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Merged
dlech merged 8 commits into from
Feb 1, 2025
Merged

Add support for programming over USB #208

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9548ce1
pbdrv/usb: Add new Pybricks device class.
nkarstens Feb 19, 2024
26256c8
pbio/util: Add UUID little endian copy function.
nkarstens Feb 19, 2024
651e4b1
pbdrv/usb: Add additional info to BOS descriptor.
nkarstens Feb 19, 2024
c814816
pbdrv/usb: Configure USB device and process pybricks commands
nkarstens Feb 19, 2024
5e5ca1d
pbdrv/usb: Transmit response message.
nkarstens Feb 19, 2024
c70fa81
pbdrv/usb: Periodically send status.
nkarstens Feb 19, 2024
141952f
pbdrv/usb: Add support for transmitting stdout over USB.
nkarstens Feb 19, 2024
fd7f6ae
pbdrv/usb: Add WebUSB platform descriptor.
nkarstens Feb 19, 2024
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1 change: 1 addition & 0 deletions bricks/_common/arm_none_eabi.mk
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Original file line number Diff line number Diff line change
Expand Up @@ -394,6 +394,7 @@ endif
SRC_STM32_USB_DEV += $(addprefix lib/pbio/drv/usb/stm32_usbd/,\
usbd_conf.c \
usbd_desc.c \
usbd_pybricks.c \
)

NXOS_SRC_C = $(addprefix lib/pbio/platform/nxt/nxos/,\
Expand Down
3 changes: 2 additions & 1 deletion lib/pbio/drv/usb/stm32_usbd/usbd_conf.h
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
#define USBD_MAX_NUM_INTERFACES 1
#define USBD_MAX_NUM_CONFIGURATION 1
#define USBD_MAX_STR_DESC_SIZ 0x100
#define USBD_SELF_POWERED 1
#define USBD_SELF_POWERED 0
#define USBD_CLASS_BOS_ENABLED 1

#endif /* _USBD_CONF_H_ */
283 changes: 282 additions & 1 deletion lib/pbio/drv/usb/stm32_usbd/usbd_desc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,26 +43,45 @@
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <string.h>

#include <lego_usb.h>

#include <pbdrv/bluetooth.h>
#include <pbdrv/config.h>
#include <pbio/protocol.h>
#include <pbio/version.h>
#include <pbsys/storage.h>

#include "usbd_core.h"
#include "usbd_conf.h"
#include "usbd_pybricks.h"

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define USBD_LANGID_STRING 0x409
#define USBD_CONFIGURATION_FS_STRING "Pybricks Config"
#define USBD_INTERFACE_FS_STRING "Pybricks Interface"

static const char firmware_version[] = PBIO_VERSION_STR;
static const char software_version[] = PBIO_PROTOCOL_VERSION_STR;

#define DEVICE_ID1 (0x1FFF7A10)
#define DEVICE_ID2 (0x1FFF7A14)
#define DEVICE_ID3 (0x1FFF7A18)

#define USB_DEV_CAP_TYPE_PLATFORM (5)

#define USB_SIZ_STRING_SERIAL 0x1A
#define USB_SIZ_BOS_DESC_CONST (5 + 28 + 24)
#define USB_SIZ_UUID (128 / 8)
#define USB_SIZ_PLATFORM_HDR (4 + USB_SIZ_UUID)
#define USB_SIZ_HUB_NAME_MAX (16)
#define USB_SIZ_BOS_DESC (USB_SIZ_BOS_DESC_CONST + \
USB_SIZ_PLATFORM_HDR + USB_SIZ_HUB_NAME_MAX + \
USB_SIZ_PLATFORM_HDR + sizeof(firmware_version) - 1 + \
USB_SIZ_PLATFORM_HDR + sizeof(software_version) - 1 + \
USB_SIZ_PLATFORM_HDR + PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE)

/* USB Standard Device Descriptor */
__ALIGN_BEGIN static
Expand All @@ -72,7 +91,8 @@ const
uint8_t USBD_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = {
0x12, /* bLength */
USB_DESC_TYPE_DEVICE, /* bDescriptorType */
0x00, /* bcdUSB */
0x01, /* bcdUSB */ /* changed to USB version 2.01
in order to support BOS Desc */
0x02,
PBIO_PYBRICKS_USB_DEVICE_CLASS, /* bDeviceClass */
PBIO_PYBRICKS_USB_DEVICE_SUBCLASS, /* bDeviceSubClass */
Expand All @@ -90,6 +110,151 @@ uint8_t USBD_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = {
USBD_MAX_NUM_CONFIGURATION /* bNumConfigurations */
}; /* USB_DeviceDescriptor */

/** BOS descriptor. */
__ALIGN_BEGIN static uint8_t USBD_BOSDesc[USB_SIZ_BOS_DESC] __ALIGN_END =
{
5, /* bLength */
USB_DESC_TYPE_BOS, /* bDescriptorType = BOS */
LOBYTE(USB_SIZ_BOS_DESC), /* wTotalLength */
HIBYTE(USB_SIZ_BOS_DESC), /* wTotalLength */
2, /* bNumDeviceCaps */

28, /* bLength */
USB_DEVICE_CAPABITY_TYPE, /* bDescriptorType = Device Capability */
USB_DEV_CAP_TYPE_PLATFORM, /* bDevCapabilityType */
0x00, /* bReserved */

/*
* PlatformCapabilityUUID
* Microsoft OS 2.0 descriptor platform capability ID
* D8DD60DF-4589-4CC7-9CD2-659D9E648A9F
* RFC 4122 explains the correct byte ordering
*/
0xDF, 0x60, 0xDD, 0xD8, /* 32-bit value */
0x89, 0x45, /* 16-bit value */
0xC7, 0x4C, /* 16-bit value */
0x9C, 0xD2,
0x65, 0x9D, 0x9E, 0x64, 0x8A, 0x9F,

0x00, 0x00, 0x03, 0x06, /* dwWindowsVersion = 0x06030000 for Windows 8.1 Build */
LOBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
HIBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
USBD_MS_VENDOR_CODE, /* bMS_VendorCode */
0x00, /* bAltEnumCode = Does not support alternate enumeration */

24, /* bLength */
USB_DEVICE_CAPABITY_TYPE, /* bDescriptorType = Device Capability */
USB_DEV_CAP_TYPE_PLATFORM, /* bDevCapabilityType */
0x00, /* bReserved */

/*
* PlatformCapabilityUUID
* WebUSB Platform Capability descriptor
* 3408B638-09A9-47A0-8BFD-A0768815B665
* RFC 4122 explains the correct byte ordering
*/
0x38, 0xB6, 0x08, 0x34, /* 32-bit value */
0xA9, 0x09, /* 16-bit value */
0xA0, 0x47, /* 16-bit value */
0x8B, 0xFD,
0xA0, 0x76, 0x88, 0x15, 0xB6, 0x65,

LOBYTE(0x0100), /* bcdVersion */
HIBYTE(0x0100), /* bcdVersion */
USBD_WEBUSB_VENDOR_CODE, /* bVendorCode */
USBD_WEBUSB_LANDING_PAGE_IDX /* iLandingPage */
};

static uint16_t USBD_BOSDesc_Len;

__ALIGN_BEGIN const uint8_t USBD_OSDescSet[USBD_SIZ_MS_OS_DSCRPTR_SET] __ALIGN_END =
{
0x0A, 0x00, /* wLength = 10 */
0x00, 0x00, /* wDescriptorType = MS_OS_20_SET_HEADER_DESCRIPTOR */
0x00, 0x00, 0x03, 0x06, /* dwWindowsVersion = 0x06030000 for Windows 8.1 Build */
LOBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wTotalLength */
HIBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wTotalLength (cont.) */

0x14, 0x00, /* wLength = 20 */
0x03, 0x00, /* wDescriptorType = MS_OS_20_FEATURE_COMPATBLE_ID */
'W', 'I', 'N', 'U', 'S', 'B', /* CompatibleID */
0x00, 0x00, /* CompatibleID (cont.) */
0x00, 0x00, 0x00, 0x00, /* SubCompatibleID */
0x00, 0x00, 0x00, 0x00, /* SubCompatibleID (cont.) */

0x84, 0x00, /* wLength = 132 */
0x04, 0x00, /* wDescriptorType = MS_OS_20_FEATURE_REG_PROPERTY */
0x07, 0x00, /* wStringType = REG_MULTI_SZ */
/* wPropertyNameLength = 42 */
0x2A, 0x00,
/* PropertyName = DeviceInterfaceGUIDs */
'D', '\0',
'e', '\0',
'v', '\0',
'i', '\0',
'c', '\0',
'e', '\0',
'I', '\0',
'n', '\0',
't', '\0',
'e', '\0',
'r', '\0',
'f', '\0',
'a', '\0',
'c', '\0',
'e', '\0',
'G', '\0',
'U', '\0',
'I', '\0',
'D', '\0',
's', '\0',
'\0', '\0',

/* wPropertyDataLength = 80 */
0x50, 0x00,
/* PropertyData = {A5C44A4C-53D4-4389-9821-AE95051908A1} */
'{', '\0',
'A', '\0',
'5', '\0',
'C', '\0',
'4', '\0',
'4', '\0',
'A', '\0',
'4', '\0',
'C', '\0',
'-', '\0',
'5', '\0',
'3', '\0',
'D', '\0',
'4', '\0',
'-', '\0',
'4', '\0',
'3', '\0',
'8', '\0',
'9', '\0',
'-', '\0',
'9', '\0',
'8', '\0',
'2', '\0',
'1', '\0',
'-', '\0',
'A', '\0',
'E', '\0',
'9', '\0',
'5', '\0',
'0', '\0',
'5', '\0',
'1', '\0',
'9', '\0',
'0', '\0',
'8', '\0',
'A', '\0',
'1', '\0',
'}', '\0',
'\0', '\0',
'\0', '\0'
};
Comment thread
dlech marked this conversation as resolved.

/* USB Standard Device Descriptor */
__ALIGN_BEGIN static const uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] __ALIGN_END = {
USB_LEN_LANGID_STR_DESC,
Expand Down Expand Up @@ -149,6 +314,38 @@ static void Get_SerialNum(void) {
}
}

/**
* @brief Add the short BLE UUID to the buffer in little-endian format.
* @param dst The destination buffer
* @param dst The short BLE UUID to add
* @retval None
*/
static void add_ble_short_uuid_le(uint8_t *dst, uint16_t short_uuid) {
/* 32-bit */
dst[0] = LOBYTE(short_uuid);
dst[1] = HIBYTE(short_uuid);
dst[2] = 0x00;
dst[3] = 0x00;

/* 16-bit */
dst[4] = 0x00;
dst[5] = 0x00;

/* 16-bit */
dst[6] = 0x00;
dst[7] = 0x10;

/* 8-byte buffer */
dst[8] = 0x80;
dst[9] = 0x00;
dst[10] = 0x00;
dst[11] = 0x80;
dst[12] = 0x5F;
dst[13] = 0x9B;
dst[14] = 0x34;
dst[15] = 0xFB;
}

/**
* @brief Returns the device descriptor.
* @param speed: Current device speed
Expand Down Expand Up @@ -242,6 +439,14 @@ static uint8_t *USBD_Pybricks_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, ui
return USBD_StrDesc;
}

static uint8_t *USBD_Pybricks_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *length) {
/* Prevent unused argument(s) compilation warning */
UNUSED(speed);

*length = USBD_BOSDesc_Len;
return (uint8_t *)USBD_BOSDesc;
}

USBD_DescriptorsTypeDef USBD_Pybricks_Desc = {
.GetDeviceDescriptor = USBD_Pybricks_DeviceDescriptor,
.GetLangIDStrDescriptor = USBD_Pybricks_LangIDStrDescriptor,
Expand All @@ -250,6 +455,7 @@ USBD_DescriptorsTypeDef USBD_Pybricks_Desc = {
.GetSerialStrDescriptor = USBD_Pybricks_SerialStrDescriptor,
.GetConfigurationStrDescriptor = USBD_Pybricks_ConfigStrDescriptor,
.GetInterfaceStrDescriptor = USBD_Pybricks_InterfaceStrDescriptor,
.GetBOSDescriptor = USBD_Pybricks_BOSDescriptor,
};

void USBD_Pybricks_Desc_Init(void) {
Expand All @@ -265,4 +471,79 @@ void USBD_Pybricks_Desc_Init(void) {
USBD_DeviceDesc[11] = HIBYTE(PBDRV_CONFIG_USB_PID_1);
}
#endif

const char *str;
size_t len;

uint8_t *ptr = &USBD_BOSDesc[USB_SIZ_BOS_DESC_CONST];

/* Add device name */
str = pbdrv_bluetooth_get_hub_name();
len = MIN(strlen(str), USB_SIZ_HUB_NAME_MAX);

*ptr++ = USB_SIZ_PLATFORM_HDR + len; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_device_name_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Device Name
memcpy(ptr, str, len);
ptr += len;

/* Add firmware version */
*ptr++ = USB_SIZ_PLATFORM_HDR + sizeof(firmware_version) - 1; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_firmware_version_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Firmware Version
memcpy(ptr, firmware_version, sizeof(firmware_version) - 1);
ptr += sizeof(firmware_version) - 1;

/* Add software (protocol) version */
*ptr++ = USB_SIZ_PLATFORM_HDR + sizeof(software_version) - 1; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_software_version_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Software Version
memcpy(ptr, software_version, sizeof(software_version) - 1);
ptr += sizeof(software_version) - 1;

/* Add hub capabilities */
*ptr++ = USB_SIZ_PLATFORM_HDR + PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
pbio_uuid128_le_copy(ptr, pbio_pybricks_hub_capabilities_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Hub Capabilities
pbio_pybricks_hub_capabilities(ptr,
USBD_PYBRICKS_MAX_PACKET_SIZE - 1,
PBSYS_CONFIG_APP_FEATURE_FLAGS,
pbsys_storage_get_maximum_program_size());
ptr += PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE;

/* Update wTotalLength field in BOS Descriptor */
USBD_BOSDesc_Len = ptr - USBD_BOSDesc;
USBD_BOSDesc[2] = LOBYTE(USBD_BOSDesc_Len);
USBD_BOSDesc[3] = HIBYTE(USBD_BOSDesc_Len);

/* Update bNumDeviceCaps field in BOS Descriptor */
USBD_BOSDesc[4] += 4;
}
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