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px4_autopilot/nuttx/drivers/usbdev/usbdev_storage.h

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/****************************************************************************
* drivers/usbdev/usbdev_storage.h
*
* Copyright (C) 2008-2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Mass storage class device. Bulk-only with SCSI subclass.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __DRIVERS_USBDEV_USBDEV_STORAGE_H
#define __DRIVERS_USBDEV_USBDEV_STORAGE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
#include <pthread.h>
#include <queue.h>
#include <nuttx/fs.h>
#include <nuttx/usb/storage.h>
#include <nuttx/usb/usbdev.h>
/****************************************************************************
* Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Number of requests in the write queue */
#ifndef CONFIG_USBSTRG_NWRREQS
# define CONFIG_USBSTRG_NWRREQS 4
#endif
/* Number of requests in the read queue */
#ifndef CONFIG_USBSTRG_NRDREQS
# define CONFIG_USBSTRG_NRDREQS 4
#endif
/* Logical endpoint numbers / max packet sizes */
#ifndef CONFIG_USBSTRG_EPBULKOUT
# warning "EPBULKOUT not defined in the configuration"
# define CONFIG_USBSTRG_EPBULKOUT 2
#endif
#ifndef CONFIG_USBSTRG_EPBULKIN
# warning "EPBULKIN not defined in the configuration"
# define CONFIG_USBSTRG_EPBULKIN 3
#endif
/* Packet and request buffer sizes */
#ifndef CONFIG_USBSTRG_EP0MAXPACKET
# define CONFIG_USBSTRG_EP0MAXPACKET 64
#endif
#ifndef CONFIG_USBSTRG_BULKINREQLEN
# ifdef CONFIG_USBDEV_DUALSPEED
# define CONFIG_USBSTRG_BULKINREQLEN 512
# else
# define CONFIG_USBSTRG_BULKINREQLEN 64
# endif
#else
# ifdef CONFIG_USBDEV_DUALSPEED
# if CONFIG_USBSTRG_BULKINREQLEN < 512
# warning "Bulk in buffer size smaller than max packet"
# undef CONFIG_USBSTRG_BULKINREQLEN
# define CONFIG_USBSTRG_BULKINREQLEN 512
# endif
# else
# if CONFIG_USBSTRG_BULKINREQLEN < 64
# warning "Bulk in buffer size smaller than max packet"
# undef CONFIG_USBSTRG_BULKINREQLEN
# define CONFIG_USBSTRG_BULKINREQLEN 64
# endif
# endif
#endif
#ifndef CONFIG_USBSTRG_BULKOUTREQLEN
# ifdef CONFIG_USBDEV_DUALSPEED
# define CONFIG_USBSTRG_BULKOUTREQLEN 512
# else
# define CONFIG_USBSTRG_BULKOUTREQLEN 64
# endif
#else
# ifdef CONFIG_USBDEV_DUALSPEED
# if CONFIG_USBSTRG_BULKOUTREQLEN < 512
# warning "Bulk in buffer size smaller than max packet"
# undef CONFIG_USBSTRG_BULKOUTREQLEN
# define CONFIG_USBSTRG_BULKOUTREQLEN 512
# endif
# else
# if CONFIG_USBSTRG_BULKOUTREQLEN < 64
# warning "Bulk in buffer size smaller than max packet"
# undef CONFIG_USBSTRG_BULKOUTREQLEN
# define CONFIG_USBSTRG_BULKOUTREQLEN 64
# endif
# endif
#endif
/* Vendor and product IDs and strings */
#ifndef CONFIG_USBSTRG_VENDORID
# warning "CONFIG_USBSTRG_VENDORID not defined"
# define CONFIG_USBSTRG_VENDORID 0x584e
#endif
#ifndef CONFIG_USBSTRG_PRODUCTID
# warning "CONFIG_USBSTRG_PRODUCTID not defined"
# define CONFIG_USBSTRG_PRODUCTID 0x5342
#endif
#ifndef CONFIG_USBSTRG_VERSIONNO
# define CONFIG_USBSTRG_VERSIONNO (0x0399)
#endif
#ifndef CONFIG_USBSTRG_VENDORSTR
# warning "No Vendor string specified"
# define CONFIG_USBSTRG_VENDORSTR "NuttX"
#endif
#ifndef CONFIG_USBSTRG_PRODUCTSTR
# warning "No Product string specified"
# define CONFIG_USBSTRG_PRODUCTSTR "USBdev Storage"
#endif
#undef CONFIG_USBSTRG_SERIALSTR
#define CONFIG_USBSTRG_SERIALSTR "0101"
#undef CONFIG_USBSTRG_CONFIGSTR
#define CONFIG_USBSTRG_CONFIGSTR "Bulk"
/* Debug -- must be consistent with include/debug.h */
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# ifdef CONFIG_ARCH_LOWPUTC
# define dbgprintf(format, arg...) lib_lowprintf(format, ##arg)
# else
# define dbgprintf(format, arg...) lib_rawprintf(format, ##arg)
# endif
# else
# define dbgprintf(x...)
# endif
#else
# ifdef CONFIG_DEBUG
# ifdef CONFIG_ARCH_LOWPUTC
# define dbgprintf lib_lowprintf
# else
# define dbgprintf lib_rawprintf
# endif
# else
# define dbgprintf (void)
# endif
#endif
/* Packet and request buffer sizes */
#ifndef CONFIG_USBSTRG_EP0MAXPACKET
# define CONFIG_USBSTRG_EP0MAXPACKET 64
#endif
/* USB Controller */
#ifndef CONFIG_USBDEV_SELFPOWERED
# define SELFPOWERED USB_CONFIG_ATT_SELFPOWER
#else
# define SELFPOWERED (0)
#endif
#ifndef CONFIG_USBDEV_REMOTEWAKEUP
# define REMOTEWAKEUP USB_CONFIG_ATTR_WAKEUP
#else
# define REMOTEWAKEUP (0)
#endif
#ifndef CONFIG_USBDEV_MAXPOWER
# define CONFIG_USBDEV_MAXPOWER 100
#endif
/* Current state of the worker thread */
#define USBSTRG_STATE_NOTSTARTED (0) /* Thread has not yet been started */
#define USBSTRG_STATE_STARTED (1) /* Started, but is not yet initialized */
#define USBSTRG_STATE_IDLE (2) /* Started and waiting for commands */
#define USBSTRG_STATE_CMDPARSE (3) /* Processing a received command */
#define USBSTRG_STATE_CMDREAD (4) /* Processing a SCSI read command */
#define USBSTRG_STATE_CMDWRITE (5) /* Processing a SCSI write command */
#define USBSTRG_STATE_CMDFINISH (6) /* Finish command processing */
#define USBSTRG_STATE_CMDSTATUS (7) /* Processing the final status of the command */
#define USBSTRG_STATE_TERMINATED (8) /* Thread has exitted */
/* Event communicated to worker thread */
#define USBSTRG_EVENT_NOEVENTS (0) /* There are no outstanding events */
#define USBSTRG_EVENT_READY (1 << 0) /* Initialization is complete */
#define USBSTRG_EVENT_RDCOMPLETE (1 << 1) /* A read has completed there is data to be processed */
#define USBSTRG_EVENT_WRCOMPLETE (1 << 2) /* A write has completed and a request is available */
#define USBSTRG_EVENT_TERMINATEREQUEST (1 << 3) /* Shutdown requested */
#define USBSTRG_EVENT_DISCONNECT (1 << 4) /* USB disconnect received */
#define USBSTRG_EVENT_RESET (1 << 5) /* USB storage setup reset received */
#define USBSTRG_EVENT_CFGCHANGE (1 << 6) /* USB setup configuration change received */
#define USBSTRG_EVENT_IFCHANGE (1 << 7) /* USB setup interface change received */
#define USBSTRG_EVENT_ABORTBULKOUT (1 << 8) /* SCSI receive failure */
/* SCSI command flags (passed to usbstrg_setupcmd()) */
#define USBSTRG_FLAGS_DIRMASK (0x03) /* Bits 0-1: Data direction */
#define USBSTRG_FLAGS_DIRNONE (0x00) /* No data to send */
#define USBSTRG_FLAGS_DIRHOST2DEVICE (0x01) /* Host-to-device */
#define USBSTRG_FLAGS_DIRDEVICE2HOST (0x02) /* Device-to-host */
#define USBSTRG_FLAGS_BLOCKXFR (0x04) /* Bit 2: Command is a block transfer request */
#define USBSTRG_FLAGS_LUNNOTNEEDED (0x08) /* Bit 3: Command does not require a valid LUN */
#define USBSTRG_FLAGS_UACOKAY (0x10) /* Bit 4: Command OK if unit attention condition */
#define USBSTRG_FLAGS_RETAINSENSEDATA (0x20) /* Bit 5: Do not clear sense data */
/* Descriptors **************************************************************/
/* Big enough to hold our biggest descriptor */
#define USBSTRG_MXDESCLEN (64)
/* String language */
#define USBSTRG_STR_LANGUAGE (0x0409) /* en-us */
/* Descriptor strings */
#define USBSTRG_MANUFACTURERSTRID (1)
#define USBSTRG_PRODUCTSTRID (2)
#define USBSTRG_SERIALSTRID (3)
#define USBSTRG_CONFIGSTRID (4)
#define USBSTRG_NCONFIGS (1) /* Number of configurations supported */
/* Configuration Descriptor */
#define USBSTRG_NINTERFACES (1) /* Number of interfaces in the configuration */
#define USBSTRG_INTERFACEID (0)
#define USBSTRG_ALTINTERFACEID (0)
#define USBSTRG_CONFIGIDNONE (0) /* Config ID means to return to address mode */
#define USBSTRG_CONFIGID (1) /* The only supported configuration ID */
#define STRING_MANUFACTURER (1)
#define STRING_PRODUCT (2)
#define STRING_SERIAL (3)
#define USBSTRG_CONFIGID (1) /* There is only one configuration. */
/* Interface description */
#define USBSTRG_NENDPOINTS (2) /* Number of endpoints in the interface */
/* Endpoint configuration */
#define USBSTRG_EPOUTBULK_ADDR (CONFIG_USBSTRG_EPBULKOUT)
#define USBSTRG_EPOUTBULK_ATTR (USB_EP_ATTR_XFER_BULK)
#define USBSTRG_EPINBULK_ADDR (USB_DIR_IN|CONFIG_USBSTRG_EPBULKIN)
#define USBSTRG_EPINBULK_ATTR (USB_EP_ATTR_XFER_BULK)
#define USBSTRG_HSBULKMAXPACKET (512)
#define USBSTRG_HSBULKMXPKTSHIFT (9)
#define USBSTRG_HSBULKMXPKTMASK (0x000001ff)
#define USBSTRG_FSBULKMAXPACKET (64)
#define USBSTRG_FSBULKMXPKTSHIFT (6)
#define USBSTRG_FSBULKMXPKTMASK (0x0000003f)
/* Macros for dual speed vs. full speed only operation */
#ifdef CONFIG_USBDEV_DUALSPEED
# define USBSTRG_EPBULKINDESC(hs) \
usbstrg_getepdesc((hs) ? USBSTRG_EPHSBULKIN : USBSTRG_EPFSBULKIN)
# define USBSTRG_EPBULKOUTDESC(hs) \
usbstrg_getepdesc((hs) ? USBSTRG_EPHSBULKOUT : USBSTRG_EPFSBULKOUT)
# define USBSTRG_BULKMAXPACKET(hs) \
((hs) ? USBSTRG_HSBULKMAXPACKET : USBSTRG_FSBULKMAXPACKET)
# define USBSTRG_BULKMXPKTSHIFT(d) \
(((d)->speed==USB_SPEED_HIGH) ? USBSTRG_HSBULKMXPKTSHIFT : USBSTRG_FSBULKMXPKTSHIFT)
# define USBSTRG_BULKMXPKTMASK(d) \
(((d)->speed==USB_SPEED_HIGH) ? USBSTRG_HSBULKMXPKTMASK : USBSTRG_FSBULKMXPKTMASK)
#else
# define USBSTRG_EPBULKINDESC(d) usbstrg_getepdesc(USBSTRG_EPFSBULKIN)
# define USBSTRG_EPBULKOUTDESC(d) usbstrg_getepdesc(USBSTRG_EPFSBULKOUT)
# define USBSTRG_BULKMAXPACKET(hs) USBSTRG_FSBULKMAXPACKET
# define USBSTRG_BULKMXPKTSHIFT(d) USBSTRG_FSBULKMXPKTSHIFT
# define USBSTRG_BULKMXPKTMASK(d) USBSTRG_FSBULKMXPKTMASK
#endif
/* Block driver helpers *****************************************************/
#define USBSTRG_DRVR_READ(l,b,s,n) ((l)->inode->u.i_bops->read((l)->inode,b,s,n))
#define USBSTRG_DRVR_WRITE(l,b,s,n) ((l)->inode->u.i_bops->write((l)->inode,b,s,n))
#define USBSTRG_DRVR_GEOMETRY(l,g) ((l)->inode->u.i_bops->geometry((l)->inode,g))
/* Everpresent min/max macros ***********************************************/
#ifndef min
# define min(a,b) ((a) < (b) ? (a) : (b))
#endif
#ifndef max
# define max(a,b) ((a) > (b) ? (a) : (b))
#endif
/****************************************************************************
* Public Types
****************************************************************************/
/* Endpoint descriptors */
enum usbstrg_epdesc_e
{
USBSTRG_EPFSBULKOUT = 0, /* Full speed bulk OUT endpoint descriptor */
USBSTRG_EPFSBULKIN /* Full speed bulk IN endpoint descriptor */
#ifdef CONFIG_USBDEV_DUALSPEED
,
USBSTRG_EPHSBULKOUT, /* High speed bulk OUT endpoint descriptor */
USBSTRG_EPHSBULKIN /* High speed bulk IN endpoint descriptor */
#endif
};
/* Container to support a list of requests */
struct usbstrg_req_s
{
FAR struct usbstrg_req_s *flink; /* Implements a singly linked list */
FAR struct usbdev_req_s *req; /* The contained request */
};
/* This structure describes one LUN: */
struct usbstrg_lun_s
{
struct inode *inode; /* Inode structure of open'ed block driver */
uint8_t readonly:1; /* Media is read-only */
uint8_t locked:1; /* Media removal is prevented */
uint16_t sectorsize; /* The size of one sector */
uint32_t sd; /* Sense data */
uint32_t sdinfo; /* Sense data information */
uint32_t uad; /* Unit needs attention data */
off_t startsector; /* Sector offset to start of partition */
size_t nsectors; /* Number of sectors in the partition */
};
/* Describes the overall state of the driver */
struct usbstrg_dev_s
{
FAR struct usbdev_s *usbdev; /* usbdev driver pointer (Non-null if registered) */
/* Worker thread interface */
pthread_t thread; /* The worker thread */
pthread_mutex_t mutex; /* Mutually exclusive access to resources*/
pthread_cond_t cond; /* Used to signal worker thread */
volatile uint8_t thstate; /* State of the worker thread */
volatile uint16_t theventset; /* Set of pending events signaled to worker thread */
volatile uint8_t thvalue; /* Value passed with the event (must persist) */
/* Storage class configuration and state */
uint8_t nluns:4; /* Number of LUNs */
uint8_t config; /* Configuration number */
/* Endpoints */
FAR struct usbdev_ep_s *epbulkin; /* Bulk IN endpoint structure */
FAR struct usbdev_ep_s *epbulkout; /* Bulk OUT endpoint structure */
FAR struct usbdev_req_s *ctrlreq; /* Control request (for ep0 setup responses) */
/* SCSI command processing */
struct usbstrg_lun_s *lun; /* Currently selected LUN */
struct usbstrg_lun_s *luntab; /* Allocated table of all LUNs */
uint8_t cdb[USBSTRG_MAXCDBLEN]; /* Command data (cdb[]) from CBW */
uint8_t phaseerror:1; /* Need to send phase sensing status */
uint8_t shortpacket:1; /* Host transmission stopped unexpectedly */
uint8_t cbwdir:2; /* Direction from CBW. See USBSTRG_FLAGS_DIR* definitions */
uint8_t cdblen; /* Length of cdb[] from CBW */
uint8_t cbwlun; /* LUN from the CBW */
uint16_t nsectbytes; /* Bytes buffered in iobuffer[] */
uint16_t nreqbytes; /* Bytes buffered in head write requests */
uint16_t iosize; /* Size of iobuffer[] */
uint32_t cbwlen; /* Length of data from CBW */
uint32_t cbwtag; /* Tag from the CBW */
union
{
uint32_t xfrlen; /* Read/Write: Sectors remaining to be transferred */
uint32_t alloclen; /* Other device-to-host: Host allocation length */
} u;
uint32_t sector; /* Current sector (relative to lun->startsector) */
uint32_t residue; /* Untransferred amount reported in the CSW */
uint8_t *iobuffer; /* Buffer for data transfers */
/* Write request list */
struct sq_queue_s wrreqlist; /* List of empty write request containers */
struct sq_queue_s rdreqlist; /* List of filled read request containers */
/* Pre-allocated write request containers. The write requests will
* be linked in a free list (wrreqlist), and used to send requests to
* EPBULKIN; Read requests will be queued in the EBULKOUT.
*/
struct usbstrg_req_s wrreqs[CONFIG_USBSTRG_NWRREQS];
struct usbstrg_req_s rdreqs[CONFIG_USBSTRG_NRDREQS];
};
/****************************************************************************
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
# define EXTERN extern "C"
extern "C"
{
#else
# define EXTERN extern
#endif
/* String *******************************************************************/
EXTERN const char g_vendorstr[];
EXTERN const char g_productstr[];
EXTERN const char g_serialstr[];
/************************************************************************************
* Public Function Prototypes
************************************************************************************/
/************************************************************************************
* Name: usbstrg_mkstrdesc
*
* Description:
* Construct a string descriptor
*
************************************************************************************/
struct usb_strdesc_s;
int usbstrg_mkstrdesc(uint8_t id, struct usb_strdesc_s *strdesc);
/************************************************************************************
* Name: usbstrg_getepdesc
*
* Description:
* Return a pointer to the raw device descriptor
*
************************************************************************************/
FAR const struct usb_devdesc_s *usbstrg_getdevdesc(void);
/************************************************************************************
* Name: usbstrg_getepdesc
*
* Description:
* Return a pointer to the raw endpoint descriptor (used for configuring endpoints)
*
************************************************************************************/
struct usb_epdesc_s;
FAR const struct usb_epdesc_s *usbstrg_getepdesc(enum usbstrg_epdesc_e epid);
/************************************************************************************
* Name: usbstrg_mkcfgdesc
*
* Description:
* Construct the configuration descriptor
*
************************************************************************************/
#ifdef CONFIG_USBDEV_DUALSPEED
int16_t usbstrg_mkcfgdesc(FAR uint8_t *buf, uint8_t speed, uint8_t type);
#else
int16_t usbstrg_mkcfgdesc(FAR uint8_t *buf);
#endif
/************************************************************************************
* Name: usbstrg_getqualdesc
*
* Description:
* Return a pointer to the raw qual descriptor
*
************************************************************************************/
#ifdef CONFIG_USBDEV_DUALSPEED
FAR const struct usb_qualdesc_s *usbstrg_getqualdesc(void);
#endif
/****************************************************************************
* Name: usbstrg_workerthread
*
* Description:
* This is the main function of the USB storage worker thread. It loops
* until USB-related events occur, then processes those events accordingly
*
****************************************************************************/
EXTERN void *usbstrg_workerthread(void *arg);
/****************************************************************************
* Name: usbstrg_setconfig
*
* Description:
* Set the device configuration by allocating and configuring endpoints and
* by allocating and queue read and write requests.
*
****************************************************************************/
EXTERN int usbstrg_setconfig(FAR struct usbstrg_dev_s *priv, uint8_t config);
/****************************************************************************
* Name: usbstrg_resetconfig
*
* Description:
* Mark the device as not configured and disable all endpoints.
*
****************************************************************************/
EXTERN void usbstrg_resetconfig(FAR struct usbstrg_dev_s *priv);
/****************************************************************************
* Name: usbstrg_wrcomplete
*
* Description:
* Handle completion of write request. This function probably executes
* in the context of an interrupt handler.
*
****************************************************************************/
EXTERN void usbstrg_wrcomplete(FAR struct usbdev_ep_s *ep,
FAR struct usbdev_req_s *req);
/****************************************************************************
* Name: usbstrg_rdcomplete
*
* Description:
* Handle completion of read request on the bulk OUT endpoint. This
* is handled like the receipt of serial data on the "UART"
*
****************************************************************************/
EXTERN void usbstrg_rdcomplete(FAR struct usbdev_ep_s *ep,
FAR struct usbdev_req_s *req);
/****************************************************************************
* Name: usbstrg_deferredresponse
*
* Description:
* Some EP0 setup request cannot be responded to immediately becuase they
* require some asynchronous action from the SCSI worker thread. This
* function is provided for the SCSI thread to make that deferred response.
* The specific requests that require this deferred response are:
*
* 1. USB_REQ_SETCONFIGURATION,
* 2. USB_REQ_SETINTERFACE, or
* 3. USBSTRG_REQ_MSRESET
*
* In all cases, the success reponse is a zero-length packet; the failure
* response is an EP0 stall.
*
* Input parameters:
* priv - Private state structure for this USB storage instance
* stall - true is the action failed and a stall is required
*
****************************************************************************/
EXTERN void usbstrg_deferredresponse(FAR struct usbstrg_dev_s *priv, bool failed);
#undef EXTERN
#if defined(__cplusplus)
}
#endif
#endif /* #define __DRIVERS_USBDEV_USBDEV_STORAGE_H */