Move USB host stuff to separate crate.

1 files changed, 641 insertions, 0 deletions

diff --git a/usbh/src/lib.rs b/usbh/src/lib.rs
new file mode 100755
index 0000000..4e6b8bf
--- /dev/null
+++ b/usbh/src/lib.rs
@@ -0,0 +1,641 @@
+#![no_std]
+
+mod pipe;
+mod usbproto;
+
+use pipe::{DataBuf, PipeErr, PipeTable, USBPipeType, USBToken};
+use rb::{Reader, RingBuffer, Writer};
+use usbproto::*;
+
+use atsamd_hal::{
+    calibration::{usb_transn_cal, usb_transp_cal, usb_trim_cal},
+    clock::{ClockGenId, ClockSource, GenericClockController},
+    gpio::{self, Floating, Input, OpenDrain, Output},
+    target_device::{PM, USB},
+};
+use embedded_hal::digital::v2::OutputPin;
+use log::{info, warn};
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub enum Event {
+    Error,
+    Detached,
+    Attached,
+}
+type Events = RingBuffer<Event>;
+type EventReader = Reader<'static, Event>;
+type EventWriter = Writer<'static, Event>;
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum DetachedState {
+    Initialize,
+    WaitForDevice,
+    Illegal,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum AttachedState {
+    WaitForSettle,
+    WaitResetComplete,
+    WaitSOF,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum SteadyState {
+    Configuring,
+    Running,
+    Error,
+}
+
+#[derive(Clone, Copy, Debug, PartialEq)]
+enum TaskState {
+    Detached(DetachedState),
+    Attached(AttachedState),
+    Steady(SteadyState),
+}
+
+const MAX_DEVICES: usize = 16;
+const SETTLE_DELAY: usize = 205; // Delay in sec/1024
+const NAK_LIMIT: usize = 15;
+
+static mut EVENTS: Events = Events::new(Event::Error);
+// FIXME: this is just for testing. The enum needs to be
+// thread-safe if this is the way we're going.
+static mut LATEST_EVENT: Event = Event::Detached;
+
+#[repr(C)]
+#[derive(Debug)]
+struct EPInfo {
+    ep_addr: u32,
+    mak_pkt_size: u32,
+    ep_attribs: u8,
+}
+
+impl EPInfo {
+    fn bm_snd_toggle(&self) -> bool {
+        const POS: u8 = 0;
+        const MASK: u8 = 0x1;
+        ((self.ep_attribs >> POS) & MASK) == 1
+    }
+    fn bm_rcv_toggle(&self) -> bool {
+        const POS: u8 = 1;
+        const MASK: u8 = 0x1;
+        ((self.ep_attribs >> POS) & MASK) == 1
+    }
+    fn bm_nak_power(&self) -> u8 {
+        const POS: u8 = 2;
+        const MASK: u8 = 0x3f;
+        (self.ep_attribs >> POS) & MASK
+    }
+}
+
+#[derive(Debug)]
+struct USBDeviceAddress(u32);
+
+impl USBDeviceAddress {
+    fn bm_address(&self) -> u8 {
+        const POS: u8 = 0;
+        const MASK: u32 = 0x7;
+        ((self.0 >> POS) & MASK) as u8
+    }
+    fn bm_parent(&self) -> u8 {
+        const POS: u8 = 3;
+        const MASK: u32 = 0x7;
+        ((self.0 >> POS) & MASK) as u8
+    }
+    fn bm_hub(&self) -> bool {
+        const POS: u8 = 6;
+        const MASK: u32 = 0x1;
+        ((self.0 >> POS) & MASK) == 1
+    }
+}
+
+pub struct USBHost<F>
+where
+    F: Fn() -> usize + 'static,
+{
+    usb: USB,
+
+    events: EventReader,
+    task_state: TaskState,
+    delay: usize,
+
+    // Need chunk of RAM for USB pipes, which gets used with DESCADD
+    // register.
+    pipe_table: PipeTable,
+
+    // need sof 1kHz pad?
+    _sof_pad: gpio::Pa23<gpio::PfG>,
+    _dm_pad: gpio::Pa24<gpio::PfG>,
+    _dp_pad: gpio::Pa25<gpio::PfG>,
+    host_enable_pin: Option<gpio::Pa28<Output<OpenDrain>>>,
+
+    // To get current milliseconds.
+    millis: &'static F,
+}
+
+impl<F> USBHost<F>
+where
+    F: Fn() -> usize + 'static,
+{
+    pub fn new(
+        usb: USB,
+        sof_pin: gpio::Pa23<Input<Floating>>,
+        dm_pin: gpio::Pa24<Input<Floating>>,
+        dp_pin: gpio::Pa25<Input<Floating>>,
+        host_enable_pin: Option<gpio::Pa28<Input<Floating>>>,
+        port: &mut gpio::Port,
+        clocks: &mut GenericClockController,
+        pm: &mut PM,
+        millis: &'static F,
+    ) -> (Self, impl FnMut()) {
+        let (eventr, mut eventw) = unsafe { EVENTS.split() };
+        let mut rc = Self {
+            usb: usb,
+            events: eventr,
+            task_state: TaskState::Detached(DetachedState::Initialize),
+            delay: 0,
+            pipe_table: PipeTable::new(),
+
+            _sof_pad: sof_pin.into_function_g(port),
+            _dm_pad: dm_pin.into_function_g(port),
+            _dp_pad: dp_pin.into_function_g(port),
+            host_enable_pin: None,
+
+            millis: millis,
+        };
+
+        if let Some(he_pin) = host_enable_pin {
+            rc.host_enable_pin = Some(he_pin.into_open_drain_output(port));
+        }
+
+        info!("setting up usb clock");
+        pm.apbbmask.modify(|_, w| w.usb_().set_bit());
+
+        // Set up USB clock from 48MHz source on generic clock 6.
+        clocks.configure_gclk_divider_and_source(ClockGenId::GCLK6, 1, ClockSource::DFLL48M, false);
+        let gclk6 = clocks
+            .get_gclk(ClockGenId::GCLK6)
+            .expect("Could not get clock 6");
+        clocks.usb(&gclk6);
+
+        rc.reset_periph();
+
+        let usbp = &rc.usb as *const _ as usize;
+        (rc, move || handler(usbp, &mut eventw))
+    }
+
+    pub fn reset_periph(&mut self) {
+        info!("resetting usb");
+        // Reset the USB peripheral and wait for sync.
+        self.usb.host().ctrla.write(|w| w.swrst().set_bit());
+        while self.usb.host().syncbusy.read().swrst().bit_is_set() {}
+
+        // Specify host mode.
+        self.usb.host().ctrla.modify(|_, w| w.mode().host());
+
+        // Unsafe due to use of raw bits method.
+        unsafe {
+            self.usb.host().padcal.write(|w| {
+                w.transn().bits(usb_transn_cal());
+                w.transp().bits(usb_transp_cal());
+                w.trim().bits(usb_trim_cal())
+            });
+        }
+
+        // Use normal, which is 0 and apparently means low-and-full capable
+        self.usb.host().ctrlb.modify(|_, w| w.spdconf().normal());
+        // According to docs, 1,2,3 are reserved, but .fs returns 3
+        //self.usb.host().ctrlb.modify(|_, w| w.spdconf().fs());
+
+        self.usb.host().ctrla.modify(|_, w| w.runstdby().set_bit()); // keep usb clock running in standby.
+
+        // Set address of USB SRAM.
+        // Unsafe due to use of raw bits method.
+        unsafe {
+            self.usb
+                .host()
+                .descadd
+                .write(|w| w.bits(&self.pipe_table as *const _ as u32));
+        }
+
+        if let Some(he_pin) = &mut self.host_enable_pin {
+            he_pin.set_high().expect("turning on usb host enable pin");
+        }
+
+        self.usb.host().intenset.write(|w| {
+            w.wakeup().set_bit();
+            w.dconn().set_bit();
+            w.ddisc().set_bit()
+        });
+
+        self.usb.host().ctrla.modify(|_, w| w.enable().set_bit());
+        while self.usb.host().syncbusy.read().enable().bit_is_set() {}
+
+        // Set VBUS OK to allow host operation.
+        self.usb.host().ctrlb.modify(|_, w| w.vbusok().set_bit());
+        info!("...done");
+    }
+
+    pub fn task(&mut self) {
+        static mut LAST_EVENT: Event = Event::Error;
+        unsafe {
+            if LAST_EVENT != LATEST_EVENT {
+                info!("new event: {:?}", LATEST_EVENT);
+            }
+        }
+
+        static mut LAST_TASK_STATE: TaskState = TaskState::Detached(DetachedState::Illegal);
+        self.task_state = match unsafe { LATEST_EVENT } {
+            Event::Error => TaskState::Detached(DetachedState::Illegal),
+            Event::Detached => {
+                if let TaskState::Detached(_) = self.task_state {
+                    self.task_state
+                } else {
+                    TaskState::Detached(DetachedState::Initialize)
+                }
+            }
+            Event::Attached => {
+                if let TaskState::Detached(_) = self.task_state {
+                    self.delay = (self.millis)() + SETTLE_DELAY;
+                    TaskState::Attached(AttachedState::WaitForSettle)
+                } else {
+                    self.task_state
+                }
+            }
+        };
+
+        static mut LAST_CBITS: u16 = 0;
+        static mut LAST_FLAGS: u16 = 0;
+        let cbits = self.usb.host().ctrlb.read().bits();
+        let bits = self.usb.host().intflag.read().bits();
+        unsafe {
+            if LAST_CBITS != cbits || LAST_FLAGS != bits || LAST_TASK_STATE != self.task_state {
+                info!(
+                    "cb: {:x}, f: {:x} changing state {:?} -> {:?}",
+                    cbits, bits, LAST_TASK_STATE, self.task_state,
+                );
+            }
+            LAST_CBITS = cbits;
+            LAST_FLAGS = bits;
+            LAST_TASK_STATE = self.task_state
+        };
+
+        if let Some(_event) = self.events.shift() {
+            // info!("Found event: {:?}", event);
+            // self.task_state = match event {
+            //     Event::None => TaskState::Detached(DetachedState::Illegal),
+            //     Event::Detached => {
+            //         if let TaskState::Detached(_) = self.task_state {
+            //             self.task_state
+            //         } else {
+            //             TaskState::Detached(DetachedState::Initialize)
+            //         }
+            //     }
+            //     Event::Attached => {
+            //         if let TaskState::Detached(_) = self.task_state {
+            //             self.delay = self.millis() + SETTLE_DELAY;
+            //             TaskState::Attached(AttachedState::WaitForSettle)
+            //         } else {
+            //             self.task_state
+            //         }
+            //     }
+            // };
+        }
+
+        self.poll_devices();
+        self.fsm();
+
+        unsafe {
+            LAST_EVENT = LATEST_EVENT;
+        }
+    }
+
+    fn poll_devices(&mut self) {
+        for _ in 0..MAX_DEVICES {}
+    }
+
+    fn fsm(&mut self) {
+        // respond to events from interrupt.
+        match self.task_state {
+            TaskState::Detached(s) => self.detached_fsm(s),
+            TaskState::Attached(s) => self.attached_fsm(s),
+            TaskState::Steady(s) => self.steady_fsm(s),
+        };
+    }
+
+    fn detached_fsm(&mut self, s: DetachedState) {
+        match s {
+            DetachedState::Initialize => {
+                self.reset_periph();
+                // TODO: Free resources.
+
+                self.task_state = TaskState::Detached(DetachedState::WaitForDevice);
+            }
+
+            // Do nothing state. Just wait for an interrupt to come in
+            // saying we have a device attached.
+            DetachedState::WaitForDevice => {}
+
+            // TODO: should probably reset everything if we end up here somehow.
+            DetachedState::Illegal => {}
+        }
+    }
+
+    fn attached_fsm(&mut self, s: AttachedState) {
+        match s {
+            AttachedState::WaitForSettle => {
+                if (self.millis)() >= self.delay {
+                    self.usb.host().ctrlb.modify(|_, w| w.busreset().set_bit());
+                    self.task_state = TaskState::Attached(AttachedState::WaitResetComplete);
+                }
+            }
+
+            AttachedState::WaitResetComplete => {
+                if self.usb.host().intflag.read().rst().bit_is_set() {
+                    info!("reset was sent");
+                    self.usb.host().intflag.write(|w| w.rst().set_bit());
+
+                    // Make sure we always have a control pipe set up.
+                    self.init_pipe0();
+
+                    // Seems unneccesary, since SOFE will be set
+                    // immediately after reset according to §32.6.3.3.
+                    self.usb.host().ctrlb.modify(|_, w| w.sofe().set_bit());
+                    // USB spec requires 20ms of SOF after bus reset.
+                    self.delay = (self.millis)() + 20;
+                    self.task_state = TaskState::Attached(AttachedState::WaitSOF);
+                }
+            }
+
+            AttachedState::WaitSOF => {
+                if self.usb.host().intflag.read().hsof().bit_is_set() {
+                    self.usb.host().intflag.write(|w| w.hsof().set_bit());
+                    if (self.millis)() >= self.delay {
+                        self.task_state = TaskState::Steady(SteadyState::Configuring);
+                    }
+                }
+            }
+        }
+    }
+
+    fn steady_fsm(&mut self, s: SteadyState) {
+        match s {
+            SteadyState::Configuring => {
+                let low_speed = 0;
+                self.task_state = match self.configure_dev(0, 0, low_speed) {
+                    Ok(_) => TaskState::Steady(SteadyState::Running),
+                    Err(e) => {
+                        warn!("Enumeration error: {:?}", e);
+                        TaskState::Steady(SteadyState::Error)
+                    }
+                }
+            }
+
+            SteadyState::Running => {}
+
+            SteadyState::Error => {}
+        }
+    }
+
+    fn configure_dev(&mut self, _parent: u32, _port: u32, _low_speed: u32) -> Result<(), PipeErr> {
+        // addr: 0x20007774
+        let tmp: USBDeviceDescriptor = Default::default();
+        // addr: 0x20007788
+        let vol_descr = ::vcell::VolatileCell::new(tmp);
+        self.control_req(
+            0,
+            0,
+            BMRequestType::get_descr(),
+            USBRequest::GetDescriptor,
+            WValue::from((0, USBDescriptor::Device as u8)),
+            0,
+            Some(DataBuf::from(&vol_descr)),
+        )?;
+
+        let desc = vol_descr.get();
+        info!(
+            " -- len: {}, ver: {:04x}, bMaxPacketSize: {}, bNumConfigurations: {}",
+            desc.b_length, desc.bcd_usb, desc.b_max_packet_size, desc.b_num_configurations
+        );
+        info!(" -- vid: {:x}, pid: {:x}", desc.id_vendor, desc.id_product);
+
+        // Assign address to this device and:
+        //  - Stash bMaxPacketSize
+        // Then SET_ADDRESS(newAddr)
+        let new_address: u8 = 1;
+        self.control_req(
+            0,
+            0,
+            BMRequestType::set(),
+            USBRequest::SetAddress,
+            WValue::from((new_address, 0)),
+            0,
+            None,
+        )?;
+        info!(" -- address set");
+        // Delay according to §9.2.6.3 of USB 2.0
+        let until = (self.millis)() + 300;
+        while (self.millis)() < until {}
+
+        info!("getting config");
+        let tmp: USBConfigurationDescriptor = Default::default();
+        //let vol_descr = ::vcell::VolatileCell::new(tmp);
+        self.control_req(
+            new_address,
+            0,
+            BMRequestType::get_descr(),
+            USBRequest::GetConfiguration,
+            WValue::from((0, 0)),
+            0,
+            Some(DataBuf::from(&tmp)),
+        )?;
+
+        //let desc = vol_descr.get();
+        info!("cdesc.len: {}", tmp.b_length);
+
+        // Once addressed, SET_CONFIGURATION(0)
+        info!("+++ setting configuration");
+        let conf: u8 = 0;
+        self.control_req(
+            new_address,
+            0,
+            BMRequestType::set(),
+            USBRequest::SetConfiguration,
+            WValue::from((conf, 0)),
+            0,
+            None,
+        )?;
+        info!(" -- configuration set");
+
+        // Now we should be able to access it normally.
+
+        Ok(())
+    }
+
+    fn control_req(
+        &mut self,
+        addr: u8,
+        ep: u8,
+        bm_request_type: BMRequestType,
+        b_request: USBRequest,
+        w_value: WValue,
+        w_index: u16,
+        buf: Option<DataBuf>,
+    ) -> Result<(), PipeErr> {
+        if let Some(ref b) = buf {
+            assert!(b.ptr as usize & 0x3 == 0);
+            assert!(b.len <= 65_535);
+        }
+
+        /*
+         * Setup stage.
+         */
+        let setup_packet = USBSetupPacket {
+            bm_request_type: bm_request_type,
+            b_request: b_request,
+            w_value: w_value,
+            w_index: w_index,
+            w_length: match buf {
+                None => 0,
+                Some(ref b) => b.len as u16,
+            },
+        };
+        let mut pipe = self.pipe_table.pipe_for(self.usb.host_mut(), addr, ep);
+        pipe.send(
+            USBToken::Setup,
+            &DataBuf::from(&setup_packet),
+            NAK_LIMIT,
+            self.millis,
+        )?;
+
+        /*
+         * Data stage.
+         */
+        if let Some(b) = buf {
+            match bm_request_type.direction() {
+                USBSetupDirection::DeviceToHost => {
+                    info!("buf0: {:?}", &b);
+                    pipe.in_transfer(&b, NAK_LIMIT, self.millis)?;
+                    info!("buf1: {:?}", &b);
+                }
+
+                USBSetupDirection::HostToDevice => {
+                    info!("Should OUT for {}b", b.len);
+                }
+            }
+        }
+
+        /*
+         * Status stage.
+         */
+        pipe.desc.bank0.pcksize.write(|w| {
+            // FIXME: see note in `Pipe.send`.
+            unsafe { w.bits(0) }
+        });
+
+        // PSTATUSSET.DTGL set -- TODO: figure out if this is
+        // necessary.
+        pipe.regs.statusset.write(|w| w.dtgl().set_bit());
+
+        let token = match bm_request_type.direction() {
+            USBSetupDirection::DeviceToHost => USBToken::Out,
+            USBSetupDirection::HostToDevice => USBToken::In,
+        };
+
+        // TODO: should probably make `pipe.send` have optional
+        // `DataBuf`, rather than exposing `dispatch_retries`.
+        info!("dispatching status stage");
+        pipe.dispatch_retries(token, NAK_LIMIT, self.millis)?;
+        Ok(())
+    }
+
+    // Set up a default pipe for the control endpoint 0 on pipe 0.
+    fn init_pipe0(&mut self) {
+        let speed = self.usb.host().status.read().speed().bits();
+        let pipe = self.pipe_table.pipe_for(self.usb.host_mut(), 0, 0);
+        pipe.regs.cfg.write(|w| {
+            unsafe { w.ptype().bits(USBPipeType::Control as u8) };
+            w.bk().clear_bit()
+        });
+        pipe.desc.bank0.pcksize.write(|w| match speed {
+            0 => w.size().bytes64(),
+            _ => w.size().bytes8(),
+        });
+    }
+}
+
+pub fn handler(usbp: usize, events: &mut EventWriter) {
+    let usb: &mut USB = unsafe { core::mem::transmute(usbp) };
+    let flags = usb.host().intflag.read();
+
+    info!("USB - {:x}", flags.bits());
+
+    let mut unshift_event = |e: Event| {
+        unsafe { LATEST_EVENT = e };
+        if let Err(_) = events.unshift(e) {
+            info!("Couldn't write USB event to queue.");
+        }
+    };
+
+    if flags.hsof().bit_is_set() {
+        info!(" +hsof");
+        usb.host().intflag.write(|w| w.hsof().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.rst().bit_is_set() {
+        // We seem to get this whenever a device attaches/detaches.
+        info!(" +rst");
+        usb.host().intflag.write(|w| w.rst().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.uprsm().bit_is_set() {
+        info!(" +uprsm");
+        usb.host().intflag.write(|w| w.uprsm().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.dnrsm().bit_is_set() {
+        info!(" +dnrsm");
+        usb.host().intflag.write(|w| w.dnrsm().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.wakeup().bit_is_set() {
+        // §32.8.5.8 - since VBUSOK is set, then this happens when a
+        // device is connected.
+        info!(" +wakeup");
+        usb.host().intflag.write(|w| w.wakeup().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.ramacer().bit_is_set() {
+        info!(" +ramacer");
+        usb.host().intflag.write(|w| w.ramacer().set_bit());
+        unshift_event(Event::Detached);
+    }
+
+    if flags.dconn().bit_is_set() {
+        info!(" +dconn");
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        usb.host().intenclr.write(|w| w.dconn().set_bit());
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        usb.host().intenset.write(|w| w.ddisc().set_bit());
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        unshift_event(Event::Attached);
+    }
+
+    if flags.ddisc().bit_is_set() {
+        info!(" +ddisc");
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        usb.host().intenclr.write(|w| w.ddisc().set_bit());
+        //			// Stop reset signal, in case of disconnection during reset
+        //			uhd_stop_reset(); // nothing on samd21
+        usb.host().intflag.write(|w| w.dconn().set_bit());
+        usb.host().intenset.write(|w| w.dconn().set_bit());
+        usb.host().intflag.write(|w| w.ddisc().set_bit());
+        unshift_event(Event::Detached);
+    }
+}