mirror of
https://github.com/openmv/openmv.git
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215 lines
6.5 KiB
C
215 lines
6.5 KiB
C
/*
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* SPDX-License-Identifier: MIT
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*
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* Copyright (C) 2022-2024 OpenMV, LLC.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*
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* Tinyusb CDC debugger helper code.
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*/
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#include "omv_boardconfig.h"
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#if (OMV_TUSBDBG_ENABLE == 1)
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#include "py/runtime.h"
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#include "py/stream.h"
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#include "py/mphal.h"
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#include "py/ringbuf.h"
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#include "pendsv.h"
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#include "tusb.h"
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#include "usbdbg.h"
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#include "tinyusb_debug.h"
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#include "omv_common.h"
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#define USBDBG_BAUDRATE_SLOW (921600)
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#define USBDBG_BAUDRATE_FAST (12000000)
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#define DEBUG_EP_SIZE (TUD_OPT_HIGH_SPEED ? 512 : 64)
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void NORETURN __fatal_error(const char *msg);
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static mp_sched_node_t tusb_debug_node;
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typedef struct __attribute__((packed)) {
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uint8_t cmd;
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uint8_t request;
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uint32_t xfer_length;
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}
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usbdbg_cmd_t;
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static uint8_t tx_array[OMV_TUSBDBG_BUFFER];
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static ringbuf_t tx_ringbuf = { tx_array, sizeof(tx_array) };
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static volatile bool tinyusb_debug_mode = false;
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uint32_t usb_cdc_buf_len() {
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return ringbuf_avail(&tx_ringbuf);
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}
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uint32_t usb_cdc_get_buf(uint8_t *buf, uint32_t len) {
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// Read all of the request bytes.
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if (ringbuf_get_bytes(&tx_ringbuf, buf, len) == 0) {
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return len;
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}
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// Try to read as much data as possible.
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uint32_t bytes = 0;
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for (; bytes < len; bytes++) {
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int c = ringbuf_get(&tx_ringbuf);
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if (c == -1) {
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break;
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}
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buf[bytes] = c;
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}
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return bytes;
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}
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void usb_cdc_reset_buffers(void) {
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tx_ringbuf.iget = 0;
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tx_ringbuf.iput = 0;
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}
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void tud_cdc_line_coding_cb(uint8_t itf, cdc_line_coding_t const *coding) {
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tx_ringbuf.iget = 0;
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tx_ringbuf.iput = 0;
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if (0) {
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#if defined(MICROPY_BOARD_ENTER_BOOTLOADER)
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} else if (coding->bit_rate == 1200) {
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MICROPY_BOARD_ENTER_BOOTLOADER(0, 0);
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#endif
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} else if (coding->bit_rate == USBDBG_BAUDRATE_SLOW ||
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coding->bit_rate == USBDBG_BAUDRATE_FAST) {
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tinyusb_debug_mode = true;
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} else {
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tinyusb_debug_mode = false;
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}
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}
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bool tinyusb_debug_enabled(void) {
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return tinyusb_debug_mode;
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}
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extern void __real_mp_usbd_task(void);
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void __wrap_mp_usbd_task(void) {
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if (!tinyusb_debug_enabled()) {
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__real_mp_usbd_task();
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}
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}
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extern void __real_tud_cdc_rx_cb(uint8_t itf);
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void __wrap_tud_cdc_rx_cb(uint8_t itf) {
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if (!tinyusb_debug_enabled()) {
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__real_tud_cdc_rx_cb(itf);
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}
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}
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extern uintptr_t __real_mp_hal_stdio_poll(uintptr_t poll_flags);
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uintptr_t __wrap_mp_hal_stdio_poll(uintptr_t poll_flags) {
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if (!tinyusb_debug_enabled()) {
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return __real_mp_hal_stdio_poll(poll_flags);
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}
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return 0;
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}
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extern mp_uint_t __real_mp_hal_stdout_tx_strn(const char *str, mp_uint_t len);
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mp_uint_t __wrap_mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
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if (tinyusb_debug_enabled()) {
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if (tud_cdc_connected()) {
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for (int i = 0; i < len; i++) {
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// The ring buffer overflows occasionally, espcially when using a slow poll
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// rate and fast print rate. When this happens, reset the buffer and start
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// over, if this string fits entirely in the buffer. This helps the ring buffer
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// self-recover from broken strings.
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if (ringbuf_put(&tx_ringbuf, str[i]) == -1 && len <= tx_ringbuf.size) {
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tx_ringbuf.iget = 0;
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tx_ringbuf.iput = 0;
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ringbuf_put(&tx_ringbuf, str[i]);
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}
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}
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}
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return len;
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} else {
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return __real_mp_hal_stdout_tx_strn(str, len);
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}
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}
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void tinyusb_debug_task(mp_sched_node_t *node) {
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tud_task_ext(0, false);
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if (!tinyusb_debug_enabled() || !tud_cdc_connected() || tud_cdc_available() < 6) {
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return;
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}
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usbdbg_cmd_t cmd;
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tud_cdc_read(&cmd, sizeof(cmd));
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if (cmd.cmd != 0x30) {
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// TODO: Try to recover from this state but for now, call __fatal_error.
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__fatal_error("Invalid USB CMD received.");
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}
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uint8_t request = cmd.request;
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uint32_t xfer_length = cmd.xfer_length;
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usbdbg_control(NULL, request, xfer_length);
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while (xfer_length) {
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// && tud_cdc_connected())
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if (tud_task_event_ready()) {
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tud_task_ext(0, false);
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}
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if (request & 0x80) {
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// Device-to-host data phase
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int size = OMV_MIN(xfer_length, tud_cdc_write_available());
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if (size) {
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xfer_length -= size;
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usbdbg_data_in(size, tud_cdc_write);
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}
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if (size > 0 && size < DEBUG_EP_SIZE) {
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tud_cdc_write_flush();
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}
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} else {
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// Host-to-device data phase
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int size = OMV_MIN(xfer_length, tud_cdc_available());
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if (size) {
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xfer_length -= size;
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usbdbg_data_out(size, tud_cdc_read);
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}
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}
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}
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}
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// For the mimxrt, and nrf ports this replaces the weak USB IRQ handlers.
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// For the RP2 port, this handler is installed in main.c
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void OMV_USB1_IRQ_HANDLER(void) {
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dcd_int_handler(0);
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// If there are any event to process, schedule a call to cdc loop.
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if (tud_task_event_ready()) {
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mp_sched_schedule_node(&tusb_debug_node, tinyusb_debug_task);
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}
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}
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#if defined(OMV_USB2_IRQ_HANDLER)
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void OMV_USB2_IRQ_HANDLER(void) {
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dcd_int_handler(1);
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// If there are any event to process, schedule a call to cdc loop.
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if (tud_task_event_ready()) {
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mp_sched_schedule_node(&tusb_debug_node, tinyusb_debug_task);
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}
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}
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#endif
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#endif //OMV_TINYUSB_DEBUG
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