SendExtBurstTransferPacket(const int chanSeq, const int devNum, const int devType, const int TranType, const uint8_t *data); int SendExtBurstTransfer(const int channel, const int devNum, const int devType, const int tranType, const uint8_t *data, const int nunPackets); static void profileSetup_HRM(TDCONFIG *cfg, const uint32_t deviceId); static void profileSetup_SPDCAD(TDCONFIG *cfg, const uint32_t deviceId); static void profileSetup_POWER(TDCONFIG *cfg, const uint32_t deviceId); static void profileSetup_STRIDE(TDCONFIG *cfg, const uint32_t deviceId); static void profileSetup_SPEED(TDCONFIG *cfg, const uint32_t deviceId); static void profileSetup_CADENCE(TDCONFIG *cfg, const uint32_t deviceId); struct { struct { uint8_t bpm; uint8_t sequence; uint16_t time; } previous; } hrm; void payload_HRM(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); struct { struct { uint16_t cadenceTime; uint16_t cadenceCt; uint16_t speedTime; uint16_t speedCt; } previous; float distance; } spdcad; void payload_SPDCAD(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); /* struct { struct { uint8_t sequence; uint16_t pedalPowerContribution; uint8_t pedalPower; uint8_t instantCadence; uint16_t sumPower; uint16_t instantPower; } current; struct { uint16_t stub; } previous; } pwr; */ void payload_POWER(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); /* struct { struct { uint16_t speed; uint16_t cadence; uint8_t strides; } current; struct { uint8_t strides; uint16_t speed; uint16_t cadence; } previous; } stride; */ void payload_STRIDE(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); struct { struct { uint16_t speedTime; uint16_t speedCt; } previous; float distance; } spd; void payload_SPEED(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); struct { struct { uint16_t cadenceTime; uint16_t cadenceCt; } previous; } cad; void payload_CADENCE(TDCONFIG *cfg, const uint8_t *data, const size_t dataLength); uint16_t wheelCircumference; // default is WHEEL_CIRCUMFERENCE (2122cm) }; #endif