Pimpest
a4691caeed
* 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>
143 lines
3.5 KiB
C
143 lines
3.5 KiB
C
#include "bsp/board_api.h"
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#include "tusb.h"
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#define _PID_MAP(itf,n) ( (CFG_TUD_##itf) << (n) )
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#define USB_PID (0x4d47 | _PID_MAP(CDC, 0) | _PID_MAP(MSC, 1)| _PID_MAP(HID, 2) | \
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_PID_MAP(MIDI, 3) | _PID_MAP(VENDOR, 4) )
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#define USB_VID 0x1209
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#define USB_BCD 0x0200
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tusb_desc_device_t const desc_device = {
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.bLength = sizeof(tusb_desc_device_t),
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.bDescriptorType = TUSB_DESC_DEVICE,
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.bcdUSB = USB_BCD,
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.bDeviceClass = TUSB_CLASS_MISC,
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.bDeviceSubClass = MISC_SUBCLASS_COMMON,
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.bDeviceProtocol = MISC_PROTOCOL_IAD,
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.bMaxPacketSize0 = CFG_TUD_ENDPOINT0_SIZE,
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.idVendor = USB_VID,
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.idProduct = USB_PID,
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.bcdDevice = 0x0100,
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.iManufacturer = 0x01,
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.iProduct = 0x02,
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.iSerialNumber = 0x03,
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.bNumConfigurations = 0x01
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};
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uint8_t const * tud_descriptor_device_cb(void) {
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return (uint8_t const *) &desc_device;
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}
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enum
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{
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ITF_NUM_CDC_0 = 0,
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ITF_NUM_CDC_0_DATA,
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ITF_NUM_CDC_1,
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ITF_NUM_CDC_1_DATA,
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ITF_NUM_TOTAL,
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};
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#define CONFIG_TOTAL_LEN (TUD_CONFIG_DESC_LEN + CFG_TUD_CDC * TUD_CDC_DESC_LEN)
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#define EPNUM_CDC_NOTIF 0x81
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#define EPNUM_CDC_OUT 0x02
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#define EPNUM_CDC_IN 0x82
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#define EPNUM_CDC_1_NOTIF 0x84
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#define EPNUM_CDC_1_OUT 0x05
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#define EPNUM_CDC_1_IN 0x85
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uint8_t const desc_fs_configuration[] =
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{
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TUD_CONFIG_DESCRIPTOR(1, ITF_NUM_TOTAL, 0, CONFIG_TOTAL_LEN, 0x00, 250),
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TUD_CDC_DESCRIPTOR(ITF_NUM_CDC_0, 4, EPNUM_CDC_NOTIF, 8, EPNUM_CDC_OUT, EPNUM_CDC_IN, 64),
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TUD_CDC_DESCRIPTOR(ITF_NUM_CDC_1, 4, EPNUM_CDC_1_NOTIF, 8, EPNUM_CDC_1_OUT, EPNUM_CDC_1_IN, 64)
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};
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tusb_desc_device_qualifier_t const desc_device_qualifier =
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{
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.bLength = sizeof(tusb_desc_device_qualifier_t),
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.bDescriptorType = TUSB_DESC_DEVICE,
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.bcdUSB = USB_BCD,
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.bDeviceClass = TUSB_CLASS_MISC,
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.bDeviceSubClass = MISC_SUBCLASS_COMMON,
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.bDeviceProtocol = MISC_PROTOCOL_IAD,
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.bMaxPacketSize0 = CFG_TUD_ENDPOINT0_SIZE,
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.bNumConfigurations = 0x01
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};
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uint8_t const* tud_descriptor_device_qualifier_cb(void) {
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return (uint8_t const*) &desc_device_qualifier;
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}
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uint8_t const* tud_descriptor_configuration_cb(uint8_t index) {
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(void) index;
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return desc_fs_configuration;
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}
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enum {
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STRID_LANGID = 0,
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STRID_MANUFACTURER,
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STRID_PRODUCT,
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STRID_SERIAL,
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STRID_CDC_0,
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STRID_CDC_1
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};
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char const *string_desc_arr[] = {
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(const char[]) { 0x09, 0x04},
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"Mg Robotics",
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"Magrob Odometry MCU",
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NULL,
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"Odometry CDC",
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"Stepper CDC"
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};
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static uint16_t _desc_str[32+1];
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uint16_t const *tud_descriptor_string_cb(uint8_t index, uint16_t langid) {
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(void) langid;
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size_t chr_count;
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switch (index) {
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case STRID_LANGID:
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memcpy(&_desc_str[1], string_desc_arr[0], 2);
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chr_count = 1;
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break;
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case STRID_SERIAL:
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chr_count = board_usb_get_serial(_desc_str + 1, 32);
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break;
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default:
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if( !(index < sizeof(string_desc_arr) / sizeof(string_desc_arr[0])) ) return NULL;
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const char *str = string_desc_arr[index];
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chr_count = strlen(str);
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size_t const max_count = sizeof(_desc_str) / sizeof(_desc_str[0]) - 1;
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if ( chr_count > max_count ) chr_count = max_count;
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for(size_t i = 0; i < chr_count; i++) {
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_desc_str[i + 1] = str[i];
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}
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break;
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}
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_desc_str[0] = (uint16_t) ((TUSB_DESC_STRING << 8) | (2 * chr_count + 2));
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return _desc_str;
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} |