/******************** (C) COPYRIGHT 2020 GEEKIMU ******************************* * File Name : gpio.c * Current Version : V2.0 & ST 3.5.0 * Author : zhanli 719901725@qq.com & JustFeng. * Date of Issued : 2017.1.11 zhanli : Create * Comments : USB feature reports ********************************************************************************/ #include "feature_config.h" #include #include #include "platform_config.h" #include "usb_core.h" #include "usb_init.h" #include "calibrate.h" //#include "eeprom.h" #include "gpio.h" #include "sys.h" #include "stmflash.h" enum { FEATURE_CONFIG = 2, FEATURE_CALIBRATE = 3, FEATURE_RANGE = 4, FEATURE_REGISTER = 5, FEATURE_DFU = 6, FEATURE_GPIO = 7, FEATURE_KEEP_ALIVE = 8, FEATURE_DISPLAY_INFO = 9, FEATURE_SERIAL = 10, FEATURE_OFFSET = 11 }; // Report ID and Command ID #define FEATURE_HEADER_SIZE 3 #define FEATURE_CONFIG_SIZE (FEATURE_HEADER_SIZE+4) #define FEATURE_CALIBRATE_SIZE (FEATURE_HEADER_SIZE+CALIBRATION_SIZE) #define FEATURE_RANGE_SIZE (FEATURE_HEADER_SIZE+5) #define FEATURE_REGISTER_SIZE (FEATURE_HEADER_SIZE+3) #define FEATURE_DFU_SIZE (FEATURE_HEADER_SIZE+1) #define FEATURE_GPIO_SIZE (FEATURE_HEADER_SIZE+2) #define FEATURE_KEEP_ALIVE_SIZE (FEATURE_HEADER_SIZE+2) #define FEATURE_DISPLAY_INFO_SIZE (FEATURE_HEADER_SIZE+53) #define FEATURE_SERIAL_SIZE (FEATURE_HEADER_SIZE+12) #define FEATURE_OFFSET_SIZE (FEATURE_HEADER_SIZE+49) #define FLASH_DFU_FLASH 0X0800FF48 //模拟EEPROM的用于DFU地址 #define FEATURE_OFFSET_SET_GYRO 1 #define FEATURE_OFFSET_SET_ACC 2 #define FEATURE_OFFSET_SET_MAG 3 #define FEATURE_OFFSET_SET_LED 4 #define FEATURE_OFFSET_GET_GYRO 0x11 #define FEATURE_OFFSET_GET_ACC 0x12 #define FEATURE_OFFSET_GET_MAG 0x13 feature_config_s global_config = {0}; bool global_config_set = 0; feature_calibrate_s global_calibrate = {0}; bool global_calibrate_set = 0; feature_range_s global_range = {0}; bool global_range_set = 0; feature_register_s global_reg = {0}; bool global_reg_set = 0; feature_dfu_s global_dfu = {0}; bool global_dfu_set = 0; feature_gpio_s global_gpio = {0}; feature_keep_alive_s global_keep_alive = {0}; bool global_keep_alive_set = 0; feature_display_info_s global_display_info = {0}; feature_serial_s global_serial = {0}; bool global_offset_set = 0; feature_offset_s global_offset = {0}; //enum LED_COLOR global_LED_color; // Most recent command ID globally static uint16_t feature_config_command_id = 0; u8 DM_USB_Command = 0; bool got_command = 0; // For the largest buffer we need uint8_t feature_get_buf[FEATURE_CALIBRATE_SIZE]; uint8_t feature_set_buf[FEATURE_CALIBRATE_SIZE]; /****************************************************** *函 数： feature_config_pack_config *功 能： *修改时间： 2015-5-14 *输 入： 无 *******************************************************/ static void feature_config_pack_config(void) { feature_get_buf[0] = FEATURE_CONFIG; *(uint16_t *)(feature_get_buf+1) = global_config.command_id; feature_get_buf[3] = global_config.use_raw | /*传感器原始数据在于内部调试才使用 config.use_raw*/ (global_config.calibrate << 1) | (global_config.use_calibration << 2) | (global_config.autocalibration << 3) | (global_config.motion_keep_alive << 4) | (global_config.command_keep_alive << 5) | (global_config.use_ovr_coordinates << 6); feature_get_buf[4] = global_config.interval; // For now, just hard code to 1000 Hz. This is for forwards compatibility // with future trackers with different sample rates. *(uint16_t *)(feature_get_buf+5) = global_config.sample_rate = 1000; } /****************************************************** *函 数： feature_config_pack_range *功 能： Oculus SDK会请求传感器数据范围 通过这个函数打包数据这个函数会在USB处理中 心中被调用 *修改时间： 2015-5-11 *******************************************************/ static void feature_config_pack_range(void) { feature_get_buf[0] = FEATURE_RANGE; /*report ID = 4 */ *(uint16_t *)(feature_get_buf+1) = global_range.command_id; feature_get_buf[3] = 2; /* 默认加速度计的范围为+—2G，参考手册 */ *(uint16_t *)(feature_get_buf+4) = 2000; /* 陀螺仪的范围是+-2000deg/s，参考手册 */ *(uint16_t *)(feature_get_buf+6) = 1300; /* 地磁计的范围为+-1300，参考手册 */ } /******************************************************* **提供上位机寄存器信息 ********************************************************/ static void feature_config_pack_register(void) { feature_get_buf[0] = FEATURE_REGISTER; *(uint16_t *)(feature_get_buf+1) = global_reg.command_id; feature_get_buf[3] = global_reg.device; feature_get_buf[4] = global_reg.reg; feature_get_buf[5] = global_reg.payload; } /****************************************************** *函 数： *feature_config_getreport *功 能： Oculus SDK 会发送请求，从这里返回数据给 Oculus SDK *修改时间： 2015-3-29 *输 入： 无 *******************************************************/ uint8_t *feature_config_getreport(uint16_t length) { // 根据报告ID选择 switch (pInformation->USBwValue0) { // 配置特性 case FEATURE_CONFIG: // On the first callback, we supply the length if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_CONFIG_SIZE; } else { // On the second we return the filled buffer feature_config_pack_config(); return feature_get_buf; } break; // 校准特性 case FEATURE_CALIBRATE: // if (!length) { // pInformation->Ctrl_Info.Usb_wLength = FEATURE_CALIBRATE_SIZE; // } // else { // feature_get_buf[0] = FEATURE_CALIBRATE; // *(uint16_t *)(feature_get_buf+1) = global_calibrate.command_id; // /*读取校准信息*/ // calibrate_get(feature_get_buf+3); // // Calibrate is above 64 bytes, so we get called again with offset // return feature_get_buf + pInformation->Ctrl_Info.Usb_wOffset; // } // break; // 范围特性 case FEATURE_RANGE: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_RANGE_SIZE; } else { feature_config_pack_range(); /*打包范围特性*/ return feature_get_buf; } break; /******************************************************** FEATURE_REGISTER 这个类型是用来配置传感器的寄存器使用的, Laputa 使用的是MPU9150，所以这个功能是无效的 ********************************************************/ case FEATURE_REGISTER: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_REGISTER_SIZE; } else { feature_config_pack_register(); /*打包寄存器信息*/ return feature_get_buf; } break; case FEATURE_DFU: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_DFU_SIZE; } else { feature_get_buf[0] = FEATURE_DFU; *(uint16_t *)(feature_get_buf+1) = global_dfu.command_id; feature_get_buf[3] = global_dfu.use_dfu; return feature_get_buf; } break; case FEATURE_GPIO: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_GPIO_SIZE; } else { feature_get_buf[0] = FEATURE_GPIO; *(uint16_t *)(feature_get_buf+1) = global_gpio.command_id; feature_get_buf[3] = global_gpio.direction; //feature_get_buf[4] = global_gpio.value = gpio_get_value(); return feature_get_buf; } break; case FEATURE_KEEP_ALIVE: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_KEEP_ALIVE_SIZE; } else { feature_get_buf[0] = FEATURE_KEEP_ALIVE; *(uint16_t *)(feature_get_buf+1) = global_keep_alive.command_id; *(uint16_t *)(feature_get_buf+3) = global_keep_alive.keep_alive; return feature_get_buf; } break; /*获取显示设备的信息*/ case FEATURE_DISPLAY_INFO: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_DISPLAY_INFO_SIZE; } else { feature_get_buf[0] = FEATURE_DISPLAY_INFO; *(uint16_t *)(feature_get_buf+1) = global_display_info.command_id; // fill the actual parameters return feature_get_buf; } break; /*获取设备的序列号信息*/ case FEATURE_SERIAL: /*Oculus Utility请求Sensor Serial信息*/ if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_SERIAL_SIZE; } else { feature_get_buf[0] = FEATURE_SERIAL; *(uint16_t *)(feature_get_buf+1) = global_serial.command_id; //Get_SerialNum((char *)(feature_get_buf+3), 0); /*读取Sensor Serial*/ GetChipId((uint8_t *)(feature_get_buf+3)); return feature_get_buf; } break; case FEATURE_OFFSET: //OFFSET if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_OFFSET_SIZE; } else { feature_get_buf[0] = FEATURE_OFFSET; *(uint16_t *)(feature_get_buf+1) = global_offset.command_id; //global_offset.dev=*(uint8_t*)(feature_get_buf+3); feature_get_buf[3] = global_offset.dev; switch (global_offset.dev) { case FEATURE_OFFSET_GET_GYRO: Get_Gyro_Offset((float*)(feature_get_buf+4)); break; case FEATURE_OFFSET_GET_ACC: Get_Acc_Offset((float*)(feature_get_buf+4)); break; case FEATURE_OFFSET_GET_MAG: Get_Mag_Offset((float*)(feature_get_buf+4)); break; } return feature_get_buf; } break; default: break; } return NULL; } uint8_t *feature_config_setreport(uint16_t length) { // Switch based on ReportID switch (pInformation->USBwValue0) { case FEATURE_CONFIG: // On the first callback, we supply the length if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_CONFIG_SIZE; } else { // On the second, we return the buffer to fill return feature_set_buf; } break; case FEATURE_CALIBRATE: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_CALIBRATE_SIZE; } else { // Calibrate is above 64 bytes, so we get called again with offset return feature_set_buf + pInformation->Ctrl_Info.Usb_wOffset; } break; case FEATURE_RANGE: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_RANGE_SIZE; } else { return feature_set_buf; } break; case FEATURE_REGISTER: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_REGISTER_SIZE; } else { return feature_set_buf; } break; case FEATURE_DFU: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_DFU_SIZE; } else { return feature_set_buf; } break; case FEATURE_GPIO: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_GPIO_SIZE; } else { return feature_set_buf; } break; case FEATURE_KEEP_ALIVE: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_KEEP_ALIVE_SIZE; } else { return feature_set_buf; } break; case FEATURE_DISPLAY_INFO: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_DISPLAY_INFO_SIZE; } else { return feature_set_buf; } break; case FEATURE_SERIAL: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_SERIAL_SIZE; } else { return feature_set_buf; } break; case FEATURE_OFFSET: if (!length) { pInformation->Ctrl_Info.Usb_wLength = FEATURE_OFFSET_SIZE; } else { return feature_set_buf; } break; default: break; } return NULL; } /*命令下位机完成某些事情*/ void feature_config_parse_report(void) { // Get the latest set command ID regardless of report type unsigned short int DFU_State = 0x1111; unsigned short int DFU_State_Read = 0xffff; feature_config_command_id = *(uint16_t *)(feature_set_buf+1); got_command = 1; switch (feature_set_buf[0]) { case FEATURE_CONFIG: global_config.command_id = *(uint16_t *)(feature_set_buf+1); global_config.use_raw = feature_set_buf[3] & 1; global_config.calibrate = feature_set_buf[3] & (1 << 1); global_config.use_calibration = feature_set_buf[3] & (1 << 2); global_config.autocalibration = feature_set_buf[3] & (1 << 3); global_config.motion_keep_alive = feature_set_buf[3] & (1 << 4); global_config.command_keep_alive = feature_set_buf[3] & (1 << 5); global_config.use_ovr_coordinates = feature_set_buf[3] & (1 << 6); global_config.interval = feature_set_buf[4]; /* 采样时间现在强制为1000Hz Sample rate is forced to 1000 for now */ global_config.sample_rate = 1000; // *(uint16_t *)(feature_set_buf+5); global_config_set = 1; break; case FEATURE_CALIBRATE: // update the last command in on any feature report global_calibrate.command_id = *(uint16_t *)(feature_set_buf+1); // pass the payload of calibration data memcpy(global_calibrate.payload, feature_set_buf+FEATURE_HEADER_SIZE, CALIBRATION_SIZE); global_calibrate_set = 1; break; case FEATURE_RANGE: /*从这里上位机设置下位机的传感器范围*/ global_range.command_id = *(uint16_t *)(feature_set_buf+1); global_range.accel_range = 4; global_range.gyro_range = 500; global_range.mag_range = 1300; global_range_set = 1; break; case FEATURE_REGISTER: /*直接修改下位机传感器的寄存器，目前Laputa 不支持*/ global_reg.command_id = *(uint16_t *)(feature_set_buf+1); global_reg.device = feature_set_buf[3]; global_reg.reg = feature_set_buf[4]; global_reg.payload = feature_set_buf[5]; global_reg_set = 1; break; case FEATURE_DFU: /*这是Oculus 在线升级的一个功能*/ global_dfu.command_id = *(uint16_t *)(feature_set_buf+1); global_dfu.use_dfu = (feature_set_buf[3] == 1); global_dfu_set = 1; break; /*这个地方，上位机可以设置下位机的GPIO特性，以后Laputa 可以用上位机设置下位机的 各种功能*/ case FEATURE_GPIO: global_gpio.command_id = *(uint16_t *)(feature_set_buf+1); global_gpio.direction = feature_set_buf[3]; //gpio_set_direction(global_gpio.direction); /*屏蔽了和GPIO相关的功能，除了Oculus无法控制*/ // gpio_set_value(feature_set_buf[4]); break; // 我们用通信协议中的KeepAlive用作为我们的自己的通信部分 case FEATURE_KEEP_ALIVE: DM_USB_Command = feature_set_buf[4]; if(DM_USB_Command == 0x26) { TIM_ITConfig(TIM3,TIM_IT_Update,DISABLE); Compute_Gyro_Offset(); TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE); } if(DM_USB_Command == 0x25) { /*在指定地址写入标志位,用于判断是否进入DFU模? *在收到DFU命令后，这里向指定地址写入0x1111，设置DFU的标志位， *开机的时候，DFU程序检测到0x1111,就停留在DFU模式，这里注意，不论是否在何种模式下，检测到0x1111后 需要立即擦出该标志位 */ STMFLASH_Write(FLASH_DFU_FLASH,&DFU_State,1); //2个字节 = 半个字 STMFLASH_Read(FLASH_DFU_FLASH,&DFU_State_Read,1); //2个字节 = 半个字 if(DFU_State_Read == 0x1111)NVIC_SystemReset(); } break; case FEATURE_DISPLAY_INFO: global_display_info.command_id = *(uint16_t *)(feature_set_buf+1); /*把显示信息存到EEROM中，目前Laputa 不支持该功能*/ break; case FEATURE_SERIAL: global_serial.command_id = *(uint16_t *)(feature_set_buf+1); Set_Stored_Serial((char *)feature_set_buf+3); /*把SerialNum 存到EEROM中，目前是不支持的*/ break; case FEATURE_OFFSET: global_offset.command_id=*(uint16_t *)(feature_set_buf+1); global_offset.dev=*(uint8_t *)(feature_set_buf+3); switch(global_offset.dev) { case FEATURE_OFFSET_SET_GYRO: Save_Gyro_Offset((float*)(feature_set_buf+4)); //Load_Gyro_Offset(); break; case FEATURE_OFFSET_SET_ACC: //Save_Acc_Offset((float*)(feature_set_buf+4)); //Load_Acc_Offset(); break; case FEATURE_OFFSET_SET_MAG: Save_Mag_Offset((float*)(feature_set_buf+4)); Load_Mag_Offset(); break; case FEATURE_OFFSET_SET_LED: //global_LED_color=(enum LED_COLOR)feature_set_buf[4]; break; //case FEATURE_OFFSET_GET_GYRO : //case FEATURE_OFFSET_GET_ACC : //case FEATURE_OFFSET_GET_MAG : //global_offset.dev=global_offset.dev&0x0F; //break; } break; default: break; } } bool feature_config_got_command(bool peek) { bool ret = got_command; if (!peek) got_command = 0; return ret; } uint16_t feature_config_latest_command_id(void) { return feature_config_command_id; } void feature_config_set(feature_config_p config) { memcpy(&global_config, config, sizeof(feature_config_s)); } void feature_keep_alive_set(feature_keep_alive_p keep_alive) { memcpy(&global_keep_alive, keep_alive, sizeof(feature_keep_alive_s)); } bool feature_config_get(feature_config_p config) { // TODO: protect this // Only mark as changed if we got a new packet and the contents differ from the last if (global_config_set && memcmp(config, &global_config, sizeof(feature_config_s))) { global_config_set = 0; memcpy(config, &global_config, sizeof(feature_config_s)); return 1; } return 0; } bool feature_calibrate_get(feature_calibrate_p calibrate) { // TODO: protect this if (global_calibrate_set && memcmp(calibrate, &global_calibrate, sizeof(feature_calibrate_s))) { global_calibrate_set = 0; memcpy(calibrate, &global_calibrate, sizeof(feature_calibrate_s)); return 1; } return 0; } bool feature_range_get(feature_range_p range) { // TODO: protect this if (global_range_set && memcmp(range, &global_range, sizeof(feature_range_s))) { global_range_set = 0; memcpy(range, &global_range, sizeof(feature_range_s)); return 1; } return 0; } bool feature_register_get(feature_register_p reg) { // TODO: protect this // A register could be set twice intentionally here, so don't condition on // the contents differing if (global_reg_set) { global_reg_set = 0; memcpy(reg, &global_reg, sizeof(feature_register_s)); return 1; } return 0; } bool feature_dfu_get(feature_dfu_p dfu) { // TODO: protect this if (global_dfu_set && memcmp(dfu, &global_dfu, sizeof(feature_dfu_s))) { global_dfu_set = 0; memcpy(dfu, &global_dfu, sizeof(feature_dfu_s)); return 1; } return 0; } bool feature_keep_alive_get(feature_keep_alive_p keep_alive) { // TODO: protect this // This report is lightweight, so just let it through if it is the same if (global_keep_alive_set) { global_keep_alive_set = 0; memcpy(keep_alive, &global_keep_alive, sizeof(feature_keep_alive_s)); return 1; } return 0; } void GetChipId(uint8_t *temp) { u32 temp0,temp1,temp2; temp0=*(__IO u32*)(0x1FFFF7E8); temp1=*(__IO u32*)(0x1FFFF7EC); temp2=*(__IO u32*)(0x1FFFF7F0); temp[0] = (u8)(temp0 & 0x000000FF); temp[1] = (u8)((temp0 & 0x0000FF00)>>8); temp[2] = (u8)((temp0 & 0x00FF0000)>>16); temp[3] = (u8)((temp0 & 0xFF000000)>>24); temp[4] = (u8)(temp1 & 0x000000FF); temp[5] = (u8)((temp1 & 0x0000FF00)>>8); temp[6] = (u8)((temp1 & 0x00FF0000)>>16); temp[7] = (u8)((temp1 & 0xFF000000)>>24); temp[8] = (u8)(temp2 & 0x000000FF); temp[9] = (u8)((temp2 & 0x0000FF00)>>8); temp[10] = (u8)((temp2 & 0x00FF0000)>>16); temp[11] = (u8)((temp2 & 0xFF000000)>>24); }