From c1d0041f3a366a0ebfb1ba00176e1f929b0e84d4 Mon Sep 17 00:00:00 2001
From: Per Lindgren <per.lindgren@ltu.se>
Date: Fri, 1 Jan 2021 20:42:51 +0100
Subject: [PATCH] usb wip
---
Cargo.toml | 3 +-
README.md | 13 ++
examples/usb-mouse.rs | 343 ++++++++++++++++++++++++++++++++++++++++++
3 files changed, 358 insertions(+), 1 deletion(-)
create mode 100644 examples/usb-mouse.rs
diff --git a/Cargo.toml b/Cargo.toml
index 3f3b111..e9e9cc8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -11,6 +11,7 @@ cortex-m-rt = "0.6.13"
cortex-m-semihosting = "0.3.7"
cortex-m-rtic = "0.5.5"
embedded-hal = "0.2.4"
+usb-device = "0.2.7"
# Panic handlers, comment all but one to generate doc!
panic-halt = "0.2.0"
@@ -37,7 +38,7 @@ features = ["stm32f411", "rt"]
[dependencies.stm32f4xx-hal]
version = "0.8.3"
-features = ["rt", "stm32f411"]
+features = ["rt", "stm32f411", "usb_fs"]
# this lets you use `cargo fix`!
[[bin]]
diff --git a/README.md b/README.md
index 98e1336..884c8e6 100644
--- a/README.md
+++ b/README.md
@@ -6,6 +6,8 @@
- [RM0383 - F411 Reference Manual](https://www.st.com/resource/zh/reference_manual/dm00119316-stm32f411xce-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [RM0368 - F401 Reference Manual](https://www.st.com/resource/en/reference_manual/dm00096844-stm32f401xbc-and-stm32f401xde-advanced-armbased-32bit-mcus-stmicroelectronics.pdf)
+- [Nucleo 64 Schematics](https://www.st.com/resource/en/schematic_pack/nucleo_64pins_sch.zip) (The file MB1136.pdf is the schematics in pdf.)
+
- [PM0214 - M4 Programming manual](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwjOtd645OTtAhXEHXcKHdwYCoQQFjAAegQIBhAC&url=https%3A%2F%2Fwww.st.com%2Fresource%2Fen%2Fprogramming_manual%2Fdm00046982-stm32-cortex-m4-mcus-and-mpus-programming-manual-stmicroelectronics.pdf&usg=AOvVaw0n3XXybtMMDbifhDZse1Pl)
- [PMW3389DM-T3QU](https://www.google.com/url?sa=t&rct=j&q=&esrc=s&source=web&cd=&ved=2ahUKEwicx5OA9eTtAhWC-yoKHVfKAJ0QFjAAegQIBhAC&url=https%3A%2F%2Fwww.pixart.com%2F_getfs.php%3Ftb%3Dproduct%26id%3D4%26fs%3Dck2_fs_cn&usg=AOvVaw1A1rR533Pt-7EgnVSS-_ch), optical navigation chip
@@ -14,6 +16,17 @@
- [Introduction to SPI](https://www.analog.com/en/analog-dialogue/articles/introduction-to-spi-interface.html#), a short introduction to the SPI interface.
+- [USB Cable]
+
+| Signl | Color | Pin |
+| ----- | ----- | ---- |
+| V+ | Red | ---- |
+| D- | White | PA11 |
+| D+ | Green | PA12 |
+| Gnd | Black | ---- |
+
+D+ used for re-enumeration
+
## Debug interface
- Serial Wire debugging uses pins PA13 and PA14.
diff --git a/examples/usb-mouse.rs b/examples/usb-mouse.rs
new file mode 100644
index 0000000..8a24193
--- /dev/null
+++ b/examples/usb-mouse.rs
@@ -0,0 +1,343 @@
+#![no_std]
+#![no_main]
+
+// extern crate panic_semihosting;
+// use panic_rtt_target as _;
+use panic_halt as _;
+
+use cortex_m::{asm::delay, peripheral::DWT};
+use embedded_hal::digital::v2::OutputPin;
+use rtic::cyccnt::{Instant, U32Ext as _};
+// use stm32f4xx_hal::usb::{Peripheral, UsbBus, UsbBusType};
+use stm32f4xx_hal::{
+ gpio,
+ otg_fs::{UsbBus, UsbBusType, USB},
+ prelude::*,
+};
+use usb_device::bus;
+use usb_device::prelude::*;
+
+#[allow(unused)]
+pub mod hid {
+ use usb_device::class_prelude::*;
+ use usb_device::Result;
+
+ pub const USB_CLASS_HID: u8 = 0x03;
+
+ const USB_SUBCLASS_NONE: u8 = 0x00;
+ const USB_SUBCLASS_BOOT: u8 = 0x01;
+
+ const USB_INTERFACE_NONE: u8 = 0x00;
+ const USB_INTERFACE_KEYBOARD: u8 = 0x01;
+ const USB_INTERFACE_MOUSE: u8 = 0x02;
+
+ const REQ_GET_REPORT: u8 = 0x01;
+ const REQ_GET_IDLE: u8 = 0x02;
+ const REQ_GET_PROTOCOL: u8 = 0x03;
+ const REQ_SET_REPORT: u8 = 0x09;
+ const REQ_SET_IDLE: u8 = 0x0a;
+ const REQ_SET_PROTOCOL: u8 = 0x0b;
+
+ // https://docs.microsoft.com/en-us/windows-hardware/design/component-guidelines/mouse-collection-report-descriptor
+ const REPORT_DESCR: &[u8] = &[
+ 0x05, 0x01, // USAGE_PAGE (Generic Desktop)
+ 0x09, 0x02, // USAGE (Mouse)
+ 0xa1, 0x01, // COLLECTION (Application)
+ 0x09, 0x01, // USAGE (Pointer)
+ 0xa1, 0x00, // COLLECTION (Physical)
+ 0x05, 0x09, // USAGE_PAGE (Button)
+ 0x19, 0x01, // USAGE_MINIMUM (Button 1)
+ 0x29, 0x03, // USAGE_MAXIMUM (Button 3)
+ 0x15, 0x00, // LOGICAL_MINIMUM (0)
+ 0x25, 0x01, // LOGICAL_MAXIMUM (1)
+ 0x95, 0x03, // REPORT_COUNT (3)
+ 0x75, 0x01, // REPORT_SIZE (1)
+ 0x81, 0x02, // INPUT (Data,Var,Abs)
+ 0x95, 0x01, // REPORT_COUNT (1)
+ 0x75, 0x05, // REPORT_SIZE (5)
+ 0x81, 0x03, // INPUT (Cnst,Var,Abs)
+ 0x05, 0x01, // USAGE_PAGE (Generic Desktop)
+ 0x09, 0x30, // USAGE (X)
+ 0x09, 0x31, // USAGE (Y)
+ 0x15, 0x81, // LOGICAL_MINIMUM (-127)
+ 0x25, 0x7f, // LOGICAL_MAXIMUM (127)
+ 0x75, 0x08, // REPORT_SIZE (8)
+ 0x95, 0x02, // REPORT_COUNT (2)
+ 0x81, 0x06, // INPUT (Data,Var,Rel)
+ 0xc0, // END_COLLECTION
+ 0xc0, // END_COLLECTION
+ ];
+
+ pub fn report(x: i8, y: i8) -> [u8; 3] {
+ [
+ 0x00, // button: none
+ x as u8, // x-axis
+ y as u8, // y-axis
+ ]
+ }
+
+ pub struct HIDClass<'a, B: UsbBus> {
+ report_if: InterfaceNumber,
+ report_ep: EndpointIn<'a, B>,
+ }
+
+ impl<B: UsbBus> HIDClass<'_, B> {
+ /// Creates a new HIDClass with the provided UsbBus and max_packet_size in bytes. For
+ /// full-speed devices, max_packet_size has to be one of 8, 16, 32 or 64.
+ pub fn new(alloc: &UsbBusAllocator<B>) -> HIDClass<'_, B> {
+ HIDClass {
+ report_if: alloc.interface(),
+ report_ep: alloc.interrupt(8, 10),
+ }
+ }
+
+ pub fn write(&mut self, data: &[u8]) {
+ self.report_ep.write(data).ok();
+ }
+ }
+
+ impl<B: UsbBus> UsbClass<B> for HIDClass<'_, B> {
+ fn get_configuration_descriptors(&self, writer: &mut DescriptorWriter) -> Result<()> {
+ writer.interface(
+ self.report_if,
+ USB_CLASS_HID,
+ USB_SUBCLASS_NONE,
+ USB_INTERFACE_MOUSE,
+ )?;
+
+ let descr_len: u16 = REPORT_DESCR.len() as u16;
+ writer.write(
+ 0x21,
+ &[
+ 0x01, // bcdHID
+ 0x01, // bcdHID
+ 0x00, // bContryCode
+ 0x01, // bNumDescriptors
+ 0x22, // bDescriptorType
+ descr_len as u8, // wDescriptorLength
+ (descr_len >> 8) as u8, // wDescriptorLength
+ ],
+ )?;
+
+ writer.endpoint(&self.report_ep)?;
+
+ Ok(())
+ }
+
+ fn control_in(&mut self, xfer: ControlIn<B>) {
+ let req = xfer.request();
+
+ if req.request_type == control::RequestType::Standard {
+ match (req.recipient, req.request) {
+ (control::Recipient::Interface, control::Request::GET_DESCRIPTOR) => {
+ let (dtype, _index) = req.descriptor_type_index();
+ if dtype == 0x21 {
+ // HID descriptor
+ cortex_m::asm::bkpt();
+ let descr_len: u16 = REPORT_DESCR.len() as u16;
+
+ // HID descriptor
+ let descr = &[
+ 0x09, // length
+ 0x21, // descriptor type
+ 0x01, // bcdHID
+ 0x01, // bcdHID
+ 0x00, // bCountryCode
+ 0x01, // bNumDescriptors
+ 0x22, // bDescriptorType
+ descr_len as u8, // wDescriptorLength
+ (descr_len >> 8) as u8, // wDescriptorLength
+ ];
+
+ xfer.accept_with(descr).ok();
+ return;
+ } else if dtype == 0x22 {
+ // Report descriptor
+ xfer.accept_with(REPORT_DESCR).ok();
+ return;
+ }
+ }
+ _ => {
+ return;
+ }
+ };
+ }
+
+ if !(req.request_type == control::RequestType::Class
+ && req.recipient == control::Recipient::Interface
+ && req.index == u8::from(self.report_if) as u16)
+ {
+ return;
+ }
+
+ match req.request {
+ REQ_GET_REPORT => {
+ // USB host requests for report
+ // I'm not sure what should we do here, so just send empty report
+ xfer.accept_with(&report(0, 0)).ok();
+ }
+ _ => {
+ xfer.reject().ok();
+ }
+ }
+ }
+
+ fn control_out(&mut self, xfer: ControlOut<B>) {
+ let req = xfer.request();
+
+ if !(req.request_type == control::RequestType::Class
+ && req.recipient == control::Recipient::Interface
+ && req.index == u8::from(self.report_if) as u16)
+ {
+ return;
+ }
+
+ xfer.reject().ok();
+ }
+ }
+}
+
+use hid::HIDClass;
+
+type LED = gpio::gpioa::PA5<gpio::Output<gpio::PushPull>>;
+
+const PERIOD: u32 = 8_000_000;
+
+#[rtic::app(device = stm32f4xx_hal::stm32, peripherals = true, monotonic = rtic::cyccnt::CYCCNT)]
+const APP: () = {
+ struct Resources {
+ counter: u8,
+ led: LED,
+
+ usb_dev: UsbDevice<'static, UsbBusType>,
+ hid: HIDClass<'static, UsbBusType>,
+ }
+
+ #[init(schedule = [on_tick])]
+ fn init(mut cx: init::Context) -> init::LateResources {
+ static mut USB_BUS: Option<bus::UsbBusAllocator<UsbBusType>> = None;
+ static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+ cx.core.DCB.enable_trace();
+ DWT::unlock();
+ cx.core.DWT.enable_cycle_counter();
+
+ let rcc = cx.device.RCC.constrain();
+
+ let clocks = rcc
+ .cfgr
+ // .use_hse(8.mhz())
+ .sysclk(48.mhz())
+ .pclk1(24.mhz())
+ .freeze();
+
+ // assert!(clocks.usbclk_valid());
+
+ let gpioa = cx.device.GPIOA.split();
+ let led = gpioa.pa5.into_push_pull_output();
+
+ // Pull the D+ pin down to send a RESET condition to the USB bus.
+ let mut usb_dp = gpioa.pa12.into_push_pull_output();
+ usb_dp.set_low().ok();
+ delay(clocks.sysclk().0 / 100);
+ let usb_dp = usb_dp.into_floating_input();
+
+ let usb_dm = gpioa.pa11;
+
+ let usb = USB {
+ usb_global: cx.device.OTG_FS_GLOBAL,
+ usb_device: cx.device.OTG_FS_DEVICE,
+ usb_pwrclk: cx.device.OTG_FS_PWRCLK,
+ pin_dm: usb_dm.into_alternate_af10(),
+ pin_dp: usb_dp.into_alternate_af10(),
+ };
+
+ *USB_BUS = Some(UsbBus::new(usb, EP_MEMORY));
+
+ // let usb_bus = UsbBus::new(usb, unsafe { &mut EP_MEMORY });
+
+ let hid = HIDClass::new(USB_BUS.as_ref().unwrap());
+
+ let usb_dev = UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0xc410, 0x0000))
+ .manufacturer("Fake company")
+ .product("mouse")
+ .serial_number("TEST")
+ .device_class(0)
+ .build();
+
+ cx.schedule.on_tick(cx.start + PERIOD.cycles()).ok();
+
+ init::LateResources {
+ counter: 0,
+ led,
+
+ usb_dev,
+ hid,
+ }
+ }
+
+ #[task(schedule = [on_tick], resources = [counter, led, hid])]
+ fn on_tick(mut cx: on_tick::Context) {
+ cx.schedule.on_tick(Instant::now() + PERIOD.cycles()).ok();
+
+ let counter: &mut u8 = &mut cx.resources.counter;
+ let led = &mut cx.resources.led;
+ let hid = &mut cx.resources.hid;
+
+ const P: u8 = 2;
+ *counter = (*counter + 1) % P;
+
+ // move mouse cursor horizontally (x-axis) while blinking LED
+ if *counter < P / 2 {
+ led.set_high().ok();
+ hid.write(&hid::report(10, 0));
+ } else {
+ led.set_low().ok();
+ hid.write(&hid::report(-10, 0));
+ }
+ }
+
+ // #[task(binds=USB_HP_CAN_TX, resources = [counter, led, usb_dev, hid])]
+ // fn usb_tx(mut cx: usb_tx::Context) {
+ // usb_poll(
+ // &mut cx.resources.counter,
+ // &mut cx.resources.led,
+ // &mut cx.resources.usb_dev,
+ // &mut cx.resources.hid,
+ // );
+ // }
+
+ // #[task(binds=USB_LP_CAN_RX0, resources = [counter, led, usb_dev, hid])]
+ // fn usb_rx(mut cx: usb_rx::Context) {
+ // usb_poll(
+ // &mut cx.resources.counter,
+ // &mut cx.resources.led,
+ // &mut cx.resources.usb_dev,
+ // &mut cx.resources.hid,
+ // );
+ // }
+
+ #[task(binds=OTG_FS, resources = [counter, led, usb_dev, hid])]
+ fn usb_rx(mut cx: usb_rx::Context) {
+ usb_poll(
+ &mut cx.resources.counter,
+ &mut cx.resources.led,
+ &mut cx.resources.usb_dev,
+ &mut cx.resources.hid,
+ );
+ }
+
+ extern "C" {
+ fn EXTI0();
+ }
+};
+
+fn usb_poll<B: bus::UsbBus>(
+ _counter: &mut u8,
+ _led: &mut LED,
+ usb_dev: &mut UsbDevice<'static, B>,
+ hid: &mut HIDClass<'static, B>,
+) {
+ if !usb_dev.poll(&mut [hid]) {
+ return;
+ }
+}
--
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