From cdcffd937b118f57a8b677a0a1c8ef322e534c1d Mon Sep 17 00:00:00 2001 From: blckmn Date: Thu, 29 May 2025 16:31:42 +1000 Subject: [PATCH] Correcting merge failure, and adding DEFIO_PORT_PINS definition --- src/main/drivers/io_def.h | 2 +- src/platform/PICO/io_def_generated.h | 3 - src/platform/PICO/pico/platform.h | 287 ++++++++++++++++++++++++ src/platform/PICO/pico/version.h | 19 ++ src/platform/PICO/platform_mcu.h | 1 + src/platform/PICO/usb/usb_cdc.c | 276 +++++++++++++++++++++++ src/platform/PICO/usb/usb_descriptors.c | 186 +++++++++++++++ 7 files changed, 770 insertions(+), 4 deletions(-) create mode 100644 src/platform/PICO/pico/platform.h create mode 100644 src/platform/PICO/pico/version.h create mode 100644 src/platform/PICO/usb/usb_cdc.c create mode 100644 src/platform/PICO/usb/usb_descriptors.c diff --git a/src/main/drivers/io_def.h b/src/main/drivers/io_def.h index 8906c71b2a..2204005221 100644 --- a/src/main/drivers/io_def.h +++ b/src/main/drivers/io_def.h @@ -43,7 +43,7 @@ // split ioTag bits between pin and port // port is encoded as +1 to avoid collision with 0x0 (false as bool) -#ifndef DEFIO_PORT_PINS +#ifndef DEFIO_PORT_PINS // pins per port #define DEFIO_PORT_PINS 16 #endif diff --git a/src/platform/PICO/io_def_generated.h b/src/platform/PICO/io_def_generated.h index 02a5745c36..326e7302e2 100644 --- a/src/platform/PICO/io_def_generated.h +++ b/src/platform/PICO/io_def_generated.h @@ -32,9 +32,6 @@ #error "Unsupported target MCU type for PICO" #endif -#define DEFIO_PIN_BITMASK 0x7f -#define DEFIO_PORT_BITSHIFT 7 - #undef DEFIO_TAG_MAKE #define DEFIO_TAG_MAKE(pin) ((ioTag_t)(((1) << DEFIO_PORT_BITSHIFT) | (pin))) diff --git a/src/platform/PICO/pico/platform.h b/src/platform/PICO/pico/platform.h new file mode 100644 index 0000000000..24fec75bbe --- /dev/null +++ b/src/platform/PICO/pico/platform.h @@ -0,0 +1,287 @@ +/* + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +/** \file platform.h + * \defgroup pico_platform pico_platform + * + * \brief Macros and definitions (and functions when included by non assembly code) for the RP2 family device / architecture + * to provide a common abstraction over low level compiler / platform specifics + * + * This header may be included by assembly code + */ + +#ifndef _PICO_PLATFORM_H +#define _PICO_PLATFORM_H + +#ifndef _PICO_H +#error pico/platform.h should not be included directly; include pico.h instead +#endif + +#include "pico/platform/compiler.h" +#include "pico/platform/sections.h" +#include "pico/platform/panic.h" +#include "hardware/regs/addressmap.h" +#include "hardware/regs/sio.h" +#ifdef __riscv +#include "hardware/regs/rvcsr.h" +#endif + +// PICO_CONFIG: PICO_RP2350A, Whether the current board has an RP2350 in an A (30 GPIO) package, type=bool, default=Usually provided via board header, group=pico_platform +#if 0 // make tooling checks happy +#define PICO_RP2350A 0 +#endif + +// PICO_CONFIG: PICO_RP2350_A2_SUPPORTED, Whether to include any specific software support for RP2350 A2 revision, type=bool, default=1, advanced=true, group=pico_platform +#ifndef PICO_RP2350_A2_SUPPORTED +#define PICO_RP2350_A2_SUPPORTED 1 +#endif + +// PICO_CONFIG: PICO_STACK_SIZE, Minimum amount of stack space reserved in the linker script for each core. See also PICO_CORE1_STACK_SIZE, min=0x100, default=0x800, advanced=true, group=pico_platform +#ifndef PICO_STACK_SIZE +#define PICO_STACK_SIZE _u(0x800) +#endif + +// PICO_CONFIG: PICO_HEAP_SIZE, Minimum amount of heap space reserved by the linker script, min=0x100, default=0x800, advanced=true, group=pico_platform +#ifndef PICO_HEAP_SIZE +#define PICO_HEAP_SIZE _u(0x800) +#endif + +// PICO_CONFIG: PICO_NO_RAM_VECTOR_TABLE, Enable/disable the RAM vector table, type=bool, default=0, advanced=true, group=pico_platform +#ifndef PICO_NO_RAM_VECTOR_TABLE +#define PICO_NO_RAM_VECTOR_TABLE 0 +#endif + +#ifndef PICO_RAM_VECTOR_TABLE_SIZE +#define PICO_RAM_VECTOR_TABLE_SIZE (VTABLE_FIRST_IRQ + NUM_IRQS) +#endif + +// PICO_CONFIG: PICO_USE_STACK_GUARDS, Enable/disable stack guards, type=bool, default=0, advanced=true, group=pico_platform +#ifndef PICO_USE_STACK_GUARDS +#define PICO_USE_STACK_GUARDS 0 +#endif + +// PICO_CONFIG: PICO_CLKDIV_ROUND_NEAREST, True if floating point clock divisors should be rounded to the nearest possible clock divisor by default rather than rounding down, type=bool, default=1, group=pico_platform +#ifndef PICO_CLKDIV_ROUND_NEAREST +#define PICO_CLKDIV_ROUND_NEAREST 1 +#endif + +#ifndef __ASSEMBLER__ + +/*! \brief No-op function for the body of tight loops + * \ingroup pico_platform + * + * No-op function intended to be called by any tight hardware polling loop. Using this ubiquitously + * makes it much easier to find tight loops, but also in the future \#ifdef-ed support for lockup + * debugging might be added + */ +static __force_inline void tight_loop_contents(void) {} + +/*! \brief Helper method to busy-wait for at least the given number of cycles + * \ingroup pico_platform + * + * This method is useful for introducing very short delays. + * + * This method busy-waits in a tight loop for the given number of system clock cycles. The total wait time is only accurate to within 2 cycles, + * and this method uses a loop counter rather than a hardware timer, so the method will always take longer than expected if an + * interrupt is handled on the calling core during the busy-wait; you can of course disable interrupts to prevent this. + * + * You can use \ref clock_get_hz(clk_sys) to determine the number of clock cycles per second if you want to convert an actual + * time duration to a number of cycles. + * + * \param minimum_cycles the minimum number of system clock cycles to delay for + */ +static inline void busy_wait_at_least_cycles(uint32_t minimum_cycles) { + pico_default_asm_volatile ( +#ifdef __riscv + // Note the range is halved on RISC-V due to signed comparison (no carry flag) + ".option push\n" + ".option norvc\n" // force 32 bit addi, so branch prediction guaranteed + ".p2align 2\n" + "1: \n" + "addi %0, %0, -2 \n" + "bgez %0, 1b\n" + ".option pop" +#else + "1: subs %0, #3\n" + "bcs 1b\n" +#endif + : "+r" (minimum_cycles) : : "cc", "memory" + ); +} + +// PICO_CONFIG: PICO_NO_FPGA_CHECK, Remove the FPGA platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime +#ifndef PICO_NO_FPGA_CHECK +#define PICO_NO_FPGA_CHECK 1 +#endif + +// PICO_CONFIG: PICO_NO_SIM_CHECK, Remove the SIM platform check for small code size reduction, type=bool, default=1, advanced=true, group=pico_runtime +#ifndef PICO_NO_SIM_CHECK +#define PICO_NO_SIM_CHECK 1 +#endif + +#if PICO_NO_FPGA_CHECK +static inline bool running_on_fpga(void) {return false;} +#else +bool running_on_fpga(void); +#endif +#if PICO_NO_SIM_CHECK +static inline bool running_in_sim(void) {return false;} +#else +bool running_in_sim(void); +#endif + +/*! \brief Execute a breakpoint instruction + * \ingroup pico_platform + */ +static __force_inline void __breakpoint(void) { +#ifdef __riscv + __asm ("ebreak"); +#else + pico_default_asm_volatile ("bkpt #0" : : : "memory"); +#endif +} + +/*! \brief Get the current core number + * \ingroup pico_platform + * + * \return The core number the call was made from + */ +__force_inline static uint get_core_num(void) { + return (*(uint32_t *) (SIO_BASE + SIO_CPUID_OFFSET)); +} + +/*! \brief Get the current exception level on this core + * \ingroup pico_platform + * + * On Cortex-M this is the exception number defined in the architecture + * reference, which is equal to VTABLE_FIRST_IRQ + irq num if inside an + * interrupt handler. (VTABLE_FIRST_IRQ is defined in platform_defs.h). + * + * On Hazard3, this function returns VTABLE_FIRST_IRQ + irq num if inside of + * an external IRQ handler (or a fault from such a handler), and 0 otherwise, + * generally aligning with the Cortex-M values. + * + * \return the exception number if the CPU is handling an exception, or 0 otherwise + */ +static __force_inline uint __get_current_exception(void) { +#ifdef __riscv + uint32_t meicontext; + pico_default_asm_volatile ( + "csrr %0, %1\n" + : "=r" (meicontext) : "i" (RVCSR_MEICONTEXT_OFFSET) + ); + if (meicontext & RVCSR_MEICONTEXT_NOIRQ_BITS) { + return 0; + } else { + return VTABLE_FIRST_IRQ + ( + (meicontext & RVCSR_MEICONTEXT_IRQ_BITS) >> RVCSR_MEICONTEXT_IRQ_LSB + ); + } +#else + uint exception; + pico_default_asm_volatile ( + "mrs %0, ipsr\n" + "uxtb %0, %0\n" + : "=l" (exception) + ); + return exception; +#endif +} + +/*! \brief Return true if executing in the NonSecure state (Arm-only) + * \ingroup pico_platform + * + * \return True if currently executing in the NonSecure state on an Arm processor + */ +__force_inline static bool pico_processor_state_is_nonsecure(void) { +#ifndef __riscv + // todo add a define to disable NS checking at all? + // IDAU-Exempt addresses return S=1 when tested in the Secure state, + // whereas executing a tt in the NonSecure state will always return S=0. + uint32_t tt; + pico_default_asm_volatile ( + "movs %0, #0\n" + "tt %0, %0\n" + : "=r" (tt) : : "cc" + ); + return !(tt & (1u << 22)); +#else + // NonSecure is an Arm concept, there is nothing meaningful to return + // here. Note it's not possible in general to detect whether you are + // executing in U-mode as, for example, M-mode is classically + // virtualisable in U-mode. + return false; +#endif +} + +#define host_safe_hw_ptr(x) ((uintptr_t)(x)) +#define native_safe_hw_ptr(x) host_safe_hw_ptr(x) + +/*! \brief Returns the RP2350 chip revision number + * \ingroup pico_platform + * @return the RP2350 chip revision number (1 for B0/B1, 2 for B2) + */ +uint8_t rp2350_chip_version(void); + +/*! \brief Returns the RP2040 chip revision number for compatibility + * \ingroup pico_platform + * @return 2 RP2040 errata fixed in B2 are fixed in RP2350 + */ +static inline uint8_t rp2040_chip_version(void) { + return 2; +} + +/*! \brief Returns the RP2040 rom version number + * \ingroup pico_platform + * @return the RP2040 rom version number (1 for RP2040-B0, 2 for RP2040-B1, 3 for RP2040-B2) + */ +static inline uint8_t rp2040_rom_version(void) { + GCC_Pragma("GCC diagnostic push") + GCC_Pragma("GCC diagnostic ignored \"-Warray-bounds\"") + return *(uint8_t*)0x13; + GCC_Pragma("GCC diagnostic pop") +} + +/*! \brief Multiply two integers using an assembly `MUL` instruction + * \ingroup pico_platform + * + * This multiplies a by b using multiply instruction using the ARM mul instruction regardless of values (the compiler + * might otherwise choose to perform shifts/adds), i.e. this is a 1 cycle operation. + * + * \param a the first operand + * \param b the second operand + * \return a * b + */ +__force_inline static int32_t __mul_instruction(int32_t a, int32_t b) { +#ifdef __riscv + __asm ("mul %0, %0, %1" : "+r" (a) : "r" (b) : ); +#else + pico_default_asm ("muls %0, %1" : "+l" (a) : "l" (b) : "cc"); +#endif + return a; +} + +/*! \brief multiply two integer values using the fastest method possible + * \ingroup pico_platform + * + * Efficiently multiplies value a by possibly constant value b. + * + * If b is known to be constant and not zero or a power of 2, then a mul instruction is used rather than gcc's default + * which is often a slow combination of shifts and adds. If b is a power of 2 then a single shift is of course preferable + * and will be used + * + * \param a the first operand + * \param b the second operand + * \return a * b + */ +#define __fast_mul(a, b) __builtin_choose_expr(__builtin_constant_p(b) && !__builtin_constant_p(a), \ + (__builtin_popcount(b) >= 2 ? __mul_instruction(a,b) : (a)*(b)), \ + (a)*(b)) + +#endif // __ASSEMBLER__ + +#endif + diff --git a/src/platform/PICO/pico/version.h b/src/platform/PICO/pico/version.h new file mode 100644 index 0000000000..fce6cc0693 --- /dev/null +++ b/src/platform/PICO/pico/version.h @@ -0,0 +1,19 @@ +/* + * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. + * + * SPDX-License-Identifier: BSD-3-Clause + */ + +// --------------------------------------- +// THIS FILE IS AUTOGENERATED; DO NOT EDIT +// --------------------------------------- + +#ifndef _PICO_VERSION_H +#define _PICO_VERSION_H + +#define PICO_SDK_VERSION_MAJOR 2 +#define PICO_SDK_VERSION_MINOR 1 +#define PICO_SDK_VERSION_REVISION 0 +#define PICO_SDK_VERSION_STRING "2.1.0" + +#endif diff --git a/src/platform/PICO/platform_mcu.h b/src/platform/PICO/platform_mcu.h index 80544a0da8..cb7d34f55f 100644 --- a/src/platform/PICO/platform_mcu.h +++ b/src/platform/PICO/platform_mcu.h @@ -31,6 +31,7 @@ #define NVIC_PriorityGroup_2 0x500 #define PLATFORM_NO_LIBC 0 +#define DEFIO_PORT_PINS 64 #if defined(RP2350A) || defined(RP2350B) diff --git a/src/platform/PICO/usb/usb_cdc.c b/src/platform/PICO/usb/usb_cdc.c new file mode 100644 index 0000000000..d0603a83f2 --- /dev/null +++ b/src/platform/PICO/usb/usb_cdc.c @@ -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 . + */ + +#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(); +} diff --git a/src/platform/PICO/usb/usb_descriptors.c b/src/platform/PICO/usb/usb_descriptors.c new file mode 100644 index 0000000000..0275371704 --- /dev/null +++ b/src/platform/PICO/usb/usb_descriptors.c @@ -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 . + */ + +/* + * 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; +}