diff --git a/docs/stm32f1.md b/docs/stm32f1.md index 04868ec6..e65113fd 100644 --- a/docs/stm32f1.md +++ b/docs/stm32f1.md @@ -20,10 +20,14 @@ STM32F1 port. Fixed pins ========== -The UART used for communication with the host is fixed to pins PA9 (TX) and PA10 -(RX). SWD pins (PA13/PA14) are enabled for debugging and cannot be used for any -I/O. SPI uses pins PB13/PB14/PB15, but the pins can be used as general I/O if -SPI is not used. +When using serial, the UART used for communication with the host is +fixed to pins PA9 (TX) and PA10 (RX). When using USB, the PA11 (D-) +and PA12 (D+) pins are reserved. The USB code assumes that PA12 (D+) +has a fixed pullup resistor attached to it. + +SWD pins (PA13/PA14) are enabled for debugging and cannot be used for +any I/O. SPI uses pins PB13/PB14/PB15, but the pins can be used as +general I/O if SPI is not used. Digital I/O =========== diff --git a/src/stm32f1/Kconfig b/src/stm32f1/Kconfig index 20afef85..81e03bf1 100644 --- a/src/stm32f1/Kconfig +++ b/src/stm32f1/Kconfig @@ -18,10 +18,13 @@ config CLOCK_FREQ int default 8000000 # 72000000 / 9 +config USBSERIAL + bool "Use USB for communication (instead of serial)" + default y config SERIAL + depends on !USBSERIAL bool default y - config SERIAL_BAUD depends on SERIAL int "Baud rate for serial port" diff --git a/src/stm32f1/Makefile b/src/stm32f1/Makefile index 9fca3561..71b6dac1 100644 --- a/src/stm32f1/Makefile +++ b/src/stm32f1/Makefile @@ -28,6 +28,7 @@ src-y += $(addprefix ../, $(wildcard lib/hal-stm32f1/source/stm32f1xx_ll_*.c)) src-y += generic/crc16_ccitt.c generic/armcm_irq.c generic/timer_irq.c src-y += ../lib/cmsis-stm32f1/source/system_stm32f1xx.c src-ys = ../lib/cmsis-stm32f1/source/startup_stm32f103xb.s +src-$(CONFIG_USBSERIAL) += stm32f1/usbserial.c generic/usb_cdc.c src-$(CONFIG_SERIAL) += stm32f1/serial.c generic/serial_irq.c # Build the additional hex output file diff --git a/src/stm32f1/usbserial.c b/src/stm32f1/usbserial.c new file mode 100644 index 00000000..067bba07 --- /dev/null +++ b/src/stm32f1/usbserial.c @@ -0,0 +1,281 @@ +// Hardware interface to "fullspeed USB controller" on stm32f1 +// +// Copyright (C) 2018 Kevin O'Connor +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include // NULL +#include "board/io.h" // writeb +#include "board/usb_cdc.h" // usb_notify_ep0 +#include "board/usb_cdc_ep.h" // USB_CDC_EP_BULK_IN +#include "sched.h" // DECL_INIT +#include "stm32f1xx.h" // USB + + +/**************************************************************** + * USB transfer memory + ****************************************************************/ + +struct ep_desc { + uint32_t addr_tx, count_tx, addr_rx, count_rx; +}; + +struct ep_mem { + struct ep_desc ep0, ep_acm, ep_bulk_out, ep_bulk_in; + uint32_t ep0_tx[USB_CDC_EP0_SIZE / 2]; + uint32_t ep0_rx[USB_CDC_EP0_SIZE / 2]; + uint32_t ep_acm_tx[USB_CDC_EP_ACM_SIZE / 2]; + uint32_t ep_bulk_out_rx[USB_CDC_EP_BULK_OUT_SIZE / 2]; + uint32_t ep_bulk_in_tx[USB_CDC_EP_BULK_IN_SIZE / 2]; +}; + +#define USB_BTABLE ((struct ep_mem *)(USB_BASE + 0x400)) + +#define CALC_ADDR(p) (((void*)(p) - (void*)USB_BTABLE) / 2) +#define CALC_SIZE(s) ((s) > 32 ? (DIV_ROUND_UP((s), 32) << 10) | 0x8000 \ + : DIV_ROUND_UP((s), 2) << 10) + +// Setup the transfer descriptors in dedicated usb memory +static void +btable_configure(void) +{ + USB_BTABLE->ep0.count_tx = 0; + USB_BTABLE->ep0.addr_tx = CALC_ADDR(USB_BTABLE->ep0_tx); + USB_BTABLE->ep0.count_rx = CALC_SIZE(USB_CDC_EP0_SIZE); + USB_BTABLE->ep0.addr_rx = CALC_ADDR(USB_BTABLE->ep0_rx); + + USB_BTABLE->ep_acm.count_tx = 0; + USB_BTABLE->ep_acm.addr_tx = CALC_ADDR(USB_BTABLE->ep_acm_tx); + + USB_BTABLE->ep_bulk_out.count_rx = CALC_SIZE(USB_CDC_EP_BULK_OUT_SIZE); + USB_BTABLE->ep_bulk_out.addr_rx = CALC_ADDR(USB_BTABLE->ep_bulk_out_rx); + + USB_BTABLE->ep_bulk_in.count_tx = 0; + USB_BTABLE->ep_bulk_in.addr_tx = CALC_ADDR(USB_BTABLE->ep_bulk_in_tx); +} + +// Read a packet stored in dedicated usb memory +static void +btable_read_packet(uint8_t *dest, uint32_t *src, int count) +{ + uint_fast8_t i; + for (i=0; i<(count/2); i++) { + uint32_t d = *src++; + *dest++ = d; + *dest++ = d >> 8; + } + if (count & 1) + *dest = *src; +} + +// Write a packet to dedicated usb memory +static void +btable_write_packet(uint32_t *dest, const uint8_t *src, int count) +{ + int i; + for (i=0; i<(count/2); i++) { + uint8_t b1 = *src++, b2 = *src++; + *dest++ = b1 | (b2 << 8); + } + if (count & 1) + *dest = *src; +} + + +/**************************************************************** + * USB endpoint register + ****************************************************************/ + +#define USB_EPR ((volatile uint32_t *)USB_BASE) + +#define EP_BULK (0 << USB_EP0R_EP_TYPE_Pos) +#define EP_CONTROL (1 << USB_EP0R_EP_TYPE_Pos) +#define EP_INTERRUPT (3 << USB_EP0R_EP_TYPE_Pos) +#define RX_STALL (1 << USB_EP0R_STAT_RX_Pos) +#define RX_NAK (2 << USB_EP0R_STAT_RX_Pos) +#define RX_VALID (3 << USB_EP0R_STAT_RX_Pos) +#define TX_STALL (1 << USB_EP0R_STAT_TX_Pos) +#define TX_NAK (2 << USB_EP0R_STAT_TX_Pos) +#define TX_VALID (3 << USB_EP0R_STAT_TX_Pos) +#define EPR_RWBITS (USB_EP0R_EA | USB_EP0R_EP_KIND | USB_EP0R_EP_TYPE) +#define EPR_RWCBITS (USB_EP0R_CTR_RX | USB_EP0R_CTR_TX) + +static uint32_t +set_stat_rx_bits(uint32_t epr, uint32_t bits) +{ + return ((epr & (EPR_RWBITS | USB_EP0R_STAT_RX_Msk)) ^ bits) | EPR_RWCBITS; +} + +static uint32_t +set_stat_tx_bits(uint32_t epr, uint32_t bits) +{ + return ((epr & (EPR_RWBITS | USB_EP0R_STAT_TX_Msk)) ^ bits) | EPR_RWCBITS; +} + +static uint32_t +set_stat_rxtx_bits(uint32_t epr, uint32_t bits) +{ + uint32_t mask = EPR_RWBITS | USB_EP0R_STAT_RX_Msk | USB_EP0R_STAT_TX_Msk; + return ((epr & mask) ^ bits) | EPR_RWCBITS; +} + + +/**************************************************************** + * USB interface + ****************************************************************/ + +int_fast8_t +usb_read_bulk_out(void *data, uint_fast8_t max_len) +{ + uint32_t epr = USB_EPR[USB_CDC_EP_BULK_OUT]; + if ((epr & USB_EP0R_STAT_RX_Msk) == RX_VALID) + // No data ready + return -1; + uint32_t count = USB_BTABLE->ep_bulk_out.count_rx & 0x3ff; + if (count > max_len) + count = max_len; + btable_read_packet(data, USB_BTABLE->ep_bulk_out_rx, count); + USB_EPR[USB_CDC_EP_BULK_OUT] = set_stat_rx_bits(epr, RX_VALID); + return count; +} + +int_fast8_t +usb_send_bulk_in(void *data, uint_fast8_t len) +{ + uint32_t epr = USB_EPR[USB_CDC_EP_BULK_IN]; + if ((epr & USB_EP0R_STAT_TX_Msk) != TX_NAK) + // No buffer space available + return -1; + btable_write_packet(USB_BTABLE->ep_bulk_in_tx, data, len); + USB_BTABLE->ep_bulk_in.count_tx = len; + USB_EPR[USB_CDC_EP_BULK_IN] = set_stat_tx_bits(epr, TX_VALID); + return len; +} + +int_fast8_t +usb_read_ep0(void *data, uint_fast8_t max_len) +{ + uint32_t epr = USB_EPR[0]; + if ((epr & USB_EP0R_STAT_RX_Msk) != RX_NAK) + // No data ready + return -1; + uint32_t count = USB_BTABLE->ep0.count_rx & 0x3ff; + if (count > max_len) + count = max_len; + btable_read_packet(data, USB_BTABLE->ep0_rx, count); + USB_EPR[0] = set_stat_rxtx_bits(epr, RX_VALID | TX_NAK); + return count; +} + +int_fast8_t +usb_read_ep0_setup(void *data, uint_fast8_t max_len) +{ + return usb_read_ep0(data, max_len); +} + +int_fast8_t +usb_send_ep0(const void *data, uint_fast8_t len) +{ + uint32_t epr = USB_EPR[0]; + if ((epr & USB_EP0R_STAT_RX_Msk) != RX_VALID) + // Transfer interrupted + return -2; + if ((epr & USB_EP0R_STAT_TX_Msk) != TX_NAK) + // No buffer space available + return -1; + btable_write_packet(USB_BTABLE->ep0_tx, data, len); + USB_BTABLE->ep0.count_tx = len; + USB_EPR[0] = set_stat_tx_bits(epr, TX_VALID); + return len; +} + +void +usb_stall_ep0(void) +{ + USB_EPR[0] = set_stat_rxtx_bits(USB_EPR[0], RX_STALL | TX_STALL); +} + +static uint8_t set_address; + +void +usb_set_address(uint_fast8_t addr) +{ + writeb(&set_address, addr | USB_DADDR_EF); + usb_send_ep0(NULL, 0); +} + +void +usb_set_configure(void) +{ +} + + +/**************************************************************** + * Setup and interrupts + ****************************************************************/ + +// Initialize the usb controller +void +usb_init(void) +{ + // Setup USB packet memory + btable_configure(); + + // Enable USB clock + RCC->APB1ENR |= RCC_APB1ENR_USBEN; + + // Reset usb controller and enable interrupts + USB->CNTR = USB_CNTR_FRES; + USB->BTABLE = 0; + USB->DADDR = 0; + USB->CNTR = USB_CNTR_RESETM; + USB->ISTR = 0; + NVIC_SetPriority(USB_LP_CAN1_RX0_IRQn, 1); + NVIC_EnableIRQ(USB_LP_CAN1_RX0_IRQn); +} +DECL_INIT(usb_init); + +// Configure interface after a USB reset event +static void +usb_reset(void) +{ + USB_EPR[0] = 0 | EP_CONTROL | RX_VALID | TX_NAK; + USB_EPR[USB_CDC_EP_ACM] = USB_CDC_EP_ACM | EP_INTERRUPT | RX_NAK | TX_NAK; + USB_EPR[USB_CDC_EP_BULK_OUT] = (USB_CDC_EP_BULK_OUT | EP_BULK + | RX_VALID | TX_NAK); + USB_EPR[USB_CDC_EP_BULK_IN] = (USB_CDC_EP_BULK_IN | EP_BULK + | RX_NAK | TX_NAK); + + USB->CNTR = USB_CNTR_CTRM | USB_CNTR_RESETM; + USB->DADDR = USB_DADDR_EF; +} + +// Main irq handler +void __visible +USB_LP_CAN1_RX0_IRQHandler(void) +{ + uint32_t istr = USB->ISTR; + if (istr & USB_ISTR_CTR) { + // Endpoint activity + uint32_t ep = istr & USB_ISTR_EP_ID; + uint32_t epr = USB_EPR[ep]; + USB_EPR[ep] = epr & EPR_RWBITS; + if (ep == 0) { + usb_notify_ep0(); + if (epr & USB_EP_CTR_TX && set_address) { + // Apply address after last "in" message transmitted + USB->DADDR = set_address; + set_address = 0; + } + } else if (ep == USB_CDC_EP_BULK_OUT) { + usb_notify_bulk_out(); + } else if (ep == USB_CDC_EP_BULK_IN) { + usb_notify_bulk_in(); + } + } + if (istr & USB_ISTR_RESET) { + // USB Reset + USB->ISTR = (uint16_t)~USB_ISTR_RESET; + usb_reset(); + } +}