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Code Issues Wiki Activity

PICO: Adding VCP (CDC) support (#14106)

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* PICO VCP
* Beginning to work through tinyUSB
* PICO: Additional VCP changes
* Updates based on feedback from @ledvinap
This commit is contained in:
Jay Blackman 2025-01-17 14:02:15 +11:00 • committed by GitHub
parent 0109f50909
commit a7032d15f5
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
8 changed files with 796 additions and 24 deletions
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9
src/platform/PICO/link/pico_rp2350.ld
View file

@ -95,6 +95,15 @@ SECTIONS
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
*(.after_data.*)
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__mutex_array_start = .);
KEEP(*(SORT(.mutex_array.*)))
KEEP(*(.mutex_array))
PROVIDE_HIDDEN (__mutex_array_end = .);
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT >FLASH

66
src/platform/PICO/mk/PICO.mk
View file

@ -12,32 +12,47 @@ SDK_DIR = $(LIB_MAIN_DIR)/pico-sdk
CMSIS_DIR := $(SDK_DIR)/rp2_common/cmsis/stub/CMSIS
#STDPERIPH
STDPERIPH_DIR := $(SDK_DIR)/rp2_common
STDPERIPH_DIR := $(SDK_DIR)
STDPERIPH_SRC := \
hardware_sync_spin_lock/sync_spin_lock.c \
hardware_gpio/gpio.c \
pico_stdio/stdio.c \
hardware_uart/uart.c \
hardware_irq/irq.c \
hardware_timer/timer.c \
hardware_clocks/clocks.c \
hardware_pll/pll.c \
hardware_spi/spi.c \
hardware_i2c/i2c.c \
hardware_adc/adc.c \
hardware_pio/pio.c \
hardware_watchdog/watchdog.c \
hardware_flash/flash.c \
pico_unique_id/unique_id.c
rp2_common/hardware_sync_spin_lock/sync_spin_lock.c \
rp2_common/hardware_gpio/gpio.c \
rp2_common/pico_stdio/stdio.c \
rp2_common/hardware_uart/uart.c \
rp2_common/hardware_irq/irq.c \
rp2_common/hardware_irq/irq_handler_chain.S \
rp2_common/hardware_timer/timer.c \
rp2_common/hardware_clocks/clocks.c \
rp2_common/hardware_pll/pll.c \
rp2_common/hardware_spi/spi.c \
rp2_common/hardware_i2c/i2c.c \
rp2_common/hardware_adc/adc.c \
rp2_common/hardware_pio/pio.c \
rp2_common/hardware_watchdog/watchdog.c \
rp2_common/hardware_flash/flash.c \
rp2_common/pico_unique_id/unique_id.c \
rp2_common/pico_platform_panic/panic.c \
common/pico_sync/mutex.c \
common/pico_time/time.c \
common/pico_sync/lock_core.c \
common/hardware_claim/claim.c \
common/pico_sync/critical_section.c \
rp2_common/hardware_sync/sync.c
TINY_USB_SRC_DIR = tinyUSB/src
TINYUSB_SRC := \
$(TINY_USB_SRC_DIR)/tusb.c \
$(TINY_USB_SRC_DIR)/class/cdc/cdc_device.c \
$(TINY_USB_SRC_DIR)/common/tusb_fifo.c \
$(TINY_USB_SRC_DIR)/device/usbd.c \
$(TINY_USB_SRC_DIR)/device/usbd_control.c \
$(TINY_USB_SRC_DIR)/portable/raspberrypi/rp2040/dcd_rp2040.c \
$(TINY_USB_SRC_DIR)/portable/raspberrypi/rp2040/rp2040_usb.c
VPATH := $(VPATH):$(STDPERIPH_DIR)
DEVICE_STDPERIPH_SRC := \
$(STDPERIPH_SRC) \
$(USBCORE_SRC) \
$(USBCDC_SRC) \
$(USBHID_SRC) \
$(USBMSC_SRC)
$(TINYUSB_SRC)
ifeq ($(TARGET_MCU),RP2350B)
TARGET_MCU_LIB_LOWER = rp2350
@ -48,9 +63,9 @@ endif
VPATH := $(VPATH):$(CMSIS_DIR)/Core/Include:$(CMSIS_DIR)/Device/$(TARGET_MCU_LIB_UPPER)/Include
CMSIS_SRC := \
INCLUDE_DIRS += \
$(TARGET_PLATFORM_DIR) \
$(TARGET_PLATFORM_DIR)/usb \
$(TARGET_PLATFORM_DIR)/startup \
$(SDK_DIR)/common/pico_bit_ops_headers/include \
$(SDK_DIR)/common/pico_base_headers/include \
@ -147,7 +162,8 @@ INCLUDE_DIRS += \
$(CMSIS_DIR)/Device/$(TARGET_MCU_LIB_UPPER)/Include \
$(SDK_DIR)/$(TARGET_MCU_LIB_LOWER)/pico_platform/include \
$(SDK_DIR)/$(TARGET_MCU_LIB_LOWER)/hardware_regs/include \
$(SDK_DIR)/$(TARGET_MCU_LIB_LOWER)/hardware_structs/include
$(SDK_DIR)/$(TARGET_MCU_LIB_LOWER)/hardware_structs/include \
$(LIB_MAIN_DIR)/tinyUSB/src
#Flags
ARCH_FLAGS = -mthumb -mcpu=cortex-m33 -march=armv8-m.main+fp+dsp -mfloat-abi=softfp -mcmse
@ -183,6 +199,7 @@ MCU_COMMON_SRC = \
drivers/bus_spi_config.c \
drivers/serial_pinconfig.c \
drivers/serial_uart_pinconfig.c \
drivers/usb_io.c \
PICO/stdio_pico_stub.c \
PICO/debug_pico.c \
PICO/system.c \
@ -190,6 +207,9 @@ MCU_COMMON_SRC = \
PICO/bus_spi_pico.c \
PICO/serial_uart_pico.c \
PICO/exti_pico.c \
PICO/config_flash.c
PICO/config_flash.c \
PICO/serial_usb_vcp_pico.c \
PICO/usb/usb_cdc.c \
PICO/usb/usb_descriptors.c
DEVICE_FLAGS +=

208
src/platform/PICO/serial_usb_vcp_pico.c Normal file
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@ -0,0 +1,208 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdbool.h>
#include "platform.h"
#ifdef USE_VCP
#include "build/build_config.h"
#include "common/utils.h"
#include "drivers/io.h"
#include "pg/usb.h"
#include "usb/usb_cdc.h"
#include "drivers/time.h"
#include "drivers/serial.h"
#include "drivers/serial_usb_vcp.h"
static vcpPort_t vcpPort = { 0 };
static void usbVcpSetBaudRate(serialPort_t *instance, uint32_t baudRate)
{
UNUSED(instance);
UNUSED(baudRate);
}
static void usbVcpSetMode(serialPort_t *instance, portMode_e mode)
{
UNUSED(instance);
UNUSED(mode);
}
static void usbVcpSetCtrlLineStateCb(serialPort_t *instance, void (*cb)(void *context, uint16_t ctrlLineState), void *context)
{
UNUSED(instance);
UNUSED(cb);
UNUSED(context);
}
static void usbVcpSetBaudRateCb(serialPort_t *instance, void (*cb)(serialPort_t *context, uint32_t baud), serialPort_t *context)
{
UNUSED(instance);
UNUSED(cb);
UNUSED(context);
}
static bool isUsbVcpTransmitBufferEmpty(const serialPort_t *instance)
{
UNUSED(instance);
return true;
}
static uint32_t usbVcpRxBytesAvailable(const serialPort_t *instance)
{
UNUSED(instance);
return cdc_usb_bytes_available();
}
static uint8_t usbVcpRead(serialPort_t *instance)
{
UNUSED(instance);
uint8_t buf[1];
while (true) {
if (cdc_usb_read(buf, 1)) {
return buf[0];
}
}
}
static void usbVcpWriteBuf(serialPort_t *instance, const void *data, int count)
{
UNUSED(instance);
if (!(cdc_usb_connected() && cdc_usb_configured())) {
return;
}
const uint8_t *p = data;
while (count > 0) {
int txed = cdc_usb_write(p, count);
if (txed <= 0) {
break;
}
count -= txed;
p += txed;
}
}
static bool usbVcpFlush(vcpPort_t *port)
{
uint32_t count = port->txAt;
port->txAt = 0;
if (count == 0) {
return true;
}
if (!cdc_usb_connected() || !cdc_usb_configured()) {
return false;
}
const uint8_t *p = port->txBuf;
while (count > 0) {
int txed = cdc_usb_write(p, count);
if (txed <= 0) {
break;
}
count -= txed;
p += txed;
}
return count == 0;
}
static void usbVcpWrite(serialPort_t *instance, uint8_t c)
{
vcpPort_t *port = container_of(instance, vcpPort_t, port);
port->txBuf[port->txAt++] = c;
if (!port->buffering || port->txAt >= ARRAYLEN(port->txBuf)) {
usbVcpFlush(port);
}
}
static void usbVcpBeginWrite(serialPort_t *instance)
{
vcpPort_t *port = container_of(instance, vcpPort_t, port);
port->buffering = true;
}
static uint32_t usbTxBytesFree(const serialPort_t *instance)
{
UNUSED(instance);
return cdc_usb_tx_bytes_free();
}
static void usbVcpEndWrite(serialPort_t *instance)
{
vcpPort_t *port = container_of(instance, vcpPort_t, port);
port->buffering = false;
usbVcpFlush(port);
}
static const struct serialPortVTable usbVTable[] = {
{
.serialWrite = usbVcpWrite,
.serialTotalRxWaiting = usbVcpRxBytesAvailable,
.serialTotalTxFree = usbTxBytesFree,
.serialRead = usbVcpRead,
.serialSetBaudRate = usbVcpSetBaudRate,
.isSerialTransmitBufferEmpty = isUsbVcpTransmitBufferEmpty,
.setMode = usbVcpSetMode,
.setCtrlLineStateCb = usbVcpSetCtrlLineStateCb,
.setBaudRateCb = usbVcpSetBaudRateCb,
.writeBuf = usbVcpWriteBuf,
.beginWrite = usbVcpBeginWrite,
.endWrite = usbVcpEndWrite
}
};
serialPort_t *usbVcpOpen(void)
{
cdc_usb_init();
vcpPort_t *s = &vcpPort;
s->port.vTable = usbVTable;
return &s->port;
}
uint32_t usbVcpGetBaudRate(serialPort_t *instance)
{
UNUSED(instance);
return cdc_usb_baud_rate();
}
uint8_t usbVcpIsConnected(void)
{
return cdc_usb_connected();
}
#endif // USE_VCP

2
src/platform/PICO/target/RP2350B/target.h
View file

@ -45,7 +45,7 @@
#undef USE_SOFTSERIAL1
#undef USE_SOFTSERIAL2
#undef USE_VCP
#define USE_VCP
#undef USE_TRANSPONDER
#undef USE_DMA

35
src/platform/PICO/usb/tusb_config.h Normal file
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@ -0,0 +1,35 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define CFG_TUD_ENABLED 1
#define CFG_TUSB_RHPORT0_MODE OPT_MODE_DEVICE
#define CFG_TUD_CDC 1
#define CFG_TUD_CDC_RX_BUFSIZE 256
#define CFG_TUD_CDC_TX_BUFSIZE 256
#define TUP_DCD_EDPT_ISO_ALLOC
#define TUP_DCD_ENDPOINT_MAX 16
#define TU_ATTR_FAST_FUNC __attribute__((section(".time_critical.tinyusb")))
#define CFG_TUSB_MCU OPT_MCU_RP2040

276
src/platform/PICO/usb/usb_cdc.c Normal file
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@ -0,0 +1,276 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#include "tusb_config.h"
#include "tusb.h"
#include "usb_cdc.h"
#include "pico/binary_info.h"
#include "pico/time.h"
#include "pico/mutex.h"
#include "pico/critical_section.h"
#include "hardware/irq.h"
#ifndef CDC_USB_TASK_INTERVAL_US
#define CDC_USB_TASK_INTERVAL_US 1000
#endif
#ifndef CDC_USB_WRITE_TIMEOUT_US
#define CDC_USB_WRITE_TIMEOUT_US 1000
#endif
#ifndef CDC_DEADLOCK_TIMEOUT_MS
#define CDC_DEADLOCK_TIMEOUT_MS 1000
#endif
#ifndef CDC_USB_BAUD_RATE
#define CDC_USD_BAUD_RATE 115200
#endif
static bool configured = false;
static mutex_t cdc_usb_mutex;
// if this crit_sec is initialized, we are not in periodic timer mode, and must make sure
// we don't either create multiple one shot timers, or miss creating one. this crit_sec
// is used to protect the one_shot_timer_pending flag
static critical_section_t one_shot_timer_crit_sec;
static volatile bool one_shot_timer_pending;
static uint8_t low_priority_irq_num;
static int64_t timer_task(alarm_id_t id, void *user_data)
{
UNUSED(id);
UNUSED(user_data);
int64_t repeat_time;
if (critical_section_is_initialized(&one_shot_timer_crit_sec)) {
critical_section_enter_blocking(&one_shot_timer_crit_sec);
one_shot_timer_pending = false;
critical_section_exit(&one_shot_timer_crit_sec);
repeat_time = 0; // don't repeat
} else {
repeat_time = CDC_USB_TASK_INTERVAL_US;
}
if (irq_is_enabled(low_priority_irq_num)) {
irq_set_pending(low_priority_irq_num);
return repeat_time;
} else {
return 0; // don't repeat
}
}
static void low_priority_worker_irq(void)
{
if (mutex_try_enter(&cdc_usb_mutex, NULL)) {
tud_task();
mutex_exit(&cdc_usb_mutex);
} else {
// if the mutex is already owned, then we are in non IRQ code in this file.
//
// it would seem simplest to just let that code call tud_task() at the end, however this
// code might run during the call to tud_task() and we might miss a necessary tud_task() call
//
// if we are using a periodic timer (crit_sec is not initialized in this case),
// then we are happy just to wait until the next tick, however when we are not using a periodic timer,
// we must kick off a one-shot timer to make sure the tud_task() DOES run (this method
// will be called again as a result, and will try the mutex_try_enter again, and if that fails
// create another one shot timer again, and so on).
if (critical_section_is_initialized(&one_shot_timer_crit_sec)) {
bool need_timer;
critical_section_enter_blocking(&one_shot_timer_crit_sec);
need_timer = !one_shot_timer_pending;
one_shot_timer_pending = true;
critical_section_exit(&one_shot_timer_crit_sec);
if (need_timer) {
add_alarm_in_us(CDC_USB_TASK_INTERVAL_US, timer_task, NULL, true);
}
}
}
}
static void usb_irq(void)
{
irq_set_pending(low_priority_irq_num);
}
int cdc_usb_write(const uint8_t *buf, unsigned length)
{
static uint64_t last_avail_time;
int written = 0;
if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
return -1;
}
if (cdc_usb_connected()) {
for (unsigned i = 0; i < length;) {
unsigned n = length - i;
uint32_t avail = tud_cdc_write_available();
if (n > avail) n = avail;
if (n) {
uint32_t n2 = tud_cdc_write(buf + i, n);
tud_task();
tud_cdc_write_flush();
i += n2;
written = i;
last_avail_time = time_us_64();
} else {
tud_task();
tud_cdc_write_flush();
if (!cdc_usb_connected() || (!tud_cdc_write_available() && time_us_64() > last_avail_time + CDC_USB_WRITE_TIMEOUT_US)) {
break;
}
}
}
} else {
// reset our timeout
last_avail_time = 0;
}
mutex_exit(&cdc_usb_mutex);
return written;
}
void cdc_usb_write_flush(void)
{
if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
return;
}
do {
tud_task();
} while (tud_cdc_write_flush());
mutex_exit(&cdc_usb_mutex);
}
int cdc_usb_read(uint8_t *buf, unsigned length)
{
// note we perform this check outside the lock, to try and prevent possible deadlock conditions
// with printf in IRQs (which we will escape through timeouts elsewhere, but that would be less graceful).
//
// these are just checks of state, so we can call them while not holding the lock.
// they may be wrong, but only if we are in the middle of a tud_task call, in which case at worst
// we will mistakenly think we have data available when we do not (we will check again), or
// tud_task will complete running and we will check the right values the next time.
//
int rc = PICO_ERROR_NO_DATA;
if (cdc_usb_connected() && tud_cdc_available()) {
if (!mutex_try_enter_block_until(&cdc_usb_mutex, make_timeout_time_ms(CDC_DEADLOCK_TIMEOUT_MS))) {
return PICO_ERROR_NO_DATA; // would deadlock otherwise
}
if (cdc_usb_connected() && tud_cdc_available()) {
uint32_t count = tud_cdc_read(buf, length);
rc = count ? (int)count : PICO_ERROR_NO_DATA;
} else {
// because our mutex use may starve out the background task, run tud_task here (we own the mutex)
tud_task();
}
mutex_exit(&cdc_usb_mutex);
}
return rc;
}
bool cdc_usb_init(void)
{
if (get_core_num() != alarm_pool_core_num(alarm_pool_get_default())) {
// included an assertion here rather than just returning false, as this is likely
// a coding bug, rather than anything else.
assert(false);
return false;
}
// initialize TinyUSB, as user hasn't explicitly linked it
tusb_init();
if (!mutex_is_initialized(&cdc_usb_mutex)) {
mutex_init(&cdc_usb_mutex);
}
bool rc = true;
low_priority_irq_num = (uint8_t)user_irq_claim_unused(true);
irq_set_exclusive_handler(low_priority_irq_num, low_priority_worker_irq);
irq_set_enabled(low_priority_irq_num, true);
if (irq_has_shared_handler(USBCTRL_IRQ)) {
critical_section_init_with_lock_num(&one_shot_timer_crit_sec, spin_lock_claim_unused(true));
// we can use a shared handler to notice when there may be work to do
irq_add_shared_handler(USBCTRL_IRQ, usb_irq, PICO_SHARED_IRQ_HANDLER_LOWEST_ORDER_PRIORITY);
} else {
// we use initialization state of the one_shot_timer_critsec as a flag
memset(&one_shot_timer_crit_sec, 0, sizeof(one_shot_timer_crit_sec));
rc = add_alarm_in_us(CDC_USB_TASK_INTERVAL_US, timer_task, NULL, true) >= 0;
}
configured = rc;
return rc;
}
bool cdc_usb_deinit(void)
{
if (get_core_num() != alarm_pool_core_num(alarm_pool_get_default())) {
// included an assertion here rather than just returning false, as this is likely
// a coding bug, rather than anything else.
assert(false);
return false;
}
assert(tud_inited()); // we expect the caller to have initialized when calling sdio_usb_init
if (irq_has_shared_handler(USBCTRL_IRQ)) {
spin_lock_unclaim(spin_lock_get_num(one_shot_timer_crit_sec.spin_lock));
critical_section_deinit(&one_shot_timer_crit_sec);
// we can use a shared handler to notice when there may be work to do
irq_remove_handler(USBCTRL_IRQ, usb_irq);
} else {
// timer is disabled by disabling the irq
}
irq_set_enabled(low_priority_irq_num, false);
user_irq_unclaim(low_priority_irq_num);
configured = false;
return true;
}
bool cdc_usb_configured(void)
{
return configured;
}
bool cdc_usb_connected(void)
{
return tud_cdc_connected();
}
bool cdc_usb_bytes_available(void)
{
return tud_cdc_available();
}
uint32_t cdc_usb_baud_rate(void)
{
return CDC_USD_BAUD_RATE;
}
uint32_t cdc_usb_tx_bytes_free(void)
{
return tud_cdc_write_available();
}

38
src/platform/PICO/usb/usb_cdc.h Normal file
View file

@ -0,0 +1,38 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "platform.h"
void cdc_usb_write_flush(void);
int cdc_usb_write(const uint8_t *buf, unsigned length);
int cdc_usb_read(uint8_t *buf, unsigned length);
bool cdc_usb_init(void);
bool cdc_usb_deinit(void);
bool cdc_usb_configured(void);
bool cdc_usb_connected(void);
bool cdc_usb_bytes_available(void);
uint32_t cdc_usb_baud_rate(void);
uint32_t cdc_usb_tx_bytes_free(void);

186
src/platform/PICO/usb/usb_descriptors.c Normal file
View file

@ -0,0 +1,186 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
*
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public
* License along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
* This file is based on a file originally part of the
* MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
* Copyright (c) 2019 Damien P. George
*
* 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 "tusb.h"
#include "pico/unique_id.h"
#include "common/utils.h"
#ifndef USBD_VID
// Raspberry Pi
#define USBD_VID (0x2E8A)
#endif
#ifndef USBD_PID
#if PICO_RP2040
// Raspberry Pi Pico SDK CDC for RP2040
#define USBD_PID (0x000a)
#else
// Raspberry Pi Pico SDK CDC
#define USBD_PID (0x0009)
#endif
#endif
#ifndef USBD_MANUFACTURER
#define USBD_MANUFACTURER "Betaflight Pico"
#endif
#ifndef USBD_PRODUCT
#define USBD_PRODUCT "Pico"
#endif
#define TUD_RPI_RESET_DESC_LEN 9
#define USBD_DESC_LEN (TUD_CONFIG_DESC_LEN + TUD_CDC_DESC_LEN + TUD_RPI_RESET_DESC_LEN)
#define USBD_CONFIGURATION_DESCRIPTOR_ATTRIBUTE 0
#define USBD_MAX_POWER_MA 250
#define USBD_ITF_CDC 0 // needs 2 interfaces
#define USBD_ITF_MAX 2
#define USBD_CDC_EP_CMD 0x81
#define USBD_CDC_EP_OUT 0x02
#define USBD_CDC_EP_IN 0x82
#define USBD_CDC_CMD_MAX_SIZE 8
#define USBD_CDC_IN_OUT_MAX_SIZE 64
#define USBD_STR_0 0x00
#define USBD_STR_MANUF 0x01
#define USBD_STR_PRODUCT 0x02
#define USBD_STR_SERIAL 0x03
#define USBD_STR_CDC 0x04
#define USBD_STR_RPI_RESET 0x05
// Note: descriptors returned from callbacks must exist long enough for transfer to complete
static const tusb_desc_device_t usbd_desc_device = {
.bLength = sizeof(tusb_desc_device_t),
.bDescriptorType = TUSB_DESC_DEVICE,
.bcdUSB = 0x0200,
.bDeviceClass = TUSB_CLASS_MISC,
.bDeviceSubClass = MISC_SUBCLASS_COMMON,
.bDeviceProtocol = MISC_PROTOCOL_IAD,
.bMaxPacketSize0 = CFG_TUD_ENDPOINT0_SIZE,
.idVendor = USBD_VID,
.idProduct = USBD_PID,
.bcdDevice = 0x0100,
.iManufacturer = USBD_STR_MANUF,
.iProduct = USBD_STR_PRODUCT,
.iSerialNumber = USBD_STR_SERIAL,
.bNumConfigurations = 1,
};
#define TUD_RPI_RESET_DESCRIPTOR(_itfnum, _stridx) \
/* Interface */\
9, TUSB_DESC_INTERFACE, _itfnum, 0, 0, TUSB_CLASS_VENDOR_SPECIFIC, RESET_INTERFACE_SUBCLASS, RESET_INTERFACE_PROTOCOL, _stridx,
static const uint8_t usbd_desc_cfg[USBD_DESC_LEN] = {
TUD_CONFIG_DESCRIPTOR(1, USBD_ITF_MAX, USBD_STR_0, USBD_DESC_LEN,
USBD_CONFIGURATION_DESCRIPTOR_ATTRIBUTE, USBD_MAX_POWER_MA),
TUD_CDC_DESCRIPTOR(USBD_ITF_CDC, USBD_STR_CDC, USBD_CDC_EP_CMD,
USBD_CDC_CMD_MAX_SIZE, USBD_CDC_EP_OUT, USBD_CDC_EP_IN, USBD_CDC_IN_OUT_MAX_SIZE),
};
static char usbd_serial_str[PICO_UNIQUE_BOARD_ID_SIZE_BYTES * 2 + 1];
static const char *const usbd_desc_str[] = {
[USBD_STR_MANUF] = USBD_MANUFACTURER,
[USBD_STR_PRODUCT] = USBD_PRODUCT,
[USBD_STR_SERIAL] = usbd_serial_str,
[USBD_STR_CDC] = "Board CDC",
};
const uint8_t *tud_descriptor_device_cb(void)
{
return (const uint8_t *)&usbd_desc_device;
}
const uint8_t *tud_descriptor_configuration_cb(uint8_t index)
{
UNUSED(index);
return usbd_desc_cfg;
}
const uint16_t *tud_descriptor_string_cb(uint8_t index, uint16_t langid)
{
UNUSED(langid);
#ifndef USBD_DESC_STR_MAX
#define USBD_DESC_STR_MAX (20)
#elif USBD_DESC_STR_MAX > 127
#error USBD_DESC_STR_MAX too high (max is 127).
#elif USBD_DESC_STR_MAX < 17
#error USBD_DESC_STR_MAX too low (min is 17).
#endif
static uint16_t desc_str[USBD_DESC_STR_MAX];
// Assign the SN using the unique flash id
if (!usbd_serial_str[0]) {
pico_get_unique_board_id_string(usbd_serial_str, sizeof(usbd_serial_str));
}
unsigned len;
if (index == 0) {
desc_str[1] = 0x0409; // supported language is English
len = 1;
} else {
if (index >= ARRAYLEN(usbd_desc_str)) {
return NULL;
}
const char *str = usbd_desc_str[index];
for (len = 0; len < USBD_DESC_STR_MAX - 1 && str[len]; ++len) {
desc_str[1 + len] = str[len];
}
}
// first byte is length (including header), second byte is string type
desc_str[0] = (uint16_t)((TUSB_DESC_STRING << 8) | (2 * len + 2));
return desc_str;
}