828F/drivers/drv_usbh.c

/*
 * Copyright (c) 2006-2018, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author            Notes
 * 2017-10-30     ZYH            the first version
 * 2019-12-19     tyustli           port to stm32 series
 * 2026-01-02     Qwen              port to RT-Thread v5.1.0
 * 2026-01-03     Qwen              fix enumeration: add set_address & fix FIFO timing
 */
#include "drv_usbh.h"
#include "board.h"
#include <rtthread.h>
#include <rtdevice.h>

#ifdef BSP_USING_USBHOST

/* 兼容旧版 RT_DEBUG_LOG 宏（v5.x 已移除） */
#ifndef RT_DEBUG_LOG
    #ifdef RT_DEBUG_USB
        #define RT_DEBUG_LOG(mask, fmt)   rt_kprintf fmt
    #else
        #define RT_DEBUG_LOG(mask, fmt)
    #endif
#endif

static HCD_HandleTypeDef stm32_hhcd_fs = {0};  // 显式初始化为 0
static struct rt_completion urb_completion;
static volatile rt_bool_t connect_status = RT_FALSE;

void OTG_FS_IRQHandler(void)
{
    rt_interrupt_enter();
    HAL_HCD_IRQHandler(&stm32_hhcd_fs);
    rt_interrupt_leave();
}

void HAL_HCD_Connect_Callback(HCD_HandleTypeDef *hhcd)
{
    uhcd_t hcd = (uhcd_t)hhcd->pData;
    if (!connect_status)
    {
        connect_status = RT_TRUE;
        RT_DEBUG_LOG(RT_DEBUG_USB, ("usb connected\n"));
        rt_usbh_root_hub_connect_handler(hcd, OTG_FS_PORT, RT_FALSE);
    }
}

void HAL_HCD_Disconnect_Callback(HCD_HandleTypeDef *hhcd)
{
    uhcd_t hcd = (uhcd_t)hhcd->pData;
    if (connect_status)
    {
        connect_status = RT_FALSE;
        RT_DEBUG_LOG(RT_DEBUG_USB, ("usb disconnect\n"));
        rt_usbh_root_hub_disconnect_handler(hcd, OTG_FS_PORT);
    }
}

void HAL_HCD_HC_NotifyURBChange_Callback(HCD_HandleTypeDef *hhcd, uint8_t chnum, HCD_URBStateTypeDef urb_state)
{
    rt_completion_done(&urb_completion);
}

static rt_err_t drv_reset_port(rt_uint8_t port)
{
    RT_DEBUG_LOG(RT_DEBUG_USB, ("reset port\n"));
    HAL_HCD_ResetPort(&stm32_hhcd_fs);
    return RT_EOK;
}




#define USBH_MAX_XFER_SIZE    64
static uint8_t g_usbh_aligned_buffer[USBH_MAX_XFER_SIZE] __attribute__((aligned(4)));

static int drv_pipe_xfer(upipe_t pipe, rt_uint8_t token, void *buffer, int nbytes, int timeouts)
{
    int timeout = timeouts;
    uint8_t hal_pid;
    void *xfer_buf = buffer;
    rt_bool_t use_local_buf = RT_FALSE;

    /* 参数校验 */
    if (buffer == RT_NULL || nbytes <= 0)
        return -RT_EINVAL;


    if (pipe->pipe_index == 0)
        {
            HAL_HCD_HC_Init(&stm32_hhcd_fs,
                            pipe->pipe_index,
                            pipe->ep.bEndpointAddress,
                            pipe->inst->address,
                            USB_OTG_SPEED_FULL,
                            pipe->ep.bmAttributes,
                            pipe->ep.wMaxPacketSize);
            RT_DEBUG_LOG(RT_DEBUG_USB, ("EP0 channel reinitialized\n"));
        }

    if (pipe->pipe_index == 0 && nbytes == 8 && token == 0)  /* SETUP stage */
      {
          hal_pid = HC_PID_SETUP;
      }
      else if (token == 2)  /* IN token */
      {
          /* >>> 关键修复：EP0 的第一次 IN 必须用 DATA1 <<< */
          if (pipe->pipe_index == 0)
          {
              hal_pid = HC_PID_DATA1;   // ← 改为 DATA1！
          }
          else
          {
              hal_pid = HC_PID_DATA0;
          }

          if ((((rt_ubase_t)buffer & 0x3U) != 0) || (nbytes > USBH_MAX_XFER_SIZE))
          {
              xfer_buf = g_usbh_aligned_buffer;
              use_local_buf = RT_TRUE;
          }
      }
      else /* OUT (including status stage) */
      {
          /* STATUS 阶段也应为 DATA1，但通常用 DATA0 也能工作 */
          hal_pid = HC_PID_DATA0;
      }

    while (1)
    {
        if (!connect_status)
        {
            return -RT_ERROR;
        }

        rt_completion_init(&urb_completion);

        /* 提交 USB 事务 */
        HAL_HCD_HC_SubmitRequest(&stm32_hhcd_fs,
                                 pipe->pipe_index,
                                 (pipe->ep.bEndpointAddress & 0x80) >> 7,
                                 pipe->ep.bmAttributes,
                                 hal_pid,
                                 xfer_buf,
                                 nbytes,
                                 0);
        if (hal_pid == HC_PID_SETUP)
          {
              rt_thread_mdelay(10);  // 至少 1~2ms，让设备处理 SETUP
          }
        /* 等待完成 */
        rt_err_t wait_result = rt_completion_wait(&urb_completion, timeout);
        if (wait_result != RT_EOK)
        {
            RT_DEBUG_LOG(RT_DEBUG_USB, ("xfer timeout\n"));
            pipe->status = UPIPE_STATUS_ERROR;
            if (pipe->callback != RT_NULL)
                pipe->callback(pipe);
            return -RT_ETIMEOUT;
        }

        rt_thread_mdelay(5); /* 短暂延迟，确保状态更新 */

        /* 检查通道状态 */
        if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == HC_NAK)
        {
            RT_DEBUG_LOG(RT_DEBUG_USB, ("nak\n"));
            if (pipe->ep.bmAttributes == USB_EP_ATTR_INT)
            {
                rt_thread_delay((pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) > 0 ?
                                (pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) : 1);
            }
            /* 重置通道 */
            HAL_HCD_HC_Halt(&stm32_hhcd_fs, pipe->pipe_index);
            HAL_HCD_HC_Init(&stm32_hhcd_fs,
                            pipe->pipe_index,
                            pipe->ep.bEndpointAddress,
                            pipe->inst->address,
                            USB_OTG_SPEED_FULL,
                            pipe->ep.bmAttributes,
                            pipe->ep.wMaxPacketSize);
            continue;
        }
        else if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == HC_STALL)
        {
            RT_DEBUG_LOG(RT_DEBUG_USB, ("stall\n"));
            pipe->status = UPIPE_STATUS_STALL;
            if (pipe->callback != RT_NULL)
                pipe->callback(pipe);
            return -RT_EIO;
        }
        else if (HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index) == URB_ERROR)
        {
            uint32_t hc_state = HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index);
            RT_DEBUG_LOG(RT_DEBUG_USB, ("URB_ERROR: HC_STATE=%d\n", hc_state));
            pipe->status = UPIPE_STATUS_ERROR;
            if (pipe->callback != RT_NULL)
                pipe->callback(pipe);
            return -RT_ERROR;
        }
        else if (HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index) == URB_DONE)
        {
            RT_DEBUG_LOG(RT_DEBUG_USB, ("ok\n"));
            pipe->status = UPIPE_STATUS_OK;
            if (pipe->callback != RT_NULL)
                pipe->callback(pipe);

            size_t xfer_count = HAL_HCD_HC_GetXferCount(&stm32_hhcd_fs, pipe->pipe_index);

            /* 如果使用了本地对齐缓冲区，拷回数据（仅 IN） */
            if (use_local_buf && token == 2)
            {
                if (xfer_count > (size_t)nbytes)
                    xfer_count = nbytes;
                rt_memcpy(buffer, g_usbh_aligned_buffer, xfer_count);
            }

            return (int)xfer_count;
        }

        /* 其他情况：重试 */
        continue;
    }
}

static rt_uint16_t pipe_index = 0;
static rt_uint8_t drv_get_free_pipe_index(rt_bool_t is_ep0)
{
    rt_uint8_t idx;
    if (is_ep0)
    {
        /* EP0 必须使用 channel 0 */
        if (!(pipe_index & (1U << 0)))
        {
            pipe_index |= (1U << 0);
            return 0;
        }
        return 0xff; // channel 0
    }

    /* 其他端点从 1~15 分配 */
    for (idx = 1; idx < 16; idx++)
    {
        if (!(pipe_index & (1U << idx)))
        {
            pipe_index |= (1U << idx);
            return idx;
        }
    }
    return 0xff;
}

static void drv_free_pipe_index(rt_uint8_t index)
{
    pipe_index &= ~(0x01 << index);
}

static rt_err_t drv_open_pipe(upipe_t pipe)
{rt_bool_t is_ep0 = (pipe->ep.bEndpointAddress == 0); // EP0 地址为 0
    pipe->pipe_index = drv_get_free_pipe_index(is_ep0);
    if (pipe->pipe_index == 0xff)
        return -RT_ERROR;

    HAL_HCD_HC_Init(&stm32_hhcd_fs,
                    pipe->pipe_index,
                    pipe->ep.bEndpointAddress,
                    pipe->inst->address,
                    USB_OTG_SPEED_FULL,
                    pipe->ep.bmAttributes,
                    pipe->ep.wMaxPacketSize);
    /* Set DATA0 PID token */
    if (stm32_hhcd_fs.hc[pipe->pipe_index].ep_is_in)
    {
        stm32_hhcd_fs.hc[pipe->pipe_index].toggle_in = 0;
    }
    else
    {
        stm32_hhcd_fs.hc[pipe->pipe_index].toggle_out = 0;
    }
    return RT_EOK;
}

static rt_err_t drv_close_pipe(upipe_t pipe)
{
    HAL_HCD_HC_Halt(&stm32_hhcd_fs, pipe->pipe_index);
    drv_free_pipe_index(pipe->pipe_index);
    return RT_EOK;
}

static rt_err_t drv_set_address(rt_uint8_t dev_addr)
{
    RT_DEBUG_LOG(RT_DEBUG_USB, ("[set_address] address=%d\n", dev_addr));
    return RT_EOK;
}

/* ✅ 修正：uhcd_ops 必须包含 5 个成员（v5.1 要求） */
static struct uhcd_ops _uhcd_ops =
{
    drv_reset_port,
    drv_pipe_xfer,
    drv_open_pipe,
    drv_close_pipe,
    drv_set_address,
};

static rt_err_t stm32_hcd_init(rt_device_t device)
{
    HCD_HandleTypeDef *hhcd = (HCD_HandleTypeDef *)device->user_data;
    // 确保 HSI48 锁定（推荐）
    __HAL_RCC_HSI48_ENABLE();
    while (__HAL_RCC_GET_FLAG(RCC_FLAG_HSI48RDY) == RESET);

    hhcd->Instance = USB_OTG_FS;
    hhcd->Init.Host_channels = 8;
    hhcd->Init.speed = HCD_SPEED_FULL;
    hhcd->Init.dma_enable = DISABLE;
    hhcd->Init.phy_itface = HCD_PHY_EMBEDDED;
    hhcd->Init.low_power_enable = DISABLE;
    hhcd->Init.Sof_enable = ENABLE;
    hhcd->Init.vbus_sensing_enable = DISABLE;

    if (HAL_HCD_Init(hhcd) != HAL_OK)
    {
        rt_kprintf("HAL_HCD_Init failed!\n");
        return -RT_ERROR;
    }

    // ✅ 关键修正：FIFO 配置必须在 HAL_HCD_Init() 之后！
    hhcd->Instance->GRXFSIZ = 256;  // RX FIFO = 256 words (1024 bytes)
    hhcd->Instance->HPTXFSIZ = (256 << 16) | 128;

    HAL_HCD_Start(hhcd);
    hhcd->Instance->GUSBCFG |= (1UL << 28);

#ifdef USBH_USING_CONTROLLABLE_POWER
    rt_pin_mode(USBH_POWER_PIN, PIN_MODE_OUTPUT);
    rt_pin_write(USBH_POWER_PIN, PIN_LOW); // 根据硬件确认极性
#endif

    return RT_EOK;
}

/* 设备操作函数表 */
static struct rt_device_ops usbh_device_ops =
{
    .init    = stm32_hcd_init,
    .open    = RT_NULL,
    .close   = RT_NULL,
    .read    = RT_NULL,
    .write   = RT_NULL,
    .control = RT_NULL,
};

int stm_usbh_register(void)
{
    rt_err_t res = -RT_ERROR;

    uhcd_t uhcd = (uhcd_t)rt_malloc(sizeof(struct uhcd));
    if (uhcd == RT_NULL)
    {
        rt_kprintf("uhcd malloc failed\r\n");
        return -RT_ENOMEM;
    }

    rt_memset((void *)uhcd, 0, sizeof(struct uhcd));

    /* 初始化父设备 */
    uhcd->parent.type = RT_Device_Class_USBHost;
    uhcd->parent.ops = &usbh_device_ops;
    uhcd->parent.user_data = &stm32_hhcd_fs;

    uhcd->ops = &_uhcd_ops;
    uhcd->num_ports = OTG_FS_PORT;
    stm32_hhcd_fs.pData = uhcd;

    res = rt_device_register(&uhcd->parent, "usbh", RT_DEVICE_FLAG_DEACTIVATE);
    if (res != RT_EOK)
    {
        rt_kprintf("register usb host failed res = %d\r\n", res);
        rt_free(uhcd);
        return -RT_ERROR;
    }

    rt_usb_host_init("usbh");
    return RT_EOK;
}
INIT_DEVICE_EXPORT(stm_usbh_register);

#endif /* BSP_USING_USBHOST */