Add firmware code to repo (#8)

* Added primary stepper motor driver code to repo
* Added odometery encoder code to repo
* Added the ability to update encoder wheel ratio via ros service
Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>

firmware/base/tusb/tusb_config.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#ifdef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
+#undef PICO_STDIO_USB_RESET_INTERFACE_SUPPORT_MS_OS_20_DESCRIPTOR
+#endif
+
+#define CFG_TUSB_RHPORT0_MODE (OPT_MODE_DEVICE | OPT_MODE_FULL_SPEED)
+#ifndef BOARD_TUD_RHPORT
+#define BOARD_TUD_RHPORT 0
+#endif
+
+#ifndef BOARD_TUD_MAX_SPEED
+#define BOARD_TUD_MAX_SPEED OPT_MODE_DEFAULT_SPEED
+#endif
+
+#ifndef CFG_TUSB_MCU
+#error CFG_TUSB_MCU must be defined
+#endif
+
+#ifndef CFG_TUSB_OS
+#define CFG_TUSB_OS OPT_OS_NONE
+#endif
+
+#ifndef CFG_TUD_ENABLED
+#define CFG_TUD_ENABLED 1
+#endif
+
+#ifndef CFG_TUD_MAX_SPEED
+#define CFG_TUD_MAX_SPEED BOARD_TUD_MAX_SPEED
+#endif
+
+#ifndef CFG_TUD_ENDPOINT0_SIZE
+#define CFG_TUD_ENDPOINT0_SIZE 64
+#endif
+
+#define CFG_TUD_CDC    2
+#define CFG_TUD_MSC    0
+#define CFG_TUD_HID    0
+#define CFG_TUD_MIDI   0
+#define CFG_TUD_VENDOR 0
+
+#define CFG_TUD_CDC_RX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
+#define CFG_TUD_CDC_TX_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
+
+#define CFG_TUD_CDC_EP_BUFSIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
+
+#define CFG_TUD_MSC_EP_BUFSIZE 512

firmware/base/tusb/tusb_descriptors.c

@@ -0,0 +1,143 @@
+#include "bsp/board_api.h"
+#include "tusb.h"
+
+#define _PID_MAP(itf,n) ( (CFG_TUD_##itf) << (n) )
+#define USB_PID (0x4d47 | _PID_MAP(CDC, 0) | _PID_MAP(MSC, 1)| _PID_MAP(HID, 2) | \
+                _PID_MAP(MIDI, 3) | _PID_MAP(VENDOR, 4) )
+
+#define USB_VID 0x1209
+#define USB_BCD 0x0200
+
+tusb_desc_device_t const desc_device = {
+    .bLength            = sizeof(tusb_desc_device_t),
+    .bDescriptorType    = TUSB_DESC_DEVICE,
+    .bcdUSB             = USB_BCD,
+
+    .bDeviceClass       = TUSB_CLASS_MISC,
+    .bDeviceSubClass    = MISC_SUBCLASS_COMMON,
+    .bDeviceProtocol    = MISC_PROTOCOL_IAD,
+    .bMaxPacketSize0    = CFG_TUD_ENDPOINT0_SIZE,
+    
+    .idVendor           = USB_VID,
+    .idProduct          = USB_PID,
+    .bcdDevice          = 0x0100,
+
+    .iManufacturer      = 0x01,
+    .iProduct           = 0x02,
+    .iSerialNumber      = 0x03,
+
+    .bNumConfigurations = 0x01
+};
+
+
+uint8_t const * tud_descriptor_device_cb(void) {
+    return (uint8_t const *) &desc_device;
+}
+
+enum
+{
+    ITF_NUM_CDC_0 = 0,
+    ITF_NUM_CDC_0_DATA,
+    ITF_NUM_CDC_1,
+    ITF_NUM_CDC_1_DATA,
+    ITF_NUM_TOTAL,
+};
+
+
+#define CONFIG_TOTAL_LEN    (TUD_CONFIG_DESC_LEN + CFG_TUD_CDC * TUD_CDC_DESC_LEN)
+
+#define EPNUM_CDC_NOTIF   0x81
+#define EPNUM_CDC_OUT     0x02
+#define EPNUM_CDC_IN      0x82
+
+#define EPNUM_CDC_1_NOTIF   0x84
+#define EPNUM_CDC_1_OUT     0x05
+#define EPNUM_CDC_1_IN      0x85
+
+
+uint8_t const desc_fs_configuration[] =
+{
+    TUD_CONFIG_DESCRIPTOR(1, ITF_NUM_TOTAL, 0, CONFIG_TOTAL_LEN, 0x00, 250),
+    TUD_CDC_DESCRIPTOR(ITF_NUM_CDC_0, 4, EPNUM_CDC_NOTIF, 8, EPNUM_CDC_OUT, EPNUM_CDC_IN, 64),
+    TUD_CDC_DESCRIPTOR(ITF_NUM_CDC_1, 4, EPNUM_CDC_1_NOTIF, 8, EPNUM_CDC_1_OUT, EPNUM_CDC_1_IN, 64)
+};
+
+
+tusb_desc_device_qualifier_t const desc_device_qualifier = 
+{
+    .bLength            = sizeof(tusb_desc_device_qualifier_t),
+    .bDescriptorType    = TUSB_DESC_DEVICE,
+    .bcdUSB             = USB_BCD,
+
+    .bDeviceClass       = TUSB_CLASS_MISC,
+    .bDeviceSubClass    = MISC_SUBCLASS_COMMON,
+    .bDeviceProtocol    = MISC_PROTOCOL_IAD,
+
+    .bMaxPacketSize0    = CFG_TUD_ENDPOINT0_SIZE,
+    .bNumConfigurations = 0x01
+};
+
+
+uint8_t const* tud_descriptor_device_qualifier_cb(void) {
+    return (uint8_t const*) &desc_device_qualifier;
+}
+
+
+uint8_t const* tud_descriptor_configuration_cb(uint8_t index) {
+    (void) index;
+
+    return  desc_fs_configuration;
+}
+
+enum {
+    STRID_LANGID = 0,
+    STRID_MANUFACTURER,
+    STRID_PRODUCT,
+    STRID_SERIAL,
+    STRID_CDC_0,
+    STRID_CDC_1
+};
+
+char const *string_desc_arr[] = {
+    (const char[]) { 0x09, 0x04},
+    "Mg Robotics",
+    "Magrob Odometry MCU",
+    NULL,
+    "Odometry CDC",
+    "Stepper CDC"
+};
+
+static uint16_t _desc_str[32+1];
+
+uint16_t const *tud_descriptor_string_cb(uint8_t index, uint16_t langid) {
+    (void) langid;
+    size_t chr_count;
+
+    switch (index) {
+    case STRID_LANGID:
+        memcpy(&_desc_str[1], string_desc_arr[0], 2);
+        chr_count = 1;
+        break;
+
+    case STRID_SERIAL:
+        chr_count = board_usb_get_serial(_desc_str + 1, 32);
+        break;
+
+    default:
+        if( !(index < sizeof(string_desc_arr) / sizeof(string_desc_arr[0])) ) return NULL;
+
+        const char *str = string_desc_arr[index];
+
+        chr_count = strlen(str);
+        size_t const max_count = sizeof(_desc_str) / sizeof(_desc_str[0]) - 1;
+        if ( chr_count > max_count ) chr_count = max_count;
+
+        for(size_t i = 0; i < chr_count; i++) {
+            _desc_str[i + 1] = str[i];
+        }
+        break;
+    }
+
+    _desc_str[0] = (uint16_t) ((TUSB_DESC_STRING << 8) | (2 * chr_count + 2));
+    return _desc_str;
+}