diff options
author | Gregory Nutt <gnutt@nuttx.org> | 2013-08-31 12:20:00 -0600 |
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committer | Gregory Nutt <gnutt@nuttx.org> | 2013-08-31 12:20:00 -0600 |
commit | 1ebc813c91a4eca3c86c0b2d27dc1b721df8a4e6 (patch) | |
tree | ffa68c398f04a895ad2c5c9cd24403ba15917f4c | |
parent | 985bafb89e499c5f08573327179d32d950a87826 (diff) | |
download | px4-nuttx-1ebc813c91a4eca3c86c0b2d27dc1b721df8a4e6.tar.gz px4-nuttx-1ebc813c91a4eca3c86c0b2d27dc1b721df8a4e6.tar.bz2 px4-nuttx-1ebc813c91a4eca3c86c0b2d27dc1b721df8a4e6.zip |
SAMA5 UDPHS: Add endpoint configuration and read DMA logic
-rw-r--r-- | nuttx/arch/arm/src/sama5/chip/sam_udphs.h | 7 | ||||
-rw-r--r-- | nuttx/arch/arm/src/sama5/sam_udphs.c | 396 |
2 files changed, 294 insertions, 109 deletions
diff --git a/nuttx/arch/arm/src/sama5/chip/sam_udphs.h b/nuttx/arch/arm/src/sama5/chip/sam_udphs.h index 1737830bb..91627f50a 100644 --- a/nuttx/arch/arm/src/sama5/chip/sam_udphs.h +++ b/nuttx/arch/arm/src/sama5/chip/sam_udphs.h @@ -54,7 +54,7 @@ /* General Definitions **********************************************************************/ /* Number of endpoints and DMA channels */ -#define SAM_UDPHS_NENDPOINTS 15 +#define SAM_UDPHS_NENDPOINTS 16 /* EP0-15 */ #define SAM_UDPHS_NDMACHANNELS 7 /* For EP1-7 */ /* Capabilities and characteristics of endpoints */ @@ -82,7 +82,7 @@ /* 0x00e4-0x00e8 Reserved */ /* Endpoint Offsets */ -#define SAM_UPPHS_EP_OFFSET(ep) (0x0100+((ep)<<5) +#define SAM_UPPHS_EP_OFFSET(ep) (0x0100+((unsigned int)(ep)<<5) #define SAM_UPPHS_EP0_OFFSET 0x0100 #define SAM_UPPHS_EP1_OFFSET 0x0120 #define SAM_UPPHS_EP2_OFFSET 0x0140 @@ -113,7 +113,7 @@ /* DMA Channel Offsets */ -#define SAM_UPPHS_CH_OFFSET(ch) (0x0300+(((ch)-1)<<4)) +#define SAM_UPPHS_CH_OFFSET(ch) (0x0300+(((unsigned int)(ch)-1)<<4)) #define SAM_UPPHS_CH1_OFFSET 0x0300 #define SAM_UPPHS_CH2_OFFSET 0x0310 #define SAM_UPPHS_CH3_OFFSET 0x0320 @@ -197,6 +197,7 @@ #define UDPHS_CTRL_DEVADDR_SHIFT (0) /* Bits 0-6: UDPHS Address */ #define UDPHS_CTRL_DEVADDR_MASK (0x7f << UDPHS_CTRL_DEVADDR_SHIFT) +# define UDPHS_CTRL_DEVADDR(addr) ((addr) << UDPHS_CTRL_DEVADDR_SHIFT) #define UDPHS_CTRL_FADDREN (1 << 7) /* Bit 7: Function Address Enable */ #define UDPHS_CTRL_ENUDPHS (1 << 8) /* Bit 8: UDPHS Enable */ #define UDPHS_CTRL_DETACH (1 << 9) /* Bit 9: Detach Command */ diff --git a/nuttx/arch/arm/src/sama5/sam_udphs.c b/nuttx/arch/arm/src/sama5/sam_udphs.c index 0a187dec9..9773bb7a5 100644 --- a/nuttx/arch/arm/src/sama5/sam_udphs.c +++ b/nuttx/arch/arm/src/sama5/sam_udphs.c @@ -122,14 +122,6 @@ #define DMA_MAX_FIFO_SIZE (65536/1) /* Max size of the FMA FIFO */ #define EPT_VIRTUAL_SIZE 16384 /* FIFO space size in units of 32-bit words */ -/* Packet sizes. We use a fixed 64 max packet size for all endpoint types */ - -#define SAM_MAXPACKET_SHIFT (6) -#define SAM_MAXPACKET_SIZE (1 << (SAM_MAXPACKET_SHIFT)) -#define SAM_MAXPACKET_MASK (SAM_MAXPACKET_SIZE-1) - -#define SAM_EP0MAXPACKET SAM_MAXPACKET_SIZE - /* USB-related masks */ #define REQRECIPIENT_MASK (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK) @@ -398,7 +390,9 @@ static void sam_dtd_free(struct sam_usbdev_s *priv, struct sam_dtd_s *dtd); static void sam_dma_single(uint8_t epno, struct sam_req_s *privreq, uint32_t dmacontrol); static int sam_req_wrdma(struct sam_usbdev_s *priv, - struct sam_ep_s *privep, struct sam_req_s *privreq) + struct sam_ep_s *privep, struct sam_req_s *privreq); +static int sam_req_rddma(struct sam_usbdev_s *priv, + struct sam_ep_s *privep, struct sam_req_s *privreq); /* Request Helpers **********************************************************/ @@ -416,6 +410,8 @@ static int sam_req_wrnodma(struct sam_usbdev_s *priv, struct sam_ep_s *privep, struct sam_req_s *privreq) static int sam_req_write(struct sam_usbdev_s *priv, struct sam_ep_s *privep); +static int sam_req_rddnoma(struct sam_usbdev_s *priv, + struct sam_ep_s *privep, struct sam_req_s *privreq); static int sam_req_read(struct sam_usbdev_s *priv, struct sam_ep_s *privep); static void sam_req_cancel(struct sam_ep_s *privep); @@ -446,6 +442,8 @@ static inline void struct sam_ep_s *privep); static inline bool sam_ep_reserved(struct sam_usbdev_s *priv, int epno); +static int sam_ep_configure_internal(struct sam_ep_s *privep, + const struct usb_epdesc_s *desc); /* Endpoint operations ******************************************************/ @@ -687,37 +685,34 @@ static void sam_dumpep(struct sam_usbdev_s *priv, int epno) { uintptr_t addr; - /* Common registers */ - - lldbg("CNTR: %04x\n", getreg16(SAM_USB_CNTR)); - lldbg("ISTR: %04x\n", getreg16(SAM_UDPHS_INTSTA)); - lldbg("FNR: %04x\n", getreg16(SAM_USB_FNR)); - lldbg("DADDR: %04x\n", getreg16(SAM_USB_DADDR)); - lldbg("BTABLE: %04x\n", getreg16(SAM_USB_BTABLE)); - - /* Endpoint register */ + /* Global Registers */ - addr = SAM_USB_EPR(epno); - lldbg("EPR%d: [%08x] %04x\n", epno, addr, getreg16(addr)); + lldbg("Global Register:\n"); + lldbg(" CTRL: %04x\n", sam_getreg(SAM_UDPHS_CTRL)); + lldbg(" FNUM: %04x\n", sam_getreg(SAM_UDPHS_FNUM)); + lldbg(" IEN: %04x\n", sam_getreg(SAM_UDPHS_IEN)); + lldbg(" INSTA: %04x\n", sam_getreg(SAM_UDPHS_INTSTA)); + lldbg(" TST: %04x\n", sam_getreg(SAM_UDPHS_TST)); - /* Endpoint descriptor */ + /* Endpoint registers */ - addr = SAM_USB_BTABLE_ADDR(epno, 0); - lldbg("DESC: %08x\n", addr); + lldbg("Endpoint %d Register:\n", epno); + lldbg(" CFG: %04x\n", sam_getreg(SAM_UDPHS_EPTCFG(epno))); + lldbg(" CTL: %04x\n", sam_getreg(SAM_UDPHS_EPTCTL(epno))); + lldbg(" STA: %04x\n", sam_getreg(SAM_UDPHS_EPTSTA(epno))); - /* Endpoint buffer descriptor */ - - addr = SAM_USB_ADDR_TX(epno); - lldbg(" TX ADDR: [%08x] %04x\n", addr, getreg16(addr)); - - addr = SAM_USB_COUNT_TX(epno); - lldbg(" COUNT: [%08x] %04x\n", addr, getreg16(addr)); - - addr = SAM_USB_ADDR_RX(epno); - lldbg(" RX ADDR: [%08x] %04x\n", addr, getreg16(addr)); - - addr = SAM_USB_COUNT_RX(epno); - lldbg(" COUNT: [%08x] %04x\n", addr, getreg16(addr)); + lldbg("DMA %d Register:\n", epno); + if ((SAM_EPSET_DMA & SAM_EP_BIT(epno)) != 0) + { + lldbg(" NXTDSC: %04x\n", sam_getreg(SAM_UDPHS_DMANXTDSC(epno))); + lldbg(" ADDRESS: %04x\n", sam_getreg(SAM_UDPHS_DMAADDRESS(epno))); + lldbg(" CONTROL: %04x\n", sam_getreg(SAM_UDPHS_DMACONTROL(epno))); + lldbg(" STATUS: %04x\n", sam_getreg(SAM_UDPHS_DMASTATUS(epno))); + } + else + { + lldbg(" None\n"); + } } #endif @@ -902,6 +897,73 @@ static int sam_req_wrdma(struct sam_usbdev_s *priv, struct sam_ep_s *privep, } /**************************************************************************** + * Name: sam_req_rddma + * + * Description: + * Process the next queued read request for an endpoint that supports DMA. + * + ****************************************************************************/ + +static int sam_req_rddma(struct sam_usbdev_s *priv, struct sam_ep_s *privep, + struct sam_req_s *privreq) +{ + uint32_t regval; + int epno; + + /* The endpoint must be IDLE and ready to begin the next transfer */ + + if (privep->epstate != UDPHS_EPSTATE_IDLE) + { + usbtrace(TRACE_DEVERROR(SAM_TRACEERR_EPINBUSY), privep->epstate); + return -EBUSY; + } + + /* Get the endpoint number */ + + epno = USB_EPNO(privep->ep.eplog); + + /* Switch to the receiving state */ + + privep->epstate = UDPHS_EPSTATE_RECEIVING; + privep->txnullpkt = 0; + privreq->inflight = 0; + privreq->req.xfrd = 0; + + /* How many more bytes can we append to the request buffer? */ + + remaining = privreq->req.len - privreq->req.xfrd; + if (remaining > 0) + { + /* Clip the DMA transfer size to the size available in the user buffer */ + + if (remaining > DMA_MAX_FIFO_SIZE) + { + privreq->inflight = DMA_MAX_FIFO_SIZE; + } + else + { + privreq->inflight = remaining; + } + + /* And perform the single DMA transfer */ + + regval = UDPHS_DMACONTROL_ENDBEN | UDPHS_DMACONTROL_ENDBUFFIT | + UDPHS_DMACONTROL_CHANNENB + sam_dma_single(epno, privreq, regval); + return OK; + } + + /* Enable the endpoint interrupt */ + + regval = sam_getreg(SAM_UDPHS_IEN); + regval |= UDPHS_INT_EPT(epno); + sam_putreg(regval, SAM_UDPHS_IEN); + + sam_putreg(UDPHS_EPTCTL_RXRDYTXKL, SAM_UDPHS_EPTCTLENB(epno)); + return OK; +} + +/**************************************************************************** * Request Helpers ****************************************************************************/ /**************************************************************************** @@ -1414,23 +1476,33 @@ static void sam_ep_done(struct sam_usbdev_s *priv, uint8_t epno) * Name: sam_setdevaddr ****************************************************************************/ -static void sam_setdevaddr(struct sam_usbdev_s *priv, uint8_t value) +static void sam_setdevaddr(struct sam_usbdev_s *priv, uint8_t address) { - int epno; + if (address) + { + /* Enable the address */ - /* Set address in every allocated endpoint */ + regval = sam_getreg(SAM_UDPHS_CTRL); + regval &= ~UDPHS_CTRL_DEVADDR_MASK; + regval |= UDPHS_CTRL_DEVADDR(address) | UDPHS_CTRL_FADDREN; + sam_putreg(regval, SAM_UDPHS_CTRL); - for (epno = 0; epno < SAM_UDPHS_NENDPOINTS; epno++) - { - if (sam_ep_reserved(priv, epno)) - { - sam_setepaddress((uint8_t)epno, (uint8_t)epno); - } + /* Go to the addressed state */ + + priv->devstate = UDPHS_DEVSTATE_ADDRESS; } + else + { + /* Disable address */ + + regval = sam_getreg(SAM_UDPHS_CTRL); + regval &= ~SAM_UDPHS_CTRL_FADDR_EN; + sam_putreg(regval, SAM_UDPHS_CTRL); - /* Set the device address and enable function */ + /* Revert to the un-addressed, default state */ - sam_putreg(value|USB_DADDR_EF, SAM_USB_DADDR); + priv->devstate = UDPHS_DEVSTATE_DEFAULT; + } } /**************************************************************************** @@ -2754,6 +2826,10 @@ void sam_epset_reset(struct sam_usbdev_s *priv, uint16_t epset) /**************************************************************************** * Name: sam_ep_reserve + * + * Description: + * Find and un-reserved endpoint number and reserve it for the caller. + * ****************************************************************************/ static inline struct sam_ep_s * @@ -2794,6 +2870,11 @@ sam_ep_reserve(struct sam_usbdev_s *priv, uint8_t epset) /**************************************************************************** * Name: sam_ep_unreserve + * + * Description: + * The endpoint is no long in-used. It will be un-reserved and can be + * re-used if needed. + * ****************************************************************************/ static inline void @@ -2806,6 +2887,10 @@ sam_ep_unreserve(struct sam_usbdev_s *priv, struct sam_ep_s *privep) /**************************************************************************** * Name: sam_ep_reserved + * + * Description: + * Check if the endpoint has already been allocated. + * ****************************************************************************/ static inline bool @@ -2815,90 +2900,189 @@ sam_ep_reserved(struct sam_usbdev_s *priv, int epno) } /**************************************************************************** - * Endpoint operations - ****************************************************************************/ -/**************************************************************************** * Name: sam_ep_configure + * + * Description: + * This is the internal implementation of the endpoint configuration logic + * and implements the endpoint configuration method of the usbdev_ep_s + * interface. As an internal interface, it will be used to configure + * endpoint 0 which is not available to the class implementation. + * ****************************************************************************/ -static int sam_ep_configure(struct usbdev_ep_s *ep, - const struct usb_epdesc_s *desc, - bool last) +static int sam_ep_configure_internal(struct sam_ep_s *privep, + const struct usb_epdesc_s *desc) { - struct sam_ep_s *privep = (struct sam_ep_s *)ep; - uint16_t pma; - uint16_t setting; - uint16_t maxpacket; - uint8_t epno; + uint32_t regval; + uint8_t epno; + uint8_t eptype; + uint8_t nbtrans; + uint8_t maxpacket; + bool dirin; + bool highspeed; -#ifdef CONFIG_DEBUG - if (!ep || !desc) + /* Decode the endpoint descriptor */ + + epno = USB_EPNO(desc->addr); + dirin = (desc->addr & USB_DIR_MASK) == USB_REQ_DIR_IN; + eptype = (desc->type & USB_REQ_TYPE_MASK) >> USB_REQ_TYPE_SHIFT; + maxpacket = GETUINT16(desc->mxpacketsize); + + /* Special case high-speed endpoints */ + + highspeed = ((sam_getreg(SAM_UDPHS_INTSTA) & UDPHS_INTSTA_SPEED) > 0); + nbtrans = 1; + + if (highspeed) { - usbtrace(TRACE_DEVERROR(SAM_TRACEERR_INVALIDPARMS), 0); - ulldbg("ERROR: ep=%p desc=%p\n"); - return -EINVAL; + /* HS Interval, 125us */ + /* MPS: Bits 12:11 specify NB_TRANS, as USB 2.0 Spec. */ + + nbtrans = ((maxpacket >> 11) & 3); + if (nbtrans == 3) + { + nbtrans = 1; + } + else + { + nbtrans++; + } + + /* Mask, bit 10..0 is the size */ + + maxpacket &= 0x7ff; } -#endif - /* Get the unadorned endpoint address */ + /* Initialize the endpoint structure */ - epno = USB_EPNO(desc->addr); - usbtrace(TRACE_EPCONFIGURE, (uint16_t)epno); - DEBUGASSERT(epno == USB_EPNO(ep->eplog)); + privep->ep.eplog = desc->addr; /* Includes direction */ + privep->ep.maxpacket = maxpacket; + privep->epstate = UDPHS_EPSTATE_IDLE; + privep->bank = SAM_UDPHS_NBANKS(epno); - /* Set the requested type */ + /* Initialize the endpoint hardware */ + /* Disable the endpoint */ - switch (desc->attr & USB_EP_ATTR_XFERTYPE_MASK) - { - case USB_EP_ATTR_XFER_INT: /* Interrupt endpoint */ - setting = USB_EPR_EPTYPE_INTERRUPT; - break; + sam_putreg(UDPHS_EPTCTL_SHRTPCKT | UDPHS_EPTCTL_BUSYBANK | + UDPHS_EPTCTL_NAKOUT | UDPHS_EPTCTL_NAKIN | + UDPHS_EPTCTL_STALLSNT | UDPHS_EPTCTL_STALLSNT | + UDPHS_EPTCTL_TXRDY | UDPHS_EPTCTL_RXRDYTXKL | + UDPHS_EPTCTL_ERROVFLW | UDPHS_EPTCTL_MDATARX | + UDPHS_EPTCTL_DATAXRX | UDPHS_EPTCTL_NYETDIS | + UDPHS_EPTCTL_INTDISDMA | UDPHS_EPTCTL_AUTOVALID | + UDPHS_EPTCTL_EPTENABL, + SAM_UDPHS_EPTCTLDIS(epno)); - case USB_EP_ATTR_XFER_BULK: /* Bulk endpoint */ - setting = USB_EPR_EPTYPE_BULK; - break; + /* Reset Endpoint Fifos */ - case USB_EP_ATTR_XFER_ISOC: /* Isochronous endpoint */ -#warning "REVISIT: Need to review isochronous EP setup" - setting = USB_EPR_EPTYPE_ISOC; - break; + sam_putreg(UDPHS_EPTSTA_TOGGLESQ_MASK | UDPHS_EPTSTA_FRCESTALL, + SAM_UDPHS_EPTCLRSTA(ep)); + sam_putreg(UDPHS_EPTRST(epno), SAM_UDPHS_EPTRST); - case USB_EP_ATTR_XFER_CONTROL: /* Control endpoint */ - setting = USB_EPR_EPTYPE_CONTROL; - break; + /* If this is EP0, disable interrupts now */ - default: - usbtrace(TRACE_DEVERROR(SAM_TRACEERR_BADEPTYPE), (uint16_t)desc->type); - return -EINVAL; + if (eptype == USB_EP_ATTR_XFER_CONTROL) + { + regval = sam_getreg(SAM_UDPHS_IEN); + regval &= ~UDPHS_INT_EPT(epno); + sam_putreg(regval, SAM_UDPHS_IEN); } - sam_seteptype(epno, setting); + /* Configure the endpoint */ + + if (maxpacket <= 8) + { + regval = UDPHS_EPTCFG_SIZE_8; + } + else if (maxpacket <= 16) + { + regval = UDPHS_EPTCFG_SIZE_16; + } + else if (maxpacket <= 32) + { + regval = UDPHS_EPTCFG_SIZE_32; + } + else if (maxpacket <= 64) + { + regval = UDPHS_EPTCFG_SIZE_64; + } + else if (maxpacket <= 128) + { + regval = UDPHS_EPTCFG_SIZE_128; + } + else if (maxpacket <= 256) + { + regval = UDPHS_EPTCFG_SIZE_256; + } + else if (maxpacket <= 512) + { + regval = UDPHS_EPTCFG_SIZE_512; + } + else if (privep->ep.maxpacket <= 1024) + { + regval = UDPHS_EPTCFG_SIZE_1024; + } + else + { + usbtrace(TRACE_DEVERROR(SAM_TRACEERR_BADEPTYPE), eptype); + DEBUGPANIC(); + regval = UDPHS_EPTCFG_SIZE_8; + } - /* Get the maxpacket size of the endpoint. */ + regval |= ((uint32_t)dirin << 3) | (eptype << 4) | + ((privep->bank) << 6) | (nbtrans << 8); + sam_putreg(regval, SAM_UDPHS_EPTCFG(epno)); - maxpacket = GETUINT16(desc->mxpacketsize); - DEBUGASSERT(maxpacket <= SAM_MAXPACKET_SIZE); - ep->maxpacket = maxpacket; + DEBUGASSERT((sam_getreg(SAM_UDPHS_EPTCFG(epno)) & UDPHS_EPTCFG_EPT_MAPD) == 0); - /* Get the subset matching the requested direction */ + /* Enable the endpoint */ - if (USB_ISEPIN(desc->addr)) + if (eptype == USB_EP_ATTR_XFER_CONTROL) { - /* The full, logical EP number includes direction */ - - ep->eplog = USB_EPIN(epno); -#warning Missing logic + sam_putreg(UDPHS_EPTCTL_RXRDYTXKL | UDPHS_EPTCTL_RXSETUP | + UDPHS_EPTCTL_EPTENABL, + SAM_UDPHS_EPTCTLENB(epno)); } else { - /* The full, logical EP number includes direction */ - - ep->eplog = USB_EPOUT(epno); -#warning Missing logic + sam_putreg(UDPHS_EPTCTL_AUTOVALID | UDPHS_EPTCTL_EPTENABL, + SAM_UDPHS_EPTCTLENB(epno)); } - sam_dumpep(priv, epno); - return OK; + sam_dumpep(priv, epno); + return OK; +} + +/**************************************************************************** + * Endpoint operations + ****************************************************************************/ +/**************************************************************************** + * Name: sam_ep_configure + * + * Description: + * This is the endpoint configuration method of the usbdev_ep_s interface. + * + ****************************************************************************/ + +static int sam_ep_configure(struct usbdev_ep_s *ep, + const struct usb_epdesc_s *desc, + bool last) +{ + struct sam_ep_s *privep = (struct sam_ep_s *)ep; + + /* Verify parameters. Endpoint 0 is not available at this interface */ + +#if defing(CONFIG_DEBUG) || defined(CONFIG_USBDEV_TRACE) + uint8_t epno = USB_EPNO(desc->addr); + usbtrace(TRACE_EPCONFIGURE, (uint16_t)epno); + + DEBUGASSERT(ep && desc && epno > 0 && epno < SAM_UDPHS_NENDPOINTS); + DEBUGASSERT(epno == USB_EPNO(ep->eplog)); +#endif + + /* This logic is implemented in sam_ep_configure_internal */ + + return sam_ep_configure_internal(privep, desc); } /**************************************************************************** @@ -3418,8 +3602,8 @@ static void sam_reset(struct sam_usbdev_s *priv) /* Reset and disable all endpoints other. Then re-configure EP0 */ sam_epset_reset(priv, SAM_EPSET_ALL); - sam_ep_configure((struct usbdev_ep_s *ep)&priv->eplist[EP0], - &g_ep0desc, false); + sam_ep_configure_internal(&priv->eplist[EP0], &g_ep0desc); + /* Reset endpoints */ for (epno = 0; epno < SAM_UDPHS_NENDPOINTS; epno++) |