/* USB API for Teensy USB Development Board * http://www.pjrc.com/teensy/teensyduino.html * Copyright (c) 2012 PJRC.COM, LLC * * 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 #include #include #include "usb_common.h" #include "usb_private.h" #include "usb_api.h" #include "wiring.h" FlightSimCommand * FlightSimCommand::first = NULL; FlightSimCommand * FlightSimCommand::last = NULL; FlightSimInteger * FlightSimInteger::first = NULL; FlightSimInteger * FlightSimInteger::last = NULL; FlightSimFloat * FlightSimFloat::first = NULL; FlightSimFloat * FlightSimFloat::last = NULL; uint8_t FlightSimClass::enabled = 0; uint8_t FlightSimClass::request_id_messages = 0; unsigned long FlightSimClass::frameCount = 0; elapsedMillis FlightSimClass::enableTimeout; static unsigned int unassigned_id = 1; // TODO: move into FlightSimClass FlightSimCommand::FlightSimCommand() { id = unassigned_id++; if (!first) { first = this; } else { last->next = this; } last = this; name = NULL; next = NULL; FlightSimClass::request_id_messages = 1; } void FlightSimCommand::identify(void) { uint8_t len, buf[6]; if (!FlightSim.enabled || !name) return; len = strlen_P((const prog_char*)name); buf[0] = len + 6; buf[1] = 1; buf[2] = id; buf[3] = id >> 8; buf[4] = 0; buf[5] = 0; FlightSimClass::xmit(buf, 6, name, len); } void FlightSimCommand::sendcmd(uint8_t n) { uint8_t buf[4]; if (!FlightSim.enabled || !name) return; buf[0] = 4; buf[1] = n; buf[2] = id; buf[3] = id >> 8; FlightSimClass::xmit(buf, 4); } FlightSimInteger::FlightSimInteger() { id = unassigned_id++; if (!first) { first = this; } else { last->next = this; } last = this; name = NULL; next = NULL; value = 0; change_callback = NULL; FlightSimClass::request_id_messages = 1; } void FlightSimInteger::identify(void) { uint8_t len, buf[6]; if (!FlightSim.enabled || !name) return; len = strlen_P((const prog_char*)name); buf[0] = len + 6; buf[1] = 1; buf[2] = id; buf[3] = id >> 8; buf[4] = 1; buf[5] = 0; FlightSimClass::xmit(buf, 6, name, len); } void FlightSimInteger::write(long val) { uint8_t buf[6]; value = val; if (!FlightSim.enabled || !name) return; // TODO: mark as dirty buf[0] = 10; buf[1] = 2; buf[2] = id; buf[3] = id >> 8; buf[4] = 1; buf[5] = 0; FlightSimClass::xmit(buf, 6, (uint8_t *)&value, 4); } void FlightSimInteger::update(long val) { value = val; if (change_callback) (*change_callback)(val); } FlightSimInteger * FlightSimInteger::find(unsigned int n) { for (FlightSimInteger *p = first; p; p = p->next) { if (p->id == n) return p; } return NULL; } FlightSimFloat::FlightSimFloat() { id = unassigned_id++; if (!first) { first = this; } else { last->next = this; } last = this; name = NULL; next = NULL; value = 0; change_callback = NULL; FlightSimClass::request_id_messages = 1; } void FlightSimFloat::identify(void) { uint8_t len, buf[6]; if (!FlightSim.enabled || !name) return; len = strlen_P((const prog_char*)name); buf[0] = len + 6; buf[1] = 1; buf[2] = id; buf[3] = id >> 8; buf[4] = 2; buf[5] = 0; FlightSimClass::xmit(buf, 6, name, len); } void FlightSimFloat::write(float val) { uint8_t buf[6]; value = val; if (!FlightSim.enabled || !name) return; // TODO: mark as dirty buf[0] = 10; buf[1] = 2; buf[2] = id; buf[3] = id >> 8; buf[4] = 2; buf[5] = 0; FlightSimClass::xmit(buf, 6, (uint8_t *)&value, 4); } void FlightSimFloat::update(float val) { value = val; if (change_callback) (*change_callback)(val); } FlightSimFloat * FlightSimFloat::find(unsigned int n) { for (FlightSimFloat *p = first; p; p = p->next) { if (p->id == n) return p; } return NULL; } FlightSimClass::FlightSimClass() { } void FlightSimClass::update(void) { uint8_t len, maxlen, type, buf[64], *p; uint16_t id; while (recv(buf)) { p = buf; maxlen = 64; do { len = p[0]; if (len < 2 || len > maxlen) break; switch (p[1]) { case 0x02: // write data if (len < 10) break; id = p[2] | (p[3] << 8); type = p[4]; if (type == 1) { FlightSimInteger *item = FlightSimInteger::find(id); if (!item) break; item->update(*(long *)(p + 6)); } else if (type == 2) { FlightSimFloat *item = FlightSimFloat::find(id); if (!item) break; item->update(*(float *)(p + 6)); } break; case 0x03: // enable/disable if (len < 4) break; switch (p[2]) { case 1: request_id_messages = 1; case 2: enable(); frameCount++; break; case 3: disable(); } } p += len; maxlen -= len; } while (p < buf + 64); } if (enabled && request_id_messages) { request_id_messages = 0; for (FlightSimCommand *p = FlightSimCommand::first; p; p = p->next) { p->identify(); } for (FlightSimInteger *p = FlightSimInteger::first; p; p = p->next) { p->identify(); // TODO: send any dirty data } for (FlightSimFloat *p = FlightSimFloat::first; p; p = p->next) { p->identify(); // TODO: send any dirty data } } } bool FlightSimClass::isEnabled(void) { if (!usb_configuration) return false; if (!enabled) return false; if (enableTimeout > 1500) return false; return true; } // receive a packet uint8_t FlightSimClass::recv(uint8_t *buffer) { uint8_t intr_state; // if we're not online (enumerated and configured), error if (!usb_configuration) return 0; intr_state = SREG; cli(); UENUM = FLIGHTSIM_RX_ENDPOINT; if (!(UEINTX & (1< FLIGHTSIM_TX_SIZE) return; if (!enabled || !usb_configuration) return; intr_state = SREG; cli(); UENUM = FLIGHTSIM_TX_ENDPOINT; avail = FLIGHTSIM_TX_SIZE - UEBCLX; if ((UEINTX & (1<= n1)) { goto send; } else { while (avail) { UEDATX = 0; avail--; } UEINTX = 0x3A; while (1) { if (UEINTX & (1< 0); if (UEBCLX == FLIGHTSIM_TX_SIZE) UEINTX = 0x3A; SREG = intr_state; } void FlightSimClass::xmit(const uint8_t *p1, uint8_t n1, const uint8_t *p2, uint8_t n2) { uint8_t intr_state, total, avail; total = n1 + n2; if (total > FLIGHTSIM_TX_SIZE) return; if (!enabled || !usb_configuration) return; intr_state = SREG; cli(); UENUM = FLIGHTSIM_TX_ENDPOINT; avail = FLIGHTSIM_TX_SIZE - UEBCLX; if ((UEINTX & (1<= total)) { goto send; } else { while (avail) { UEDATX = 0; avail--; } UEINTX = 0x3A; while (1) { if (UEINTX & (1< 0); do { UEDATX = *p2++; } while (--n2 > 0); if (UEBCLX == FLIGHTSIM_TX_SIZE) UEINTX = 0x3A; SREG = intr_state; } void FlightSimClass::xmit(const uint8_t *p1, uint8_t n1, const _XpRefStr_ *p2, uint8_t n2) { uint8_t intr_state, total, avail; const prog_char *s2 = (const prog_char *)p2; total = n1 + n2; if (total > FLIGHTSIM_TX_SIZE) return; if (!enabled || !usb_configuration) return; intr_state = SREG; cli(); UENUM = FLIGHTSIM_TX_ENDPOINT; avail = FLIGHTSIM_TX_SIZE - UEBCLX; if ((UEINTX & (1<= total)) { goto send; } else { while (avail) { UEDATX = 0; avail--; } UEINTX = 0x3A; while (1) { if (UEINTX & (1< 0); do { pgm_read_byte_postinc(UEDATX, s2); } while (--n2 > 0); if (UEBCLX == FLIGHTSIM_TX_SIZE) UEINTX = 0x3A; SREG = intr_state; } FlightSimClass FlightSim; static volatile uint8_t prev_byte=0; void usb_serial_class::begin(long speed) { // make sure USB is initialized usb_init(); uint16_t begin_wait = (uint16_t)millis(); while (1) { if (usb_configuration) { delay(200); // a little time for host to load a driver return; } if (usb_suspended) { uint16_t begin_suspend = (uint16_t)millis(); while (usb_suspended) { // must remain suspended for a while, because // normal USB enumeration causes brief suspend // states, typically under 0.1 second if ((uint16_t)millis() - begin_suspend > 250) { return; } } } // ... or a timout (powered by a USB power adaptor that // wiggles the data lines to keep a USB device charging) if ((uint16_t)millis() - begin_wait > 2500) return; } prev_byte = 0; } void usb_serial_class::end() { usb_shutdown(); delay(25); } // number of bytes available in the receive buffer int usb_serial_class::available() { uint8_t c; c = prev_byte; // assume 1 byte static volatile access is atomic if (c) return 1; c = readnext(); if (c) { prev_byte = c; return 1; } return 0; } // get the next character, or -1 if nothing received int usb_serial_class::read() { uint8_t c; c = prev_byte; if (c) { prev_byte = 0; return c; } c = readnext(); if (c) return c; return -1; } int usb_serial_class::peek() { uint8_t c; c = prev_byte; if (c) return c; c = readnext(); if (c) { prev_byte = c; return c; } return -1; } // get the next character, or 0 if nothing uint8_t usb_serial_class::readnext(void) { uint8_t c, intr_state; // interrupts are disabled so these functions can be // used from the main program or interrupt context, // even both in the same program! intr_state = SREG; cli(); if (!usb_configuration) { SREG = intr_state; return 0; } UENUM = DEBUG_RX_ENDPOINT; try_again: if (!(UEINTX & (1<= 100 size_t usb_serial_class::write(uint8_t c) #else void usb_serial_class::write(uint8_t c) #endif { //static uint8_t previous_timeout=0; uint8_t timeout, intr_state; // if we're not online (enumerated and configured), error if (!usb_configuration) goto error; // interrupts are disabled so these functions can be // used from the main program or interrupt context, // even both in the same program! intr_state = SREG; cli(); UENUM = DEBUG_TX_ENDPOINT; // if we gave up due to timeout before, don't wait again #if 0 // this seems to be causig a lockup... why???? if (previous_timeout) { if (!(UEINTX & (1<= 100 return 1; #endif error: #if ARDUINO >= 100 setWriteError(); return 0; #else return; #endif } // These are Teensy-specific extensions to the Serial object // immediately transmit any buffered output. // This doesn't actually transmit the data - that is impossible! // USB devices only transmit when the host allows, so the best // we can do is release the FIFO buffer for when the host wants it void usb_serial_class::send_now(void) { uint8_t intr_state; intr_state = SREG; cli(); if (debug_flush_timer) { UENUM = DEBUG_TX_ENDPOINT; while ((UEINTX & (1<