2 FreeRTOS.org V4.8.0 - Copyright (C) 2003-2008 Richard Barry.
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4 This file is part of the FreeRTOS.org distribution.
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6 FreeRTOS.org is free software; you can redistribute it and/or modify
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7 it under the terms of the GNU General Public License as published by
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8 the Free Software Foundation; either version 2 of the License, or
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9 (at your option) any later version.
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11 FreeRTOS.org is distributed in the hope that it will be useful,
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12 but WITHOUT ANY WARRANTY; without even the implied warranty of
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13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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14 GNU General Public License for more details.
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16 You should have received a copy of the GNU General Public License
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17 along with FreeRTOS.org; if not, write to the Free Software
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18 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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20 A special exception to the GPL can be applied should you wish to distribute
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21 a combined work that includes FreeRTOS.org, without being obliged to provide
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22 the source code for any proprietary components. See the licensing section
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23 of http://www.FreeRTOS.org for full details of how and when the exception
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26 ***************************************************************************
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27 ***************************************************************************
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29 * SAVE TIME AND MONEY! Why not get us to quote to get FreeRTOS.org *
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30 * running on your hardware - or even write all or part of your application*
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31 * for you? See http://www.OpenRTOS.com for details. *
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33 ***************************************************************************
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34 ***************************************************************************
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36 Please ensure to read the configuration and relevant port sections of the
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37 online documentation.
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39 http://www.FreeRTOS.org - Documentation, latest information, license and
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42 http://www.SafeRTOS.com - A version that is certified for use in safety
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45 http://www.OpenRTOS.com - Commercial support, development, porting,
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46 licensing and training services.
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50 Sample interrupt driven USB device driver. This is a minimal implementation
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51 for demonstration only. Although functional, it is not a full and compliant
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54 The USB device enumerates as a simple 3 axis joystick, and once configured
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55 transmits 3 axis of data which can be viewed from the USB host machine.
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57 This file implements the USB interrupt service routine, and a demo FreeRTOS
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58 task. The interrupt service routine handles the USB hardware - taking a
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59 snapshot of the USB status at the point of the interrupt. The task receives
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60 the status information from the interrupt for processing at the task level.
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62 See the FreeRTOS.org WEB documentation for more information.
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68 + Descriptors that have a length that is an exact multiple of usbFIFO_LENGTH
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69 can now be transmitted. To this end an extra parameter has been
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70 added to the prvSendControlData() function, and the state
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71 eSENDING_EVEN_DESCRIPTOR has been introduced. Thanks to Scott Miller for
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72 assisting with this contribution.
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76 + Replaced the duplicated RX_DATA_BK0 in the interrupt mask with the
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80 /* Standard includes. */
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83 /* Demo board includes. */
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86 /* Scheduler includes. */
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87 #include "FreeRTOS.h"
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92 /* Descriptor type definitions. */
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93 #define usbDESCRIPTOR_TYPE_DEVICE ( 0x01 )
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94 #define usbDESCRIPTOR_TYPE_CONFIGURATION ( 0x02 )
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95 #define usbDESCRIPTOR_TYPE_STRING ( 0x03 )
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97 /* USB request type definitions. */
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98 #define usbGET_REPORT_REQUEST ( 0x01 )
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99 #define usbGET_IDLE_REQUEST ( 0x02 )
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100 #define usbGET_PROTOCOL_REQUEST ( 0x03 )
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101 #define usbSET_REPORT_REQUEST ( 0x09 )
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102 #define usbSET_IDLE_REQUEST ( 0x0A )
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103 #define usbSET_PROTOCOL_REQUEST ( 0x0B )
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104 #define usbGET_CONFIGURATION_REQUEST ( 0x08 )
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105 #define usbGET_STATUS_REQUEST ( 0x00 )
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106 #define usbCLEAR_FEATURE_REQUEST ( 0x01 )
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107 #define usbSET_FEATURE_REQUEST ( 0x03 )
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108 #define usbSET_ADDRESS_REQUEST ( 0x05 )
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109 #define usbGET_DESCRIPTOR_REQUEST ( 0x06 )
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110 #define usbSET_CONFIGURATION_REQUEST ( 0x09 )
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111 #define usbGET_INTERFACE_REQUEST ( 0x0A )
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112 #define usbSET_INTERFACE_REQUEST ( 0x0B )
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115 /* Misc USB definitions. */
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116 #define usbDEVICE_CLASS_VENDOR_SPECIFIC ( 0xFF )
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117 #define usbBUS_POWERED ( 0x80 )
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118 #define usbHID_REPORT_DESCRIPTOR ( 0x22 )
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119 #define AT91C_UDP_TRANSCEIVER_ENABLE ( *( ( unsigned long * ) 0xfffb0074 ) )
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121 /* Index to the various string. */
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122 #define usbLANGUAGE_STRING ( 0 )
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123 #define usbMANUFACTURER_STRING ( 1 )
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124 #define usbPRODUCT_STRING ( 2 )
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125 #define usbCONFIGURATION_STRING ( 3 )
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126 #define usbINTERFACE_STRING ( 4 )
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128 /* Data indexes for reading the request from the xISRStatus.ucFifoData[]
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129 into xUSB_REQUEST. The data order is designed for speed - so looks a
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131 #define usbREQUEST_TYPE_INDEX ( 7 )
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132 #define usbREQUEST_INDEX ( 6 )
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133 #define usbVALUE_HIGH_BYTE ( 4 )
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134 #define usbVALUE_LOW_BYTE ( 5 )
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135 #define usbINDEX_HIGH_BYTE ( 2 )
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136 #define usbINDEX_LOW_BYTE ( 3 )
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137 #define usbLENGTH_HIGH_BYTE ( 0 )
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138 #define usbLENGTH_LOW_BYTE ( 1 )
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140 /* Misc application definitions. */
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141 #define usbINTERRUPT_PRIORITY ( 3 )
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142 #define usbQUEUE_LENGTH ( 0x3 ) /* Must have all bits set! */
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143 #define usbFIFO_LENGTH ( ( unsigned portLONG ) 8 )
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144 #define usbEND_POINT_0 ( 0 )
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145 #define usbEND_POINT_1 ( 1 )
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146 #define usbXUP ( 1 )
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147 #define usbXDOWN ( 2 )
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148 #define usbYUP ( 3 )
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149 #define usbYDOWN ( 4 )
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150 #define usbMAX_COORD ( 120 )
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151 #define usbMAX_TX_MESSAGE_SIZE ( 128 )
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152 #define usbRX_COUNT_MASK ( ( unsigned portLONG ) 0x7ff )
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153 #define AT91C_UDP_STALLSENT AT91C_UDP_ISOERROR
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154 #define usbSHORTEST_DELAY ( ( portTickType ) 1 )
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155 #define usbINIT_DELAY ( ( portTickType ) 500 / portTICK_RATE_MS )
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156 #define usbSHORT_DELAY ( ( portTickType ) 50 / portTICK_RATE_MS )
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157 #define usbEND_POINT_RESET_MASK ( ( unsigned portLONG ) 0x0f )
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158 #define usbDATA_INC ( ( portCHAR ) 5 )
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159 #define usbEXPECTED_NUMBER_OF_BYTES ( ( unsigned portLONG ) 8 )
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161 /* Control request types. */
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162 #define usbSTANDARD_DEVICE_REQUEST ( 0 )
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163 #define usbSTANDARD_INTERFACE_REQUEST ( 1 )
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164 #define usbSTANDARD_END_POINT_REQUEST ( 2 )
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165 #define usbCLASS_INTERFACE_REQUEST ( 5 )
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167 /*-----------------------------------------------------------*/
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169 /* Structure used to take a snapshot of the USB status from within the ISR. */
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170 typedef struct X_ISR_STATUS
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172 unsigned portLONG ulISR;
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173 unsigned portLONG ulCSR0;
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174 unsigned portCHAR ucFifoData[ 8 ];
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177 /* Structure used to hold the received requests. */
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180 unsigned portCHAR ucReqType;
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181 unsigned portCHAR ucRequest;
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182 unsigned portSHORT usValue;
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183 unsigned portSHORT usIndex;
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184 unsigned portSHORT usLength;
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193 eSENDING_EVEN_DESCRIPTOR,
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197 /* Structure used to control the data being sent to the host. */
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200 unsigned portCHAR ucTxBuffer[ usbMAX_TX_MESSAGE_SIZE ];
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201 unsigned portLONG ulNextCharIndex;
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202 unsigned portLONG ulTotalDataLength;
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205 /*-----------------------------------------------------------*/
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208 * The USB interrupt service routine. This takes a snapshot of the USB
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209 * device at the time of the interrupt, clears the interrupts, and posts
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210 * the data to the USB processing task.
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212 __arm void vUSB_ISR( void );
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215 * Called after the bus reset interrupt - this function readies all the
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216 * end points for communication.
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218 static void prvResetEndPoints( void );
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221 * Setup the USB hardware, install the interrupt service routine and
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222 * initialise all the state variables.
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224 static void vInitUSBInterface( void );
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227 * Decode and act upon an interrupt generated by the control end point.
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229 static void prvProcessEndPoint0Interrupt( xISRStatus *pxMessage );
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232 * For simplicity requests are separated into device, interface, class
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233 * interface and end point requests.
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235 * Decode and handle standard device requests originating on the control
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238 static void prvHandleStandardDeviceRequest( xUSB_REQUEST *pxRequest );
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241 * For simplicity requests are separated into device, interface, class
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242 * interface and end point requests.
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244 * Decode and handle standard interface requests originating on the control
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247 static void prvHandleStandardInterfaceRequest( xUSB_REQUEST *pxRequest );
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250 * For simplicity requests are separated into device, interface, class
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251 * interface and end point requests.
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253 * Decode and handle standard end point requests originating on the control
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256 static void prvHandleStandardEndPointRequest( xUSB_REQUEST *pxRequest );
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259 * For simplicity requests are separated into device, interface, class
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260 * interface and end point requests.
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262 * Decode and handle the class interface requests.
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264 static void prvHandleClassInterfaceRequest( xUSB_REQUEST *pxRequest );
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267 * Setup the Tx buffer to send data in response to a control request.
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269 * The data to be transmitted is buffered, the state variables are updated,
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270 * then prvSendNextSegment() is called to start the transmission off. Once
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271 * the first segment has been sent the remaining segments are transmitted
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272 * in response to TXCOMP interrupts until the entire buffer has been
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275 static void prvSendControlData( unsigned portCHAR *pucData, unsigned portSHORT usRequestedLength, unsigned portLONG ulLengthLeftToSend, portLONG lSendingDescriptor );
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278 * Examine the Tx buffer to see if there is any more data to be transmitted.
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280 * If there is data to be transmitted then send the next segment. A segment
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281 * can have a maximum of 8 bytes (this is defined as the maximum for the end
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282 * point by the descriptor). The final segment may be less than 8 bytes if
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283 * the total data length was not an exact multiple of 8.
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285 static void prvSendNextSegment( void );
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288 * A stall condition is forced each time the host makes a request that is not
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289 * supported by this minimal implementation.
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291 * A stall is forced by setting the appropriate bit in the end points control
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292 * and status register.
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294 static void prvSendStall( void );
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297 * A NULL (or zero length packet) is transmitted in acknowledge the reception
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298 * of certain events from the host.
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300 static void prvUSBTransmitNull( void );
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303 * When the host requests a descriptor this function is called to determine
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304 * which descriptor is being requested and start its transmission.
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306 static void prvGetStandardInterfaceDescriptor( xUSB_REQUEST *pxRequest );
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309 * This demo USB device enumerates as a simple 3 axis joystick. Once
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310 * configured this function is periodically called to generate some sample
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313 * The x and y axis are made to move in a square. The z axis is made to
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314 * repeatedly increment up to its maximum.
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316 static void prvTransmitSampleValues( void );
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319 * The created task to handle the USB demo functionality.
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321 void vUSBDemoTask( void *pvParameters );
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323 /*-----------------------------------------------------------*/
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326 - DESCRIPTOR DEFINITIONS -
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329 /* String descriptors used during the enumeration process.
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330 These take the form:
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333 Length of descriptor,
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338 const portCHAR pxLanguageStringDescriptor[] =
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341 usbDESCRIPTOR_TYPE_STRING,
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345 const portCHAR pxManufacturerStringDescriptor[] =
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348 usbDESCRIPTOR_TYPE_STRING,
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360 const portCHAR pxProductStringDescriptor[] =
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363 usbDESCRIPTOR_TYPE_STRING,
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388 const portCHAR pxConfigurationStringDescriptor[] =
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391 usbDESCRIPTOR_TYPE_STRING,
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413 const portCHAR pxInterfaceStringDescriptor[] =
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416 usbDESCRIPTOR_TYPE_STRING,
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434 /* Enumeration descriptors. */
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435 const portCHAR pxReportDescriptor[] =
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437 0x05, 0x01, /* USAGE_PAGE (Generic Desktop) */
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438 0x09, 0x04, /* USAGE (Joystick) */
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439 0xa1, 0x01, /* COLLECTION (Application) */
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440 0x05, 0x01, /* USAGE_PAGE (Generic Desktop) */
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441 0x09, 0x01, /* USAGE (Pointer) */
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442 0xa1, 0x00, /* COLLECTION (Physical) */
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443 0x09, 0x30, /* USAGE (X) */
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444 0x09, 0x31, /* USAGE (Y) */
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445 0x09, 0x32, /* USAGE (Z) */
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446 0x15, 0x81, /* LOGICAL_MINIMUM (-127) */
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447 0x25, 0x7f, /* LOGICAL_MAXIMUM (127) */
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448 0x75, 0x08, /* REPORT_SIZE (8) */
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449 0x95, 0x03, /* REPORT_COUNT (3) */
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450 0x81, 0x02, /* INPUT (Data,Var,Abs) */
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451 0xc0, /* END_COLLECTION */
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452 0xc0 /* END_COLLECTION */
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455 const char pxDeviceDescriptor[] =
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457 /* Device descriptor */
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458 0x12, /* bLength */
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459 0x01, /* bDescriptorType */
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460 0x10, 0x01, /* bcdUSBL */
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461 usbDEVICE_CLASS_VENDOR_SPECIFIC, /* bDeviceClass: */
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462 0x00, /* bDeviceSubclass: */
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463 0x00, /* bDeviceProtocol: */
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464 0x08, /* bMaxPacketSize0 */
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465 0xFF, 0xFF, /* idVendorL */
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466 0x01, 0x00, /* idProductL */
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467 0x00, 0x01, /* bcdDeviceL */
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468 usbMANUFACTURER_STRING, /* iManufacturer */
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469 usbPRODUCT_STRING, /* iProduct */
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470 0x00, /* SerialNumber */
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471 0x01 /* bNumConfigs */
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474 const char pxConfigDescriptor[] = {
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475 /* Configuration 1 descriptor */
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476 0x09, /* CbLength */
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477 0x02, /* CbDescriptorType */
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478 0x22, 0x00, /* CwTotalLength 2 EP + Control */
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479 0x01, /* CbNumInterfaces */
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480 0x01, /* CbConfigurationValue */
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481 usbCONFIGURATION_STRING,/* CiConfiguration */
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482 usbBUS_POWERED, /* CbmAttributes Bus powered + Remote Wakeup*/
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483 0x32, /* CMaxPower: 100mA */
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485 /* Joystick Interface Descriptor Requirement */
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486 0x09, /* bLength */
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487 0x04, /* bDescriptorType */
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488 0x00, /* bInterfaceNumber */
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489 0x00, /* bAlternateSetting */
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490 0x01, /* bNumEndpoints */
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491 0x03, /* bInterfaceClass: HID code */
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492 0x00, /* bInterfaceSubclass */
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493 0x00, /* bInterfaceProtocol */
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494 usbINTERFACE_STRING,/* iInterface */
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496 /* HID Descriptor */
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497 0x09, /* bLength */
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498 0x21, /* bDescriptor type: HID Descriptor Type */
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499 0x00, 0x01, /* bcdHID */
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500 0x00, /* bCountryCode */
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501 0x01, /* bNumDescriptors */
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502 usbHID_REPORT_DESCRIPTOR, /* bDescriptorType */
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503 sizeof( pxReportDescriptor ), 0x00, /* wItemLength */
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505 /* Endpoint 1 descriptor */
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506 0x07, /* bLength */
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507 0x05, /* bDescriptorType */
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508 0x81, /* bEndpointAddress, Endpoint 01 - IN */
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509 0x03, /* bmAttributes INT */
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510 0x03, 0x00, /* wMaxPacketSize: 3 bytes (x, y, z) */
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511 0x0A /* bInterval */
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514 /*-----------------------------------------------------------*/
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516 /* File scope state variables. */
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517 static unsigned portCHAR ucUSBConfig = ( unsigned portCHAR ) 0;
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518 static unsigned portLONG ulReceivedAddress = ( unsigned portLONG ) 0;
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519 static eDRIVER_STATE eDriverState = eNOTHING;
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521 /* Array in which the USB interrupt status is passed between the ISR and task. */
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522 static xISRStatus xISRMessages[ usbQUEUE_LENGTH + 1 ];
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524 /* Structure used to control the characters being sent to the host. */
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525 static xTX_MESSAGE pxCharsForTx;
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527 /* Queue used to pass messages between the ISR and the task. */
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528 static xQueueHandle xUSBInterruptQueue;
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530 /* ISR entry has to be written in the asm file as we want a context switch
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531 to occur from within the ISR. See the port documentation on the FreeRTOS.org
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532 WEB site for more information. */
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533 extern void vUSBISREntry( void );
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535 /*-----------------------------------------------------------*/
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537 /* Macros to manipulate the control and status registers. These registers
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538 cannot be accessed using a direct read modify write operation outside of the
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539 ISR as some bits are left unchanged by writing with a 0, and some are left
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540 unchanged by writing with a 1. */
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542 #define usbINT_CLEAR_MASK (AT91C_UDP_TXCOMP | AT91C_UDP_STALLSENT | AT91C_UDP_RXSETUP | AT91C_UDP_RX_DATA_BK0 | AT91C_UDP_RX_DATA_BK1 )
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544 #define usbCSR_SET_BIT( pulValueNow, ulBit ) \
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546 /* Set TXCOMP, RX_DATA_BK0, RXSETUP, */ \
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547 /* STALLSENT and RX_DATA_BK1 to 1 so the */ \
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548 /* write has no effect. */ \
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549 ( * ( ( unsigned portLONG * ) pulValueNow ) ) |= ( unsigned portLONG ) 0x4f; \
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551 /* Clear the FORCE_STALL and TXPKTRDY bits */ \
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552 /* so the write has no effect. */ \
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553 ( * ( ( unsigned portLONG * ) pulValueNow ) ) &= ( unsigned portLONG ) 0xffffffcf; \
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555 /* Set whichever bit we want set. */ \
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556 ( * ( ( unsigned portLONG * ) pulValueNow ) ) |= ( ulBit ); \
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559 #define usbCSR_CLEAR_BIT( pulValueNow, ulBit ) \
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561 /* Set TXCOMP, RX_DATA_BK0, RXSETUP, */ \
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562 /* STALLSENT and RX_DATA_BK1 to 1 so the */ \
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563 /* write has no effect. */ \
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564 ( * ( ( unsigned portLONG * ) pulValueNow ) ) |= ( unsigned portLONG ) 0x4f; \
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566 /* Clear the FORCE_STALL and TXPKTRDY bits */ \
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567 /* so the write has no effect. */ \
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568 ( * ( ( unsigned portLONG * ) pulValueNow ) ) &= ( unsigned portLONG ) 0xffffffcf; \
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570 /* Clear whichever bit we want clear. */ \
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571 ( * ( ( unsigned portLONG * ) pulValueNow ) ) &= ( ~ulBit ); \
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574 /*-----------------------------------------------------------*/
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576 __arm void vUSB_ISR( void )
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578 portBASE_TYPE xTaskWokenByPost = pdFALSE;
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579 static volatile unsigned portLONG ulNextMessage = 0;
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580 xISRStatus *pxMessage;
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581 unsigned portLONG ulTemp, ulRxBytes;
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583 /* Take the next message from the queue. Note that usbQUEUE_LENGTH *must*
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584 be all 1's, as in 0x01, 0x03, 0x07, etc. */
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585 pxMessage = &( xISRMessages[ ( ulNextMessage & usbQUEUE_LENGTH ) ] );
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588 /* Take a snapshot of the current USB state for processing at the task
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590 pxMessage->ulISR = AT91C_BASE_UDP->UDP_ISR;
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591 pxMessage->ulCSR0 = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
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593 /* Clear the interrupts from the ICR register. The bus end interrupt is
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594 cleared separately as it does not appear in the mask register. */
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595 AT91C_BASE_UDP->UDP_ICR = AT91C_BASE_UDP->UDP_IMR | AT91C_UDP_ENDBUSRES;
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597 /* If there are bytes in the FIFO then we have to retrieve them here.
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598 Ideally this would be done at the task level. However we need to clear the
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599 RXSETUP interrupt before leaving the ISR, and this may cause the data in
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600 the FIFO to be overwritten. Also the DIR bit has to be changed before the
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601 RXSETUP bit is cleared (as per the SAM7 manual). */
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602 ulTemp = pxMessage->ulCSR0;
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604 /* Are there any bytes in the FIFO? */
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605 ulRxBytes = ulTemp >> 16;
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606 ulRxBytes &= usbRX_COUNT_MASK;
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608 /* With this minimal implementation we are only interested in receiving
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609 setup bytes on the control end point. */
\r
610 if( ( ulRxBytes > 0 ) && ( ulTemp & AT91C_UDP_RXSETUP ) )
\r
612 /* Take off 1 for a zero based index. */
\r
613 while( ulRxBytes > 0 )
\r
616 pxMessage->ucFifoData[ ulRxBytes ] = AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ];
\r
619 /* The direction must be changed first. */
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620 usbCSR_SET_BIT( &ulTemp, ( AT91C_UDP_DIR ) );
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621 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
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624 /* Must write zero's to TXCOMP, STALLSENT, RXSETUP, and the RX DATA
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625 registers to clear the interrupts in the CSR register. */
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626 usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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627 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
\r
629 /* Also clear the interrupts in the CSR1 register. */
\r
630 ulTemp = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ];
\r
631 usbCSR_CLEAR_BIT( &ulTemp, usbINT_CLEAR_MASK );
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632 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] = ulTemp;
\r
634 /* The message now contains the entire state and optional data from
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635 the USB interrupt. This can now be posted on the Rx queue ready for
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636 processing at the task level. */
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637 xTaskWokenByPost = xQueueSendFromISR( xUSBInterruptQueue, &pxMessage, xTaskWokenByPost );
\r
639 /* We may want to switch to the USB task, if this message has made
\r
640 it the highest priority task that is ready to execute. */
\r
641 portEND_SWITCHING_ISR( xTaskWokenByPost );
\r
643 /* Clear the AIC ready for the next interrupt. */
\r
644 AT91C_BASE_AIC->AIC_EOICR = 0;
\r
646 /*-----------------------------------------------------------*/
\r
648 void vUSBDemoTask( void *pvParameters )
\r
650 xISRStatus *pxMessage;
\r
652 /* The parameters are not used in this task. */
\r
653 ( void ) pvParameters;
\r
655 /* Init USB device */
\r
656 portENTER_CRITICAL();
\r
657 vInitUSBInterface();
\r
658 portEXIT_CRITICAL();
\r
660 /* Process interrupts as they arrive. The ISR takes a snapshot of the
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661 interrupt status then posts the information on this queue for processing
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662 at the task level. This simple demo implementation only processes
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663 a few interrupt sources. */
\r
666 if( xQueueReceive( xUSBInterruptQueue, &pxMessage, usbSHORT_DELAY ) )
\r
668 if( pxMessage->ulISR & AT91C_UDP_EPINT0 )
\r
670 /* Process end point 0 interrupt. */
\r
671 prvProcessEndPoint0Interrupt( pxMessage );
\r
674 if( pxMessage->ulISR & AT91C_UDP_ENDBUSRES )
\r
676 /* Process an end of bus reset interrupt. */
\r
677 prvResetEndPoints();
\r
682 /* The ISR did not post any data for us to process on the queue, so
\r
683 just generate and send some sample data. */
\r
684 if( eDriverState == eREADY_TO_SEND )
\r
686 prvTransmitSampleValues();
\r
691 /*-----------------------------------------------------------*/
\r
693 static void prvTransmitSampleValues( void )
\r
695 unsigned portLONG ulStatus;
\r
696 static portLONG lState = usbXUP;
\r
698 /* Variables to hold dummy x, y and z joystick axis data. */
\r
699 static signed portCHAR x = 0, y = 0, z = 0;
\r
701 /* Generate some sample data in the x and y axis - draw a square. */
\r
704 case usbXUP : x += usbDATA_INC;
\r
705 if( x >= usbMAX_COORD )
\r
711 case usbXDOWN : x -= usbDATA_INC;
\r
712 if( x <= -usbMAX_COORD )
\r
718 case usbYUP : y += usbDATA_INC;
\r
719 if( y >= usbMAX_COORD )
\r
725 case usbYDOWN : y -= usbDATA_INC;
\r
726 if( y <= -usbMAX_COORD )
\r
733 /* Just make the z axis go up and down. */
\r
736 /* Can we place data in the fifo? */
\r
737 if( !( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] & AT91C_UDP_TXPKTRDY ) )
\r
739 /* Write our sample data to the fifo. */
\r
740 AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_1 ] = x;
\r
741 AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_1 ] = y;
\r
742 AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_1 ] = z;
\r
744 /* Send the data. */
\r
745 portENTER_CRITICAL();
\r
747 ulStatus = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ];
\r
748 usbCSR_SET_BIT( &ulStatus, ( AT91C_UDP_TXPKTRDY ) );
\r
749 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] = ulStatus;
\r
751 portEXIT_CRITICAL();
\r
754 /*-----------------------------------------------------------*/
\r
756 static void prvUSBTransmitNull( void )
\r
758 unsigned portLONG ulStatus;
\r
760 /* Wait until the FIFO is free - even though we are not going to use it.
\r
761 THERE IS NO TIMEOUT HERE! */
\r
762 while( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_TXPKTRDY )
\r
764 vTaskDelay( usbSHORTEST_DELAY );
\r
767 portENTER_CRITICAL();
\r
769 /* Set the length of data to send to equal the index of the next byte
\r
770 to send. This will prevent the ACK to this NULL packet causing any
\r
771 further data transmissions. */
\r
772 pxCharsForTx.ulTotalDataLength = pxCharsForTx.ulNextCharIndex;
\r
774 /* Set the TXPKTRDY bit to cause a transmission with no data. */
\r
775 ulStatus = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
\r
776 usbCSR_SET_BIT( &ulStatus, ( AT91C_UDP_TXPKTRDY ) );
\r
777 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulStatus;
\r
779 portEXIT_CRITICAL();
\r
781 /*-----------------------------------------------------------*/
\r
783 static void prvSendStall( void )
\r
785 unsigned portLONG ulStatus;
\r
787 portENTER_CRITICAL();
\r
789 /* Force a stall by simply setting the FORCESTALL bit in the CSR. */
\r
790 ulStatus = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
\r
791 usbCSR_SET_BIT( &ulStatus, AT91C_UDP_FORCESTALL );
\r
792 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulStatus;
\r
794 portEXIT_CRITICAL();
\r
796 /*-----------------------------------------------------------*/
\r
798 static void prvResetEndPoints( void )
\r
800 unsigned portLONG ulTemp;
\r
802 eDriverState = eJUST_RESET;
\r
804 /* Reset all the end points. */
\r
805 AT91C_BASE_UDP->UDP_RSTEP = usbEND_POINT_RESET_MASK;
\r
806 AT91C_BASE_UDP->UDP_RSTEP = ( unsigned portLONG ) 0x00;
\r
808 /* Enable data to be sent and received. */
\r
809 AT91C_BASE_UDP->UDP_FADDR = AT91C_UDP_FEN;
\r
811 /* Repair the configuration end point. */
\r
812 portENTER_CRITICAL();
\r
814 ulTemp = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
\r
815 usbCSR_SET_BIT( &ulTemp, ( ( unsigned portLONG ) ( AT91C_UDP_EPEDS | AT91C_UDP_EPTYPE_CTRL ) ) );
\r
816 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulTemp;
\r
817 AT91F_UDP_EnableIt( AT91C_BASE_UDP, AT91C_UDP_EPINT0 );
\r
819 portEXIT_CRITICAL();
\r
821 /*-----------------------------------------------------------*/
\r
823 static void prvProcessEndPoint0Interrupt( xISRStatus *pxMessage )
\r
825 if( pxMessage->ulCSR0 & AT91C_UDP_RX_DATA_BK0 )
\r
827 /* We only expect to receive zero length data here as ACK's.
\r
828 Set the data pointer to the end of the current Tx packet to
\r
829 ensure we don't send out any more data. */
\r
830 pxCharsForTx.ulNextCharIndex = pxCharsForTx.ulTotalDataLength;
\r
833 if( pxMessage->ulCSR0 & AT91C_UDP_TXCOMP )
\r
835 /* We received a TX complete interrupt. What we do depends on
\r
836 what we sent to get this interrupt. */
\r
838 if( eDriverState == eJUST_GOT_CONFIG )
\r
840 /* We sent an acknowledgement of a SET_CONFIG request. We
\r
841 are now at the end of the enumeration. */
\r
842 AT91C_BASE_UDP->UDP_GLBSTATE = AT91C_UDP_CONFG;
\r
844 /* Read the end point for data transfer. */
\r
845 portENTER_CRITICAL();
\r
847 unsigned portLONG ulTemp;
\r
849 ulTemp = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ];
\r
850 usbCSR_SET_BIT( &ulTemp, AT91C_UDP_EPEDS | AT91C_UDP_EPTYPE_INT_IN );
\r
851 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_1 ] = ulTemp;
\r
852 AT91F_UDP_EnableIt( AT91C_BASE_UDP, AT91C_UDP_EPINT1 );
\r
854 portEXIT_CRITICAL();
\r
856 eDriverState = eREADY_TO_SEND;
\r
858 else if( eDriverState == eJUST_GOT_ADDRESS )
\r
860 /* We sent an acknowledgement of a SET_ADDRESS request. Move
\r
861 to the addressed state. */
\r
862 if( ulReceivedAddress != ( unsigned portLONG ) 0 )
\r
864 AT91C_BASE_UDP->UDP_GLBSTATE = AT91C_UDP_FADDEN;
\r
868 AT91C_BASE_UDP->UDP_GLBSTATE = 0;
\r
871 AT91C_BASE_UDP->UDP_FADDR = ( AT91C_UDP_FEN | ulReceivedAddress );
\r
872 eDriverState = eNOTHING;
\r
876 /* The TXCOMP was not for any special type of transmission. See
\r
877 if there is any more data to send. */
\r
878 prvSendNextSegment();
\r
882 if( pxMessage->ulCSR0 & AT91C_UDP_RXSETUP )
\r
884 xUSB_REQUEST xRequest;
\r
885 unsigned portCHAR ucRequest;
\r
886 unsigned portLONG ulRxBytes;
\r
888 /* A data packet is available. */
\r
889 ulRxBytes = pxMessage->ulCSR0 >> 16;
\r
890 ulRxBytes &= usbRX_COUNT_MASK;
\r
892 if( ulRxBytes >= usbEXPECTED_NUMBER_OF_BYTES )
\r
894 /* Create an xUSB_REQUEST variable from the raw bytes array. */
\r
896 xRequest.ucReqType = pxMessage->ucFifoData[ usbREQUEST_TYPE_INDEX ];
\r
897 xRequest.ucRequest = pxMessage->ucFifoData[ usbREQUEST_INDEX ];
\r
899 /* NOT PORTABLE CODE! */
\r
900 xRequest.usValue = pxMessage->ucFifoData[ usbVALUE_HIGH_BYTE ];
\r
901 xRequest.usValue <<= 8;
\r
902 xRequest.usValue |= pxMessage->ucFifoData[ usbVALUE_LOW_BYTE ];
\r
904 xRequest.usIndex = pxMessage->ucFifoData[ usbINDEX_HIGH_BYTE ];
\r
905 xRequest.usIndex <<= 8;
\r
906 xRequest.usIndex |= pxMessage->ucFifoData[ usbINDEX_LOW_BYTE ];
\r
908 xRequest.usLength = pxMessage->ucFifoData[ usbLENGTH_HIGH_BYTE ];
\r
909 xRequest.usLength <<= 8;
\r
910 xRequest.usLength |= pxMessage->ucFifoData[ usbLENGTH_LOW_BYTE ];
\r
912 /* Manipulate the ucRequestType and the ucRequest parameters to
\r
913 generate a zero based request selection. This is just done to
\r
914 break up the requests into subsections for clarity. The
\r
915 alternative would be to have more huge switch statement that would
\r
916 be difficult to optimise. */
\r
917 ucRequest = ( ( xRequest.ucReqType & 0x60 ) >> 3 );
\r
918 ucRequest |= ( xRequest.ucReqType & 0x03 );
\r
920 switch( ucRequest )
\r
922 case usbSTANDARD_DEVICE_REQUEST:
\r
923 /* Standard Device request */
\r
924 prvHandleStandardDeviceRequest( &xRequest );
\r
927 case usbSTANDARD_INTERFACE_REQUEST:
\r
928 /* Standard Interface request */
\r
929 prvHandleStandardInterfaceRequest( &xRequest );
\r
932 case usbSTANDARD_END_POINT_REQUEST:
\r
933 /* Standard Endpoint request */
\r
934 prvHandleStandardEndPointRequest( &xRequest );
\r
937 case usbCLASS_INTERFACE_REQUEST:
\r
938 /* Class Interface request */
\r
939 prvHandleClassInterfaceRequest( &xRequest );
\r
942 default: /* This is not something we want to respond to. */
\r
948 /*-----------------------------------------------------------*/
\r
950 static void prvGetStandardDeviceDescriptor( xUSB_REQUEST *pxRequest )
\r
952 /* The type is in the high byte. Return whatever has been requested. */
\r
953 switch( ( pxRequest->usValue & 0xff00 ) >> 8 )
\r
955 case usbDESCRIPTOR_TYPE_DEVICE:
\r
956 prvSendControlData( ( unsigned portCHAR * ) &pxDeviceDescriptor, pxRequest->usLength, sizeof( pxDeviceDescriptor ), pdTRUE );
\r
959 case usbDESCRIPTOR_TYPE_CONFIGURATION:
\r
960 prvSendControlData( ( unsigned portCHAR * ) &( pxConfigDescriptor ), pxRequest->usLength, sizeof( pxConfigDescriptor ), pdTRUE );
\r
963 case usbDESCRIPTOR_TYPE_STRING:
\r
965 /* The index to the string descriptor is the lower byte. */
\r
966 switch( pxRequest->usValue & 0xff )
\r
968 case usbLANGUAGE_STRING:
\r
969 prvSendControlData( ( unsigned portCHAR * ) &pxLanguageStringDescriptor, pxRequest->usLength, sizeof(pxLanguageStringDescriptor), pdTRUE );
\r
972 case usbMANUFACTURER_STRING:
\r
973 prvSendControlData( ( unsigned portCHAR * ) &pxManufacturerStringDescriptor, pxRequest->usLength, sizeof( pxManufacturerStringDescriptor ), pdTRUE );
\r
976 case usbPRODUCT_STRING:
\r
977 prvSendControlData( ( unsigned portCHAR * ) &pxProductStringDescriptor, pxRequest->usLength, sizeof( pxProductStringDescriptor ), pdTRUE );
\r
980 case usbCONFIGURATION_STRING:
\r
981 prvSendControlData( ( unsigned portCHAR * ) &pxConfigurationStringDescriptor, pxRequest->usLength, sizeof( pxConfigurationStringDescriptor ), pdTRUE );
\r
984 case usbINTERFACE_STRING:
\r
985 prvSendControlData( ( unsigned portCHAR * ) &pxInterfaceStringDescriptor, pxRequest->usLength, sizeof( pxInterfaceStringDescriptor ), pdTRUE );
\r
989 /* Don't know what this string is. */
\r
997 /* We are not responding to anything else. */
\r
1002 /*-----------------------------------------------------------*/
\r
1004 static void prvHandleStandardDeviceRequest( xUSB_REQUEST *pxRequest )
\r
1006 unsigned portSHORT usStatus = 0;
\r
1008 switch( pxRequest->ucRequest )
\r
1010 case usbGET_STATUS_REQUEST:
\r
1011 /* Just send two byte dummy status. */
\r
1012 prvSendControlData( ( unsigned portCHAR * ) &usStatus, sizeof( usStatus ), sizeof( usStatus ), pdFALSE );
\r
1015 case usbGET_DESCRIPTOR_REQUEST:
\r
1016 /* Send device descriptor */
\r
1017 prvGetStandardDeviceDescriptor( pxRequest );
\r
1020 case usbGET_CONFIGURATION_REQUEST:
\r
1021 /* Send selected device configuration */
\r
1022 prvSendControlData( ( unsigned portCHAR * ) &ucUSBConfig, sizeof( ucUSBConfig ), sizeof( ucUSBConfig ), pdFALSE );
\r
1025 case usbSET_FEATURE_REQUEST:
\r
1026 prvUSBTransmitNull();
\r
1029 case usbSET_ADDRESS_REQUEST:
\r
1031 /* Acknowledge the SET_ADDRESS, but (according to the manual) we
\r
1032 cannot actually move to the addressed state until we get a TXCOMP
\r
1033 interrupt from this NULL packet. Therefore we just remember the
\r
1034 address and set our state so we know we have received the address. */
\r
1035 prvUSBTransmitNull();
\r
1036 eDriverState = eJUST_GOT_ADDRESS;
\r
1037 ulReceivedAddress = ( unsigned portLONG ) pxRequest->usValue;
\r
1040 case usbSET_CONFIGURATION_REQUEST:
\r
1042 /* Acknowledge the SET_CONFIGURATION, but (according to the manual)
\r
1043 we cannot actually move to the configured state until we get a
\r
1044 TXCOMP interrupt from this NULL packet. Therefore we just remember the
\r
1045 config and set our state so we know we have received the go ahead. */
\r
1046 ucUSBConfig = ( unsigned portCHAR ) ( pxRequest->usValue & 0xff );
\r
1047 eDriverState = eJUST_GOT_CONFIG;
\r
1048 prvUSBTransmitNull();
\r
1053 /* We don't answer to anything else. */
\r
1058 /*-----------------------------------------------------------*/
\r
1060 static void prvHandleClassInterfaceRequest( xUSB_REQUEST *pxRequest )
\r
1062 switch( pxRequest->ucRequest )
\r
1064 case usbSET_IDLE_REQUEST:
\r
1065 prvUSBTransmitNull();
\r
1068 /* This minimal implementation ignores these. */
\r
1069 case usbGET_REPORT_REQUEST:
\r
1070 case usbGET_IDLE_REQUEST:
\r
1071 case usbGET_PROTOCOL_REQUEST:
\r
1072 case usbSET_REPORT_REQUEST:
\r
1073 case usbSET_PROTOCOL_REQUEST:
\r
1080 /*-----------------------------------------------------------*/
\r
1082 static void prvGetStandardInterfaceDescriptor( xUSB_REQUEST *pxRequest )
\r
1084 switch( ( pxRequest->usValue & ( unsigned portSHORT ) 0xff00 ) >> 8 )
\r
1086 case usbHID_REPORT_DESCRIPTOR:
\r
1087 prvSendControlData( ( unsigned portCHAR * ) pxReportDescriptor, pxRequest->usLength, sizeof( pxReportDescriptor ), pdTRUE );
\r
1092 /* Don't expect to send any others. */
\r
1097 /*-----------------------------------------------------------*/
\r
1099 static void prvHandleStandardInterfaceRequest( xUSB_REQUEST *pxRequest )
\r
1101 unsigned portSHORT usStatus = 0;
\r
1103 switch( pxRequest->ucRequest )
\r
1105 case usbGET_STATUS_REQUEST:
\r
1106 /* Send dummy 2 bytes. */
\r
1107 prvSendControlData( ( unsigned portCHAR * ) &usStatus, sizeof( usStatus ), sizeof( usStatus ), pdFALSE );
\r
1110 case usbGET_DESCRIPTOR_REQUEST:
\r
1111 prvGetStandardInterfaceDescriptor( pxRequest );
\r
1114 /* This minimal implementation does not respond to these. */
\r
1115 case usbGET_INTERFACE_REQUEST:
\r
1116 case usbSET_FEATURE_REQUEST:
\r
1117 case usbSET_INTERFACE_REQUEST:
\r
1124 /*-----------------------------------------------------------*/
\r
1126 static void prvHandleStandardEndPointRequest( xUSB_REQUEST *pxRequest )
\r
1128 switch( pxRequest->ucRequest )
\r
1130 /* This minimal implementation does not expect to respond to these. */
\r
1131 case usbGET_STATUS_REQUEST:
\r
1132 case usbCLEAR_FEATURE_REQUEST:
\r
1133 case usbSET_FEATURE_REQUEST:
\r
1140 /*-----------------------------------------------------------*/
\r
1142 static void vInitUSBInterface( void )
\r
1144 volatile unsigned portLONG ulTemp;
\r
1146 /* Create the queue used to communicate between the USB ISR and task. */
\r
1147 xUSBInterruptQueue = xQueueCreate( usbQUEUE_LENGTH + 1, sizeof( xISRStatus * ) );
\r
1149 /* Initialise a few state variables. */
\r
1150 pxCharsForTx.ulNextCharIndex = ( unsigned portLONG ) 0;
\r
1151 ucUSBConfig = ( unsigned portCHAR ) 0;
\r
1152 eDriverState = eNOTHING;
\r
1154 /* HARDWARE SETUP */
\r
1156 /* Set the PLL USB Divider */
\r
1157 AT91C_BASE_CKGR->CKGR_PLLR |= AT91C_CKGR_USBDIV_1;
\r
1159 /* Enables the 48MHz USB clock UDPCK and System Peripheral USB Clock. */
\r
1160 AT91C_BASE_PMC->PMC_SCER = AT91C_PMC_UDP;
\r
1161 AT91C_BASE_PMC->PMC_PCER = (1 << AT91C_ID_UDP);
\r
1163 /* Setup the PIO for the USB pull up resistor. */
\r
1164 AT91F_PIO_CfgOutput(AT91C_BASE_PIOA,AT91C_PIO_PA16);
\r
1166 /* Start without the pullup - this will get set at the end of this
\r
1168 AT91F_PIO_SetOutput( AT91C_BASE_PIOA, AT91C_PIO_PA16 );
\r
1170 /* When using the USB debugger the peripheral registers do not always get
\r
1171 set to the correct default values. To make sure set the relevant registers
\r
1173 AT91C_BASE_UDP->UDP_IDR = ( unsigned portLONG ) 0xffffffff;
\r
1174 AT91C_BASE_UDP->UDP_ICR = ( unsigned portLONG ) 0xffffffff;
\r
1175 AT91C_BASE_UDP->UDP_CSR[ 0 ] = ( unsigned portLONG ) 0x00;
\r
1176 AT91C_BASE_UDP->UDP_CSR[ 1 ] = ( unsigned portLONG ) 0x00;
\r
1177 AT91C_BASE_UDP->UDP_GLBSTATE = 0;
\r
1178 AT91C_BASE_UDP->UDP_FADDR = 0;
\r
1180 /* Enable the transceiver. */
\r
1181 AT91C_UDP_TRANSCEIVER_ENABLE = 0;
\r
1183 /* Enable the USB interrupts - other interrupts get enabled as the
\r
1184 enumeration process progresses. */
\r
1185 AT91F_AIC_ConfigureIt( AT91C_BASE_AIC, AT91C_ID_UDP, usbINTERRUPT_PRIORITY, AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE, ( void (*)( void ) ) vUSBISREntry );
\r
1186 AT91F_AIC_EnableIt( AT91C_BASE_AIC, AT91C_ID_UDP );
\r
1188 /* Wait a short while before making our presence known. */
\r
1189 vTaskDelay( usbINIT_DELAY );
\r
1190 AT91F_PIO_ClearOutput(AT91C_BASE_PIOA, AT91C_PIO_PA16 );
\r
1192 /*-----------------------------------------------------------*/
\r
1194 static void prvSendControlData( unsigned portCHAR *pucData, unsigned portSHORT usRequestedLength, unsigned portLONG ulLengthToSend, portLONG lSendingDescriptor )
\r
1196 if( ( ( unsigned portLONG ) usRequestedLength < ulLengthToSend ) )
\r
1198 /* Cap the data length to that requested. */
\r
1199 ulLengthToSend = ( unsigned portSHORT ) usRequestedLength;
\r
1201 else if( ( ulLengthToSend < ( unsigned portLONG ) usRequestedLength ) && lSendingDescriptor )
\r
1203 /* We are sending a descriptor. If the descriptor is an exact
\r
1204 multiple of the FIFO length then it will have to be terminated
\r
1205 with a NULL packet. Set the state to indicate this if
\r
1207 if( ( ulLengthToSend % usbFIFO_LENGTH ) == 0 )
\r
1209 eDriverState = eSENDING_EVEN_DESCRIPTOR;
\r
1213 /* Here we assume that the previous message has been sent. THERE IS NO
\r
1214 BUFFER OVERFLOW PROTECTION HERE.
\r
1216 Copy the data to send into the buffer as we cannot send it all at once
\r
1217 (if it is greater than 8 bytes in length). */
\r
1218 memcpy( pxCharsForTx.ucTxBuffer, pucData, ulLengthToSend );
\r
1220 /* Reinitialise the buffer index so we start sending from the start of
\r
1222 pxCharsForTx.ulTotalDataLength = ulLengthToSend;
\r
1223 pxCharsForTx.ulNextCharIndex = ( unsigned portLONG ) 0;
\r
1225 /* Send the first 8 bytes now. The rest will get sent in response to
\r
1226 TXCOMP interrupts. */
\r
1227 prvSendNextSegment();
\r
1229 /*-----------------------------------------------------------*/
\r
1231 static void prvSendNextSegment( void )
\r
1233 volatile unsigned portLONG ulNextLength, ulStatus, ulLengthLeftToSend;
\r
1235 /* Is there any data to send? */
\r
1236 if( pxCharsForTx.ulTotalDataLength > pxCharsForTx.ulNextCharIndex )
\r
1238 ulLengthLeftToSend = pxCharsForTx.ulTotalDataLength - pxCharsForTx.ulNextCharIndex;
\r
1240 /* We can only send 8 bytes to the fifo at a time. */
\r
1241 if( ulLengthLeftToSend > usbFIFO_LENGTH )
\r
1243 ulNextLength = usbFIFO_LENGTH;
\r
1247 ulNextLength = ulLengthLeftToSend;
\r
1250 /* Wait until we can place data in the fifo. THERE IS NO TIMEOUT
\r
1252 while( AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] & AT91C_UDP_TXPKTRDY )
\r
1254 vTaskDelay( usbSHORTEST_DELAY );
\r
1257 /* Write the data to the FIFO. */
\r
1258 while( ulNextLength > ( unsigned portLONG ) 0 )
\r
1260 AT91C_BASE_UDP->UDP_FDR[ usbEND_POINT_0 ] = pxCharsForTx.ucTxBuffer[ pxCharsForTx.ulNextCharIndex ];
\r
1263 pxCharsForTx.ulNextCharIndex++;
\r
1266 /* Start the transmission. */
\r
1267 portENTER_CRITICAL();
\r
1269 ulStatus = AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ];
\r
1270 usbCSR_SET_BIT( &ulStatus, ( ( unsigned portLONG ) 0x10 ) );
\r
1271 AT91C_BASE_UDP->UDP_CSR[ usbEND_POINT_0 ] = ulStatus;
\r
1273 portEXIT_CRITICAL();
\r
1277 /* There is no data to send. If we were sending a descriptor and the
\r
1278 descriptor was an exact multiple of the max packet size then we need
\r
1279 to send a null to terminate the transmission. */
\r
1280 if( eDriverState == eSENDING_EVEN_DESCRIPTOR )
\r
1282 prvUSBTransmitNull();
\r
1283 eDriverState = eNOTHING;
\r
projects / freertos / blob