Quadrotor

// Copyright (c) 2010, Peter Barrett 

/*

** Permission to use, copy, modify, and/or distribute this software for  

** any purpose with or without fee is hereby granted, provided that the  

** above copyright notice and this permission notice appear in all copies.  

**  

** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  

** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  

** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  

** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  

** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  

** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  

** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  

** SOFTWARE.  

*/

#ifndef __USBCORE_H__

#define __USBCORE_H__

#define GET_STATUS                        0

#define CLEAR_FEATURE                1

#define SET_FEATURE                        3

#define SET_ADDRESS                        5

#define GET_DESCRIPTOR                6

#define GET_CONFIGURATION        8

#define SET_CONFIGURATION        9

#define GET_INTERFACE                10

#define SET_INTERFACE                11

// bmRequestType

#define HOSTTODEVICE        0x00

#define DEVICETOHOST        0x80

#define STANDARD                0x00

#define CLASS                        0x20

#define VENDOR                        0x40

#define DEVICE                        0x00

#define INTERFACE                0x01

#define ENDPOINT                0x02

#define OTHER                        0x03

#define CDC_SET_LINE_CODING                0x20

#define CDC_GET_LINE_CODING                0x21

#define CDC_SET_CONTROL_LINE_STATE        0x22

//        Descriptors

#define USB_DEVICE_DESC_SIZE 18

#define USB_CONFIGUARTION_DESC_SIZE 9

#define USB_INTERFACE_DESC_SIZE 9

#define USB_ENDPOINT_DESC_SIZE 7

#define USB_DEVICE_DESCRIPTOR_TYPE             1

#define USB_CONFIGURATION_DESCRIPTOR_TYPE      2

#define USB_STRING_DESCRIPTOR_TYPE             3

#define USB_INTERFACE_DESCRIPTOR_TYPE          4

#define USB_ENDPOINT_DESCRIPTOR_TYPE           5

#define USB_DEVICE_CLASS_COMMUNICATIONS        0x02

#define USB_DEVICE_CLASS_HUMAN_INTERFACE       0x03

#define USB_DEVICE_CLASS_STORAGE               0x08

#define USB_DEVICE_CLASS_VENDOR_SPECIFIC       0xFF

#define USB_CONFIG_POWERED_MASK                0x40

#define USB_CONFIG_BUS_POWERED                 0x80

#define USB_CONFIG_SELF_POWERED                0xC0

#define USB_CONFIG_REMOTE_WAKEUP               0x20

// bMaxPower in Configuration Descriptor

#define USB_CONFIG_POWER_MA(mA)                ((mA)/2)

// bEndpointAddress in Endpoint Descriptor

#define USB_ENDPOINT_DIRECTION_MASK            0x80

#define USB_ENDPOINT_OUT(addr)                 ((addr) | 0x00)

#define USB_ENDPOINT_IN(addr)                  ((addr) | 0x80)

#define USB_ENDPOINT_TYPE_MASK                 0x03

#define USB_ENDPOINT_TYPE_CONTROL              0x00

#define USB_ENDPOINT_TYPE_ISOCHRONOUS          0x01

#define USB_ENDPOINT_TYPE_BULK                 0x02

#define USB_ENDPOINT_TYPE_INTERRUPT            0x03

#define TOBYTES(x) ((x) & 0xFF),(((x) >> 8) & 0xFF)

#define CDC_V1_10                               0x0110

#define CDC_COMMUNICATION_INTERFACE_CLASS       0x02

#define CDC_CALL_MANAGEMENT                     0x01

#define CDC_ABSTRACT_CONTROL_MODEL              0x02

#define CDC_HEADER                              0x00

#define CDC_ABSTRACT_CONTROL_MANAGEMENT         0x02

#define CDC_UNION                               0x06

#define CDC_CS_INTERFACE                        0x24

#define CDC_CS_ENDPOINT                         0x25

#define CDC_DATA_INTERFACE_CLASS                0x0A

//        Device

typedef struct {

        u8 len;                                // 18

        u8 dtype;                        // 1 USB_DEVICE_DESCRIPTOR_TYPE

        u16 usbVersion;                // 0x200

        u8        deviceClass;

        u8        deviceSubClass;

        u8        deviceProtocol;

        u8        packetSize0;        // Packet 0

        u16        idVendor;

        u16        idProduct;

        u16        deviceVersion;        // 0x100

        u8        iManufacturer;

        u8        iProduct;

        u8        iSerialNumber;

        u8        bNumConfigurations;

} DeviceDescriptor;

//        Config

typedef struct {

        u8        len;                        // 9

        u8        dtype;                        // 2

        u16 clen;                        // total length

        u8        numInterfaces;

        u8        config;

        u8        iconfig;

        u8        attributes;

        u8        maxPower;

} ConfigDescriptor;

//        String

//        Interface

typedef struct

{

        u8 len;                // 9

        u8 dtype;        // 4

        u8 number;

        u8 alternate;

        u8 numEndpoints;

        u8 interfaceClass;

        u8 interfaceSubClass;

        u8 protocol;

        u8 iInterface;

} InterfaceDescriptor;

//        Endpoint

typedef struct

{

        u8 len;                // 7

        u8 dtype;        // 5

        u8 addr;

        u8 attr;

        u16 packetSize;

        u8 interval;

} EndpointDescriptor;

// Interface Association Descriptor

// Used to bind 2 interfaces together in CDC compostite device

typedef struct

{

        u8 len;                                // 8

        u8 dtype;                        // 11

        u8 firstInterface;

        u8 interfaceCount;

        u8 functionClass;

        u8 funtionSubClass;

        u8 functionProtocol;

        u8 iInterface;

} IADDescriptor;

//        CDC CS interface descriptor

typedef struct

{

        u8 len;                // 5

        u8 dtype;        // 0x24

        u8 subtype;

        u8 d0;

        u8 d1;

} CDCCSInterfaceDescriptor;

typedef struct

{

        u8 len;                // 4

        u8 dtype;        // 0x24

        u8 subtype;

        u8 d0;

} CDCCSInterfaceDescriptor4;

typedef struct 

{

        IADDescriptor                                iad;        // Only needed on compound device

        //        Control

        InterfaceDescriptor                        cif;        // 

        CDCCSInterfaceDescriptor        header;

        CDCCSInterfaceDescriptor        callManagement;

        CDCCSInterfaceDescriptor4        controlManagement;

        CDCCSInterfaceDescriptor        functionalDescriptor;

        EndpointDescriptor                        cifin;

        //        Data

        InterfaceDescriptor                        dif;

        EndpointDescriptor                        in;

        EndpointDescriptor                        out;

} CDCDescriptor;

typedef struct

{

        u8 len;                        // 9

        u8 dtype;                // 0x21

        u8 addr;

        u8        versionL;        // 0x101

        u8        versionH;        // 0x101

        u8        country;

        u8        desctype;        // 0x22 report

        u8        descLenL;

        u8        descLenH;

} HIDDescDescriptor;

typedef struct 

{

        InterfaceDescriptor                        hid;

        HIDDescDescriptor                        desc;

        EndpointDescriptor                        in;

} HIDDescriptor;

#define D_DEVICE(_class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs) \

        { 18, 1, 0x200, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs }

#define D_CONFIG(_totalLength,_interfaces) \

        { 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED, USB_CONFIG_POWER_MA(100) }

#define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \

        { 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 }

#define D_ENDPOINT(_addr,_attr,_packetSize, _interval) \

        { 7, 5, _addr,_attr,_packetSize, _interval }

#define D_IAD(_firstInterface, _count, _class, _subClass, _protocol) \

        { 8, 11, _firstInterface, _count, _class, _subClass, _protocol, 0 }

#define D_HIDREPORT(_descriptorLength) \

        { 9, 0x21, 0x1, 0x1, 0, 1, 0x22, _descriptorLength, 0 }

#define D_CDCCS(_subtype,_d0,_d1)        { 5, 0x24, _subtype, _d0, _d1 }

#define D_CDCCS4(_subtype,_d0)                { 4, 0x24, _subtype, _d0 }

#endif