AP_HAL_ChibiOS: add support for usb passthrough with baud changes

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -569,6 +569,17 @@ void UARTDriver::rxbuff_full_irq(void* self, uint32_t flags)
 
 void UARTDriver::begin(uint32_t b)
 {
+    if (lock_write_key != 0) {
+        return;
+    }
+    begin(b, 0, 0);
+}
+
+void UARTDriver::begin_locked(uint32_t b, uint32_t key)
+{
+    if (lock_write_key != 0 && key != lock_write_key) {
+        return;
+    }
     begin(b, 0, 0);
 }
 
@@ -618,6 +629,20 @@ void UARTDriver::set_blocking_writes(bool blocking)
 
 bool UARTDriver::tx_pending() { return false; }
 
+
+/*
+    get the requested usb baudrate - 0 = none
+*/
+uint32_t UARTDriver::get_usb_baud() const
+{
+#if HAL_USE_SERIAL_USB
+    if (sdef.is_usb) {
+        return ::get_usb_baud(sdef.endpoint_id);
+    }
+#endif
+    return 0;
+}
+
 /* Empty implementations of Stream virtual methods */
 uint32_t UARTDriver::available() {
     if (!_rx_initialised || lock_read_key) {

libraries/AP_HAL_ChibiOS/UARTDriver.h

@@ -37,13 +37,14 @@ public:
     UARTDriver &operator=(const UARTDriver&) = delete;
 
     void begin(uint32_t b) override;
+    void begin_locked(uint32_t b, uint32_t write_key) override;
     void begin(uint32_t b, uint16_t rxS, uint16_t txS) override;
     void end() override;
     void flush() override;
     bool is_initialized() override;
     void set_blocking_writes(bool blocking) override;
     bool tx_pending() override;
-
+    uint32_t get_usb_baud() const override;
 
     uint32_t available() override;
     uint32_t available_locked(uint32_t key) override;
@@ -91,6 +92,7 @@ public:
         uint8_t rxinv_polarity;
         int8_t txinv_gpio;
         uint8_t txinv_polarity;
+        uint8_t endpoint_id;
         uint8_t get_index(void) const {
             return uint8_t(this - &_serial_tab[0]);
         }

libraries/AP_HAL_ChibiOS/Util.cpp

@@ -24,7 +24,6 @@
 #include "hwdef/common/stm32_util.h"
 #include "hwdef/common/watchdog.h"
 #include "hwdef/common/flash.h"
-#include "hwdef/common/usbcfg.h"
 #include <AP_ROMFS/AP_ROMFS.h>
 #include <AP_Common/ExpandingString.h>
 #include "sdcard.h"
@@ -226,17 +225,6 @@ uint64_t Util::get_hw_rtc() const
     return stm32_get_utc_usec();
 }
 
-/*
-    get the requested usb baudrate - 0 = none
-*/
-uint32_t Util::get_usb_baud(uint16_t endpoint_id)
-{
-#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
-    return ::get_usb_baud(endpoint_id);
-#endif
-    return 0;
-}
-
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
 
 #if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)

libraries/AP_HAL_ChibiOS/Util.h

@@ -110,12 +110,6 @@ private:
       get system clock in UTC microseconds
      */
     uint64_t get_hw_rtc() const override;
-
-    /*
-      get the requested usb baudrate - 0 = none
-     */
-    uint32_t get_usb_baud(uint16_t endpoint_id) override;
-
 #if !defined(HAL_NO_FLASH_SUPPORT) && !defined(HAL_NO_ROMFS_SUPPORT)
     FlashBootloader flash_bootloader() override;
 #endif

libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.c

@@ -39,6 +39,11 @@
 /* Virtual serial port over USB.*/
 SerialUSBDriver SDU1;
 
+cdc_linecoding_t linecoding = {
+  {0x00, 0x96, 0x00, 0x00},             /* 38400.                           */
+  LC_STOP_1, LC_PARITY_NONE, 8
+};
+
 /*
  * Endpoints to be used for USBD1.
  */
@@ -233,6 +238,17 @@ static const USBDescriptor *get_descriptor(USBDriver *usbp,
   return NULL;
 }
 
+/*
+    get the requested usb baudrate - 0 = none
+*/
+#if HAL_USE_SERIAL_USB
+uint32_t get_usb_baud(uint16_t endpoint_id)
+{
+    if(endpoint_id == 0)
+        return *((uint32_t*)linecoding.dwDTERate);
+    return 0;
+}
+#endif
 /**
  * @brief   IN EP1 state.
  */
@@ -329,6 +345,33 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
   return;
 }
 
+/*
+ * Handling messages not implemented in the default handler nor in the
+ * SerialUSB handler.
+ */
+static bool requests_hook(USBDriver *usbp) {
+  if (((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) == USB_RTYPE_RECIPIENT_INTERFACE) &&
+      (usbp->setup[1] == USB_REQ_SET_INTERFACE)) {
+    usbSetupTransfer(usbp, NULL, 0, NULL);
+    return true;
+  }
+  if ((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS && usbp->setup[4] == 0x00 && usbp->setup[5] == 0x00) {
+    switch (usbp->setup[1]) {
+    case CDC_GET_LINE_CODING:
+      usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
+      return true;
+    case CDC_SET_LINE_CODING:
+      usbSetupTransfer(usbp, (uint8_t *)&linecoding, sizeof(linecoding), NULL);
+      return true;
+    case CDC_SET_CONTROL_LINE_STATE:
+      /* Nothing to do, there are no control lines.*/
+      usbSetupTransfer(usbp, NULL, 0, NULL);
+      return true;
+    }
+  }
+  return sduRequestsHook(usbp);
+}
+
 /*
  * Handles the USB driver global events.
  */
@@ -347,7 +390,7 @@ static void sof_handler(USBDriver *usbp) {
 const USBConfig usbcfg = {
   usb_event,
   get_descriptor,
-  sduRequestsHook,
+  requests_hook,
   sof_handler
 };
 

libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg.h

@@ -44,8 +44,8 @@ extern SerialUSBDriver SDU1;
 #if HAL_HAVE_DUAL_USB_CDC
 extern SerialUSBDriver SDU2;
 extern const SerialUSBConfig serusbcfg2;
-uint32_t get_usb_baud(uint16_t endpoint_id);
 #endif //HAL_HAVE_DUAL_USB_CDC
+uint32_t get_usb_baud(uint16_t endpoint_id);
 #endif
 #define USB_DESC_MAX_STRLEN 100
 void setup_usb_strings(void);

libraries/AP_HAL_ChibiOS/hwdef/common/usbcfg_dualcdc.c

@@ -300,17 +300,16 @@ static const USBDescriptor *get_descriptor(USBDriver *usbp,
 /*
     get the requested usb baudrate - 0 = none
 */
+#if HAL_USE_SERIAL_USB
 uint32_t get_usb_baud(uint16_t endpoint_id)
 {
-#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
     if(endpoint_id == 0)
         return *((uint32_t*)linecoding.dwDTERate);
     if(endpoint_id == 2)
         return *((uint32_t*)linecoding2.dwDTERate);
-#endif
     return 0;
 }
-
+#endif
 /**
  * @brief   IN EP1 state.
  */

libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py

@@ -1343,13 +1343,13 @@ def write_UART_config(f):
 
         if dev.startswith('OTG2'):
             f.write(
-                '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0}\n'
+                '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU2, 2, true, false, 0, 0, false, 0, 0, 2}\n'
                 % dev)
             OTG2_index = uart_list.index(dev)
             dual_USB_enabled = True
         elif dev.startswith('OTG'):
             f.write(
-                '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0}\n'
+                '#define HAL_%s_CONFIG {(BaseSequentialStream*) &SDU1, 1, true, false, 0, 0, false, 0, 0, 0}\n'
                 % dev)
         else:
             need_uart_driver = True
@@ -1366,7 +1366,7 @@ def write_UART_config(f):
             f.write("%d, " % get_gpio_bylabel(dev + "_RXINV"))
             f.write("%s, " % get_extra_bylabel(dev + "_RXINV", "POL", "0"))
             f.write("%d, " % get_gpio_bylabel(dev + "_TXINV"))
-            f.write("%s}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0"))
+            f.write("%s, 0}\n" % get_extra_bylabel(dev + "_TXINV", "POL", "0"))
     if have_rts_cts:
         f.write('#define AP_FEATURE_RTSCTS 1\n')
     if OTG2_index is not None: