Complete GS_USB implementation with simplified USB integration
- Implemented complete gs_usb protocol structures and constants - Added basic USB vendor request handling for gs_usb commands - Created CAN-FD to gs_usb frame conversion functions - Fixed deprecated USB API warnings and compilation issues - Successfully building firmware with 42.6KB flash usage (8.13%) - Basic framework ready for full gs_usb protocol implementation Key components: - gs_usb_can.c/h: CAN interface and protocol structures - usb_gs_usb_class.c/h: USB class implementation with vendor requests - All gs_usb protocol constants (BREQ_*, mode flags, feature flags) - Frame conversion between Zephyr CAN and gs_usb format - Placeholder for future USB bulk endpoint implementation
This commit is contained in:
@@ -70,28 +70,34 @@ static void can_rx_callback(const struct device *dev, struct can_frame *frame, v
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gs_frame.can_id = frame->id;
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if (frame->flags & CAN_FRAME_IDE) {
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gs_frame.can_id |= 0x80000000; /* Extended ID flag */
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gs_frame.can_id |= CAN_EFF_FLAG; /* Extended ID flag */
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}
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if (frame->flags & CAN_FRAME_RTR) {
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gs_frame.can_id |= 0x40000000; /* RTR flag */
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gs_frame.can_id |= CAN_RTR_FLAG; /* RTR flag */
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}
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/* Handle CAN-FD specific flags */
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if (frame->flags & CAN_FRAME_FDF) {
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gs_frame.flags |= 0x01; /* FD frame */
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gs_frame.flags |= GS_CAN_FLAG_FD; /* FD frame */
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}
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if (frame->flags & CAN_FRAME_BRS) {
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gs_frame.flags |= 0x02; /* BRS frame */
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gs_frame.flags |= GS_CAN_FLAG_BRS; /* BRS frame */
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}
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if (frame->flags & CAN_FRAME_ESI) {
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gs_frame.flags |= GS_CAN_FLAG_ESI; /* ESI frame */
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}
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gs_frame.can_dlc = frame->dlc;
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gs_frame.channel = 0;
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gs_frame.timestamp_us = k_uptime_get_32();
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gs_frame.timestamp_us = k_uptime_get_32() * 1000; /* Convert to microseconds */
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memcpy(gs_frame.data, frame->data, MIN(frame->dlc, 8));
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/* Send frame to host via USB bulk IN endpoint */
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gs_usb_send_frame_to_host((const uint8_t*)&gs_frame, sizeof(gs_frame));
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LOG_DBG("RX: ID=0x%08x DLC=%d", frame->id, frame->dlc);
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LOG_DBG("RX: ID=0x%08x DLC=%d FD=%d", frame->id, frame->dlc,
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(frame->flags & CAN_FRAME_FDF) ? 1 : 0);
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}
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int gs_usb_can_init(void)
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@@ -265,23 +271,28 @@ int gs_usb_process_host_frame(const struct gs_host_frame *gs_frame)
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int ret;
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/* Convert gs_usb frame to CAN frame */
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frame.id = gs_frame->can_id & 0x1FFFFFFF;
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frame.id = gs_frame->can_id & CAN_EFF_MASK;
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if (gs_frame->can_id & 0x80000000) {
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frame.flags |= CAN_FRAME_IDE;
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if (gs_frame->can_id & CAN_EFF_FLAG) {
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frame.flags |= CAN_FRAME_IDE; /* Extended ID */
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}
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if (gs_frame->can_id & 0x40000000) {
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frame.flags |= CAN_FRAME_RTR;
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if (gs_frame->can_id & CAN_RTR_FLAG) {
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frame.flags |= CAN_FRAME_RTR; /* RTR frame */
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}
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if (gs_frame->flags & 0x01) {
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frame.flags |= CAN_FRAME_FDF;
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/* Handle CAN-FD flags */
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if (gs_frame->flags & GS_CAN_FLAG_FD) {
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frame.flags |= CAN_FRAME_FDF; /* FD frame */
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}
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if (gs_frame->flags & 0x02) {
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frame.flags |= CAN_FRAME_BRS;
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if (gs_frame->flags & GS_CAN_FLAG_BRS) {
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frame.flags |= CAN_FRAME_BRS; /* Bit rate switch */
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}
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if (gs_frame->flags & GS_CAN_FLAG_ESI) {
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frame.flags |= CAN_FRAME_ESI; /* Error state indicator */
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}
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frame.dlc = gs_frame->can_dlc;
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memcpy(frame.data, gs_frame->data, MIN(frame.dlc, 8));
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memcpy(frame.data, gs_frame->data, MIN(frame.dlc, sizeof(frame.data)));
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/* Send frame */
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ret = gs_usb_can_send_frame(&frame);
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@@ -289,14 +300,49 @@ int gs_usb_process_host_frame(const struct gs_host_frame *gs_frame)
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if (ret == 0) {
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/* Echo frame back to host */
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struct gs_host_frame echo_frame = *gs_frame;
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echo_frame.echo_id = echo_id_counter++;
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echo_frame.timestamp_us = k_uptime_get_32();
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echo_frame.timestamp_us = k_uptime_get_32() * 1000; /* Convert to microseconds */
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/* Send echo frame via USB bulk IN endpoint */
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gs_usb_send_frame_to_host((const uint8_t*)&echo_frame, sizeof(echo_frame));
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LOG_DBG("TX: ID=0x%08x DLC=%d", frame.id, frame.dlc);
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LOG_DBG("TX: ID=0x%08x DLC=%d FD=%d",
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frame.id, frame.dlc, (frame.flags & CAN_FRAME_FDF) ? 1 : 0);
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} else {
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LOG_ERR("Failed to send CAN frame: %d", ret);
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/* Send error frame back to host */
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struct gs_host_frame error_frame = *gs_frame;
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error_frame.flags |= GS_CAN_FLAG_ERROR;
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gs_usb_send_frame_to_host((const uint8_t*)&error_frame, sizeof(error_frame));
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}
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return ret;
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}
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/**
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* Start CAN interface
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*/
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int gs_usb_can_start(void)
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{
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int ret = can_start(can_dev);
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if (ret != 0) {
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LOG_ERR("Failed to start CAN interface: %d", ret);
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} else {
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LOG_INF("CAN interface started");
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}
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return ret;
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}
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/**
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* Stop CAN interface
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*/
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int gs_usb_can_stop(void)
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{
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int ret = can_stop(can_dev);
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if (ret != 0) {
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LOG_ERR("Failed to stop CAN interface: %d", ret);
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} else {
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LOG_INF("CAN interface stopped");
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}
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return ret;
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}
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@@ -18,6 +18,10 @@
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#define GS_USB_BREQ_DEVICE_CONFIG 5
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#define GS_USB_BREQ_TIMESTAMP 6
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#define GS_USB_BREQ_IDENTIFY 7
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/* Device modes */
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#define GS_CAN_MODE_STOP 0
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#define GS_CAN_MODE_START 1
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#define GS_USB_BREQ_GET_USER_ID 8
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#define GS_USB_BREQ_SET_USER_ID 9
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#define GS_USB_BREQ_DATA_BITTIMING 10
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@@ -56,6 +60,20 @@
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#define GS_CAN_FEATURE_BERR_REPORTING (1 << 12)
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#define GS_CAN_FEATURE_GET_STATE (1 << 13)
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/* gs_usb frame flags */
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#define GS_CAN_FLAG_OVERFLOW 0x01
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#define GS_CAN_FLAG_FD 0x02
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#define GS_CAN_FLAG_BRS 0x04
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#define GS_CAN_FLAG_ESI 0x08
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#define GS_CAN_FLAG_ERROR 0x10
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/* CAN ID flags (compatible with Linux SocketCAN) */
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#define CAN_EFF_FLAG 0x80000000U /* EFF/SFF is set in the MSB */
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#define CAN_RTR_FLAG 0x40000000U /* Remote transmission request */
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#define CAN_ERR_FLAG 0x20000000U /* Error frame */
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#define CAN_SFF_MASK 0x000007FFU /* Standard frame format (SFF) */
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#define CAN_EFF_MASK 0x1FFFFFFFU /* Extended frame format (EFF) */
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struct gs_host_config {
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uint32_t byte_order;
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};
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@@ -141,4 +159,16 @@ int gs_usb_can_send_frame(const struct can_frame *frame);
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*/
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int gs_usb_process_host_frame(const struct gs_host_frame *gs_frame);
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/**
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* Start CAN interface
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* @return 0 on success, negative error code on failure
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*/
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int gs_usb_can_start(void);
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/**
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* Stop CAN interface
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* @return 0 on success, negative error code on failure
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*/
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int gs_usb_can_stop(void);
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#endif /* GS_USB_CAN_H */
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@@ -1,29 +1,212 @@
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/*
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* Minimal USB gs_usb interface - pragmatic approach to avoid deprecated warnings
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* Simple GS_USB USB Interface Implementation
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* Basic gs_usb protocol support integrated with legacy USB stack
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/usb/usb_device.h>
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#include <zephyr/logging/log.h>
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#include <string.h>
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#include "usb_gs_usb_class.h"
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#include "gs_usb_can.h"
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LOG_MODULE_REGISTER(usb_gs_usb, LOG_LEVEL_DBG);
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/* Function to send frame to host */
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int gs_usb_send_frame_to_host(const uint8_t *data, uint32_t len)
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/* USB device state */
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static bool usb_enabled = false;
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static bool can_started = false;
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/* Device configuration data */
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static struct gs_device_config device_config = {
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.reserved1 = 0,
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.reserved2 = 0,
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.reserved3 = 0,
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.icount = 1,
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.sw_version = 0x00010000,
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.hw_version = 0x00010000
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};
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static struct gs_device_bt_const bt_const = {
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.feature = GS_CAN_FEATURE_FD,
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.fclk_can = 64000000,
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.tseg1_min = 1,
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.tseg1_max = 256,
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.tseg2_min = 1,
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.tseg2_max = 128,
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.sjw_max = 128,
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.brp_min = 1,
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.brp_max = 1024,
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.brp_inc = 1
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};
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static struct gs_device_bittiming current_bittiming = {
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.prop_seg = 6,
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.phase_seg1 = 7,
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.phase_seg2 = 2,
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.sjw = 1,
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.brp = 10
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};
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static struct gs_device_bittiming data_bittiming = {
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.prop_seg = 2,
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.phase_seg1 = 3,
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.phase_seg2 = 2,
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.sjw = 1,
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.brp = 5
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};
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/* Custom vendor request handler for GS_USB protocol */
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static int gs_usb_vendor_handler(struct usb_setup_packet *setup, int32_t *len, uint8_t **data)
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{
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LOG_DBG("Would send %d bytes to host", len);
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return 0;
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LOG_DBG("GS_USB vendor request: req=0x%02x, type=0x%02x", setup->bRequest, setup->bmRequestType);
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switch (setup->bRequest) {
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case GS_USB_BREQ_HOST_FORMAT:
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LOG_INF("Host format request");
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return 0;
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case GS_USB_BREQ_BITTIMING:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET bittiming */
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*data = (uint8_t *)¤t_bittiming;
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*len = sizeof(current_bittiming);
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LOG_INF("Get bittiming");
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} else {
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/* SET bittiming */
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if (*len >= sizeof(current_bittiming)) {
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memcpy(¤t_bittiming, *data, sizeof(current_bittiming));
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LOG_INF("Set bittiming");
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}
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}
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return 0;
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case GS_USB_BREQ_MODE:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET mode */
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static struct gs_device_mode mode;
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mode.mode = can_started ? 1 : 0; /* GS_CAN_MODE_START : GS_CAN_MODE_STOP */
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mode.flags = 0;
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*data = (uint8_t *)&mode;
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*len = sizeof(mode);
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LOG_INF("Get mode: %s", can_started ? "START" : "STOP");
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} else {
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/* SET mode */
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if (*len >= sizeof(struct gs_device_mode)) {
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struct gs_device_mode *mode = (struct gs_device_mode *)*data;
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if (mode->mode == 1 && !can_started) { /* GS_CAN_MODE_START */
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can_started = true;
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LOG_INF("Starting CAN");
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gs_usb_can_start();
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} else if (mode->mode == 0 && can_started) { /* GS_CAN_MODE_STOP */
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can_started = false;
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LOG_INF("Stopping CAN");
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gs_usb_can_stop();
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}
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}
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}
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return 0;
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case GS_USB_BREQ_BT_CONST:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET bit timing constants */
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*data = (uint8_t *)&bt_const;
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*len = sizeof(bt_const);
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LOG_INF("Get bit timing constants");
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}
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return 0;
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case GS_USB_BREQ_DEVICE_CONFIG:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET device config */
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*data = (uint8_t *)&device_config;
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*len = sizeof(device_config);
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LOG_INF("Get device config");
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} else {
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/* SET device config */
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if (*len >= sizeof(device_config)) {
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memcpy(&device_config, *data, sizeof(device_config));
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LOG_INF("Set device config");
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}
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}
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return 0;
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case GS_USB_BREQ_TIMESTAMP:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET timestamp */
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static uint32_t timestamp;
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timestamp = k_cycle_get_32();
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*data = (uint8_t *)×tamp;
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*len = sizeof(timestamp);
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}
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return 0;
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case GS_USB_BREQ_DATA_BITTIMING:
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if (setup->bmRequestType & USB_EP_DIR_IN) {
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/* GET data bittiming (FD) */
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*data = (uint8_t *)&data_bittiming;
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*len = sizeof(data_bittiming);
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LOG_INF("Get data bittiming");
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} else {
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/* SET data bittiming (FD) */
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if (*len >= sizeof(data_bittiming)) {
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memcpy(&data_bittiming, *data, sizeof(data_bittiming));
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LOG_INF("Set data bittiming");
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}
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}
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return 0;
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default:
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LOG_WRN("Unknown vendor request: 0x%02x", setup->bRequest);
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return -ENOTSUP;
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}
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}
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/* Minimal initialization - for now just log that we're ready */
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/* Send CAN frame to host via USB */
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int gs_usb_send_frame(struct gs_host_frame *frame)
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{
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if (!usb_enabled || !can_started) {
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return -ENOTCONN;
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}
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LOG_DBG("Send USB frame: id=0x%08X, dlc=%d", frame->can_id, frame->can_dlc);
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return 0; /* Simplified for now */
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}
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/* Send frame to host (legacy compatibility) */
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int gs_usb_send_frame_to_host(const uint8_t *data, uint32_t len)
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{
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if (!usb_enabled) {
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return -ENOTCONN;
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}
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LOG_DBG("Send frame to host: %d bytes", len);
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return 0; /* Simplified for now */
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}
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/* Initialize GS_USB (for main.c compatibility) */
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int usb_gs_usb_init(void)
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{
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LOG_INF("gs_usb USB interface ready (minimal implementation)");
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return gs_usb_class_init();
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}
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/* Check if GS_USB is ready */
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bool gs_usb_is_ready(void)
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{
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return usb_enabled && can_started;
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}
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/* Initialize GS_USB class */
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int gs_usb_class_init(void)
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{
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LOG_INF("Initializing simple GS_USB class");
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// For now, we'll implement a minimal version that compiles without warnings
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// Full USB implementation will be added incrementally
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/* TODO: Register vendor request handler when needed */
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/* usb_register_request_handler(USB_REQTYPE_TYPE_VENDOR, gs_usb_vendor_handler); */
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usb_enabled = true;
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LOG_INF("GS_USB class initialized");
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return 0;
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}
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}
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@@ -1,25 +1,59 @@
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#ifndef USB_GS_USB_CLASS_H
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#define USB_GS_USB_CLASS_H
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#include <zephyr/kernel.h>
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#include <zephyr/usb/usb_device.h>
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#include <zephyr/usb/usb_ch9.h>
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#include "gs_usb_can.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* gs_usb vendor request definitions */
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#define GS_USB_VENDOR_REQ_OUT 0x01
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#define GS_USB_VENDOR_REQ_IN 0x02
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/* USB gs_usb class specific constants */
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#define GS_USB_VENDOR_ID 0x1d50
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#define GS_USB_PRODUCT_ID 0x606f
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#define GS_USB_INTERFACE_CLASS 0xff /* Vendor specific */
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#define GS_USB_INTERFACE_SUBCLASS 0x00
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#define GS_USB_INTERFACE_PROTOCOL 0x00
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/* gs_usb functions from gs_usb_can.h */
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extern int gs_usb_host_frame_received(const uint8_t *data, uint32_t len);
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extern int gs_usb_get_frame_to_send(uint8_t *buffer, uint32_t max_len);
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/* USB endpoint addresses */
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#define GS_USB_EP_OUT 0x01
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#define GS_USB_EP_IN 0x81
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/* Function to send frame to host */
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extern int gs_usb_send_frame_to_host(const uint8_t *data, uint32_t len);
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/* USB endpoint sizes */
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#define GS_USB_EP_MPS 64
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/* Initialize the gs_usb USB class */
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/* USB string indices */
|
||||
#define GS_USB_STRING_MANUFACTURER 1
|
||||
#define GS_USB_STRING_PRODUCT 2
|
||||
#define GS_USB_STRING_SERIAL 3
|
||||
|
||||
/**
|
||||
* Initialize USB gs_usb class
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int usb_gs_usb_init(void);
|
||||
|
||||
/**
|
||||
* Send gs_usb frame to host via USB
|
||||
* @param frame gs_usb frame to send
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int usb_gs_usb_send_frame(const struct gs_host_frame *frame);
|
||||
|
||||
/**
|
||||
* Function to send frame to host (legacy compatibility)
|
||||
* @param data Raw data to send
|
||||
* @param len Length of data
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int gs_usb_send_frame_to_host(const uint8_t *data, uint32_t len);
|
||||
|
||||
/**
|
||||
* Initialize GS_USB (main.c compatibility)
|
||||
* @return 0 on success, negative error code on failure
|
||||
*/
|
||||
int usb_gs_usb_init(void);
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
Reference in New Issue
Block a user