diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/atsam/Kconfig | 1 | ||||
| -rw-r--r-- | src/atsam/Makefile | 4 | ||||
| -rw-r--r-- | src/atsam/main.c | 37 | ||||
| -rw-r--r-- | src/atsam/sam3_usb.c | 229 | ||||
| -rw-r--r-- | src/atsam/sam4_usb.c | 23 |
5 files changed, 268 insertions, 26 deletions
diff --git a/src/atsam/Kconfig b/src/atsam/Kconfig index 65c53e97..9aec3821 100644 --- a/src/atsam/Kconfig +++ b/src/atsam/Kconfig @@ -52,7 +52,6 @@ config CLOCK_FREQ default 60000000 if MACH_SAM4E # 120000000/2 config USBSERIAL - depends on MACH_SAM4 bool "Use USB for communication (instead of serial)" default y config SERIAL diff --git a/src/atsam/Makefile b/src/atsam/Makefile index fca614f3..76f7d86f 100644 --- a/src/atsam/Makefile +++ b/src/atsam/Makefile @@ -31,7 +31,9 @@ CFLAGS_klipper.elf += $(eflags-y) --specs=nano.specs --specs=nosys.specs src-y += atsam/main.c atsam/gpio.c atsam/i2c.c atsam/spi.c src-y += generic/crc16_ccitt.c generic/alloc.c src-y += generic/armcm_irq.c generic/timer_irq.c -src-$(CONFIG_USBSERIAL) += atsam/sam4_usb.c generic/usb_cdc.c +usbserial-$(CONFIG_MACH_SAM3X) := atsam/sam3_usb.c +usbserial-$(CONFIG_MACH_SAM4) := atsam/sam4_usb.c +src-$(CONFIG_USBSERIAL) += $(usbserial-y) generic/usb_cdc.c src-$(CONFIG_SERIAL) += atsam/serial.c generic/serial_irq.c src-$(CONFIG_MACH_SAM3X) += atsam/adc.c atsam/timer.c src-$(CONFIG_MACH_SAM4S) += atsam/adc.c atsam/sam4s_timer.c diff --git a/src/atsam/main.c b/src/atsam/main.c index 1b9375db..7dba4a2d 100644 --- a/src/atsam/main.c +++ b/src/atsam/main.c @@ -5,6 +5,7 @@ // This file may be distributed under the terms of the GNU GPLv3 license. #include "board/irq.h" // irq_disable +#include "board/usb_cdc.h" // usb_request_bootloader #include "command.h" // DECL_CONSTANT #include "internal.h" // WDT #include "sched.h" // sched_main @@ -33,7 +34,7 @@ DECL_INIT(watchdog_init); /**************************************************************** - * misc functions + * Peripheral clocks ****************************************************************/ // Check if a peripheral clock has been enabled @@ -56,6 +57,11 @@ enable_pclock(uint32_t id) PMC->PMC_PCER1 = 1 << (id - 32); } + +/**************************************************************** + * Resets + ****************************************************************/ + void command_reset(uint32_t *args) { @@ -67,6 +73,35 @@ command_reset(uint32_t *args) } DECL_COMMAND_FLAGS(command_reset, HF_IN_SHUTDOWN, "reset"); +#if CONFIG_MACH_SAM3X || CONFIG_MACH_SAM4S +#define EFC_HW EFC0 +#elif CONFIG_MACH_SAM4E +#define EFC_HW EFC +#endif + +void noinline __aligned(16) // align for predictable flash code access +usb_request_bootloader(void) +{ + irq_disable(); + // Request boot from ROM (instead of boot from flash) + while ((EFC_HW->EEFC_FSR & EEFC_FSR_FRDY) == 0) + ; + EFC_HW->EEFC_FCR = (EEFC_FCR_FCMD_CGPB | EEFC_FCR_FARG(1) + | EEFC_FCR_FKEY_PASSWD); + while ((EFC_HW->EEFC_FSR & EEFC_FSR_FRDY) == 0) + ; + // Reboot + RSTC->RSTC_CR = ((0xA5 << RSTC_CR_KEY_Pos) | RSTC_CR_PROCRST + | RSTC_CR_PERRST); + for (;;) + ; +} + + +/**************************************************************** + * Startup + ****************************************************************/ + // Main entry point int main(void) diff --git a/src/atsam/sam3_usb.c b/src/atsam/sam3_usb.c new file mode 100644 index 00000000..d9101478 --- /dev/null +++ b/src/atsam/sam3_usb.c @@ -0,0 +1,229 @@ +// Hardware interface to USB on SAM3X +// +// Copyright (C) 2019 Kevin O'Connor <kevin@koconnor.net> +// +// This file may be distributed under the terms of the GNU GPLv3 license. + +#include <string.h> // NULL +#include "board/usb_cdc.h" // usb_notify_ep0 +#include "board/usb_cdc_ep.h" // USB_CDC_EP_BULK_IN +#include "internal.h" // UOTGHS +#include "sched.h" // DECL_INIT + +#define EP_SIZE(s) ((s)==64 ? UOTGHS_DEVEPTCFG_EPSIZE_64_BYTE : \ + ((s)==32 ? UOTGHS_DEVEPTCFG_EPSIZE_32_BYTE : \ + ((s)==16 ? UOTGHS_DEVEPTCFG_EPSIZE_16_BYTE : \ + UOTGHS_DEVEPTCFG_EPSIZE_8_BYTE))) + +#define usb_fifo(ep) ((void*)UOTGHS_RAM_ADDR + ((ep) * 0x8000)) + +static void +usb_write_packet(uint32_t ep, const uint8_t *data, uint32_t len) +{ + uint8_t *dest = usb_fifo(ep); + while (len--) + *dest++ = *data++; +} + +static void +usb_read_packet(uint32_t ep, uint8_t *data, uint32_t len) +{ + uint8_t *src = usb_fifo(ep); + while (len--) + *data++ = *src++; +} + +int_fast8_t +usb_read_bulk_out(void *data, uint_fast8_t max_len) +{ + uint32_t eps = UOTGHS->UOTGHS_DEVEPTISR[USB_CDC_EP_BULK_OUT]; + if (!(eps & UOTGHS_DEVEPTISR_RXOUTI)) { + // No data ready + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << USB_CDC_EP_BULK_OUT; + return -1; + } + uint32_t len = (eps&UOTGHS_DEVEPTISR_BYCT_Msk) >> UOTGHS_DEVEPTISR_BYCT_Pos; + usb_read_packet(USB_CDC_EP_BULK_OUT, data, len > max_len ? max_len : len); + UOTGHS->UOTGHS_DEVEPTICR[USB_CDC_EP_BULK_OUT] = UOTGHS_DEVEPTICR_RXOUTIC; + UOTGHS->UOTGHS_DEVEPTIDR[USB_CDC_EP_BULK_OUT] = UOTGHS_DEVEPTIDR_FIFOCONC; + return len; +} + +int_fast8_t +usb_send_bulk_in(void *data, uint_fast8_t len) +{ + uint32_t eps = UOTGHS->UOTGHS_DEVEPTISR[USB_CDC_EP_BULK_IN]; + if (!(eps & UOTGHS_DEVEPTISR_TXINI)) { + // Buffer full + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << USB_CDC_EP_BULK_IN; + return -1; + } + usb_write_packet(USB_CDC_EP_BULK_IN, data, len); + UOTGHS->UOTGHS_DEVEPTICR[USB_CDC_EP_BULK_IN] = UOTGHS_DEVEPTICR_TXINIC; + UOTGHS->UOTGHS_DEVEPTIDR[USB_CDC_EP_BULK_IN] = UOTGHS_DEVEPTIDR_FIFOCONC; + return len; +} + +int_fast8_t +usb_read_ep0(void *data, uint_fast8_t max_len) +{ + uint32_t eps = UOTGHS->UOTGHS_DEVEPTISR[0]; + if (eps & UOTGHS_DEVEPTISR_RXSTPI) + return -2; + if (!(eps & UOTGHS_DEVEPTISR_RXOUTI)) { + // Not ready to receive data + UOTGHS->UOTGHS_DEVEPTIER[0] = UOTGHS_DEVEPTIER_RXOUTES; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; + return -1; + } + usb_read_packet(0, data, max_len); + if (UOTGHS->UOTGHS_DEVEPTISR[0] & UOTGHS_DEVEPTISR_RXSTPI) + return -2; + UOTGHS->UOTGHS_DEVEPTICR[0] = UOTGHS_DEVEPTICR_RXOUTIC; + return max_len; +} + +int_fast8_t +usb_read_ep0_setup(void *data, uint_fast8_t max_len) +{ + uint32_t eps = UOTGHS->UOTGHS_DEVEPTISR[0]; + if (!(eps & UOTGHS_DEVEPTISR_RXSTPI)) { + // No data ready to read + UOTGHS->UOTGHS_DEVEPTIDR[0] = (UOTGHS_DEVEPTIDR_TXINEC + | UOTGHS_DEVEPTIDR_RXOUTEC); + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; + return -1; + } + usb_read_packet(0, data, max_len); + UOTGHS->UOTGHS_DEVEPTICR[0] = (UOTGHS_DEVEPTICR_RXSTPIC + | UOTGHS_DEVEPTICR_RXOUTIC); + return max_len; +} + +int_fast8_t +usb_send_ep0(const void *data, uint_fast8_t len) +{ + uint32_t eps = UOTGHS->UOTGHS_DEVEPTISR[0]; + if (eps & (UOTGHS_DEVEPTISR_RXSTPI | UOTGHS_DEVEPTISR_RXOUTI)) + return -2; + if (!(eps & UOTGHS_DEVEPTISR_TXINI)) { + // Not ready to send + UOTGHS->UOTGHS_DEVEPTIER[0] = (UOTGHS_DEVEPTIER_TXINES + | UOTGHS_DEVEPTIER_RXOUTES); + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; + return -1; + } + usb_write_packet(0, data, len); + UOTGHS->UOTGHS_DEVEPTICR[0] = UOTGHS_DEVEPTICR_TXINIC; + return len; +} + +void +usb_stall_ep0(void) +{ + UOTGHS->UOTGHS_DEVEPTIER[0] = UOTGHS_DEVEPTIER_STALLRQS; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; +} + +static uint8_t set_address; + +void +usb_set_address(uint_fast8_t addr) +{ + set_address = addr | UOTGHS_DEVCTRL_ADDEN; + usb_send_ep0(NULL, 0); + UOTGHS->UOTGHS_DEVEPTIER[0] = UOTGHS_DEVEPTIER_TXINES; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; +} + +void +usb_set_configure(void) +{ + UOTGHS->UOTGHS_DEVEPT = ((UOTGHS_DEVEPT_EPEN0 << 0) + | (UOTGHS_DEVEPT_EPEN0 << USB_CDC_EP_BULK_OUT) + | (UOTGHS_DEVEPT_EPEN0 << USB_CDC_EP_BULK_IN) + | (UOTGHS_DEVEPT_EPEN0 << USB_CDC_EP_ACM)); + + UOTGHS->UOTGHS_DEVEPTCFG[USB_CDC_EP_BULK_OUT] = ( + EP_SIZE(USB_CDC_EP_BULK_OUT_SIZE) + | UOTGHS_DEVEPTCFG_EPTYPE_BLK | UOTGHS_DEVEPTCFG_EPBK_2_BANK + | UOTGHS_DEVEPTCFG_ALLOC); + UOTGHS->UOTGHS_DEVEPTIER[USB_CDC_EP_BULK_OUT] = UOTGHS_DEVEPTIER_RXOUTES; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << USB_CDC_EP_BULK_OUT; + + UOTGHS->UOTGHS_DEVEPTCFG[USB_CDC_EP_BULK_IN] = ( + EP_SIZE(USB_CDC_EP_BULK_IN_SIZE) | UOTGHS_DEVEPTCFG_EPDIR_IN + | UOTGHS_DEVEPTCFG_EPTYPE_BLK | UOTGHS_DEVEPTCFG_EPBK_2_BANK + | UOTGHS_DEVEPTCFG_ALLOC); + UOTGHS->UOTGHS_DEVEPTIER[USB_CDC_EP_BULK_IN] = UOTGHS_DEVEPTIER_TXINES; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << USB_CDC_EP_BULK_IN; + + UOTGHS->UOTGHS_DEVEPTCFG[USB_CDC_EP_ACM] = ( + EP_SIZE(USB_CDC_EP_ACM_SIZE) | UOTGHS_DEVEPTCFG_EPDIR_IN + | UOTGHS_DEVEPTCFG_EPTYPE_INTRPT | UOTGHS_DEVEPTCFG_EPBK_2_BANK + | UOTGHS_DEVEPTCFG_ALLOC); +} + +// Configure endpoint 0 after usb reset completes +static void +handle_end_reset(void) +{ + UOTGHS->UOTGHS_DEVEPT = UOTGHS_DEVEPT_EPEN0 << 0; + UOTGHS->UOTGHS_DEVEPTCFG[0] = ( + EP_SIZE(USB_CDC_EP0_SIZE) + | UOTGHS_DEVEPTCFG_EPTYPE_CTRL | UOTGHS_DEVEPTCFG_EPBK_1_BANK + | UOTGHS_DEVEPTCFG_ALLOC); + UOTGHS->UOTGHS_DEVEPTIER[0] = UOTGHS_DEVEPTIER_RXSTPES; + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_PEP_0 << 0; + + UOTGHS->UOTGHS_DEVICR = UOTGHS_DEVICR_EORSTC; +} + +void +usbserial_init(void) +{ + // Setup USB clock + enable_pclock(ID_UOTGHS); + PMC->CKGR_UCKR = CKGR_UCKR_UPLLCOUNT(3) | CKGR_UCKR_UPLLEN; + while (!(PMC->PMC_SR & PMC_SR_LOCKU)) + ; + PMC->PMC_USB = PMC_USB_USBS | PMC_USB_USBDIV(0); + PMC->PMC_SCER = PMC_SCER_UOTGCLK; + + // Enable USB + UOTGHS->UOTGHS_CTRL = (UOTGHS_CTRL_UIMOD | UOTGHS_CTRL_OTGPADE + | UOTGHS_CTRL_USBE); + UOTGHS->UOTGHS_DEVCTRL = UOTGHS_DEVCTRL_SPDCONF_FORCED_FS; + + // Enable interrupts + NVIC_SetPriority(UOTGHS_IRQn, 1); + NVIC_EnableIRQ(UOTGHS_IRQn); + UOTGHS->UOTGHS_DEVIER = UOTGHS_DEVIER_EORSTES; +} +DECL_INIT(usbserial_init); + +void __visible +UOTGHS_Handler(void) +{ + uint32_t s = UOTGHS->UOTGHS_DEVISR; + if (s & UOTGHS_DEVISR_EORST) { + handle_end_reset(); + return; + } + UOTGHS->UOTGHS_DEVIDR = s; + if (s & (UOTGHS_DEVISR_PEP_0 << 0)) { + usb_notify_ep0(); + + if (set_address + && (UOTGHS->UOTGHS_DEVEPTISR[0] & UOTGHS_DEVEPTISR_TXINI)) { + // Ack from set_address command sent - now update address + UOTGHS->UOTGHS_DEVCTRL = (set_address + | UOTGHS_DEVCTRL_SPDCONF_FORCED_FS); + set_address = 0; + } + } + if (s & (UOTGHS_DEVISR_PEP_0 << USB_CDC_EP_BULK_OUT)) + usb_notify_bulk_out(); + if (s & (UOTGHS_DEVISR_PEP_0 << USB_CDC_EP_BULK_IN)) + usb_notify_bulk_in(); +} diff --git a/src/atsam/sam4_usb.c b/src/atsam/sam4_usb.c index ecf8e544..a615ffa5 100644 --- a/src/atsam/sam4_usb.c +++ b/src/atsam/sam4_usb.c @@ -159,29 +159,6 @@ usb_set_configure(void) UDP->UDP_GLB_STAT |= UDP_GLB_STAT_CONFG; } -#if CONFIG_MACH_SAM4S8C -#define EFC_HW EFC0 -#elif CONFIG_MACH_SAM4E8E -#define EFC_HW EFC -#endif - -void noinline __aligned(16) // align for predictable flash code access -usb_request_bootloader(void) -{ - irq_disable(); - // Request boot from ROM (instead of boot from flash) - while ((EFC_HW->EEFC_FSR & EEFC_FSR_FRDY) == 0) - ; - EFC_HW->EEFC_FCR = (EEFC_FCR_FCMD_CGPB | EEFC_FCR_FARG(1) - | EEFC_FCR_FKEY_PASSWD); - while ((EFC_HW->EEFC_FSR & EEFC_FSR_FRDY) == 0) - ; - // Reboot - RSTC->RSTC_CR = RSTC_CR_KEY(0xA5) | RSTC_CR_PROCRST | RSTC_CR_PERRST; - for (;;) - ; -} - void usbserial_init(void) { |