/* 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. */ #include #include "USBHost_t36.h" // Read this header first for key info // All USB EHCI controller hardware access is done from this file's code. // Hardware services are made available to the rest of this library by // three structures: // // Pipe_t: Every USB endpoint is accessed by a pipe. new_Pipe() // sets up the EHCI to support the pipe/endpoint, and delete_Pipe() // removes this configuration. // // Transfer_t: These are used for all communication. Data transfers // are placed into work queues, to be executed by the EHCI in // the future. Transfer_t only manages data. The actual data // is stored in a separate buffer (usually from a device driver) // which is referenced from Transfer_t. All data transfer is queued, // never done with blocking functions that wait. When transfers // complete, a driver-supplied callback function is called to notify // the driver. // // USBDriverTimer: Some drivers require timers. These allow drivers // to share the hardware timer, with each USBDriverTimer object // able to schedule a callback function a configurable number of // microseconds in the future. // // In addition to these 3 services, the EHCI interrupt also responds // to changes on the main port, creating and deleting the root device. // See enumeration.cpp for all device-level code. // Size of the periodic list, in milliseconds. This determines the // slowest rate we can poll interrupt endpoints. Each entry uses // 12 bytes (4 for a pointer, 8 for bandwidth management). // Supported values: 8, 16, 32, 64, 128, 256, 512, 1024 #if defined(USBHS_PERIODIC_LIST_SIZE) #define PERIODIC_LIST_SIZE (USBHS_PERIODIC_LIST_SIZE) #else #define PERIODIC_LIST_SIZE 32 #endif // The EHCI periodic schedule, used for interrupt pipes/endpoints static uint32_t periodictable[PERIODIC_LIST_SIZE] __attribute__ ((aligned(4096), used)); static uint8_t uframe_bandwidth[PERIODIC_LIST_SIZE*8]; // State of the 1 and only physical USB host port on Teensy 3.6 static uint8_t port_state; #define PORT_STATE_DISCONNECTED 0 #define PORT_STATE_DEBOUNCE 1 #define PORT_STATE_RESET 2 #define PORT_STATE_RECOVERY 3 #define PORT_STATE_ACTIVE 4 // The device currently connected, or NULL when no device static Device_t *rootdev=NULL; // List of all queued transfers in the asychronous schedule (control & bulk). // When the EHCI completes these transfers, this list is how we locate them // in memory. static Transfer_t *async_followup_first=NULL; static Transfer_t *async_followup_last=NULL; // List of all queued transfers in the asychronous schedule (interrupt endpoints) // When the EHCI completes these transfers, this list is how we locate them // in memory. static Transfer_t *periodic_followup_first=NULL; static Transfer_t *periodic_followup_last=NULL; // List of all pending timers. This double linked list is stored in // chronological order. Each timer is stored with the number of // microseconds which need to elapsed from the prior timer on this // list, to allow efficient servicing from the timer interrupt. static USBDriverTimer *active_timers=NULL; static void init_qTD(volatile Transfer_t *t, void *buf, uint32_t len, uint32_t pid, uint32_t data01, bool irq); static void add_to_async_followup_list(Transfer_t *first, Transfer_t *last); static void remove_from_async_followup_list(Transfer_t *transfer); static void add_to_periodic_followup_list(Transfer_t *first, Transfer_t *last); static void remove_from_periodic_followup_list(Transfer_t *transfer); #define print USBHost::print_ #define println USBHost::println_ void USBHost::begin() { // Teensy 3.6 has USB host power controlled by PTE6 PORTE_PCR6 = PORT_PCR_MUX(1); GPIOE_PDDR |= (1<<6); GPIOE_PSOR = (1<<6); // turn on USB host power delay(10); println("sizeof Device = ", sizeof(Device_t)); println("sizeof Pipe = ", sizeof(Pipe_t)); println("sizeof Transfer = ", sizeof(Transfer_t)); if ((sizeof(Pipe_t) & 0x1F) || (sizeof(Transfer_t) & 0x1F)) { println("ERROR: Pipe_t & Transfer_t must be multiples of 32 bytes!"); while (1) ; // die here } // configure the MPU to allow USBHS DMA to access memory MPU_RGDAAC0 |= 0x30000000; //println("MPU_RGDAAC0 = ", MPU_RGDAAC0, HEX); // turn on clocks MCG_C1 |= MCG_C1_IRCLKEN; // enable MCGIRCLK 32kHz OSC0_CR |= OSC_ERCLKEN; SIM_SOPT2 |= SIM_SOPT2_USBREGEN; // turn on USB regulator SIM_SOPT2 &= ~SIM_SOPT2_USBSLSRC; // use IRC for slow clock println("power up USBHS PHY"); SIM_USBPHYCTL |= SIM_USBPHYCTL_USBDISILIM; // disable USB current limit //SIM_USBPHYCTL = SIM_USBPHYCTL_USBDISILIM | SIM_USBPHYCTL_USB3VOUTTRG(6); // pg 237 SIM_SCGC3 |= SIM_SCGC3_USBHSDCD | SIM_SCGC3_USBHSPHY | SIM_SCGC3_USBHS; USBHSDCD_CLOCK = 33 << 2; //print("init USBHS PHY & PLL"); // init process: page 1681-1682 USBPHY_CTRL_CLR = (USBPHY_CTRL_SFTRST | USBPHY_CTRL_CLKGATE); // // CTRL pg 1698 USBPHY_CTRL_SET = USBPHY_CTRL_ENUTMILEVEL2 | USBPHY_CTRL_ENUTMILEVEL3; //USBPHY_CTRL_SET = USBPHY_CTRL_FSDLL_RST_EN; // TODO: what does this do?? USBPHY_TRIM_OVERRIDE_EN_SET = 1; USBPHY_PLL_SIC = USBPHY_PLL_SIC_PLL_POWER | USBPHY_PLL_SIC_PLL_ENABLE | USBPHY_PLL_SIC_PLL_DIV_SEL(1) | USBPHY_PLL_SIC_PLL_EN_USB_CLKS; // wait for the PLL to lock int count=0; while ((USBPHY_PLL_SIC & USBPHY_PLL_SIC_PLL_LOCK) == 0) { count++; } //println("PLL locked, waited ", count); // turn on power to PHY USBPHY_PWD = 0; delay(10); // sanity check, connect 470K pullup & 100K pulldown and watch D+ voltage change //USBPHY_ANACTRL_CLR = (1<<10); // turn off both 15K pulldowns... works! :) // sanity check, output clocks on pin 9 for testing //SIM_SOPT2 = SIM_SOPT2 & (~SIM_SOPT2_CLKOUTSEL(7)) | SIM_SOPT2_CLKOUTSEL(3); // LPO 1kHz //SIM_SOPT2 = SIM_SOPT2 & (~SIM_SOPT2_CLKOUTSEL(7)) | SIM_SOPT2_CLKOUTSEL(2); // Flash //SIM_SOPT2 = SIM_SOPT2 & (~SIM_SOPT2_CLKOUTSEL(7)) | SIM_SOPT2_CLKOUTSEL(6); // XTAL //SIM_SOPT2 = SIM_SOPT2 & (~SIM_SOPT2_CLKOUTSEL(7)) | SIM_SOPT2_CLKOUTSEL(7); // IRC 48MHz //SIM_SOPT2 = SIM_SOPT2 & (~SIM_SOPT2_CLKOUTSEL(7)) | SIM_SOPT2_CLKOUTSEL(4); // MCGIRCLK //CORE_PIN9_CONFIG = PORT_PCR_MUX(5); // CLKOUT on PTC3 Alt5 (Arduino pin 9) // now with the PHY up and running, start up USBHS //print("begin ehci reset"); USBHS_USBCMD |= USBHS_USBCMD_RST; //count = 0; while (USBHS_USBCMD & USBHS_USBCMD_RST) { //count++; } //println(" reset waited ", count); init_Device_Pipe_Transfer_memory(); for (int i=0; i < PERIODIC_LIST_SIZE; i++) { periodictable[i] = 1; } memset(uframe_bandwidth, 0, sizeof(uframe_bandwidth)); port_state = PORT_STATE_DISCONNECTED; USBHS_USB_SBUSCFG = 1; // System Bus Interface Configuration // turn on the USBHS controller //USBHS_USBMODE = USBHS_USBMODE_TXHSD(5) | USBHS_USBMODE_CM(3); // host mode USBHS_USBMODE = USBHS_USBMODE_CM(3); // host mode USBHS_USBINTR = 0; USBHS_PERIODICLISTBASE = (uint32_t)periodictable; USBHS_FRINDEX = 0; USBHS_ASYNCLISTADDR = 0; USBHS_USBCMD = USBHS_USBCMD_ITC(8) | USBHS_USBCMD_RS | USBHS_USBCMD_ASP(3) | USBHS_USBCMD_ASPE | USBHS_USBCMD_PSE | #if PERIODIC_LIST_SIZE == 8 USBHS_USBCMD_FS2 | USBHS_USBCMD_FS(3); #elif PERIODIC_LIST_SIZE == 16 USBHS_USBCMD_FS2 | USBHS_USBCMD_FS(2); #elif PERIODIC_LIST_SIZE == 32 USBHS_USBCMD_FS2 | USBHS_USBCMD_FS(1); #elif PERIODIC_LIST_SIZE == 64 USBHS_USBCMD_FS2 | USBHS_USBCMD_FS(0); #elif PERIODIC_LIST_SIZE == 128 USBHS_USBCMD_FS(3); #elif PERIODIC_LIST_SIZE == 256 USBHS_USBCMD_FS(2); #elif PERIODIC_LIST_SIZE == 512 USBHS_USBCMD_FS(1); #elif PERIODIC_LIST_SIZE == 1024 USBHS_USBCMD_FS(0); #else #error "Unsupported PERIODIC_LIST_SIZE" #endif // turn on the USB port //USBHS_PORTSC1 = USBHS_PORTSC_PP; USBHS_PORTSC1 |= USBHS_PORTSC_PP; //USBHS_PORTSC1 |= USBHS_PORTSC_PFSC; // force 12 Mbit/sec //USBHS_PORTSC1 |= USBHS_PORTSC_PHCD; // phy off //println("USBHS_ASYNCLISTADDR = ", USBHS_ASYNCLISTADDR, HEX); //println("USBHS_PERIODICLISTBASE = ", USBHS_PERIODICLISTBASE, HEX); //println("periodictable = ", (uint32_t)periodictable, HEX); // enable interrupts, after this point interruts to all the work attachInterruptVector(IRQ_USBHS, isr); NVIC_ENABLE_IRQ(IRQ_USBHS); USBHS_USBINTR = USBHS_USBINTR_PCE | USBHS_USBINTR_TIE0 | USBHS_USBINTR_TIE1; USBHS_USBINTR |= USBHS_USBINTR_UEE | USBHS_USBINTR_SEE; USBHS_USBINTR |= USBHS_USBINTR_UPIE | USBHS_USBINTR_UAIE; } // EHCI registers page default // -------------- ---- ------- // USBHS_USBCMD 1599 00080000 USB Command // USBHS_USBSTS 1602 00000000 USB Status // USBHS_USBINTR 1606 00000000 USB Interrupt Enable // USBHS_FRINDEX 1609 00000000 Frame Index Register // USBHS_PERIODICLISTBASE 1610 undefine Periodic Frame List Base Address // USBHS_ASYNCLISTADDR 1612 undefine Asynchronous List Address // USBHS_PORTSC1 1619 00002000 Port Status and Control // USBHS_USBMODE 1629 00005000 USB Mode // USBHS_GPTIMERnCTL 1591 00000000 General Purpose Timer n Control // PORT_STATE_DISCONNECTED 0 // PORT_STATE_DEBOUNCE 1 // PORT_STATE_RESET 2 // PORT_STATE_RECOVERY 3 // PORT_STATE_ACTIVE 4 void USBHost::isr() { uint32_t stat = USBHS_USBSTS; USBHS_USBSTS = stat; // clear pending interrupts //stat &= USBHS_USBINTR; // mask away unwanted interrupts #if 0 println(); println("ISR: ", stat, HEX); //if (stat & USBHS_USBSTS_UI) println(" USB Interrupt"); if (stat & USBHS_USBSTS_UEI) println(" USB Error"); if (stat & USBHS_USBSTS_PCI) println(" Port Change"); //if (stat & USBHS_USBSTS_FRI) println(" Frame List Rollover"); if (stat & USBHS_USBSTS_SEI) println(" System Error"); //if (stat & USBHS_USBSTS_AAI) println(" Async Advance (doorbell)"); if (stat & USBHS_USBSTS_URI) println(" Reset Recv"); //if (stat & USBHS_USBSTS_SRI) println(" SOF"); if (stat & USBHS_USBSTS_SLI) println(" Suspend"); if (stat & USBHS_USBSTS_HCH) println(" Host Halted"); //if (stat & USBHS_USBSTS_RCL) println(" Reclamation"); //if (stat & USBHS_USBSTS_PS) println(" Periodic Sched En"); //if (stat & USBHS_USBSTS_AS) println(" Async Sched En"); if (stat & USBHS_USBSTS_NAKI) println(" NAK"); if (stat & USBHS_USBSTS_UAI) println(" USB Async"); if (stat & USBHS_USBSTS_UPI) println(" USB Periodic"); if (stat & USBHS_USBSTS_TI0) println(" Timer0"); if (stat & USBHS_USBSTS_TI1) println(" Timer1"); #endif if (stat & USBHS_USBSTS_UAI) { // completed qTD(s) from the async schedule //println("Async Followup"); //print(async_followup_first, async_followup_last); Transfer_t *p = async_followup_first; while (p) { if (followup_Transfer(p)) { // transfer completed Transfer_t *next = p->next_followup; remove_from_async_followup_list(p); free_Transfer(p); p = next; } else { // transfer still pending p = p->next_followup; } } //print(async_followup_first, async_followup_last); } if (stat & USBHS_USBSTS_UPI) { // completed qTD(s) from the periodic schedule //println("Periodic Followup"); Transfer_t *p = periodic_followup_first; while (p) { if (followup_Transfer(p)) { // transfer completed Transfer_t *next = p->next_followup; remove_from_periodic_followup_list(p); free_Transfer(p); p = next; } else { // transfer still pending p = p->next_followup; } } } if (stat & USBHS_USBSTS_UEI) { followup_Error(); } if (stat & USBHS_USBSTS_PCI) { // port change detected const uint32_t portstat = USBHS_PORTSC1; println("port change: ", portstat, HEX); USBHS_PORTSC1 = portstat | (USBHS_PORTSC_OCC|USBHS_PORTSC_PEC|USBHS_PORTSC_CSC); if (portstat & USBHS_PORTSC_OCC) { println(" overcurrent change"); } if (portstat & USBHS_PORTSC_CSC) { if (portstat & USBHS_PORTSC_CCS) { println(" connect"); if (port_state == PORT_STATE_DISCONNECTED || port_state == PORT_STATE_DEBOUNCE) { // 100 ms debounce (USB 2.0: TATTDB, page 150 & 188) port_state = PORT_STATE_DEBOUNCE; USBHS_GPTIMER0LD = 100000; // microseconds USBHS_GPTIMER0CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; stat &= ~USBHS_USBSTS_TI0; } } else { println(" disconnect"); port_state = PORT_STATE_DISCONNECTED; USBPHY_CTRL_CLR = USBPHY_CTRL_ENHOSTDISCONDETECT; disconnect_Device(rootdev); rootdev = NULL; } } if (portstat & USBHS_PORTSC_PEC) { // PEC bit only detects disable println(" disable"); } else if (port_state == PORT_STATE_RESET && portstat & USBHS_PORTSC_PE) { println(" port enabled"); port_state = PORT_STATE_RECOVERY; // 10 ms reset recover (USB 2.0: TRSTRCY, page 151 & 188) USBHS_GPTIMER0LD = 10000; // microseconds USBHS_GPTIMER0CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; if (USBHS_PORTSC1 & USBHS_PORTSC_HSP) { // turn on high-speed disconnect detector USBPHY_CTRL_SET = USBPHY_CTRL_ENHOSTDISCONDETECT; } } if (portstat & USBHS_PORTSC_FPR) { println(" force resume"); } } if (stat & USBHS_USBSTS_TI0) { // timer 0 - used for built-in port events //println("timer0"); if (port_state == PORT_STATE_DEBOUNCE) { port_state = PORT_STATE_RESET; // Since we have only 1 port, no other device can // be in reset or enumeration. If multiple ports // are ever supported, we would need to remain in // debounce if any other port was resetting or // enumerating a device. USBHS_PORTSC1 |= USBHS_PORTSC_PR; // begin reset sequence println(" begin reset"); } else if (port_state == PORT_STATE_RECOVERY) { port_state = PORT_STATE_ACTIVE; println(" end recovery"); // HCSPARAMS TTCTRL page 1671 uint32_t speed = (USBHS_PORTSC1 >> 26) & 3; rootdev = new_Device(speed, 0, 0); } } if (stat & USBHS_USBSTS_TI1) { // timer 1 - used for USBDriverTimer //println("timer1"); USBDriverTimer *timer = active_timers; if (timer) { USBDriverTimer *next = timer->next; active_timers = next; if (next) { // more timers scheduled next->prev = NULL; USBHS_GPTIMER1LD = next->usec - 1; USBHS_GPTIMER1CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; } // TODO: call multiple timers if 0 elapsed between them? timer->driver->timer_event(timer); // call driver's timer() } } } void USBDriverTimer::start(uint32_t microseconds) { #if 0 USBHost::print_("start_timer, us = "); USBHost::print_(microseconds); USBHost::print_(", driver = "); USBHost::print_((uint32_t)driver, HEX); USBHost::print_(", this = "); USBHost::println_((uint32_t)this, HEX); #endif if (!driver) return; if (microseconds < 100) return; // minimum timer duration started_micros = micros(); if (active_timers == NULL) { // schedule is empty, just add this timer usec = microseconds; next = NULL; prev = NULL; active_timers = this; USBHS_GPTIMER1LD = microseconds - 1; USBHS_GPTIMER1CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; return; } uint32_t remain = USBHS_GPTIMER1CTL & 0xFFFFFF; //Serial.print("remain = "); //Serial.println(remain); if (microseconds < remain) { // this timer event is before any on the schedule __disable_irq(); USBHS_GPTIMER1CTL = 0; USBHS_USBSTS = USBHS_USBSTS_TI1; // TODO: UPI & UAI safety?! usec = microseconds; next = active_timers; prev = NULL; active_timers->usec = remain - microseconds; active_timers->prev = this; active_timers = this; USBHS_GPTIMER1LD = microseconds - 1; USBHS_GPTIMER1CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; __enable_irq(); return; } // add this timer to the schedule, somewhere after the first timer microseconds -= remain; USBDriverTimer *list = active_timers; while (list->next) { list = list->next; if (microseconds < list->usec) { // add timer into middle of list list->usec -= microseconds; usec = microseconds; next = list; prev = list->prev; list->prev = this; prev->next = this; return; } microseconds -= list->usec; } // add timer to the end of the schedule usec = microseconds; next = NULL; prev = list; list->next = this; } void USBDriverTimer::stop() { __disable_irq(); if (active_timers) { if (active_timers == this) { USBHS_GPTIMER1CTL = 0; if (next) { uint32_t usec_til_next = USBHS_GPTIMER1CTL & 0xFFFFFF; usec_til_next += next->usec; next->usec = usec_til_next; USBHS_GPTIMER1LD = usec_til_next; USBHS_GPTIMER1CTL = USBHS_GPTIMERCTL_RST | USBHS_GPTIMERCTL_RUN; next->prev = NULL; active_timers = next; } else { active_timers = NULL; } } else { for (USBDriverTimer *t = active_timers->next; t; t = t->next) { if (t == this) { t->prev->next = t->next; if (t->next) { t->next->usec += t->usec; t->next->prev = t->prev; } break; } } } } __enable_irq(); } static uint32_t QH_capabilities1(uint32_t nak_count_reload, uint32_t control_endpoint_flag, uint32_t max_packet_length, uint32_t head_of_list, uint32_t data_toggle_control, uint32_t speed, uint32_t endpoint_number, uint32_t inactivate, uint32_t address) { return ( (nak_count_reload << 28) | (control_endpoint_flag << 27) | (max_packet_length << 16) | (head_of_list << 15) | (data_toggle_control << 14) | (speed << 12) | (endpoint_number << 8) | (inactivate << 7) | (address << 0) ); } static uint32_t QH_capabilities2(uint32_t high_bw_mult, uint32_t hub_port_number, uint32_t hub_address, uint32_t split_completion_mask, uint32_t interrupt_schedule_mask) { return ( (high_bw_mult << 30) | (hub_port_number << 23) | (hub_address << 16) | (split_completion_mask << 8) | (interrupt_schedule_mask << 0) ); } // Create a new pipe. It's QH is added to the async or periodic schedule, // and a halt qTD is added to the QH, so we can grow the qTD list later. // dev: device owning this pipe/endpoint // type: 0=control, 2=bulk, 3=interrupt // endpoint: 0 for control, 1-15 for bulk or interrupt // direction: 0=OUT, 1=IN (unused for control) // maxlen: maximum packet size // interval: polling interval for interrupt, power of 2, unused if control or bulk // Pipe_t * USBHost::new_Pipe(Device_t *dev, uint32_t type, uint32_t endpoint, uint32_t direction, uint32_t maxlen, uint32_t interval) { Pipe_t *pipe; Transfer_t *halt; uint32_t c=0, dtc=0; println("new_Pipe"); pipe = allocate_Pipe(); if (!pipe) return NULL; halt = allocate_Transfer(); if (!halt) { free_Pipe(pipe); return NULL; } memset(pipe, 0, sizeof(Pipe_t)); memset(halt, 0, sizeof(Transfer_t)); halt->qtd.next = 1; halt->qtd.token = 0x40; pipe->device = dev; pipe->qh.next = (uint32_t)halt; pipe->qh.alt_next = 1; pipe->direction = direction; pipe->type = type; if (type == 3) { // interrupt transfers require bandwidth & microframe scheduling if (!allocate_interrupt_pipe_bandwidth(pipe, maxlen, interval)) { free_Transfer(halt); free_Pipe(pipe); return NULL; } } if (endpoint > 0) { // if non-control pipe, update dev->data_pipes list Pipe_t *p = dev->data_pipes; if (p == NULL) { dev->data_pipes = pipe; } else { while (p->next) p = p->next; p->next = pipe; } } if (type == 0) { // control if (dev->speed < 2) c = 1; dtc = 1; } else if (type == 2) { // bulk } else if (type == 3) { // interrupt //pipe->qh.token = 0x80000000; // TODO: OUT starts with DATA0 or DATA1? } pipe->qh.capabilities[0] = QH_capabilities1(15, c, maxlen, 0, dtc, dev->speed, endpoint, 0, dev->address); pipe->qh.capabilities[1] = QH_capabilities2(1, dev->hub_port, dev->hub_address, pipe->complete_mask, pipe->start_mask); if (type == 0 || type == 2) { // control or bulk: add to async queue Pipe_t *list = (Pipe_t *)USBHS_ASYNCLISTADDR; if (list == NULL) { pipe->qh.capabilities[0] |= 0x8000; // H bit pipe->qh.horizontal_link = (uint32_t)&(pipe->qh) | 2; // 2=QH USBHS_ASYNCLISTADDR = (uint32_t)&(pipe->qh); USBHS_USBCMD |= USBHS_USBCMD_ASE; // enable async schedule //println(" first in async list"); } else { // EHCI 1.0: section 4.8.1, page 72 pipe->qh.horizontal_link = list->qh.horizontal_link; list->qh.horizontal_link = (uint32_t)&(pipe->qh) | 2; //println(" added to async list"); } } else if (type == 3) { // interrupt: add to periodic schedule add_qh_to_periodic_schedule(pipe); } return pipe; } // Fill in the qTD fields (token & data) // t the Transfer qTD to initialize // buf data to transfer // len length of data // pid type of packet: 0=OUT, 1=IN, 2=SETUP // data01 value of DATA0/DATA1 toggle on 1st packet // irq whether to generate an interrupt when transfer complete // static void init_qTD(volatile Transfer_t *t, void *buf, uint32_t len, uint32_t pid, uint32_t data01, bool irq) { t->qtd.alt_next = 1; // 1=terminate if (data01) data01 = 0x80000000; t->qtd.token = data01 | (len << 16) | (irq ? 0x8000 : 0) | (pid << 8) | 0x80; uint32_t addr = (uint32_t)buf; t->qtd.buffer[0] = addr; addr &= 0xFFFFF000; t->qtd.buffer[1] = addr + 0x1000; t->qtd.buffer[2] = addr + 0x2000; t->qtd.buffer[3] = addr + 0x3000; t->qtd.buffer[4] = addr + 0x4000; } // Create a Control Transfer and queue it // bool USBHost::queue_Control_Transfer(Device_t *dev, setup_t *setup, void *buf, USBDriver *driver) { Transfer_t *transfer, *data, *status; uint32_t status_direction; //println("new_Control_Transfer"); if (setup->wLength > 16384) return false; // max 16K data for control transfer = allocate_Transfer(); if (!transfer) { println(" error allocating setup transfer"); return false; } status = allocate_Transfer(); if (!status) { println(" error allocating status transfer"); free_Transfer(transfer); return false; } if (setup->wLength > 0) { data = allocate_Transfer(); if (!data) { println(" error allocating data transfer"); free_Transfer(transfer); free_Transfer(status); return false; } uint32_t pid = (setup->bmRequestType & 0x80) ? 1 : 0; init_qTD(data, buf, setup->wLength, pid, 1, false); transfer->qtd.next = (uint32_t)data; data->qtd.next = (uint32_t)status; status_direction = pid ^ 1; } else { transfer->qtd.next = (uint32_t)status; status_direction = 1; // always IN, USB 2.0 page 226 } //println("setup address ", (uint32_t)setup, HEX); init_qTD(transfer, setup, 8, 2, 0, false); init_qTD(status, NULL, 0, status_direction, 1, true); status->pipe = dev->control_pipe; status->buffer = buf; status->length = setup->wLength; status->setup.word1 = setup->word1; status->setup.word2 = setup->word2; status->driver = driver; status->qtd.next = 1; return queue_Transfer(dev->control_pipe, transfer); } // Create a Bulk or Interrupt Transfer and queue it // bool USBHost::queue_Data_Transfer(Pipe_t *pipe, void *buffer, uint32_t len, USBDriver *driver) { Transfer_t *transfer, *data, *next; uint8_t *p = (uint8_t *)buffer; uint32_t count; bool last = false; // TODO: option for zero length packet? Maybe in Pipe_t fields? //println("new_Data_Transfer"); // allocate qTDs transfer = allocate_Transfer(); if (!transfer) return false; data = transfer; for (count=(len >> 14); count; count--) { next = allocate_Transfer(); if (!next) { // free already-allocated qTDs while (1) { next = (Transfer_t *)transfer->qtd.next; free_Transfer(transfer); if (transfer == data) break; transfer = next; } return false; } data->qtd.next = (uint32_t)next; data = next; } // last qTD needs info for followup data->qtd.next = 1; data->pipe = pipe; data->buffer = buffer; data->length = len; data->setup.word1 = 0; data->setup.word2 = 0; data->driver = driver; // initialize all qTDs data = transfer; while (1) { uint32_t count = len; if (count > 16384) { count = 16384; } else { last = true; } init_qTD(data, p, count, pipe->direction, 0, last); if (last) break; p += count; len -= count; data = (Transfer_t *)(data->qtd.next); } return queue_Transfer(pipe, transfer); } bool USBHost::queue_Transfer(Pipe_t *pipe, Transfer_t *transfer) { // find halt qTD Transfer_t *halt = (Transfer_t *)(pipe->qh.next); while (!(halt->qtd.token & 0x40)) halt = (Transfer_t *)(halt->qtd.next); // transfer's token uint32_t token = transfer->qtd.token; // transfer becomes new halt qTD transfer->qtd.token = 0x40; // copy transfer non-token fields to halt halt->qtd.next = transfer->qtd.next; halt->qtd.alt_next = transfer->qtd.alt_next; halt->qtd.buffer[0] = transfer->qtd.buffer[0]; // TODO: optimize memcpy, all halt->qtd.buffer[1] = transfer->qtd.buffer[1]; // fields except token halt->qtd.buffer[2] = transfer->qtd.buffer[2]; halt->qtd.buffer[3] = transfer->qtd.buffer[3]; halt->qtd.buffer[4] = transfer->qtd.buffer[4]; halt->pipe = pipe; halt->buffer = transfer->buffer; halt->length = transfer->length; halt->setup = transfer->setup; halt->driver = transfer->driver; // find the last qTD we're adding Transfer_t *last = halt; while ((uint32_t)(last->qtd.next) != 1) last = (Transfer_t *)(last->qtd.next); // last points to transfer (which becomes new halt) last->qtd.next = (uint32_t)transfer; transfer->qtd.next = 1; // link all the new qTD by next_followup & prev_followup Transfer_t *prev = NULL; Transfer_t *p = halt; while (p->qtd.next != (uint32_t)transfer) { Transfer_t *next = (Transfer_t *)p->qtd.next; p->prev_followup = prev; p->next_followup = next; prev = p; p = next; } p->prev_followup = prev; p->next_followup = NULL; //print(halt, p); // add them to a followup list if (pipe->type == 0 || pipe->type == 2) { // control or bulk add_to_async_followup_list(halt, p); } else { // interrupt add_to_periodic_followup_list(halt, p); } // old halt becomes new transfer, this commits all new qTDs to QH halt->qtd.token = token; return true; } bool USBHost::followup_Transfer(Transfer_t *transfer) { //print(" Followup ", (uint32_t)transfer, HEX); //println(" token=", transfer->qtd.token, HEX); if (!(transfer->qtd.token & 0x80)) { // TODO: check error status if (transfer->qtd.token & 0x8000) { // this transfer caused an interrupt if (transfer->pipe->callback_function) { // do the callback (*(transfer->pipe->callback_function))(transfer); } } // do callback function... //println(" completed"); return true; } return false; } void USBHost::followup_Error(void) { println("ERROR Followup"); Transfer_t *p = async_followup_first; while (p) { if (followup_Transfer(p)) { // transfer completed Transfer_t *next = p->next_followup; remove_from_async_followup_list(p); println(" remove from followup list"); if (p->qtd.token & 0x40) { Pipe_t *haltedpipe = p->pipe; free_Transfer(p); // traverse the rest of the list for unfinished work // from this halted pipe. Remove from the followup // list and put onto our own temporary list Transfer_t *first = NULL; Transfer_t *last = NULL; p = next; while (p) { Transfer_t *next2 = p->next_followup; if (p->pipe == haltedpipe) { println(" stray halted ", (uint32_t)p, HEX); remove_from_async_followup_list(p); if (first == NULL) { first = p; last = p; } else { last->next_followup = p; } p->next_followup = NULL; if (next == p) next = next2; } p = next2; } // halted pipe (probably) still has unfinished transfers // find the halted pipe's dummy halt transfer p = (Transfer_t *)(haltedpipe->qh.next & ~0x1F); while (p && ((p->qtd.token & 0x40) == 0)) { print(" qtd: ", (uint32_t)p, HEX); print(", token=", (uint32_t)p->qtd.token, HEX); println(", next=", (uint32_t)p->qtd.next, HEX); p = (Transfer_t *)(p->qtd.next & ~0x1F); } if (p) { // unhalt the pipe, "forget" unfinished transfers // hopefully they're all on the list we made! println(" dummy halt: ", (uint32_t)p, HEX); haltedpipe->qh.next = (uint32_t)p; haltedpipe->qh.current = 0; haltedpipe->qh.token = 0; } else { println(" no dummy halt found, yikes!"); // TODO: this should never happen, but what if it does? } // Do any driver callbacks belonging to the unfinished // transfers. This is done last, after retoring the // pipe to a working state (if possible) so the driver // callback can use the pipe. p = first; while (p) { uint32_t token = p->qtd.token; if (token & 0x8000 && haltedpipe->callback_function) { // driver expects a callback p->qtd.token = token | 0x40; (*(p->pipe->callback_function))(p); } Transfer_t *next2 = p->next_followup; free_Transfer(p); p = next2; } } else { free_Transfer(p); } p = next; } else { // transfer still pending println(" remain on followup list"); p = p->next_followup; } } // TODO: handle errors from periodic schedule! } static void add_to_async_followup_list(Transfer_t *first, Transfer_t *last) { last->next_followup = NULL; // always add to end of list if (async_followup_last == NULL) { first->prev_followup = NULL; async_followup_first = first; } else { first->prev_followup = async_followup_last; async_followup_last->next_followup = first; } async_followup_last = last; } static void remove_from_async_followup_list(Transfer_t *transfer) { Transfer_t *next = transfer->next_followup; Transfer_t *prev = transfer->prev_followup; if (prev) { prev->next_followup = next; } else { async_followup_first = next; } if (next) { next->prev_followup = prev; } else { async_followup_last = prev; } } static void add_to_periodic_followup_list(Transfer_t *first, Transfer_t *last) { last->next_followup = NULL; // always add to end of list if (periodic_followup_last == NULL) { first->prev_followup = NULL; periodic_followup_first = first; } else { first->prev_followup = periodic_followup_last; periodic_followup_last->next_followup = first; } periodic_followup_last = last; } static void remove_from_periodic_followup_list(Transfer_t *transfer) { Transfer_t *next = transfer->next_followup; Transfer_t *prev = transfer->prev_followup; if (prev) { prev->next_followup = next; } else { periodic_followup_first = next; } if (next) { next->prev_followup = prev; } else { periodic_followup_last = prev; } } static uint32_t max4(uint32_t n1, uint32_t n2, uint32_t n3, uint32_t n4) { if (n1 > n2) { // can't be n2 if (n1 > n3) { // can't be n3 if (n1 > n4) return n1; } else { // can't be n1 if (n3 > n4) return n3; } } else { // can't be n1 if (n2 > n3) { // can't be n3 if (n2 > n4) return n2; } else { // can't be n2 if (n3 > n4) return n3; } } return n4; } static uint32_t round_to_power_of_two(uint32_t n, uint32_t maxnum) { for (uint32_t pow2num=1; pow2num < maxnum; pow2num <<= 1) { if (n <= (pow2num | (pow2num >> 1))) return pow2num; } return maxnum; } // Allocate bandwidth for an interrupt pipe. Given the packet size // and other parameters, find the best place to schedule this pipe. // Returns true if enough bandwidth is available, and the best // frame offset, smask and cmask. Or returns false if no group // of microframes has enough bandwidth available. // // pipe: // device->speed [in] 0=full speed, 1=low speed, 2=high speed // direction [in] 0=OUT, 1=IN // start_mask [out] uframes to start transfer // complete_mask [out] uframes to complete transfer (FS & LS only) // periodic_interval [out] fream repeat level: 1, 2, 4, 8... PERIODIC_LIST_SIZE // periodic_offset [out] frame repeat offset: 0 to periodic_interval-1 // maxlen: [in] maximum packet length // interval: [in] polling interval: LS+FS: frames, HS: 2^(n-1) uframes // bool USBHost::allocate_interrupt_pipe_bandwidth(Pipe_t *pipe, uint32_t maxlen, uint32_t interval) { println("allocate_interrupt_pipe_bandwidth"); if (interval == 0) interval = 1; maxlen = (maxlen * 76459) >> 16; // worst case bit stuffing if (pipe->device->speed == 2) { // high speed 480 Mbit/sec println(" ep interval = ", interval); if (interval > 15) interval = 15; interval = 1 << (interval - 1); if (interval > PERIODIC_LIST_SIZE*8) interval = PERIODIC_LIST_SIZE*8; println(" interval = ", interval); uint32_t pinterval = interval >> 3; pipe->periodic_interval = (pinterval > 0) ? pinterval : 1; uint32_t stime = (55 + 32 + maxlen) >> 5; // time units: 32 bytes or 533 ns uint32_t best_offset = 0xFFFFFFFF; uint32_t best_bandwidth = 0xFFFFFFFF; for (uint32_t offset=0; offset < interval; offset++) { // for each possible uframe offset, find the worst uframe bandwidth uint32_t max_bandwidth = 0; for (uint32_t i=offset; i < PERIODIC_LIST_SIZE*8; i += interval) { uint32_t bandwidth = uframe_bandwidth[i] + stime; if (bandwidth > max_bandwidth) max_bandwidth = bandwidth; } // remember which uframe offset is the best if (max_bandwidth < best_bandwidth) { best_bandwidth = max_bandwidth; best_offset = offset; } } print(" best_bandwidth = ", best_bandwidth); //print(best_bandwidth); println(", at offset = ", best_offset); //println(best_offset); // a 125 us micro frame can fit 7500 bytes, or 234 of our 32-byte units // fail if the best found needs more than 80% (234 * 0.8) in any uframe if (best_bandwidth > 187) return false; for (uint32_t i=best_offset; i < PERIODIC_LIST_SIZE*8; i += interval) { uframe_bandwidth[i] += stime; } if (interval == 1) { pipe->start_mask = 0xFF; } else if (interval == 2) { pipe->start_mask = 0x55 << (best_offset & 1); } else if (interval <= 4) { pipe->start_mask = 0x11 << (best_offset & 3); } else { pipe->start_mask = 0x01 << (best_offset & 7); } pipe->periodic_offset = best_offset >> 3; pipe->complete_mask = 0; } else { // full speed 12 Mbit/sec or low speed 1.5 Mbit/sec interval = round_to_power_of_two(interval, PERIODIC_LIST_SIZE); pipe->periodic_interval = interval; uint32_t stime, ctime; if (pipe->direction == 0) { // for OUT direction, SSPLIT will carry the data payload // TODO: how much time to SSPLIT & CSPLIT actually take? // they're not documented in 5.7 or 5.11.3. stime = (100 + 32 + maxlen) >> 5; ctime = (55 + 32) >> 5; } else { // for IN direction, data payload in CSPLIT stime = (40 + 32) >> 5; ctime = (70 + 32 + maxlen) >> 5; } // TODO: should we take Single-TT hubs into account, avoid // scheduling overlapping SSPLIT & CSPLIT to the same hub? // TODO: even if Multi-TT, do we need to worry about packing // too many into the same uframe? uint32_t best_shift = 0; uint32_t best_offset = 0xFFFFFFFF; uint32_t best_bandwidth = 0xFFFFFFFF; for (uint32_t offset=0; offset < interval; offset++) { // for each 1ms frame offset, compute the worst uframe usage uint32_t max_bandwidth = 0; for (uint32_t i=offset; i < PERIODIC_LIST_SIZE; i += interval) { for (uint32_t j=0; j <= 3; j++) { // max 3 without FSTN // at each location, find worst uframe usage // for SSPLIT+CSPLITs uint32_t n = (i << 3) + j; uint32_t bw1 = uframe_bandwidth[n+0] + stime; uint32_t bw2 = uframe_bandwidth[n+2] + ctime; uint32_t bw3 = uframe_bandwidth[n+3] + ctime; uint32_t bw4 = uframe_bandwidth[n+4] + ctime; max_bandwidth = max4(bw1, bw2, bw3, bw4); // remember the best usage found if (max_bandwidth < best_bandwidth) { best_bandwidth = max_bandwidth; best_offset = i; best_shift = j; } } } } print(" best_bandwidth = ", best_bandwidth); //println(best_bandwidth); print(", at offset = ", best_offset); //print(best_offset); println(", shift= ", best_shift); //println(best_shift); // a 125 us micro frame can fit 7500 bytes, or 234 of our 32-byte units // fail if the best found needs more than 80% (234 * 0.8) in any uframe if (best_bandwidth > 187) return false; for (uint32_t i=best_offset; i < PERIODIC_LIST_SIZE; i += interval) { uint32_t n = (i << 3) + best_shift; uframe_bandwidth[n+0] += stime; uframe_bandwidth[n+2] += ctime; uframe_bandwidth[n+3] += ctime; uframe_bandwidth[n+4] += ctime; } pipe->start_mask = 0x01 << best_shift; pipe->complete_mask = 0x1C << best_shift; pipe->periodic_offset = best_offset; } return true; } // put a new pipe into the periodic schedule tree // according to periodic_interval and periodic_offset // void USBHost::add_qh_to_periodic_schedule(Pipe_t *pipe) { // quick hack for testing, just put it into the first table entry //println("add_qh_to_periodic_schedule: ", (uint32_t)pipe, HEX); #if 0 pipe->qh.horizontal_link = periodictable[0]; periodictable[0] = (uint32_t)&(pipe->qh) | 2; // 2=QH println("init periodictable with ", periodictable[0], HEX); #else uint32_t interval = pipe->periodic_interval; uint32_t offset = pipe->periodic_offset; //println(" interval = ", interval); //println(" offset = ", offset); // By an interative miracle, hopefully make an inverted tree of EHCI figure 4-18, page 93 for (uint32_t i=offset; i < PERIODIC_LIST_SIZE; i += interval) { //print(" old slot ", i); //print(": "); //print_qh_list((Pipe_t *)(periodictable[i] & 0xFFFFFFE0)); uint32_t num = periodictable[i]; Pipe_t *node = (Pipe_t *)(num & 0xFFFFFFE0); if ((num & 1) || ((num & 6) == 2 && node->periodic_interval < interval)) { //println(" add to slot ", i); pipe->qh.horizontal_link = num; periodictable[i] = (uint32_t)&(pipe->qh) | 2; // 2=QH } else { //println(" traverse list ", i); // TODO: skip past iTD, siTD when/if we support isochronous while (node->periodic_interval >= interval) { if (node == pipe) goto nextslot; //print(" num ", num, HEX); //print(" node ", (uint32_t)node, HEX); //println("->", node->qh.horizontal_link, HEX); if (node->qh.horizontal_link & 1) break; num = node->qh.horizontal_link; node = (Pipe_t *)(num & 0xFFFFFFE0); } Pipe_t *n = node; do { if (n == pipe) goto nextslot; n = (Pipe_t *)(n->qh.horizontal_link & 0xFFFFFFE0); } while (n != NULL); //print(" adding at node ", (uint32_t)node, HEX); //print(", num=", num, HEX); //println(", node->qh.horizontal_link=", node->qh.horizontal_link, HEX); pipe->qh.horizontal_link = node->qh.horizontal_link; node->qh.horizontal_link = (uint32_t)pipe | 2; // 2=QH // TODO: is it really necessary to keep doing the outer // loop? Does adding it here satisfy all cases? If so // we could avoid extra work by just returning here. } nextslot: //print(" new slot ", i); //print(": "); //print_qh_list((Pipe_t *)(periodictable[i] & 0xFFFFFFE0)); {} } #endif #if 0 println("Periodic Schedule:"); for (uint32_t i=0; i < PERIODIC_LIST_SIZE; i++) { if (i < 10) print(" "); print(i); print(": "); print_qh_list((Pipe_t *)(periodictable[i] & 0xFFFFFFE0)); } #endif } void USBHost::delete_Pipe(Pipe_t *pipe) { println("delete_Pipe ", (uint32_t)pipe, HEX); // halt pipe, find and free all Transfer_t // EHCI 1.0, 4.8.2 page 72: "Software should first deactivate // all active qTDs, wait for the queue head to go inactive" // // http://www.spinics.net/lists/linux-usb/msg131607.html // http://www.spinics.net/lists/linux-usb/msg131936.html // // In practice it's not feasible to wait for an active QH to become // inactive before removing it, for several reasons. For one, the QH may // _never_ become inactive (if the endpoint NAKs indefinitely). For // another, the procedure given in the spec (deactivate the qTDs on the // queue) is racy, since the controller can perform a new overlay or // writeback at any time. bool isasync = (pipe->type == 0 || pipe->type == 2); if (isasync) { // find the next QH in the async schedule loop Pipe_t *next = (Pipe_t *)(pipe->qh.horizontal_link & 0xFFFFFFE0); if (next == pipe) { // removing the only QH, so just shut down the async schedule println(" shut down async schedule"); USBHS_USBCMD &= ~USBHS_USBCMD_ASE; // disable async schedule while (USBHS_USBSTS & USBHS_USBSTS_AS) ; // busy loop wait USBHS_ASYNCLISTADDR = 0; } else { // find the previous QH in the async schedule loop println(" remove QH from async schedule"); Pipe_t *prev = next; while (1) { Pipe_t *n = (Pipe_t *)(prev->qh.horizontal_link & 0xFFFFFFE0); if (n == pipe) break; prev = n; } // if removing the one with H bit, set another if (pipe->qh.capabilities[0] & 0x8000) { prev->qh.capabilities[0] |= 0x8000; // set H bit } // link the previous QH, we're no longer in the loop prev->qh.horizontal_link = pipe->qh.horizontal_link; // do the Async Advance Doorbell handshake to wait to be // sure the EHCI no longer references the removed QH USBHS_USBCMD |= USBHS_USBCMD_IAA; while (!(USBHS_USBSTS & USBHS_USBSTS_AAI)) ; // busy loop wait USBHS_USBSTS = USBHS_USBSTS_AAI; // TODO: does this write interfere UPI & UAI (bits 18 & 19) ?? } // find & free all the transfers which completed println(" Free transfers"); Transfer_t *t = async_followup_first; while (t) { print(" * ", (uint32_t)t); Transfer_t *next = t->next_followup; if (t->pipe == pipe) { print(" * remove"); remove_from_async_followup_list(t); // Only free if not in QH list Transfer_t *tr = (Transfer_t *)(pipe->qh.next); while (((uint32_t)tr & 0xFFFFFFE0) && (tr != t)){ tr = (Transfer_t *)(tr->qtd.next); } if (tr == t) { println(" * defer free until QH"); } else { println(" * free"); free_Transfer(t); // The later code should actually free it... } } else { println(""); } t = next; } } else { // remove from the periodic schedule for (uint32_t i=0; i < PERIODIC_LIST_SIZE; i++) { uint32_t num = periodictable[i]; if (num & 1) continue; Pipe_t *node = (Pipe_t *)(num & 0xFFFFFFE0); if (node == pipe) { periodictable[i] = pipe->qh.horizontal_link; continue; } Pipe_t *prev = node; while (1) { num = node->qh.horizontal_link; if (num & 1) break; node = (Pipe_t *)(num & 0xFFFFFFE0); if (node == pipe) { prev->qh.horizontal_link = node->qh.horizontal_link; break; } prev = node; } } // TODO: subtract bandwidth from uframe_bandwidth array // find & free all the transfers which completed println(" Free transfers"); Transfer_t *t = periodic_followup_first; while (t) { print(" * ", (uint32_t)t); Transfer_t *next = t->next_followup; if (t->pipe == pipe) { print(" * remove"); remove_from_periodic_followup_list(t); // Only free if not in QH list Transfer_t *tr = (Transfer_t *)(pipe->qh.next); while (((uint32_t)tr & 0xFFFFFFE0) && (tr != t)){ tr = (Transfer_t *)(tr->qtd.next); } if (tr == t) { println(" * defer free until QH"); } else { println(" * free"); free_Transfer(t); // The later code should actually free it... } } else { println(""); } t = next; } } // // TODO: do we need to look at pipe->qh.current ?? // // free all the transfers still attached to the QH println(" Free transfers attached to QH"); Transfer_t *tr = (Transfer_t *)(pipe->qh.next); while ((uint32_t)tr & 0xFFFFFFE0) { println(" * ", (uint32_t)tr); Transfer_t *next = (Transfer_t *)(tr->qtd.next); free_Transfer(tr); tr = next; } // hopefully we found everything... free_Pipe(pipe); println("* Delete Pipe completed"); }