/* 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.h" static uint32_t periodictable[32] __attribute__ ((aligned(4096), used)); 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 static Device_t *rootdev=NULL; static Transfer_t *async_followup_first=NULL; static Transfer_t *async_followup_last=NULL; static Transfer_t *periodic_followup_first=NULL; static Transfer_t *periodic_followup_last=NULL; static void init_qTD(volatile Transfer_t *t, void *buf, uint32_t len, uint32_t pid, uint32_t data01, bool irq); static bool followup_Transfer(Transfer_t *transfer); 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); 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 Serial.print("sizeof Device = "); Serial.println(sizeof(Device_t)); Serial.print("sizeof Pipe = "); Serial.println(sizeof(Pipe_t)); Serial.print("sizeof Transfer = "); Serial.println(sizeof(Transfer_t)); // configure the MPU to allow USBHS DMA to access memory MPU_RGDAAC0 |= 0x30000000; Serial.print("MPU_RGDAAC0 = "); Serial.println(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 print("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++; } Serial.print("PLL locked, waited "); Serial.println(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++; } print(" reset waited ", count); init_Device_Pipe_Transfer_memory(); for (int i=0; i < 32; i++) { periodictable[i] = 1; } 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_FS2 | USBHS_USBCMD_FS(1); // periodic table is 32 pointers // 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 Serial.print("USBHS_ASYNCLISTADDR = "); Serial.println(USBHS_ASYNCLISTADDR, HEX); Serial.print("USBHS_PERIODICLISTBASE = "); Serial.println(USBHS_PERIODICLISTBASE, HEX); Serial.print("periodictable = "); Serial.println((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 |= USBHS_USBINTR_UEE | USBHS_USBINTR_SEE; USBHS_USBINTR |= USBHS_USBINTR_AAE; 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 Serial.println(); Serial.print("ISR: "); Serial.print(stat, HEX); Serial.println(); if (stat & USBHS_USBSTS_UI) Serial.println(" USB Interrupt"); if (stat & USBHS_USBSTS_UEI) Serial.println(" USB Error"); if (stat & USBHS_USBSTS_PCI) Serial.println(" Port Change"); if (stat & USBHS_USBSTS_FRI) Serial.println(" Frame List Rollover"); if (stat & USBHS_USBSTS_SEI) Serial.println(" System Error"); if (stat & USBHS_USBSTS_AAI) Serial.println(" Async Advance (doorbell)"); if (stat & USBHS_USBSTS_URI) Serial.println(" Reset Recv"); if (stat & USBHS_USBSTS_SRI) Serial.println(" SOF"); if (stat & USBHS_USBSTS_SLI) Serial.println(" Suspend"); if (stat & USBHS_USBSTS_HCH) Serial.println(" Host Halted"); if (stat & USBHS_USBSTS_RCL) Serial.println(" Reclamation"); if (stat & USBHS_USBSTS_PS) Serial.println(" Periodic Sched En"); if (stat & USBHS_USBSTS_AS) Serial.println(" Async Sched En"); if (stat & USBHS_USBSTS_NAKI) Serial.println(" NAK"); if (stat & USBHS_USBSTS_UAI) Serial.println(" USB Async"); if (stat & USBHS_USBSTS_UPI) Serial.println(" USB Periodic"); if (stat & USBHS_USBSTS_TI0) Serial.println(" Timer0"); if (stat & USBHS_USBSTS_TI1) Serial.println(" Timer1"); if (stat & USBHS_USBSTS_UAI) { // completed qTD(s) from the async schedule Serial.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 Serial.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_PCI) { // port change detected const uint32_t portstat = USBHS_PORTSC1; Serial.print("port change: "); Serial.print(portstat, HEX); Serial.println(); USBHS_PORTSC1 = portstat | (USBHS_PORTSC_OCC|USBHS_PORTSC_PEC|USBHS_PORTSC_CSC); if (portstat & USBHS_PORTSC_OCC) { Serial.println(" overcurrent change"); } if (portstat & USBHS_PORTSC_CSC) { if (portstat & USBHS_PORTSC_CCS) { Serial.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 { Serial.println(" disconnect"); port_state = PORT_STATE_DISCONNECTED; USBPHY_CTRL_CLR = USBPHY_CTRL_ENHOSTDISCONDETECT; // TODO: delete & clean up device state... } } if (portstat & USBHS_PORTSC_PEC) { // PEC bit only detects disable Serial.println(" disable"); } else if (port_state == PORT_STATE_RESET && portstat & USBHS_PORTSC_PE) { Serial.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) { Serial.println(" force resume"); } } if (stat & USBHS_USBSTS_TI0) { // timer 0 Serial.println("timer"); if (port_state == PORT_STATE_DEBOUNCE) { port_state = PORT_STATE_RESET; USBHS_PORTSC1 |= USBHS_PORTSC_PR; // begin reset sequence Serial.println(" begin reset"); } else if (port_state == PORT_STATE_RECOVERY) { port_state = PORT_STATE_ACTIVE; Serial.println(" end recovery"); // HCSPARAMS TTCTRL page 1671 uint32_t speed = (USBHS_PORTSC1 >> 26) & 3; rootdev = new_Device(speed, 0, 0); } } } 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. // Pipe_t * USBHost::new_Pipe(Device_t *dev, uint32_t type, uint32_t endpoint, uint32_t direction, uint32_t max_packet_len) { Pipe_t *pipe; Transfer_t *halt; uint32_t c=0, dtc=0; Serial.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 == 0) { // control if (dev->speed < 2) c = 1; dtc = 1; } else if (type == 2) { // bulk } else if (type == 3) { // interrupt } pipe->qh.capabilities[0] = QH_capabilities1(15, c, max_packet_len, 0, dtc, dev->speed, endpoint, 0, dev->address); pipe->qh.capabilities[1] = QH_capabilities2(1, dev->hub_port, dev->hub_address, 0, 0); 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 Serial.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; Serial.println(" added to async list"); } } else if (type == 3) { // interrupt: add to periodic schedule // TODO: link it into the periodic table } 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::new_Control_Transfer(Device_t *dev, setup_t *setup, void *buf, USBDriver *driver) { Transfer_t *transfer, *data, *status; uint32_t status_direction; Serial.println("new_Control_Transfer"); if (setup->wLength > 16384) return false; // max 16K data for control transfer = allocate_Transfer(); if (!transfer) return false; status = allocate_Transfer(); if (!status) { free_Transfer(transfer); return false; } if (setup->wLength > 0) { data = allocate_Transfer(); if (!data) { 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 } Serial.print("setup address "); Serial.println((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 = setup; 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::new_Data_Transfer(Pipe_t *pipe, void *buffer, uint32_t len, USBDriver *driver) { Serial.println("new_Data_Transfer"); //Transfer_t *transfer = allocate_Transfer(); //if (!transfer) return false; return false; //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; } static bool followup_Transfer(Transfer_t *transfer) { Serial.print(" Followup "); Serial.println((uint32_t)transfer, 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... Serial.println(" completed"); return true; } return false; } 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; } }