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USBHost_t36/USBHost_t36.h
Kurt Eckhardt 4eee8627d2 Serial cleanup - flush, timeout 
As per the forum posts, worked on combining the claim code for extracting which endpoints are RX and TX and create the pipes and the like.

Also worked on live cases.  Reading and writing to AX servos... Found some issues Probably more to find.

I left in some debug code to help find cases of deleting a pipe may hang.  Also macros in serial.cpp to set or toggle IO pins (when in debug mode). This helps find where things are happing using Logic Analyzer as a way to find the approriate USB packets.
2017-11-10 16:37:12 -08:00

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/* 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 <stdint.h>
#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 */
/************************************************/
// Keyboard special Keys
#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
// USBSerial formats - Lets encode format into bits
// Bits: 0-4 - Number of data bits
// Bits: 5-7 - Parity (0=none, 1=odd, 2 = even)
// bits: 8-9 - Stop bits. 0=1, 1=2
#define USBHOST_SERIAL_7E1 0x047
#define USBHOST_SERIAL_7O1 0x027
#define USBHOST_SERIAL_8N1 0x08
#define USBHOST_SERIAL_8N2 0x108
#define USBHOST_SERIAL_8E1 0x048
#define USBHOST_SERIAL_8O1 0x028
/************************************************/
/* 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};
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
enum { DEFAULT_WRITE_TIMEOUT = 3500};
USBSerial(USBHost &host) : txtimer(this) { init(); }
void begin(uint32_t baud, uint32_t format=USBHOST_SERIAL_8N1);
void end(void);
uint32_t writeTimeout() {return write_timeout_;}
void writeTimeOut(uint32_t write_timeout) {write_timeout_ = write_timeout;} // Will not impact current ones.
virtual int available(void);
virtual int peek(void);
virtual int read(void);
virtual int availableForWrite();
virtual size_t write(uint8_t c);
virtual void flush(void);
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);
void ch341_setBaud(uint8_t byte_index);
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[16]; //
uint32_t baudrate;
uint32_t format_;
uint32_t write_timeout_ = DEFAULT_WRITE_TIMEOUT;
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 setup_state; // PL2303 - has several steps... Could use pending control?
uint8_t pl2303_v1; // Which version do we have
uint8_t pl2303_v2;
uint8_t interface;
bool control_queued;
typedef enum { UNKNOWN=0, CDCACM, FTDI, PL2303, CH341, CP210X } sertype_t;
sertype_t sertype;
typedef struct {
uint16_t idVendor;
uint16_t idProduct;
sertype_t sertype;
} product_vendor_mapping_t;
static product_vendor_mapping_t pid_vid_mapping[];
};
//--------------------------------------------------------------------------
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
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