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Diffstat (limited to 'software/mpu/usb-cdc-shell.c')
| -rw-r--r-- | software/mpu/usb-cdc-shell.c | 308 |
1 files changed, 308 insertions, 0 deletions
diff --git a/software/mpu/usb-cdc-shell.c b/software/mpu/usb-cdc-shell.c new file mode 100644 index 0000000..b863b58 --- /dev/null +++ b/software/mpu/usb-cdc-shell.c @@ -0,0 +1,308 @@ +/* + * + * mur.sat + * + * Somewhen in the year 2012, mur.at will have a nano satellite launched + * into a low earth orbit (310 km above the surface of our planet). The + * satellite itself is a TubeSat personal satellite kit, developed and + * launched by interorbital systems. mur.sat is a joint venture of mur.at, + * ESC im Labor and realraum. + * + * Please visit the project hompage at sat.mur.at for further information. + * + * + * Copyright (C) 2013 Christian Pointner <equinox@mur.at> + * + * This file is part of mur.sat. + * + * mur.sat is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * any later version. + * + * mur.sat is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with mur.sat. If not, see <http://www.gnu.org/licenses/>. + * + */ + +// this heavily leans on the USB-CDC testhal Demo from chibiOS +/* + ChibiOS/RT - Copyright (C) 2006-2013 Giovanni Di Sirio + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. +*/ + + +#include <stdio.h> +#include <string.h> + +#include "ch.h" +#include "hal.h" +#include "test.h" + +#include "shell.h" +#include "chprintf.h" + +#include "usb-cdc-shell.h" +#include "usb-cdc-descriptor.h" + + +static SerialUSBDriver SDU1; + +/* + * Handles the GET_DESCRIPTOR callback. All required descriptors must be + * handled here. + */ +static const USBDescriptor *get_descriptor(USBDriver *usbp, + uint8_t dtype, + uint8_t dindex, + uint16_t lang) { + + (void)usbp; + (void)lang; + switch (dtype) { + case USB_DESCRIPTOR_DEVICE: + return &vcom_device_descriptor; + case USB_DESCRIPTOR_CONFIGURATION: + return &vcom_configuration_descriptor; + case USB_DESCRIPTOR_STRING: + if (dindex < 4) + return &vcom_strings[dindex]; + } + return NULL; +} + +static USBInEndpointState ep1instate; +static USBOutEndpointState ep1outstate; +static const USBEndpointConfig ep1config = { + USB_EP_MODE_TYPE_BULK, + NULL, + sduDataTransmitted, + sduDataReceived, + 0x0040, + 0x0040, + &ep1instate, + &ep1outstate, + 1, + NULL +}; + +static USBInEndpointState ep2instate; +static const USBEndpointConfig ep2config = { + USB_EP_MODE_TYPE_INTR, + NULL, + sduInterruptTransmitted, + NULL, + 0x0010, + 0x0000, + &ep2instate, + NULL, + 1, + NULL +}; + +/* + * Handles the USB driver global events. + */ +static void usb_event(USBDriver *usbp, usbevent_t event) { + + switch (event) { + case USB_EVENT_RESET: + return; + case USB_EVENT_ADDRESS: + return; + case USB_EVENT_CONFIGURED: + chSysLockFromIsr(); + + /* Enables the endpoints specified into the configuration. + Note, this callback is invoked from an ISR so I-Class functions + must be used.*/ + usbInitEndpointI(usbp, USBD1_DATA_REQUEST_EP, &ep1config); + usbInitEndpointI(usbp, USBD1_INTERRUPT_REQUEST_EP, &ep2config); + + /* Resetting the state of the CDC subsystem.*/ + sduConfigureHookI(&SDU1); + + chSysUnlockFromIsr(); + return; + case USB_EVENT_SUSPEND: + return; + case USB_EVENT_WAKEUP: + return; + case USB_EVENT_STALLED: + return; + } + return; +} + +/* + * USB driver configuration. + */ +static const USBConfig usbcfg = { + usb_event, + get_descriptor, + sduRequestsHook, + NULL +}; + +/* + * Serial over USB driver configuration. + */ +static const SerialUSBConfig serusbcfg = { + &USBD1, + USBD1_DATA_REQUEST_EP, + USBD1_DATA_AVAILABLE_EP, + USBD1_INTERRUPT_REQUEST_EP +}; + +/*===========================================================================*/ +/* Command line related. */ +/*===========================================================================*/ + +#define SHELL_WA_SIZE THD_WA_SIZE(2048) +#define TEST_WA_SIZE THD_WA_SIZE(256) + +static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) { + size_t n, size; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: mem\r\n"); + return; + } + n = chHeapStatus(NULL, &size); + chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus()); + chprintf(chp, "heap fragments : %u\r\n", n); + chprintf(chp, "heap free total : %u bytes\r\n", size); +} + +static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) { + static const char *states[] = {THD_STATE_NAMES}; + Thread *tp; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: threads\r\n"); + return; + } + chprintf(chp, " addr stack prio refs state time\r\n"); + tp = chRegFirstThread(); + do { + chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n", + (uint32_t)tp, (uint32_t)tp->p_ctx.r13, + (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1), + states[tp->p_state], (uint32_t)tp->p_time); + tp = chRegNextThread(tp); + } while (tp != NULL); +} + +static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) { + Thread *tp; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: test\r\n"); + return; + } + tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(), + TestThread, chp); + if (tp == NULL) { + chprintf(chp, "out of memory\r\n"); + return; + } + chThdWait(tp); +} + +static void cmd_write(BaseSequentialStream *chp, int argc, char *argv[]) { + static uint8_t buf[] = + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef" + "0123456789abcdef0123456789abcdef0123456789abcdef0123456789abcdef"; + + (void)argv; + if (argc > 0) { + chprintf(chp, "Usage: write\r\n"); + return; + } + + while (chnGetTimeout((BaseChannel *)chp, TIME_IMMEDIATE) == Q_TIMEOUT) { + chSequentialStreamWrite(&SDU1, buf, sizeof buf - 1); + } + chprintf(chp, "\r\n\nstopped\r\n"); +} + +static const ShellCommand commands[] = { + {"mem", cmd_mem}, + {"threads", cmd_threads}, + {"test", cmd_test}, + {"write", cmd_write}, + {NULL, NULL} +}; + +static const ShellConfig shell_cfg1 = { + (BaseSequentialStream *)&SDU1, + commands +}; + +/*===========================================================================*/ +/* Public Interface. */ +/*===========================================================================*/ + +void usbCDCShellInit(void) +{ + sduObjectInit(&SDU1); + sduStart(&SDU1, &serusbcfg); + + palSetPad(USB_DISC__PORT, USB_DISC__PIN); + usbDisconnectBus(serusbcfg.usbp); + chThdSleepMilliseconds(1500); + usbStart(serusbcfg.usbp, &usbcfg); + usbConnectBus(serusbcfg.usbp); + palClearPad(USB_DISC__PORT, USB_DISC__PIN); + + shellInit(); +} + + +void usbCDCShellRun(void) +{ + Thread *shelltp = NULL; + + while (TRUE) { + if (!shelltp && (SDU1.config->usbp->state == USB_ACTIVE)) + shelltp = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO); + else if (chThdTerminated(shelltp)) { + chThdRelease(shelltp); /* Recovers memory of the previous shell. */ + shelltp = NULL; /* Triggers spawning of a new shell. */ + } + chThdSleepMilliseconds(1000); + } +} |