Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 303 insertions, 0 deletions

diff --git a/cores/robot/USBCore.h b/cores/robot/USBCore.h
new file mode 100644
index 0000000..8d13806
--- /dev/null
+++ b/cores/robot/USBCore.h
@@ -0,0 +1,303 @@
+
+// Copyright (c) 2010, Peter Barrett 
+/*
+** Permission to use, copy, modify, and/or distribute this software for  
+** any purpose with or without fee is hereby granted, provided that the  
+** above copyright notice and this permission notice appear in all copies.  
+**  
+** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
+** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
+** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
+** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
+** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
+** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
+** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
+** SOFTWARE.  
+*/
+
+#ifndef __USBCORE_H__
+#define __USBCORE_H__
+
+//	Standard requests
+#define GET_STATUS			0
+#define CLEAR_FEATURE		1
+#define SET_FEATURE			3
+#define SET_ADDRESS			5
+#define GET_DESCRIPTOR		6
+#define SET_DESCRIPTOR		7
+#define GET_CONFIGURATION	8
+#define SET_CONFIGURATION	9
+#define GET_INTERFACE		10
+#define SET_INTERFACE		11
+
+
+// bmRequestType
+#define REQUEST_HOSTTODEVICE	0x00
+#define REQUEST_DEVICETOHOST	0x80
+#define REQUEST_DIRECTION		0x80
+
+#define REQUEST_STANDARD		0x00
+#define REQUEST_CLASS			0x20
+#define REQUEST_VENDOR			0x40
+#define REQUEST_TYPE			0x60
+
+#define REQUEST_DEVICE			0x00
+#define REQUEST_INTERFACE		0x01
+#define REQUEST_ENDPOINT		0x02
+#define REQUEST_OTHER			0x03
+#define REQUEST_RECIPIENT		0x03
+
+#define REQUEST_DEVICETOHOST_CLASS_INTERFACE  (REQUEST_DEVICETOHOST + REQUEST_CLASS + REQUEST_INTERFACE)
+#define REQUEST_HOSTTODEVICE_CLASS_INTERFACE  (REQUEST_HOSTTODEVICE + REQUEST_CLASS + REQUEST_INTERFACE)
+
+//	Class requests
+
+#define CDC_SET_LINE_CODING			0x20
+#define CDC_GET_LINE_CODING			0x21
+#define CDC_SET_CONTROL_LINE_STATE	0x22
+
+#define MSC_RESET					0xFF
+#define MSC_GET_MAX_LUN				0xFE
+
+#define HID_GET_REPORT				0x01
+#define HID_GET_IDLE				0x02
+#define HID_GET_PROTOCOL			0x03
+#define HID_SET_REPORT				0x09
+#define HID_SET_IDLE				0x0A
+#define HID_SET_PROTOCOL			0x0B
+
+//	Descriptors
+
+#define USB_DEVICE_DESC_SIZE 18
+#define USB_CONFIGUARTION_DESC_SIZE 9
+#define USB_INTERFACE_DESC_SIZE 9
+#define USB_ENDPOINT_DESC_SIZE 7
+
+#define USB_DEVICE_DESCRIPTOR_TYPE             1
+#define USB_CONFIGURATION_DESCRIPTOR_TYPE      2
+#define USB_STRING_DESCRIPTOR_TYPE             3
+#define USB_INTERFACE_DESCRIPTOR_TYPE          4
+#define USB_ENDPOINT_DESCRIPTOR_TYPE           5
+
+#define USB_DEVICE_CLASS_COMMUNICATIONS        0x02
+#define USB_DEVICE_CLASS_HUMAN_INTERFACE       0x03
+#define USB_DEVICE_CLASS_STORAGE               0x08
+#define USB_DEVICE_CLASS_VENDOR_SPECIFIC       0xFF
+
+#define USB_CONFIG_POWERED_MASK                0x40
+#define USB_CONFIG_BUS_POWERED                 0x80
+#define USB_CONFIG_SELF_POWERED                0xC0
+#define USB_CONFIG_REMOTE_WAKEUP               0x20
+
+// bMaxPower in Configuration Descriptor
+#define USB_CONFIG_POWER_MA(mA)                ((mA)/2)
+
+// bEndpointAddress in Endpoint Descriptor
+#define USB_ENDPOINT_DIRECTION_MASK            0x80
+#define USB_ENDPOINT_OUT(addr)                 ((addr) | 0x00)
+#define USB_ENDPOINT_IN(addr)                  ((addr) | 0x80)
+
+#define USB_ENDPOINT_TYPE_MASK                 0x03
+#define USB_ENDPOINT_TYPE_CONTROL              0x00
+#define USB_ENDPOINT_TYPE_ISOCHRONOUS          0x01
+#define USB_ENDPOINT_TYPE_BULK                 0x02
+#define USB_ENDPOINT_TYPE_INTERRUPT            0x03
+
+#define TOBYTES(x) ((x) & 0xFF),(((x) >> 8) & 0xFF)
+
+#define CDC_V1_10                               0x0110
+#define CDC_COMMUNICATION_INTERFACE_CLASS       0x02
+
+#define CDC_CALL_MANAGEMENT                     0x01
+#define CDC_ABSTRACT_CONTROL_MODEL              0x02
+#define CDC_HEADER                              0x00
+#define CDC_ABSTRACT_CONTROL_MANAGEMENT         0x02
+#define CDC_UNION                               0x06
+#define CDC_CS_INTERFACE                        0x24
+#define CDC_CS_ENDPOINT                         0x25
+#define CDC_DATA_INTERFACE_CLASS                0x0A
+
+#define MSC_SUBCLASS_SCSI						0x06 
+#define MSC_PROTOCOL_BULK_ONLY					0x50 
+
+#define HID_HID_DESCRIPTOR_TYPE					0x21
+#define HID_REPORT_DESCRIPTOR_TYPE				0x22
+#define HID_PHYSICAL_DESCRIPTOR_TYPE			0x23
+
+
+//	Device
+typedef struct {
+	u8 len;				// 18
+	u8 dtype;			// 1 USB_DEVICE_DESCRIPTOR_TYPE
+	u16 usbVersion;		// 0x200
+	u8	deviceClass;
+	u8	deviceSubClass;
+	u8	deviceProtocol;
+	u8	packetSize0;	// Packet 0
+	u16	idVendor;
+	u16	idProduct;
+	u16	deviceVersion;	// 0x100
+	u8	iManufacturer;
+	u8	iProduct;
+	u8	iSerialNumber;
+	u8	bNumConfigurations;
+} DeviceDescriptor;
+
+//	Config
+typedef struct {
+	u8	len;			// 9
+	u8	dtype;			// 2
+	u16 clen;			// total length
+	u8	numInterfaces;
+	u8	config;
+	u8	iconfig;
+	u8	attributes;
+	u8	maxPower;
+} ConfigDescriptor;
+
+//	String
+
+//	Interface
+typedef struct
+{
+	u8 len;		// 9
+	u8 dtype;	// 4
+	u8 number;
+	u8 alternate;
+	u8 numEndpoints;
+	u8 interfaceClass;
+	u8 interfaceSubClass;
+	u8 protocol;
+	u8 iInterface;
+} InterfaceDescriptor;
+
+//	Endpoint
+typedef struct
+{
+	u8 len;		// 7
+	u8 dtype;	// 5
+	u8 addr;
+	u8 attr;
+	u16 packetSize;
+	u8 interval;
+} EndpointDescriptor;
+
+// Interface Association Descriptor
+// Used to bind 2 interfaces together in CDC compostite device
+typedef struct
+{
+	u8 len;				// 8
+	u8 dtype;			// 11
+	u8 firstInterface;
+	u8 interfaceCount;
+	u8 functionClass;
+	u8 funtionSubClass;
+	u8 functionProtocol;
+	u8 iInterface;
+} IADDescriptor;
+
+//	CDC CS interface descriptor
+typedef struct
+{
+	u8 len;		// 5
+	u8 dtype;	// 0x24
+	u8 subtype;
+	u8 d0;
+	u8 d1;
+} CDCCSInterfaceDescriptor;
+
+typedef struct
+{
+	u8 len;		// 4
+	u8 dtype;	// 0x24
+	u8 subtype;
+	u8 d0;
+} CDCCSInterfaceDescriptor4;
+
+typedef struct 
+{
+    u8	len;
+    u8 	dtype;		// 0x24
+    u8 	subtype;	// 1
+    u8 	bmCapabilities;
+    u8 	bDataInterface;
+} CMFunctionalDescriptor;
+	
+typedef struct 
+{
+    u8	len;
+    u8 	dtype;		// 0x24
+    u8 	subtype;	// 1
+    u8 	bmCapabilities;
+} ACMFunctionalDescriptor;
+
+typedef struct 
+{
+	//	IAD
+	IADDescriptor				iad;	// Only needed on compound device
+
+	//	Control
+	InterfaceDescriptor			cif;	// 
+	CDCCSInterfaceDescriptor	header;
+	CMFunctionalDescriptor		callManagement;			// Call Management
+	ACMFunctionalDescriptor		controlManagement;		// ACM
+	CDCCSInterfaceDescriptor	functionalDescriptor;	// CDC_UNION
+	EndpointDescriptor			cifin;
+
+	//	Data
+	InterfaceDescriptor			dif;
+	EndpointDescriptor			in;
+	EndpointDescriptor			out;
+} CDCDescriptor;
+
+typedef struct 
+{
+	InterfaceDescriptor			msc;
+	EndpointDescriptor			in;
+	EndpointDescriptor			out;
+} MSCDescriptor;
+
+typedef struct
+{
+	u8 len;			// 9
+	u8 dtype;		// 0x21
+	u8 addr;
+	u8	versionL;	// 0x101
+	u8	versionH;	// 0x101
+	u8	country;
+	u8	desctype;	// 0x22 report
+	u8	descLenL;
+	u8	descLenH;
+} HIDDescDescriptor;
+
+typedef struct 
+{
+	InterfaceDescriptor			hid;
+	HIDDescDescriptor			desc;
+	EndpointDescriptor			in;
+} HIDDescriptor;
+
+
+#define D_DEVICE(_class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs) \
+	{ 18, 1, 0x200, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs }
+
+#define D_CONFIG(_totalLength,_interfaces) \
+	{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED, USB_CONFIG_POWER_MA(500) }
+
+#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \
+	{ 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 }
+
+#define D_ENDPOINT(_addr,_attr,_packetSize, _interval) \
+	{ 7, 5, _addr,_attr,_packetSize, _interval }
+
+#define D_IAD(_firstInterface, _count, _class, _subClass, _protocol) \
+	{ 8, 11, _firstInterface, _count, _class, _subClass, _protocol, 0 }
+
+#define D_HIDREPORT(_descriptorLength) \
+	{ 9, 0x21, 0x1, 0x1, 0, 1, 0x22, _descriptorLength, 0 }
+
+#define D_CDCCS(_subtype,_d0,_d1)	{ 5, 0x24, _subtype, _d0, _d1 }
+#define D_CDCCS4(_subtype,_d0)		{ 4, 0x24, _subtype, _d0 }
+
+
+#endif
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