summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
m---------laks0
-rw-r--r--main.cpp220
2 files changed, 16 insertions, 204 deletions
diff --git a/laks b/laks
-Subproject e586c178073b9a0fee90d5fc8e795d266ebd7b7
+Subproject c09be56d30e5a99ab0451a53d0fc0df0aa0dee8
diff --git a/main.cpp b/main.cpp
index 51d4c15..b0db636 100644
--- a/main.cpp
+++ b/main.cpp
@@ -31,6 +31,16 @@ static Pin& i2c_sda = PB11;
static Pin& cs_pressure = PB4;
static Pin& cs_gyro = PB5;
+USB_otg usb(OTG_HS);
+
+bool i2c_read(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
+ uint8_t buf[wLength];
+ I2C2.read_reg(wValue, wIndex, wLength, buf);
+
+ usb.write(0, (uint32_t*)buf, wLength);
+ return true;
+}
+
bool jtag_tick(bool tdi, bool tms) {
bool tdo = jtag_tdo.get();
jtag_tdi.set(tdi);
@@ -46,70 +56,6 @@ bool jtag_tick(bool tdi, bool tms) {
return tdo;
}
-void usb_write(uint32_t ep, uint32_t* bufp, uint32_t len) {
- OTG_HS.dev_iep_reg[ep].DIEPTSIZ = (1 << 19) | len;
- // PKTCNT
- OTG_HS.dev_iep_reg[ep].DIEPCTL |= (1 << 31) | (1 << 26);
- // EPENA CNAK
-
- len = (len + 3) >> 2;
-
- while(len--) {
- OTG_HS.fifo[ep].reg = *bufp++;
- }
-}
-
-bool usb_ep_ready(uint32_t ep) {
- return (OTG_HS.dev_iep_reg[1].DIEPCTL & 0x80008000) == 0x8000;
-}
-
-uint8_t dev_desc[] = {
- 0x12, 0x01, 0x00, 0x02, 0xff, 0x00, 0x00, 0x40, 0x34, 0x12, 0x78, 0x56, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
-};
-
-uint8_t conf_desc[] = {
- 0x09, 0x02, 0x19, 0x00, 0x01, 0x01, 0x00, 0xc0, 0x00,
- 0x09, 0x04, 0x00, 0x00, 0x01, 0xff, 0x00, 0x00, 0x00,
- 0x07, 0x05, 0x81, 0x02, 0x40, 0x00, 0x00,
-};
-
-bool get_descriptor(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
- switch(wValue) {
- case 0x100:
- usb_write(0, (uint32_t*)dev_desc, wLength > sizeof(dev_desc) ? sizeof(dev_desc) : wLength);
- return true;
- case 0x200:
- usb_write(0, (uint32_t*)conf_desc, wLength > sizeof(conf_desc) ? sizeof(conf_desc) : wLength);
- return true;
- default:
- return false;
- }
-}
-
-bool set_address(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
- OTG_HS.dev_reg.DCFG |= wValue << 4;
- usb_write(0, 0, 0);
- return true;
-}
-
-bool set_configuration(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
- switch(wValue) {
- case 0:
- OTG_HS.dev_iep_reg[1].DIEPCTL = 0;
- break;
-
- case 1:
- OTG_HS.dev_iep_reg[1].DIEPCTL = (2 << 18) | (1 << 15) | 64;
- break;
-
- default:
- return false;
- }
-
- usb_write(0, 0, 0);
- return true;
-}
-
bool jtag_shift(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
if(wLength > 16) {
return false;
@@ -123,117 +69,13 @@ bool jtag_shift(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
wIndex >>= 1;
}
- usb_write(0, &tdo, (wLength + 7) >> 3);
+ usb.write(0, &tdo, (wLength + 7) >> 3);
return true;
}
-bool i2c_read(uint16_t wValue, uint16_t wIndex, uint16_t wLength) {
- uint8_t buf[wLength];
- I2C2.read_reg(wValue, wIndex, wLength, buf);
-
- usb_write(0, (uint32_t*)buf, wLength);
- return true;
-}
-
-void handle_setup(const uint32_t* bufp) {
- led_error.toggle();
-
- uint8_t bmRequestType = bufp[0] & 0xff;
- uint8_t bRequest = (bufp[0] >> 8) & 0xff;
- uint16_t wValue = (bufp[0] >> 16) & 0xffff;
- uint16_t wIndex = bufp[1] & 0xffff;
- uint16_t wLength = (bufp[1] >> 16) & 0xffff;
-
- // GET_DESCRIPTOR
- if(bmRequestType == 0x80 && bRequest == 0x06) {
- if(get_descriptor(wValue, wIndex, wLength)) {
- return;
- }
- }
-
- // SET_ADDRESS
- if(bmRequestType == 0x00 && bRequest == 0x05) {
- if(set_address(wValue, wIndex, wLength)) {
- return;
- }
- }
-
- // SET_CONFIGURATION
- if(bmRequestType == 0x00 && bRequest == 0x09) {
- if(set_configuration(wValue, wIndex, wLength)) {
- return;
- }
- }
-
- // I2C_READ
- if(bmRequestType == 0xc0 && bRequest == 0xf0) {
- if(i2c_read(wValue, wIndex, wLength)) {
- return;
- }
- }
-
- // JTAG_SHIFT
- if(bmRequestType == 0xc0 && bRequest == 0xff) {
- if(jtag_shift(wValue, wIndex, wLength)) {
- return;
- }
- }
-
- OTG_HS.dev_iep_reg[0].DIEPCTL |= (1 << 21);
-}
-
-static uint32_t buf[16];
-
-void handle_rxfifo() {
- led_status.toggle();
-
- uint32_t status = OTG_HS.reg.GRXSTSP;
-
- uint32_t len = (status & 0x7ff0) >> 6;
-
- for(uint32_t i = 0; i < len; i++) {
- buf[i] = OTG_HS.fifo[0].reg;
- }
-
- //if(status == 0x000c0080) {
- if((status & (0xf << 17)) == (0x4 << 17)) {
- handle_setup(buf);
- OTG_HS.dev_oep_reg[0].DOEPCTL |= (1 << 26);
- }
-}
-
-void usb_process() {
- // USB reset.
- if(OTG_HS.reg.GINTSTS & (1 << 12)) {
- //led_yellow.toggle();
- OTG_HS.dev_oep_reg[0].DOEPCTL = (1 << 27);
- OTG_HS.dev_reg.DAINTMSK = (1 << 16) | 1;
- OTG_HS.dev_reg.DOEPMSK = (1 << 3) | 1;
- OTG_HS.dev_reg.DIEPEMPMSK = (1 << 3) | 1;
- OTG_HS.reg.GRXFSIZ = 256;
- OTG_HS.reg.DIEPTXF0 = (64 << 16) | 256;
- OTG_HS.reg.DIEPTXF1 = (64 << 16) | 320;
- OTG_HS.dev_oep_reg[0].DOEPTSIZ = (3 << 29);
- }
-
- // OTG interrupt.
- if(OTG_HS.reg.GINTSTS & (1 << 2)) {
- led_status.toggle();
-
- OTG_HS.reg.GOTGINT = (1 << 2); // SEDET
- }
-
- // RxFIFO non-empty.
- if(OTG_HS.reg.GINTSTS & (1 << 4)) {
- handle_rxfifo();
- }
-
- OTG_HS.reg.GINTSTS = 0xffffffff;
-}
-
template<>
void interrupt<(Interrupt::IRQ)77>() {
- usb_process();
+ usb.process();
}
void usb_main() {
@@ -248,36 +90,10 @@ void usb_main() {
RCC.enable(RCC.OTGHS);
//Interrupt::enable((Interrupt::IRQ)77);
- // Set PHYSEL.
- OTG_HS.reg.GUSBCFG |= (1 << 6);
-
- Time::sleep(10);
-
- while(!(OTG_HS.reg.GRSTCTL & (1 << 31)));
- OTG_HS.reg.GRSTCTL |= 1;
- while(OTG_HS.reg.GRSTCTL & 1);
-
- OTG_HS.reg.GAHBCFG = 0;
-
- // USB configuration
- OTG_HS.reg.GUSBCFG = (1 << 30) | (0xf << 10) | (0 << 9) | (0 << 8) | (1 << 6);
- // FDMOD TRDT HNPCAP SRPCAP PHYSEL
-
- // interrupt mask
- OTG_HS.reg.GINTMSK = (1 << 13) | (1 << 12) | (1 << 11) | (1 << 10) | (1 << 3) | (1 << 2) | (1 << 1) | (1 << 4);
- // ENUMDNEM USBRST USBSUSPM ESUSPM SOFM OTGINT MMISM
-
- // device configuration
- OTG_HS.dev_reg.DCFG = (1 << 2) | 3;
- // NZLSOHSK DSPD
-
- // core configuration
- OTG_HS.reg.GCCFG = (1 << 19) | (1 << 16);
- // VBUSBSEN PWRDWN
-
+ usb.init();
while(1) {
- usb_process();
+ usb.process();
Thread::yield();
}
}
@@ -363,12 +179,8 @@ int main() {
magn.z,
};
- if(usb_ep_ready(1)) {
- usb_write(1, (uint32_t*)buf, sizeof(buf));
- }
-
- if(usb_ep_ready(1)) {
- usb_write(1, (uint32_t*)ppmsum.channels, sizeof(ppmsum.channels));
+ if(usb.ep_ready(1)) {
+ usb.write(1, (uint32_t*)buf, sizeof(buf));
}
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-11-04 05:11:04 +0100