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auto-plow / 39f7c59

A wheelchair motor-propelled battery-powered ESP32-driven remote control snow plow.

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1
2
3/* Copyright (c) 2011, Peter Barrett
4**
5** Permission to use, copy, modify, and/or distribute this software for
6** any purpose with or without fee is hereby granted, provided that the
7** above copyright notice and this permission notice appear in all copies.
8**
9** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL
10** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED
11** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR
12** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES
13** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,
14** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,
15** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS
16** SOFTWARE.
17*/
18
19#include "USBAPI.h"
20#include <avr/wdt.h>
21#include <util/atomic.h>
22
23#if defined(USBCON)
24
25typedef struct
26{
27 u32 dwDTERate;
28 u8 bCharFormat;
29 u8 bParityType;
30 u8 bDataBits;
31 u8 lineState;
32} LineInfo;
33
34static volatile LineInfo _usbLineInfo = { 57600, 0x00, 0x00, 0x00, 0x00 };
35static volatile int32_t breakValue = -1;
36
37static u8 wdtcsr_save;
38
39#define WEAK __attribute__ ((weak))
40
41extern const CDCDescriptor _cdcInterface PROGMEM;
42const CDCDescriptor _cdcInterface =
43{
44 D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1),
45
46 // CDC communication interface
47 D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),
48 D_CDCCS(CDC_HEADER,0x10,0x01), // Header (1.10 bcd)
49 D_CDCCS(CDC_CALL_MANAGEMENT,1,1), // Device handles call management (not)
50 D_CDCCS4(CDC_ABSTRACT_CONTROL_MANAGEMENT,6), // SET_LINE_CODING, GET_LINE_CODING, SET_CONTROL_LINE_STATE supported
51 D_CDCCS(CDC_UNION,CDC_ACM_INTERFACE,CDC_DATA_INTERFACE), // Communication interface is master, data interface is slave 0
52 D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_ACM),USB_ENDPOINT_TYPE_INTERRUPT,0x10,0x40),
53
54 // CDC data interface
55 D_INTERFACE(CDC_DATA_INTERFACE,2,CDC_DATA_INTERFACE_CLASS,0,0),
56 D_ENDPOINT(USB_ENDPOINT_OUT(CDC_ENDPOINT_OUT),USB_ENDPOINT_TYPE_BULK,USB_EP_SIZE,0),
57 D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_IN ),USB_ENDPOINT_TYPE_BULK,USB_EP_SIZE,0)
58};
59
60bool isLUFAbootloader()
61{
62 return pgm_read_word(FLASHEND - 1) == NEW_LUFA_SIGNATURE;
63}
64
65int CDC_GetInterface(u8* interfaceNum)
66{
67 interfaceNum[0] += 2; // uses 2
68 return USB_SendControl(TRANSFER_PGM,&_cdcInterface,sizeof(_cdcInterface));
69}
70
71bool CDC_Setup(USBSetup& setup)
72{
73 u8 r = setup.bRequest;
74 u8 requestType = setup.bmRequestType;
75
76 if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType)
77 {
78 if (CDC_GET_LINE_CODING == r)
79 {
80 USB_SendControl(0,(void*)&_usbLineInfo,7);
81 return true;
82 }
83 }
84
85 if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType)
86 {
87 if (CDC_SEND_BREAK == r)
88 {
89 breakValue = ((uint16_t)setup.wValueH << 8) | setup.wValueL;
90 }
91
92 if (CDC_SET_LINE_CODING == r)
93 {
94 USB_RecvControl((void*)&_usbLineInfo,7);
95 }
96
97 if (CDC_SET_CONTROL_LINE_STATE == r)
98 {
99 _usbLineInfo.lineState = setup.wValueL;
100
101 // auto-reset into the bootloader is triggered when the port, already
102 // open at 1200 bps, is closed. this is the signal to start the watchdog
103 // with a relatively long period so it can finish housekeeping tasks
104 // like servicing endpoints before the sketch ends
105
106 uint16_t magic_key_pos = MAGIC_KEY_POS;
107
108// If we don't use the new RAMEND directly, check manually if we have a newer bootloader.
109// This is used to keep compatible with the old leonardo bootloaders.
110// You are still able to set the magic key position manually to RAMEND-1 to save a few bytes for this check.
111#if MAGIC_KEY_POS != (RAMEND-1)
112 // For future boards save the key in the inproblematic RAMEND
113 // Which is reserved for the main() return value (which will never return)
114 if (isLUFAbootloader()) {
115 // horray, we got a new bootloader!
116 magic_key_pos = (RAMEND-1);
117 }
118#endif
119
120 // We check DTR state to determine if host port is open (bit 0 of lineState).
121 if (1200 == _usbLineInfo.dwDTERate && (_usbLineInfo.lineState & 0x01) == 0)
122 {
123#if MAGIC_KEY_POS != (RAMEND-1)
124 // Backup ram value if its not a newer bootloader and it hasn't already been saved.
125 // This should avoid memory corruption at least a bit, not fully
126 if (magic_key_pos != (RAMEND-1) && *(uint16_t *)magic_key_pos != MAGIC_KEY) {
127 *(uint16_t *)(RAMEND-1) = *(uint16_t *)magic_key_pos;
128 }
129#endif
130 // Store boot key
131 *(uint16_t *)magic_key_pos = MAGIC_KEY;
132 // Save the watchdog state in case the reset is aborted.
133 wdtcsr_save = WDTCSR;
134 wdt_enable(WDTO_120MS);
135 }
136 else if (*(uint16_t *)magic_key_pos == MAGIC_KEY)
137 {
138 // Most OSs do some intermediate steps when configuring ports and DTR can
139 // twiggle more than once before stabilizing.
140 // To avoid spurious resets we set the watchdog to 120ms and eventually
141 // cancel if DTR goes back high.
142 // Cancellation is only done if an auto-reset was started, which is
143 // indicated by the magic key having been set.
144
145 wdt_reset();
146 // Restore the watchdog state in case the sketch was using it.
147 WDTCSR |= (1<<WDCE) | (1<<WDE);
148 WDTCSR = wdtcsr_save;
149#if MAGIC_KEY_POS != (RAMEND-1)
150 // Restore backed up (old bootloader) magic key data
151 if (magic_key_pos != (RAMEND-1)) {
152 *(uint16_t *)magic_key_pos = *(uint16_t *)(RAMEND-1);
153 } else
154#endif
155 {
156 // Clean up RAMEND key
157 *(uint16_t *)magic_key_pos = 0x0000;
158 }
159 }
160 }
161 return true;
162 }
163 return false;
164}
165
166
167void Serial_::begin(unsigned long /* baud_count */)
168{
169 peek_buffer = -1;
170}
171
172void Serial_::begin(unsigned long /* baud_count */, byte /* config */)
173{
174 peek_buffer = -1;
175}
176
177void Serial_::end(void)
178{
179}
180
181int Serial_::available(void)
182{
183 if (peek_buffer >= 0) {
184 return 1 + USB_Available(CDC_RX);
185 }
186 return USB_Available(CDC_RX);
187}
188
189int Serial_::peek(void)
190{
191 if (peek_buffer < 0)
192 peek_buffer = USB_Recv(CDC_RX);
193 return peek_buffer;
194}
195
196int Serial_::read(void)
197{
198 if (peek_buffer >= 0) {
199 int c = peek_buffer;
200 peek_buffer = -1;
201 return c;
202 }
203 return USB_Recv(CDC_RX);
204}
205
206int Serial_::availableForWrite(void)
207{
208 return USB_SendSpace(CDC_TX);
209}
210
211void Serial_::flush(void)
212{
213 USB_Flush(CDC_TX);
214}
215
216size_t Serial_::write(uint8_t c)
217{
218 return write(&c, 1);
219}
220
221size_t Serial_::write(const uint8_t *buffer, size_t size)
222{
223 /* only try to send bytes if the high-level CDC connection itself
224 is open (not just the pipe) - the OS should set lineState when the port
225 is opened and clear lineState when the port is closed.
226 bytes sent before the user opens the connection or after
227 the connection is closed are lost - just like with a UART. */
228
229 // TODO - ZE - check behavior on different OSes and test what happens if an
230 // open connection isn't broken cleanly (cable is yanked out, host dies
231 // or locks up, or host virtual serial port hangs)
232 if (_usbLineInfo.lineState > 0) {
233 int r = USB_Send(CDC_TX,buffer,size);
234 if (r > 0) {
235 return r;
236 } else {
237 setWriteError();
238 return 0;
239 }
240 }
241 setWriteError();
242 return 0;
243}
244
245// This operator is a convenient way for a sketch to check whether the
246// port has actually been configured and opened by the host (as opposed
247// to just being connected to the host). It can be used, for example, in
248// setup() before printing to ensure that an application on the host is
249// actually ready to receive and display the data.
250// We add a short delay before returning to fix a bug observed by Federico
251// where the port is configured (lineState != 0) but not quite opened.
252Serial_::operator bool() {
253 bool result = false;
254 if (_usbLineInfo.lineState > 0)
255 result = true;
256 delay(10);
257 return result;
258}
259
260unsigned long Serial_::baud() {
261 // Disable interrupts while reading a multi-byte value
262 uint32_t baudrate;
263 ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
264 baudrate = _usbLineInfo.dwDTERate;
265 }
266 return baudrate;
267}
268
269uint8_t Serial_::stopbits() {
270 return _usbLineInfo.bCharFormat;
271}
272
273uint8_t Serial_::paritytype() {
274 return _usbLineInfo.bParityType;
275}
276
277uint8_t Serial_::numbits() {
278 return _usbLineInfo.bDataBits;
279}
280
281bool Serial_::dtr() {
282 return _usbLineInfo.lineState & 0x1;
283}
284
285bool Serial_::rts() {
286 return _usbLineInfo.lineState & 0x2;
287}
288
289int32_t Serial_::readBreak() {
290 int32_t ret;
291 // Disable IRQs while reading and clearing breakValue to make
292 // sure we don't overwrite a value just set by the ISR.
293 ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
294 ret = breakValue;
295 breakValue = -1;
296 }
297 return ret;
298}
299
300Serial_ Serial;
301
302#endif /* if defined(USBCON) */
303