From 2686beab36e73975cbb91d0cb87bda1e66a8c83c Mon Sep 17 00:00:00 2001 From: Scott Shawcroft Date: Tue, 2 May 2023 12:13:54 -0700 Subject: [PATCH 1/2] Basic USB host support and keyboard workflow Connects up read, write and ctrl_transfer to TinyUSB. USB Host support is available on iMX RT and RP2040. Fixes #6527 (imx) and fixes #5986 (rp2). --- .gitmodules | 4 + lib/tinyusb | 2 +- locale/circuitpython.pot | 9 +- ports/mimxrt10xx/Makefile | 23 +- .../boards/imxrt1060_evk/mpconfigboard.h | 4 +- ports/mimxrt10xx/linking/common.ld | 7 + ports/raspberrypi/Makefile | 14 +- .../adafruit_feather_rp2040_usb_host/board.c | 14 + .../mpconfigboard.h | 5 + .../common-hal/rp2pio/StateMachine.h | 2 + ports/raspberrypi/common-hal/usb_host/Port.c | 165 ++++++++++++ ports/raspberrypi/common-hal/usb_host/Port.h | 38 +++ .../common-hal/usb_host/__init__.c | 27 ++ ports/raspberrypi/lib/Pico-PIO-USB | 1 + ports/raspberrypi/link.ld | 7 +- ports/raspberrypi/mpconfigport.h | 11 + ports/raspberrypi/mpconfigport.mk | 1 + ports/raspberrypi/supervisor/port.c | 7 +- py/circuitpy_mpconfig.mk | 3 + shared-bindings/usb/core/Device.c | 30 ++- shared-bindings/usb/core/Device.h | 5 +- shared-bindings/usb/core/__init__.c | 13 +- shared-module/usb/core/Device.c | 192 +++++++++++--- shared-module/usb/core/Device.h | 2 + supervisor/shared/background_callback.c | 6 +- supervisor/shared/serial.c | 12 + supervisor/shared/usb/host_keyboard.c | 241 ++++++++++++++++++ supervisor/shared/usb/tusb_config.h | 8 +- supervisor/shared/usb/usb.c | 5 +- supervisor/shared/workflow.c | 3 + supervisor/supervisor.mk | 2 + supervisor/usb.h | 10 + 32 files changed, 811 insertions(+), 62 deletions(-) create mode 100644 ports/raspberrypi/common-hal/usb_host/Port.c create mode 100644 ports/raspberrypi/common-hal/usb_host/Port.h create mode 100644 ports/raspberrypi/common-hal/usb_host/__init__.c create mode 160000 ports/raspberrypi/lib/Pico-PIO-USB create mode 100644 supervisor/shared/usb/host_keyboard.c diff --git a/.gitmodules b/.gitmodules index 91afffe6a6..5c29c41b9f 100644 --- a/.gitmodules +++ b/.gitmodules @@ -341,3 +341,7 @@ [submodule "frozen/Adafruit_CircuitPython_Wave"] path = frozen/Adafruit_CircuitPython_Wave url = http://github.com/adafruit/Adafruit_CircuitPython_Wave.git +[submodule "ports/raspberrypi/lib/Pico-PIO-USB"] + path = ports/raspberrypi/lib/Pico-PIO-USB + url = https://github.com/sekigon-gonnoc/Pico-PIO-USB.git + branch = main diff --git a/lib/tinyusb b/lib/tinyusb index e3b3229d61..f1e006d09b 160000 --- a/lib/tinyusb +++ b/lib/tinyusb @@ -1 +1 @@ -Subproject commit e3b3229d61676585879c81d5f2e3393a2a1f1b16 +Subproject commit f1e006d09bd32088ab421d0b519eb89c531eda4e diff --git a/locale/circuitpython.pot b/locale/circuitpython.pot index 282d229856..368836a4db 100644 --- a/locale/circuitpython.pot +++ b/locale/circuitpython.pot @@ -471,12 +471,17 @@ msgstr "" msgid "All channels in use" msgstr "" +#: ports/raspberrypi/common-hal/usb_host/Port.c +msgid "All dma channels in use" +msgstr "" + #: ports/atmel-samd/common-hal/audioio/AudioOut.c msgid "All event channels in use" msgstr "" #: ports/raspberrypi/common-hal/picodvi/Framebuffer.c #: ports/raspberrypi/common-hal/rp2pio/StateMachine.c +#: ports/raspberrypi/common-hal/usb_host/Port.c msgid "All state machines in use" msgstr "" @@ -1950,10 +1955,6 @@ msgstr "" msgid "Size not supported" msgstr "" -#: ports/raspberrypi/common-hal/alarm/SleepMemory.c -msgid "Sleep Memory not available" -msgstr "" - #: shared-bindings/alarm/SleepMemory.c shared-bindings/memorymap/AddressRange.c #: shared-bindings/nvm/ByteArray.c msgid "Slice and value different lengths." diff --git a/ports/mimxrt10xx/Makefile b/ports/mimxrt10xx/Makefile index c591cf189e..24e3c59b13 100644 --- a/ports/mimxrt10xx/Makefile +++ b/ports/mimxrt10xx/Makefile @@ -229,12 +229,19 @@ include $(TOP)/py/mkrules.mk print-%: @echo $* = $($*) -ifeq ($(CHIP_FAMILY), MIMXRT1062) -PYOCD_TARGET = mimxrt1060 -endif +# Flash using jlink +define jlink_script +halt +loadfile $^ +r +go +exit +endef +export jlink_script -# Flash using pyocd -PYOCD_OPTION ?= -flash: $(BUILD)/firmware.hex - pyocd flash -t $(PYOCD_TARGET) $(PYOCD_OPTION) $< - pyocd reset -t $(PYOCD_TARGET) +JLINKEXE = JLinkExe +flash-jlink: $(BUILD)/firmware.elf + @echo "$$jlink_script" > $(BUILD)/firmware.jlink + $(JLINKEXE) -device $(CHIP_FAMILY)xxx5A -if swd -JTAGConf -1,-1 -speed auto -CommandFile $(BUILD)/firmware.jlink + +flash: flash-jlink diff --git a/ports/mimxrt10xx/boards/imxrt1060_evk/mpconfigboard.h b/ports/mimxrt10xx/boards/imxrt1060_evk/mpconfigboard.h index 3b63172328..23058e6952 100644 --- a/ports/mimxrt10xx/boards/imxrt1060_evk/mpconfigboard.h +++ b/ports/mimxrt10xx/boards/imxrt1060_evk/mpconfigboard.h @@ -21,5 +21,5 @@ // Put host on the first USB so that right angle OTG adapters can fit. This is // the right port when looking at the board. -#define CIRCUITPY_USB_DEVICE_INSTANCE 1 -#define CIRCUITPY_USB_HOST_INSTANCE 0 +#define CIRCUITPY_USB_DEVICE_INSTANCE 0 +#define CIRCUITPY_USB_HOST_INSTANCE 1 diff --git a/ports/mimxrt10xx/linking/common.ld b/ports/mimxrt10xx/linking/common.ld index a3ed2dbdbf..71e2c457c3 100644 --- a/ports/mimxrt10xx/linking/common.ld +++ b/ports/mimxrt10xx/linking/common.ld @@ -72,6 +72,7 @@ SECTIONS *(EXCLUDE_FILE( *fsl_flexspi.o *dcd_ci_hs.o + *ehci.o *tusb_fifo.o *usbd.o *string0.o @@ -88,6 +89,11 @@ SECTIONS We try to only keep USB interrupt related functions. */ *dcd_ci_hs.o(.text.process_*_request .text.dcd_edpt* .text.dcd_init .text.dcd_set_address) *usbd.o(.text.process_*_request .text.process_[gs]et* .text.tud_* .text.usbd_* .text.configuration_reset .text.invoke_*) + *ehci.o(.text.hcd_edpt* .text.hcd_setup* .text.ehci_init* .text.hcd_port* .text.hcd_device* .text.qtd_init* .text.list_remove*) + + /* Less critical portions of the runtime. */ + *runtime.o(.text.mp_import* .text.mp_resume* .text.mp_make_raise* .text.mp_init) + *gc.o(.text.gc_never_free .text.gc_make_long_lived) /* Anything marked cold/unlikely should be in flash. */ *(.text.unlikely.*) @@ -146,6 +152,7 @@ SECTIONS *(.itcm.*) *fsl_flexspi.o(.text*) *dcd_ci_hs.o(.text*) + *ehci.o(.text*) *tusb_fifo.o(.text*) *py/objboundmeth.o(.text*) *py/objtype.o(.text*) diff --git a/ports/raspberrypi/Makefile b/ports/raspberrypi/Makefile index 7eb67b77ba..f635750415 100644 --- a/ports/raspberrypi/Makefile +++ b/ports/raspberrypi/Makefile @@ -148,7 +148,7 @@ INC += \ CFLAGS += -DRASPBERRYPI -DPICO_ON_DEVICE=1 -DPICO_NO_BINARY_INFO=0 -DPICO_TIME_DEFAULT_ALARM_POOL_DISABLED=0 -DPICO_DIVIDER_CALL_IDIV0=0 -DPICO_DIVIDER_CALL_LDIV0=0 -DPICO_DIVIDER_HARDWARE=1 -DPICO_DOUBLE_ROM=1 -DPICO_FLOAT_ROM=1 -DPICO_MULTICORE=1 -DPICO_BITS_IN_RAM=0 -DPICO_DIVIDER_IN_RAM=0 -DPICO_DOUBLE_PROPAGATE_NANS=0 -DPICO_DOUBLE_IN_RAM=0 -DPICO_MEM_IN_RAM=0 -DPICO_FLOAT_IN_RAM=0 -DPICO_FLOAT_PROPAGATE_NANS=1 -DPICO_NO_FLASH=0 -DPICO_COPY_TO_RAM=0 -DPICO_DISABLE_SHARED_IRQ_HANDLERS=0 -DPICO_NO_BI_BOOTSEL_VIA_DOUBLE_RESET=0 -DDVI_1BPP_BIT_REVERSE=0 OPTIMIZATION_FLAGS ?= -O3 # TinyUSB defines -CFLAGS += -DTUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX=1 -DCFG_TUSB_MCU=OPT_MCU_RP2040 -DCFG_TUD_MIDI_RX_BUFSIZE=128 -DCFG_TUD_CDC_RX_BUFSIZE=256 -DCFG_TUD_MIDI_TX_BUFSIZE=128 -DCFG_TUD_CDC_TX_BUFSIZE=256 -DCFG_TUD_MSC_BUFSIZE=1024 +CFLAGS += -DCFG_TUSB_OS=OPT_OS_PICO -DTUD_OPT_RP2040_USB_DEVICE_ENUMERATION_FIX=1 -DCFG_TUSB_MCU=OPT_MCU_RP2040 -DCFG_TUD_MIDI_RX_BUFSIZE=128 -DCFG_TUD_CDC_RX_BUFSIZE=256 -DCFG_TUD_MIDI_TX_BUFSIZE=128 -DCFG_TUD_CDC_TX_BUFSIZE=256 -DCFG_TUD_MSC_BUFSIZE=1024 # option to override default optimization level, set in boards/$(BOARD)/mpconfigboard.mk CFLAGS += $(OPTIMIZATION_FLAGS) @@ -258,6 +258,18 @@ SRC_C += \ $(SRC_CYW43) \ $(SRC_LWIP) \ + +ifeq ($(CIRCUITPY_USB_HOST), 1) +SRC_C += \ + lib/tinyusb/src/portable/raspberrypi/pio_usb/hcd_pio_usb.c \ + lib/Pico-PIO-USB/src/pio_usb.c \ + lib/Pico-PIO-USB/src/pio_usb_host.c \ + lib/Pico-PIO-USB/src/usb_crc.c \ + +INC += \ + -isystem lib/Pico-PIO-USB/src +endif + ifeq ($(CIRCUITPY_PICODVI),1) SRC_C += \ bindings/picodvi/__init__.c \ diff --git a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/board.c b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/board.c index 331653173e..724fde1d27 100644 --- a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/board.c +++ b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/board.c @@ -26,4 +26,18 @@ #include "supervisor/board.h" +#include "shared-bindings/digitalio/DigitalInOut.h" +#include "shared-bindings/usb_host/Port.h" + // Use the MP_WEAK supervisor/shared/board.c versions of routines not defined here. + +usb_host_port_obj_t _host_port; +digitalio_digitalinout_obj_t _host_power; + +void board_init(void) { + common_hal_digitalio_digitalinout_construct(&_host_power, &pin_GPIO18); + common_hal_digitalio_digitalinout_never_reset(&_host_power); + common_hal_digitalio_digitalinout_switch_to_output(&_host_power, true, DRIVE_MODE_PUSH_PULL); + + common_hal_usb_host_port_construct(&_host_port, &pin_GPIO16, &pin_GPIO17); +} diff --git a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h index f300bfe711..ba62bca2cb 100644 --- a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h +++ b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h @@ -12,3 +12,8 @@ #define DEFAULT_UART_BUS_RX (&pin_GPIO1) #define DEFAULT_UART_BUS_TX (&pin_GPIO0) + +#define CIRCUITPY_CONSOLE_UART_RX DEFAULT_UART_BUS_RX +#define CIRCUITPY_CONSOLE_UART_TX DEFAULT_UART_BUS_TX + +#define CIRCUITPY_USB_HOST_INSTANCE 1 diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h index 71f85b1f11..f2d642bbad 100644 --- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h +++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h @@ -98,6 +98,8 @@ void rp2pio_statemachine_dma_complete(rp2pio_statemachine_obj_t *self, int chann void rp2pio_statemachine_reset_ok(PIO pio, int sm); void rp2pio_statemachine_never_reset(PIO pio, int sm); +uint8_t rp2pio_statemachine_find_pio(int program_size, int sm_count); + extern const mp_obj_type_t rp2pio_statemachine_type; #endif // MICROPY_INCLUDED_RASPBERRYPI_COMMON_HAL_RP2PIO_STATEMACHINE_H diff --git a/ports/raspberrypi/common-hal/usb_host/Port.c b/ports/raspberrypi/common-hal/usb_host/Port.c new file mode 100644 index 0000000000..9ad28c73ea --- /dev/null +++ b/ports/raspberrypi/common-hal/usb_host/Port.c @@ -0,0 +1,165 @@ +/* + * This file is part of the Micro Python project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2022 Scott Shawcroft for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "bindings/rp2pio/StateMachine.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "shared-bindings/microcontroller/Processor.h" +#include "shared-bindings/usb_host/Port.h" +#include "supervisor/usb.h" + +#include "src/common/pico_time/include/pico/time.h" +#include "src/rp2040/hardware_structs/include/hardware/structs/mpu.h" +#include "src/rp2_common/cmsis/stub/CMSIS/Device/RaspberryPi/RP2040/Include/RP2040.h" +#include "src/rp2_common/hardware_dma/include/hardware/dma.h" +#include "src/rp2_common/pico_multicore/include/pico/multicore.h" + +#include "py/runtime.h" + +#include "tusb.h" + +#include "lib/Pico-PIO-USB/src/pio_usb.h" +#include "lib/Pico-PIO-USB/src/pio_usb_configuration.h" + +#include "supervisor/serial.h" + +bool usb_host_init; + +STATIC PIO pio_instances[2] = {pio0, pio1}; +volatile bool _core1_ready = false; + +static void __not_in_flash_func(core1_main)(void) { + // The MPU is reset before this starts. + SysTick->LOAD = (uint32_t)((common_hal_mcu_processor_get_frequency() / 1000) - 1UL); + SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ + SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | // Processor clock. + SysTick_CTRL_ENABLE_Msk; + + // Turn off flash access. After this, it will hard fault. Better than messing + // up CIRCUITPY. + MPU->CTRL = MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_ENABLE_Msk; + MPU->RNR = 6; // 7 is used by pico-sdk stack protection. + MPU->RBAR = XIP_MAIN_BASE | MPU_RBAR_VALID_Msk; + MPU->RASR = MPU_RASR_XN_Msk | // Set execute never and everything else is restricted. + MPU_RASR_ENABLE_Msk | + (0x1b << MPU_RASR_SIZE_Pos); // Size is 0x10000000 which masks up to SRAM region. + MPU->RNR = 7; + + _core1_ready = true; + + while (true) { + pio_usb_host_frame(); + if (tuh_task_event_ready()) { + // Queue the tinyusb background task. + usb_background_schedule(); + } + // Wait for systick to reload. + while ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) == 0) { + } + } +} + +STATIC uint8_t _sm_free_count(uint8_t pio_index) { + PIO pio = pio_instances[pio_index]; + uint8_t free_count = 0; + for (size_t j = 0; j < NUM_PIO_STATE_MACHINES; j++) { + if (!pio_sm_is_claimed(pio, j)) { + free_count++; + } + } + return free_count; +} + +STATIC bool _has_program_room(uint8_t pio_index, uint8_t program_size) { + PIO pio = pio_instances[pio_index]; + pio_program_t program_struct = { + .instructions = NULL, + .length = program_size, + .origin = -1 + }; + return pio_can_add_program(pio, &program_struct); +} + +void common_hal_usb_host_port_construct(usb_host_port_obj_t *self, const mcu_pin_obj_t *dp, const mcu_pin_obj_t *dm) { + if (dp->number + 1 != dm->number) { + raise_ValueError_invalid_pins(); + } + pio_usb_configuration_t pio_cfg = PIO_USB_DEFAULT_CONFIG; + pio_cfg.skip_alarm_pool = true; + pio_cfg.pin_dp = dp->number; + pio_cfg.pio_tx_num = 0; + pio_cfg.pio_rx_num = 1; + // PIO with room for 22 instructions + // PIO with room for 31 instructions and two free SM. + if (!_has_program_room(pio_cfg.pio_tx_num, 22) || _sm_free_count(pio_cfg.pio_tx_num) < 1 || + !_has_program_room(pio_cfg.pio_rx_num, 31) || _sm_free_count(pio_cfg.pio_rx_num) < 2) { + mp_raise_RuntimeError(translate("All state machines in use")); + } + pio_cfg.tx_ch = dma_claim_unused_channel(false); // DMA channel + if (pio_cfg.tx_ch < 0) { + mp_raise_RuntimeError(translate("All dma channels in use")); + } + + PIO tx_pio = pio_instances[pio_cfg.pio_tx_num]; + pio_cfg.sm_tx = pio_claim_unused_sm(tx_pio, false); + PIO rx_pio = pio_instances[pio_cfg.pio_rx_num]; + pio_cfg.sm_rx = pio_claim_unused_sm(rx_pio, false); + pio_cfg.sm_eop = pio_claim_unused_sm(rx_pio, false); + + // Unclaim everything so that the library can. + dma_channel_unclaim(pio_cfg.tx_ch); + pio_sm_unclaim(tx_pio, pio_cfg.sm_tx); + pio_sm_unclaim(rx_pio, pio_cfg.sm_rx); + pio_sm_unclaim(rx_pio, pio_cfg.sm_eop); + + // Set all of the state machines to never reset. + rp2pio_statemachine_never_reset(tx_pio, pio_cfg.sm_tx); + rp2pio_statemachine_never_reset(rx_pio, pio_cfg.sm_rx); + rp2pio_statemachine_never_reset(rx_pio, pio_cfg.sm_eop); + + common_hal_never_reset_pin(dp); + common_hal_never_reset_pin(dm); + + // Core 1 will run the SOF interrupt directly. + _core1_ready = false; + multicore_launch_core1(core1_main); + while (!_core1_ready) { + } + + tuh_configure(TUH_OPT_RHPORT, TUH_CFGID_RPI_PIO_USB_CONFIGURATION, &pio_cfg); + tuh_init(TUH_OPT_RHPORT); + + self->init = true; + usb_host_init = true; +} + +void common_hal_usb_host_port_deinit(usb_host_port_obj_t *self) { + self->init = false; + usb_host_init = false; +} + +bool common_hal_usb_host_port_deinited(usb_host_port_obj_t *self) { + return !self->init; +} diff --git a/ports/raspberrypi/common-hal/usb_host/Port.h b/ports/raspberrypi/common-hal/usb_host/Port.h new file mode 100644 index 0000000000..c9294debb2 --- /dev/null +++ b/ports/raspberrypi/common-hal/usb_host/Port.h @@ -0,0 +1,38 @@ +/* + * This file is part of the Micro Python project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2023 Scott Shawcroft for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#pragma once + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + bool init; +} usb_host_port_obj_t; + +// Cheater state so that the usb module knows if it should return the TinyUSB +// state. +extern bool usb_host_init; diff --git a/ports/raspberrypi/common-hal/usb_host/__init__.c b/ports/raspberrypi/common-hal/usb_host/__init__.c new file mode 100644 index 0000000000..3b54bd6a5d --- /dev/null +++ b/ports/raspberrypi/common-hal/usb_host/__init__.c @@ -0,0 +1,27 @@ +/* + * This file is part of the Micro Python project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2022 Scott Shawcroft for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +// Nothing diff --git a/ports/raspberrypi/lib/Pico-PIO-USB b/ports/raspberrypi/lib/Pico-PIO-USB new file mode 160000 index 0000000000..5a7aa8d4e7 --- /dev/null +++ b/ports/raspberrypi/lib/Pico-PIO-USB @@ -0,0 +1 @@ +Subproject commit 5a7aa8d4e78f9a50e4fb9defcf3488b3fc44aff1 diff --git a/ports/raspberrypi/link.ld b/ports/raspberrypi/link.ld index 1e758f61bf..0e584c94ac 100644 --- a/ports/raspberrypi/link.ld +++ b/ports/raspberrypi/link.ld @@ -80,7 +80,9 @@ SECTIONS *(.property_getset) __property_getset_end = .; - *(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a: *interp.o *divider.o) .text*) + *(EXCLUDE_FILE(*libgcc.a: *libc.a:*lib_a-mem*.o *libm.a: *interp.o *divider.o *tusb_fifo.o *mem_ops_aeabi.o *usbh.o) .text*) + /* Allow everything in usbh.o except tuh_task_event_ready because we read it from core 1. */ + *usbh.o (.text.[_uphc]* .text.tuh_[cmvied]* .text.tuh_task_ext*) *(.fini) /* Pull all c'tors into .text */ *crtbegin.o(.ctors) @@ -169,7 +171,7 @@ SECTIONS . = ALIGN(4); /* init data */ PROVIDE_HIDDEN (__init_array_start = .); - KEEP(*(SORT(.init_array.*))) + KEEP(*(SORT(.init_array*))) KEEP(*(.init_array)) PROVIDE_HIDDEN (__init_array_end = .); @@ -248,6 +250,7 @@ SECTIONS __scratch_x_start__ = .; *(.scratch_x.*) *tmds_encode.o (.time_critical*) + *timer.o (.text.hardware_alarm_irq_handler) . = ALIGN(4); __scratch_x_end__ = .; } > SCRATCH_X AT > FLASH_FIRMWARE diff --git a/ports/raspberrypi/mpconfigport.h b/ports/raspberrypi/mpconfigport.h index a2eb9a15ef..4458107974 100644 --- a/ports/raspberrypi/mpconfigport.h +++ b/ports/raspberrypi/mpconfigport.h @@ -48,6 +48,10 @@ #define CIRCUITPY_PROCESSOR_COUNT (2) +#if CIRCUITPY_USB_HOST +#define CIRCUITPY_USB_HOST_INSTANCE 1 +#endif + // This also includes mpconfigboard.h. #include "py/circuitpy_mpconfig.h" @@ -64,4 +68,11 @@ #define MICROPY_PY_LWIP_EXIT cyw43_arch_lwip_end(); #endif +// Protect the background queue with a lock because both cores may modify it. +#include "pico/critical_section.h" +extern critical_section_t background_queue_lock; +#define CALLBACK_CRITICAL_BEGIN (critical_section_enter_blocking(&background_queue_lock)) +#define CALLBACK_CRITICAL_END (critical_section_exit(&background_queue_lock)) + + #endif // __INCLUDED_MPCONFIGPORT_H diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk index cdee964410..fdc2b0922a 100644 --- a/ports/raspberrypi/mpconfigport.mk +++ b/ports/raspberrypi/mpconfigport.mk @@ -20,6 +20,7 @@ CIRCUITPY_RGBMATRIX ?= $(CIRCUITPY_DISPLAYIO) CIRCUITPY_ROTARYIO ?= 1 CIRCUITPY_ROTARYIO_SOFTENCODER = 1 CIRCUITPY_SYNTHIO_MAX_CHANNELS = 12 +CIRCUITPY_USB_HOST ?= 1 # Things that need to be implemented. # Use PWM internally diff --git a/ports/raspberrypi/supervisor/port.c b/ports/raspberrypi/supervisor/port.c index 08a9d96c2e..9415d36aa6 100644 --- a/ports/raspberrypi/supervisor/port.c +++ b/ports/raspberrypi/supervisor/port.c @@ -76,6 +76,8 @@ #include "tusb.h" #include +critical_section_t background_queue_lock; + extern volatile bool mp_msc_enabled; STATIC void _tick_callback(uint alarm_num); @@ -128,6 +130,9 @@ safe_mode_t port_init(void) { (&_ld_dtcm_bss_start)[i] = 0; } + // Set up the critical section to protect the background task queue. + critical_section_init(&background_queue_lock); + #if CIRCUITPY_CYW43 never_reset_pin_number(23); never_reset_pin_number(24); @@ -299,7 +304,7 @@ void port_interrupt_after_ticks(uint32_t ticks) { void port_idle_until_interrupt(void) { common_hal_mcu_disable_interrupts(); - if (!background_callback_pending() && !tud_task_event_ready() && !_woken_up) { + if (!background_callback_pending() && !tud_task_event_ready() && !tuh_task_event_ready() && !_woken_up) { __DSB(); __WFI(); } diff --git a/py/circuitpy_mpconfig.mk b/py/circuitpy_mpconfig.mk index 3e43909687..210c402c77 100644 --- a/py/circuitpy_mpconfig.mk +++ b/py/circuitpy_mpconfig.mk @@ -525,6 +525,9 @@ CFLAGS += -DCIRCUITPY_USB_HOST=$(CIRCUITPY_USB_HOST) CIRCUITPY_USB_IDENTIFICATION ?= $(CIRCUITPY_USB) CFLAGS += -DCIRCUITPY_USB_IDENTIFICATION=$(CIRCUITPY_USB_IDENTIFICATION) +CIRCUITPY_USB_KEYBOARD_WORKFLOW ?= $(CIRCUITPY_USB_HOST) +CFLAGS += -DCIRCUITPY_USB_KEYBOARD_WORKFLOW=$(CIRCUITPY_USB_KEYBOARD_WORKFLOW) + # MIDI is available by default, but is not turned on if there are fewer than 8 endpoints. CIRCUITPY_USB_MIDI ?= $(CIRCUITPY_USB) CFLAGS += -DCIRCUITPY_USB_MIDI=$(CIRCUITPY_USB_MIDI) diff --git a/shared-bindings/usb/core/Device.c b/shared-bindings/usb/core/Device.c index 40bb01dc08..d5525431a3 100644 --- a/shared-bindings/usb/core/Device.c +++ b/shared-bindings/usb/core/Device.c @@ -123,6 +123,30 @@ MP_DEFINE_CONST_FUN_OBJ_1(usb_core_device_get_manufacturer_obj, usb_core_device_ MP_PROPERTY_GETTER(usb_core_device_manufacturer_obj, (mp_obj_t)&usb_core_device_get_manufacturer_obj); +//| def set_configuration(self, configuration=None): +//| """Set the active configuration. +//| +//| The configuration parameter is the bConfigurationValue field of the +//| configuration you want to set as active. If you call this method +//| without parameter, it will use the first configuration found. As a +//| device hardly ever has more than one configuration, calling the method +//| without arguments is enough to get the device ready. +//| """ +//| ... +STATIC mp_obj_t usb_core_device_set_configuration(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_configuration }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_configuration, MP_ARG_INT, {.u_int = 0x100} }, + }; + usb_core_device_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + common_hal_usb_core_device_set_configuration(self, args[ARG_configuration].u_int); + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_KW(usb_core_device_set_configuration_obj, 1, usb_core_device_set_configuration); + //| def write(self, endpoint: int, data: ReadableBuffer, timeout: Optional[int] = None) -> int: //| """Write data to a specific endpoint on the device. //| @@ -223,7 +247,10 @@ STATIC mp_obj_t usb_core_device_ctrl_transfer(size_t n_args, const mp_obj_t *pos mp_buffer_info_t bufinfo; // check request type - if ((args[ARG_bmRequestType].u_int & 0x80) != 0) { + if (args[ARG_data_or_wLength].u_obj == mp_const_none) { + bufinfo.len = 0; + bufinfo.buf = NULL; + } else if ((args[ARG_bmRequestType].u_int & 0x80) != 0) { mp_get_buffer_raise(args[ARG_data_or_wLength].u_obj, &bufinfo, MP_BUFFER_WRITE); } else { mp_get_buffer_raise(args[ARG_data_or_wLength].u_obj, &bufinfo, MP_BUFFER_READ); @@ -292,6 +319,7 @@ STATIC const mp_rom_map_elem_t usb_core_device_locals_dict_table[] = { { MP_ROM_QSTR(MP_QSTR_product), MP_ROM_PTR(&usb_core_device_product_obj) }, { MP_ROM_QSTR(MP_QSTR_manufacturer), MP_ROM_PTR(&usb_core_device_manufacturer_obj) }, + { MP_ROM_QSTR(MP_QSTR_set_configuration),MP_ROM_PTR(&usb_core_device_set_configuration_obj) }, { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&usb_core_device_write_obj) }, { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&usb_core_device_read_obj) }, { MP_ROM_QSTR(MP_QSTR_ctrl_transfer), MP_ROM_PTR(&usb_core_device_ctrl_transfer_obj) }, diff --git a/shared-bindings/usb/core/Device.h b/shared-bindings/usb/core/Device.h index c7086e99ff..c9de5d505f 100644 --- a/shared-bindings/usb/core/Device.h +++ b/shared-bindings/usb/core/Device.h @@ -39,8 +39,9 @@ uint16_t common_hal_usb_core_device_get_idProduct(usb_core_device_obj_t *self); mp_obj_t common_hal_usb_core_device_get_serial_number(usb_core_device_obj_t *self); mp_obj_t common_hal_usb_core_device_get_product(usb_core_device_obj_t *self); mp_obj_t common_hal_usb_core_device_get_manufacturer(usb_core_device_obj_t *self); -mp_obj_t common_hal_usb_core_device_write(usb_core_device_obj_t *self, mp_int_t endpoint, const uint8_t *buffer, mp_int_t len, mp_int_t timeout); -mp_obj_t common_hal_usb_core_device_read(usb_core_device_obj_t *self, mp_int_t endpoint, uint8_t *buffer, mp_int_t len, mp_int_t timeout); +void common_hal_usb_core_device_set_configuration(usb_core_device_obj_t *self, mp_int_t configuration); +mp_int_t common_hal_usb_core_device_write(usb_core_device_obj_t *self, mp_int_t endpoint, const uint8_t *buffer, mp_int_t len, mp_int_t timeout); +mp_int_t common_hal_usb_core_device_read(usb_core_device_obj_t *self, mp_int_t endpoint, uint8_t *buffer, mp_int_t len, mp_int_t timeout); mp_int_t common_hal_usb_core_device_ctrl_transfer(usb_core_device_obj_t *self, mp_int_t bmRequestType, mp_int_t bRequest, mp_int_t wValue, mp_int_t wIndex, diff --git a/shared-bindings/usb/core/__init__.c b/shared-bindings/usb/core/__init__.c index faeef23a88..7c171e85d6 100644 --- a/shared-bindings/usb/core/__init__.c +++ b/shared-bindings/usb/core/__init__.c @@ -49,10 +49,15 @@ //| MP_DEFINE_USB_CORE_EXCEPTION(USBError, OSError) NORETURN void mp_raise_usb_core_USBError(const compressed_string_t *fmt, ...) { - va_list argptr; - va_start(argptr,fmt); - mp_obj_t exception = mp_obj_new_exception_msg_vlist(&mp_type_usb_core_USBError, fmt, argptr); - va_end(argptr); + mp_obj_t exception; + if (fmt == NULL) { + exception = mp_obj_new_exception(&mp_type_usb_core_USBError); + } else { + va_list argptr; + va_start(argptr,fmt); + exception = mp_obj_new_exception_msg_vlist(&mp_type_usb_core_USBError, fmt, argptr); + va_end(argptr); + } nlr_raise(exception); } diff --git a/shared-module/usb/core/Device.c b/shared-module/usb/core/Device.c index 706c94eec3..67756341ec 100644 --- a/shared-module/usb/core/Device.c +++ b/shared-module/usb/core/Device.c @@ -34,15 +34,30 @@ #include "shared-bindings/usb/core/__init__.h" #include "shared-module/usb/utf16le.h" #include "supervisor/shared/tick.h" +#include "supervisor/usb.h" +// Track what device numbers are mounted. We can't use tuh_ready() because it is +// true before enumeration completes and TinyUSB drivers are started. +STATIC size_t _mounted_devices = 0; + +void tuh_mount_cb(uint8_t dev_addr) { + _mounted_devices |= 1 << dev_addr; +} + +void tuh_umount_cb(uint8_t dev_addr) { + _mounted_devices &= ~(1 << dev_addr); +} + +STATIC xfer_result_t _xfer_result; bool common_hal_usb_core_device_construct(usb_core_device_obj_t *self, uint8_t device_number) { if (device_number == 0 || device_number > CFG_TUH_DEVICE_MAX + CFG_TUH_HUB) { return false; } - if (!tuh_ready(device_number)) { + if ((_mounted_devices & (1 << device_number)) == 0) { return false; } self->device_number = device_number; + _xfer_result = 0xff; return true; } @@ -60,19 +75,21 @@ uint16_t common_hal_usb_core_device_get_idProduct(usb_core_device_obj_t *self) { return pid; } -STATIC xfer_result_t _get_string_result; STATIC void _transfer_done_cb(tuh_xfer_t *xfer) { // Store the result so we stop waiting for the transfer. - _get_string_result = xfer->result; + _xfer_result = xfer->result; } -STATIC void _wait_for_callback(void) { +STATIC bool _wait_for_callback(void) { while (!mp_hal_is_interrupted() && - _get_string_result == 0xff) { + _xfer_result == 0xff) { // The background tasks include TinyUSB which will call the function // we provided above. In other words, the callback isn't in an interrupt. RUN_BACKGROUND_TASKS; } + xfer_result_t result = _xfer_result; + _xfer_result = 0xff; + return result == XFER_RESULT_SUCCESS; } STATIC mp_obj_t _get_string(const uint16_t *temp_buf) { @@ -84,46 +101,145 @@ STATIC mp_obj_t _get_string(const uint16_t *temp_buf) { } mp_obj_t common_hal_usb_core_device_get_serial_number(usb_core_device_obj_t *self) { - _get_string_result = 0xff; uint16_t temp_buf[127]; - if (!tuh_descriptor_get_serial_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0)) { + if (!tuh_descriptor_get_serial_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0) || + !_wait_for_callback()) { return mp_const_none; } - _wait_for_callback(); return _get_string(temp_buf); } mp_obj_t common_hal_usb_core_device_get_product(usb_core_device_obj_t *self) { - _get_string_result = 0xff; uint16_t temp_buf[127]; - if (!tuh_descriptor_get_product_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0)) { + if (!tuh_descriptor_get_product_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0) || + !_wait_for_callback()) { return mp_const_none; } - _wait_for_callback(); return _get_string(temp_buf); } mp_obj_t common_hal_usb_core_device_get_manufacturer(usb_core_device_obj_t *self) { - _get_string_result = 0xff; uint16_t temp_buf[127]; - if (!tuh_descriptor_get_manufacturer_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0)) { + if (!tuh_descriptor_get_manufacturer_string(self->device_number, 0, temp_buf, MP_ARRAY_SIZE(temp_buf), _transfer_done_cb, 0) || + !_wait_for_callback()) { return mp_const_none; } - _wait_for_callback(); return _get_string(temp_buf); } -mp_obj_t common_hal_usb_core_device_write(usb_core_device_obj_t *self, mp_int_t endpoint, const uint8_t *buffer, mp_int_t len, mp_int_t timeout) { - return mp_const_none; +void common_hal_usb_core_device_set_configuration(usb_core_device_obj_t *self, mp_int_t configuration) { + if (configuration == 0x100) { + tusb_desc_configuration_t desc; + if (!tuh_descriptor_get_configuration(self->device_number, 0, &desc, sizeof(desc), _transfer_done_cb, 0) || + !_wait_for_callback()) { + return; + } + configuration = desc.bConfigurationValue; + } + tuh_configuration_set(self->device_number, configuration, _transfer_done_cb, 0); + _wait_for_callback(); } -mp_obj_t common_hal_usb_core_device_read(usb_core_device_obj_t *self, mp_int_t endpoint, uint8_t *buffer, mp_int_t len, mp_int_t timeout) { - return mp_const_none; +STATIC size_t _xfer(tuh_xfer_t *xfer, mp_int_t timeout) { + _xfer_result = 0xff; + xfer->complete_cb = _transfer_done_cb; + if (!tuh_edpt_xfer(xfer)) { + mp_raise_usb_core_USBError(NULL); + } + uint32_t start_time = supervisor_ticks_ms32(); + while ((timeout == 0 || supervisor_ticks_ms32() - start_time < (uint32_t)timeout) && + !mp_hal_is_interrupted() && + _xfer_result == 0xff) { + // The background tasks include TinyUSB which will call the function + // we provided above. In other words, the callback isn't in an interrupt. + RUN_BACKGROUND_TASKS; + } + if (mp_hal_is_interrupted()) { + return 0; + } + xfer_result_t result = _xfer_result; + _xfer_result = 0xff; + if (result == XFER_RESULT_STALLED || result == 0xff) { + mp_raise_usb_core_USBTimeoutError(); + } + if (result == XFER_RESULT_SUCCESS) { + return xfer->actual_len; + } + + return 0; } -xfer_result_t control_result; -STATIC void _control_complete_cb(tuh_xfer_t *xfer) { - control_result = xfer->result; +STATIC bool _open_endpoint(usb_core_device_obj_t *self, mp_int_t endpoint) { + bool endpoint_open = false; + size_t open_size = sizeof(self->open_endpoints); + size_t first_free = open_size; + for (size_t i = 0; i < open_size; i++) { + if (self->open_endpoints[i] == endpoint) { + endpoint_open = true; + } else if (first_free == open_size && self->open_endpoints[i] == 0) { + first_free = i; + } + } + if (endpoint_open) { + return true; + } + + // Fetch the full configuration descriptor and search for the endpoint's descriptor. + uint8_t desc_buf[128]; + if (!tuh_descriptor_get_configuration(self->device_number, self->configuration_index, &desc_buf, sizeof(desc_buf), _transfer_done_cb, 0) || + !_wait_for_callback()) { + return false; + } + tusb_desc_configuration_t *desc_cfg = (tusb_desc_configuration_t *)desc_buf; + + uint8_t const *desc_end = ((uint8_t const *)desc_cfg) + tu_le16toh(desc_cfg->wTotalLength); + uint8_t const *p_desc = tu_desc_next(desc_cfg); + + // parse each interfaces + while (p_desc < desc_end) { + if (TUSB_DESC_ENDPOINT == tu_desc_type(p_desc)) { + tusb_desc_endpoint_t const *desc_ep = (tusb_desc_endpoint_t const *)p_desc; + if (desc_ep->bEndpointAddress == endpoint) { + break; + } + } + + p_desc = tu_desc_next(p_desc); + } + if (p_desc >= desc_end) { + return false; + } + tusb_desc_endpoint_t const *desc_ep = (tusb_desc_endpoint_t const *)p_desc; + + bool open = tuh_edpt_open(self->device_number, desc_ep); + if (open) { + self->open_endpoints[first_free] = endpoint; + } + return open; +} + +mp_int_t common_hal_usb_core_device_write(usb_core_device_obj_t *self, mp_int_t endpoint, const uint8_t *buffer, mp_int_t len, mp_int_t timeout) { + if (!_open_endpoint(self, endpoint)) { + mp_raise_usb_core_USBError(NULL); + } + tuh_xfer_t xfer; + xfer.daddr = self->device_number; + xfer.ep_addr = endpoint; + xfer.buffer = (uint8_t *)buffer; + xfer.buflen = len; + return _xfer(&xfer, timeout); +} + +mp_int_t common_hal_usb_core_device_read(usb_core_device_obj_t *self, mp_int_t endpoint, uint8_t *buffer, mp_int_t len, mp_int_t timeout) { + if (!_open_endpoint(self, endpoint)) { + mp_raise_usb_core_USBError(NULL); + } + tuh_xfer_t xfer; + xfer.daddr = self->device_number; + xfer.ep_addr = endpoint; + xfer.buffer = buffer; + xfer.buflen = len; + return _xfer(&xfer, timeout); } mp_int_t common_hal_usb_core_device_ctrl_transfer(usb_core_device_obj_t *self, @@ -144,27 +260,31 @@ mp_int_t common_hal_usb_core_device_ctrl_transfer(usb_core_device_obj_t *self, .ep_addr = 0, .setup = &request, .buffer = buffer, - .complete_cb = _control_complete_cb, + .complete_cb = _transfer_done_cb, }; - control_result = XFER_RESULT_STALLED; + _xfer_result = 0xff; - bool result = tuh_control_xfer(&xfer); - if (!result) { + if (!tuh_control_xfer(&xfer)) { mp_raise_usb_core_USBError(NULL); } uint32_t start_time = supervisor_ticks_ms32(); - while (supervisor_ticks_ms32() - start_time < (uint32_t)timeout && + while ((timeout == 0 || supervisor_ticks_ms32() - start_time < (uint32_t)timeout) && !mp_hal_is_interrupted() && - control_result == XFER_RESULT_STALLED) { + _xfer_result == 0xff) { // The background tasks include TinyUSB which will call the function // we provided above. In other words, the callback isn't in an interrupt. RUN_BACKGROUND_TASKS; } - if (control_result == XFER_RESULT_STALLED) { + if (mp_hal_is_interrupted()) { + return 0; + } + xfer_result_t result = _xfer_result; + _xfer_result = 0xff; + if (result == XFER_RESULT_STALLED || result == 0xff) { mp_raise_usb_core_USBTimeoutError(); } - if (control_result == XFER_RESULT_SUCCESS) { + if (result == XFER_RESULT_SUCCESS) { return len; } @@ -172,14 +292,22 @@ mp_int_t common_hal_usb_core_device_ctrl_transfer(usb_core_device_obj_t *self, } bool common_hal_usb_core_device_is_kernel_driver_active(usb_core_device_obj_t *self, mp_int_t interface) { - // TODO: Implement this when CP natively uses a keyboard. + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + if (usb_keyboard_in_use(self->device_number, interface)) { + return true; + } + #endif return false; } void common_hal_usb_core_device_detach_kernel_driver(usb_core_device_obj_t *self, mp_int_t interface) { - // TODO: Implement this when CP natively uses a keyboard. + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + usb_keyboard_detach(self->device_number, interface); + #endif } void common_hal_usb_core_device_attach_kernel_driver(usb_core_device_obj_t *self, mp_int_t interface) { - // TODO: Implement this when CP natively uses a keyboard. + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + usb_keyboard_attach(self->device_number, interface); + #endif } diff --git a/shared-module/usb/core/Device.h b/shared-module/usb/core/Device.h index 5959639fc8..bb32cb5766 100644 --- a/shared-module/usb/core/Device.h +++ b/shared-module/usb/core/Device.h @@ -32,6 +32,8 @@ typedef struct { mp_obj_base_t base; uint8_t device_number; + uint8_t configuration_index; // not number + uint8_t open_endpoints[8]; } usb_core_device_obj_t; #endif // MICROPY_INCLUDED_SHARED_MODULE_USB_CORE_DEVICE_H diff --git a/supervisor/shared/background_callback.c b/supervisor/shared/background_callback.c index 80f70b528a..17fed37e22 100644 --- a/supervisor/shared/background_callback.c +++ b/supervisor/shared/background_callback.c @@ -36,10 +36,14 @@ STATIC volatile background_callback_t *volatile callback_head, *volatile callback_tail; +#ifndef CALLBACK_CRITICAL_BEGIN #define CALLBACK_CRITICAL_BEGIN (common_hal_mcu_disable_interrupts()) +#endif +#ifndef CALLBACK_CRITICAL_END #define CALLBACK_CRITICAL_END (common_hal_mcu_enable_interrupts()) +#endif -MP_WEAK void port_wake_main_task(void) { +MP_WEAK void PLACE_IN_ITCM(port_wake_main_task)(void) { } void PLACE_IN_ITCM(background_callback_add_core)(background_callback_t * cb) { diff --git a/supervisor/shared/serial.c b/supervisor/shared/serial.c index e683e8eb7c..7bf10ae530 100644 --- a/supervisor/shared/serial.c +++ b/supervisor/shared/serial.c @@ -238,6 +238,12 @@ char serial_read(void) { } #endif + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + if (usb_keyboard_chars_available() > 0) { + return usb_keyboard_read_char(); + } + #endif + if (port_serial_bytes_available() > 0) { return port_serial_read(); } @@ -279,6 +285,12 @@ bool serial_bytes_available(void) { } #endif + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + if (usb_keyboard_chars_available() > 0) { + return true; + } + #endif + #if CIRCUITPY_USB_CDC if (usb_cdc_console_enabled() && tud_cdc_available() > 0) { return true; diff --git a/supervisor/shared/usb/host_keyboard.c b/supervisor/shared/usb/host_keyboard.c new file mode 100644 index 0000000000..831914d87a --- /dev/null +++ b/supervisor/shared/usb/host_keyboard.c @@ -0,0 +1,241 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2023 Scott Shawcroft for Adafruit Industries + * Copyright (c) 2023 Jeff Epler for Adafruit Industries + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#include "tusb.h" + +#include "py/ringbuf.h" +#include "py/runtime.h" +#include "shared/runtime/interrupt_char.h" +#include "supervisor/usb.h" + +// Buffer the incoming serial data in the background so that we can look for the +// interrupt character. +STATIC ringbuf_t _incoming_ringbuf; +STATIC uint8_t _buf[16]; + +uint8_t _dev_addr; +uint8_t _interface; + +#define FLAG_ALPHABETIC (1) +#define FLAG_SHIFT (2) +#define FLAG_NUMLOCK (4) +#define FLAG_CTRL (8) +#define FLAG_LUT (16) + +const char *const lut[] = { + "!@#$%^&*()", /* 0 - shifted numeric keys */ + "\r\x1b\10\t -=[]\\#;'`,./", /* 1 - symbol keys */ + "\n\x1b\177\t _+{}|~:\"~<>?", /* 2 - shifted */ + "\12\13\10\22", /* 3 - arrow keys RLDU */ + "/*-+\n1234567890.", /* 4 - keypad w/numlock */ + "/*-+\n\xff\2\xff\4\xff\3\xff\1\xff\xff.", /* 5 - keypad w/o numlock */ +}; + +struct keycode_mapper { + uint8_t first, last, code, flags; +} keycode_to_ascii[] = { + { HID_KEY_A, HID_KEY_Z, 'a', FLAG_ALPHABETIC, }, + + { HID_KEY_1, HID_KEY_9, 0, FLAG_SHIFT | FLAG_LUT, }, + { HID_KEY_1, HID_KEY_9, '1', 0, }, + { HID_KEY_0, HID_KEY_0, ')', FLAG_SHIFT, }, + { HID_KEY_0, HID_KEY_0, '0', 0, }, + + { HID_KEY_ENTER, HID_KEY_ENTER, '\n', FLAG_CTRL }, + { HID_KEY_ENTER, HID_KEY_SLASH, 2, FLAG_SHIFT | FLAG_LUT, }, + { HID_KEY_ENTER, HID_KEY_SLASH, 1, FLAG_LUT, }, + + { HID_KEY_F1, HID_KEY_F1, 0x1e, 0, }, // help key on xerox 820 kbd + + { HID_KEY_ARROW_RIGHT, HID_KEY_ARROW_UP, 3, FLAG_LUT }, + + { HID_KEY_KEYPAD_DIVIDE, HID_KEY_KEYPAD_DECIMAL, 4, FLAG_NUMLOCK | FLAG_LUT }, + { HID_KEY_KEYPAD_DIVIDE, HID_KEY_KEYPAD_DECIMAL, 5, FLAG_LUT }, +}; + +STATIC bool report_contains(const hid_keyboard_report_t *report, uint8_t key) { + for (int i = 0; i < 6; i++) { + if (report->keycode[i] == key) { + return true; + } + } + return false; +} + +int old_ascii = -1; +uint32_t repeat_timeout; +// this matches Linux default of 500ms to first repeat, 1/20s thereafter +const uint32_t default_repeat_time = 50; +const uint32_t initial_repeat_time = 500; + +STATIC void send_ascii(uint8_t code, uint32_t repeat_time) { + old_ascii = code; + // repeat_timeout = millis() + repeat_time; + if (code == mp_interrupt_char) { + mp_sched_keyboard_interrupt(); + return; + } + if (ringbuf_num_empty(&_incoming_ringbuf) == 0) { + // Drop on the floor + return; + } + ringbuf_put(&_incoming_ringbuf, code); +} + +hid_keyboard_report_t old_report; + +STATIC void process_event(uint8_t dev_addr, uint8_t instance, const hid_keyboard_report_t *report) { + bool alt = report->modifier & 0x44; + bool shift = report->modifier & 0x22; + bool ctrl = report->modifier & 0x11; + bool caps = old_report.reserved & 1; + bool num = old_report.reserved & 2; + uint8_t code = 0; + + if (report->keycode[0] == 1 && report->keycode[1] == 1) { + // keyboard says it has exceeded max kro + return; + } + + // something was pressed or release, so cancel any key repeat + old_ascii = -1; + + for (int i = 0; i < 6; i++) { + uint8_t keycode = report->keycode[i]; + if (keycode == 0) { + continue; + } + if (report_contains(&old_report, keycode)) { + continue; + } + + /* key is newly pressed */ + if (keycode == HID_KEY_NUM_LOCK) { + num = !num; + } else if (keycode == HID_KEY_CAPS_LOCK) { + caps = !caps; + } else { + for (size_t j = 0; j < MP_ARRAY_SIZE(keycode_to_ascii); j++) { + struct keycode_mapper *mapper = &keycode_to_ascii[j]; + if (!(keycode >= mapper->first && keycode <= mapper->last)) { + continue; + } + if (mapper->flags & FLAG_SHIFT && !shift) { + continue; + } + if (mapper->flags & FLAG_NUMLOCK && !num) { + continue; + } + if (mapper->flags & FLAG_CTRL && !ctrl) { + continue; + } + if (mapper->flags & FLAG_LUT) { + code = lut[mapper->code][keycode - mapper->first]; + } else { + code = keycode - mapper->first + mapper->code; + } + if (mapper->flags & FLAG_ALPHABETIC) { + if (shift ^ caps) { + code ^= ('a' ^ 'A'); + } + } + if (ctrl) { + code &= 0x1f; + } + if (alt) { + code ^= 0x80; + } + send_ascii(code, initial_repeat_time); + break; + } + } + } + + uint8_t leds = (caps | (num << 1)); + if (leds != old_report.reserved) { + tuh_hid_set_report(dev_addr, instance /*idx*/, 0 /*report_id*/, HID_REPORT_TYPE_OUTPUT /*report_type*/, &leds, sizeof(leds)); + } + old_report = *report; + old_report.reserved = leds; +} + +bool usb_keyboard_in_use(uint8_t dev_addr, uint8_t interface) { + return _dev_addr == dev_addr && _interface == interface; +} + +void usb_keyboard_detach(uint8_t dev_addr, uint8_t interface) { + if (!usb_keyboard_in_use(dev_addr, interface)) { + return; + } + _dev_addr = 0; + _interface = 0; +} + +void usb_keyboard_attach(uint8_t dev_addr, uint8_t interface) { + if (usb_keyboard_in_use(dev_addr, interface) || _dev_addr != 0) { + return; + } + uint8_t const itf_protocol = tuh_hid_interface_protocol(dev_addr, interface); + if (itf_protocol == HID_ITF_PROTOCOL_KEYBOARD) { + _dev_addr = dev_addr; + _interface = interface; + tuh_hid_receive_report(dev_addr, interface); + } +} + +void tuh_hid_mount_cb(uint8_t dev_addr, uint8_t interface, uint8_t const *desc_report, uint16_t desc_len) { + usb_keyboard_attach(dev_addr, interface); +} + +void tuh_hid_umount_cb(uint8_t dev_addr, uint8_t interface) { + usb_keyboard_detach(dev_addr, interface); +} + +void tuh_hid_report_received_cb(uint8_t dev_addr, uint8_t instance, uint8_t const *report, uint16_t len) { + if (len != sizeof(hid_keyboard_report_t)) { + return; + } else { + process_event(dev_addr, instance, (hid_keyboard_report_t *)report); + } + // continue to request to receive report + tuh_hid_receive_report(dev_addr, instance); +} + +void usb_keyboard_init(void) { + ringbuf_init(&_incoming_ringbuf, _buf, sizeof(_buf) - 1); +} + +bool usb_keyboard_chars_available(void) { + return ringbuf_num_filled(&_incoming_ringbuf) > 0; +} + +char usb_keyboard_read_char(void) { + if (ringbuf_num_filled(&_incoming_ringbuf) > 0) { + return ringbuf_get(&_incoming_ringbuf); + } + return -1; +} diff --git a/supervisor/shared/usb/tusb_config.h b/supervisor/shared/usb/tusb_config.h index c2ad1362a3..19f5c0a0ce 100644 --- a/supervisor/shared/usb/tusb_config.h +++ b/supervisor/shared/usb/tusb_config.h @@ -51,7 +51,7 @@ extern "C" { // When debugging TinyUSB, only output to the console UART link. #if CIRCUITPY_DEBUG_TINYUSB > 0 && defined(CIRCUITPY_CONSOLE_UART) #define CFG_TUSB_DEBUG CIRCUITPY_DEBUG_TINYUSB -#define CFG_TUSB_DEBUG_PRINTF debug_uart_printf +#define CFG_TUSB_DEBUG_PRINTF console_uart_printf #endif /*------------- RTOS -------------*/ @@ -127,6 +127,10 @@ extern "C" { // -------------------------------------------------------------------- #if CIRCUITPY_USB_HOST +#define CFG_TUH_ENABLED 1 + +// Always use PIO to do host on RP2. +#define CFG_TUH_RPI_PIO_USB 1 #if CIRCUITPY_USB_HOST_INSTANCE == 0 #if USB_HIGHSPEED @@ -147,10 +151,12 @@ extern "C" { #define CFG_TUH_ENUMERATION_BUFSIZE 256 #endif +#define CFG_TUH_HID 2 #define CFG_TUH_HUB 1 #define CFG_TUH_CDC 0 #define CFG_TUH_MSC 0 #define CFG_TUH_VENDOR 0 +#define CFG_TUH_API_EDPT_XFER 1 // max device support (excluding hub device) #define CFG_TUH_DEVICE_MAX (CFG_TUH_HUB ? 4 : 1) // hub typically has 4 ports diff --git a/supervisor/shared/usb/usb.c b/supervisor/shared/usb/usb.c index 133a97a99d..56c8b1897f 100644 --- a/supervisor/shared/usb/usb.c +++ b/supervisor/shared/usb/usb.c @@ -87,7 +87,8 @@ MP_WEAK void post_usb_init(void) { void usb_init(void) { init_usb_hardware(); - tusb_init(); + // Only init device. Host gets inited by the `usb_host` module common-hal. + tud_init(TUD_OPT_RHPORT); post_usb_init(); @@ -199,7 +200,7 @@ void usb_disconnect(void) { void usb_background(void) { if (usb_enabled()) { - #if CFG_TUSB_OS == OPT_OS_NONE + #if CFG_TUSB_OS == OPT_OS_NONE || CFG_TUSB_OS == OPT_OS_PICO tud_task(); #if CIRCUITPY_USB_HOST tuh_task(); diff --git a/supervisor/shared/workflow.c b/supervisor/shared/workflow.c index aebdcc821a..b4e7852b2a 100644 --- a/supervisor/shared/workflow.c +++ b/supervisor/shared/workflow.c @@ -112,6 +112,9 @@ void supervisor_workflow_start(void) { } #endif + #if CIRCUITPY_USB_KEYBOARD_WORKFLOW + usb_keyboard_init(); + #endif } FRESULT supervisor_workflow_mkdir_parents(FATFS *fs, char *path) { diff --git a/supervisor/supervisor.mk b/supervisor/supervisor.mk index c461c5353f..374edf1310 100644 --- a/supervisor/supervisor.mk +++ b/supervisor/supervisor.mk @@ -161,8 +161,10 @@ ifeq ($(CIRCUITPY_USB),1) ifeq ($(CIRCUITPY_USB_HOST), 1) SRC_SUPERVISOR += \ + lib/tinyusb/src/class/hid/hid_host.c \ lib/tinyusb/src/host/hub.c \ lib/tinyusb/src/host/usbh.c \ + supervisor/shared/usb/host_keyboard.c \ endif endif diff --git a/supervisor/usb.h b/supervisor/usb.h index 3c8da6f3b7..11a9cc27d6 100644 --- a/supervisor/usb.h +++ b/supervisor/usb.h @@ -96,4 +96,14 @@ bool usb_msc_lock(void); void usb_msc_unlock(void); #endif +#if CIRCUITPY_USB_KEYBOARD_WORKFLOW +void usb_keyboard_init(void); +bool usb_keyboard_chars_available(void); +char usb_keyboard_read_char(void); + +bool usb_keyboard_in_use(uint8_t dev_addr, uint8_t interface); +void usb_keyboard_detach(uint8_t dev_addr, uint8_t interface); +void usb_keyboard_attach(uint8_t dev_addr, uint8_t interface); +#endif + #endif // MICROPY_INCLUDED_SUPERVISOR_USB_H From 52ca0504d99d72a281e35313fb9bab2658ad9840 Mon Sep 17 00:00:00 2001 From: Scott Shawcroft Date: Mon, 10 Jul 2023 15:37:57 -0700 Subject: [PATCH 2/2] Comment out debug UART on RP2040 USB host feather --- .../boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h index ba62bca2cb..fbf194ed8d 100644 --- a/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h +++ b/ports/raspberrypi/boards/adafruit_feather_rp2040_usb_host/mpconfigboard.h @@ -13,7 +13,7 @@ #define DEFAULT_UART_BUS_RX (&pin_GPIO1) #define DEFAULT_UART_BUS_TX (&pin_GPIO0) -#define CIRCUITPY_CONSOLE_UART_RX DEFAULT_UART_BUS_RX -#define CIRCUITPY_CONSOLE_UART_TX DEFAULT_UART_BUS_TX +// #define CIRCUITPY_CONSOLE_UART_RX DEFAULT_UART_BUS_RX +// #define CIRCUITPY_CONSOLE_UART_TX DEFAULT_UART_BUS_TX #define CIRCUITPY_USB_HOST_INSTANCE 1