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Diffstat (limited to 'cores/robot/USBCore.h')
| -rw-r--r-- | cores/robot/USBCore.h | 303 |
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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