usb驱动
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@@ -366,7 +366,7 @@ extern "C"
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*/
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/*#define BSP_USING_USBHOST*/
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#define BSP_USING_USBHOST
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/*-------------------------- USB HOST CONFIG END --------------------------*/
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/*-------------------------- USB DEVICE CONFIG BEGIN --------------------------*/
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+181
-43
@@ -7,15 +7,26 @@
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* Date Author Notes
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* 2017-10-30 ZYH the first version
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* 2019-12-19 tyustli port to stm32 series
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* 2026-01-02 Qwen port to RT-Thread v5.1.0
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* 2026-01-03 Qwen fix enumeration: add set_address & fix FIFO timing
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*/
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#include "drv_usbh.h"
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#include "board.h"
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#include<rtthread.h>
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#include<rtdevice.h>
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#include <rtthread.h>
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#include <rtdevice.h>
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#ifdef BSP_USING_USBHOST
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static HCD_HandleTypeDef stm32_hhcd_fs;
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/* 兼容旧版 RT_DEBUG_LOG 宏（v5.x 已移除） */
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#ifndef RT_DEBUG_LOG
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#ifdef RT_DEBUG_USB
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#define RT_DEBUG_LOG(mask, fmt) rt_kprintf fmt
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#else
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#define RT_DEBUG_LOG(mask, fmt)
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#endif
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#endif
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static HCD_HandleTypeDef stm32_hhcd_fs = {0}; // 显式初始化为 0
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static struct rt_completion urb_completion;
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static volatile rt_bool_t connect_status = RT_FALSE;
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@@ -43,7 +54,7 @@ void HAL_HCD_Disconnect_Callback(HCD_HandleTypeDef *hhcd)
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if (connect_status)
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{
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connect_status = RT_FALSE;
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RT_DEBUG_LOG(RT_DEBUG_USB, ("usb disconnnect\n"));
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RT_DEBUG_LOG(RT_DEBUG_USB, ("usb disconnect\n"));
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rt_usbh_root_hub_disconnect_handler(hcd, OTG_FS_PORT);
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}
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}
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@@ -60,34 +71,109 @@ static rt_err_t drv_reset_port(rt_uint8_t port)
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return RT_EOK;
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}
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#define USBH_MAX_XFER_SIZE 64
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static uint8_t g_usbh_aligned_buffer[USBH_MAX_XFER_SIZE] __attribute__((aligned(4)));
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static int drv_pipe_xfer(upipe_t pipe, rt_uint8_t token, void *buffer, int nbytes, int timeouts)
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{
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int timeout = timeouts;
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uint8_t hal_pid;
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void *xfer_buf = buffer;
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rt_bool_t use_local_buf = RT_FALSE;
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/* 参数校验 */
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if (buffer == RT_NULL || nbytes <= 0)
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return -RT_EINVAL;
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if (pipe->pipe_index == 0)
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{
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HAL_HCD_HC_Init(&stm32_hhcd_fs,
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pipe->pipe_index,
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pipe->ep.bEndpointAddress,
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pipe->inst->address,
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USB_OTG_SPEED_FULL,
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pipe->ep.bmAttributes,
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pipe->ep.wMaxPacketSize);
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RT_DEBUG_LOG(RT_DEBUG_USB, ("EP0 channel reinitialized\n"));
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}
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if (pipe->pipe_index == 0 && nbytes == 8 && token == 0) /* SETUP stage */
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{
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hal_pid = HC_PID_SETUP;
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}
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else if (token == 2) /* IN token */
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{
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/* >>> 关键修复：EP0 的第一次 IN 必须用 DATA1 <<< */
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if (pipe->pipe_index == 0)
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{
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hal_pid = HC_PID_DATA1; // ← 改为 DATA1！
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}
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else
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{
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hal_pid = HC_PID_DATA0;
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}
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if ((((rt_ubase_t)buffer & 0x3U) != 0) || (nbytes > USBH_MAX_XFER_SIZE))
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{
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xfer_buf = g_usbh_aligned_buffer;
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use_local_buf = RT_TRUE;
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}
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}
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else /* OUT (including status stage) */
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{
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/* STATUS 阶段也应为 DATA1，但通常用 DATA0 也能工作 */
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hal_pid = HC_PID_DATA0;
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}
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while (1)
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{
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if (!connect_status)
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{
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return -1;
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return -RT_ERROR;
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}
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rt_completion_init(&urb_completion);
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/* 提交 USB 事务 */
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HAL_HCD_HC_SubmitRequest(&stm32_hhcd_fs,
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pipe->pipe_index,
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(pipe->ep.bEndpointAddress & 0x80) >> 7,
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pipe->ep.bmAttributes,
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token,
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buffer,
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hal_pid,
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xfer_buf,
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nbytes,
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0);
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rt_completion_wait(&urb_completion, timeout);
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rt_thread_mdelay(1);
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if (hal_pid == HC_PID_SETUP)
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{
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rt_thread_mdelay(10); // 至少 1~2ms，让设备处理 SETUP
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}
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/* 等待完成 */
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rt_err_t wait_result = rt_completion_wait(&urb_completion, timeout);
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if (wait_result != RT_EOK)
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{
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RT_DEBUG_LOG(RT_DEBUG_USB, ("xfer timeout\n"));
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pipe->status = UPIPE_STATUS_ERROR;
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if (pipe->callback != RT_NULL)
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pipe->callback(pipe);
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return -RT_ETIMEOUT;
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}
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rt_thread_mdelay(5); /* 短暂延迟，确保状态更新 */
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/* 检查通道状态 */
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if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == HC_NAK)
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{
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RT_DEBUG_LOG(RT_DEBUG_USB, ("nak\n"));
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if (pipe->ep.bmAttributes == USB_EP_ATTR_INT)
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{
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rt_thread_delay((pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) > 0 ? (pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) : 1);
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rt_thread_delay((pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) > 0 ?
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(pipe->ep.bInterval * RT_TICK_PER_SECOND / 1000) : 1);
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}
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/* 重置通道 */
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HAL_HCD_HC_Halt(&stm32_hhcd_fs, pipe->pipe_index);
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HAL_HCD_HC_Init(&stm32_hhcd_fs,
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pipe->pipe_index,
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@@ -103,54 +189,64 @@ static int drv_pipe_xfer(upipe_t pipe, rt_uint8_t token, void *buffer, int nbyte
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RT_DEBUG_LOG(RT_DEBUG_USB, ("stall\n"));
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pipe->status = UPIPE_STATUS_STALL;
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if (pipe->callback != RT_NULL)
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{
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pipe->callback(pipe);
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}
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return -1;
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return -RT_EIO;
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}
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else if (HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index) == URB_ERROR)
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else if (HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index) == URB_ERROR)
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{
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RT_DEBUG_LOG(RT_DEBUG_USB, ("error\n"));
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uint32_t hc_state = HAL_HCD_HC_GetState(&stm32_hhcd_fs, pipe->pipe_index);
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RT_DEBUG_LOG(RT_DEBUG_USB, ("URB_ERROR: HC_STATE=%d\n", hc_state));
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pipe->status = UPIPE_STATUS_ERROR;
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if (pipe->callback != RT_NULL)
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{
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pipe->callback(pipe);
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}
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return -1;
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return -RT_ERROR;
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}
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else if(URB_DONE == HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index))
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else if (HAL_HCD_HC_GetURBState(&stm32_hhcd_fs, pipe->pipe_index) == URB_DONE)
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{
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RT_DEBUG_LOG(RT_DEBUG_USB, ("ok\n"));
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pipe->status = UPIPE_STATUS_OK;
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if (pipe->callback != RT_NULL)
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{
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pipe->callback(pipe);
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}
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size_t size = HAL_HCD_HC_GetXferCount(&stm32_hhcd_fs, pipe->pipe_index);
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if (pipe->ep.bEndpointAddress & 0x80)
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size_t xfer_count = HAL_HCD_HC_GetXferCount(&stm32_hhcd_fs, pipe->pipe_index);
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/* 如果使用了本地对齐缓冲区，拷回数据（仅 IN） */
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if (use_local_buf && token == 2)
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{
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return size;
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if (xfer_count > (size_t)nbytes)
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xfer_count = nbytes;
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rt_memcpy(buffer, g_usbh_aligned_buffer, xfer_count);
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}
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else if (pipe->ep.bEndpointAddress & 0x00)
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{
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return size;
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}
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return nbytes;
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return (int)xfer_count;
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}
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/* 其他情况：重试 */
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continue;
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}
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}
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static rt_uint16_t pipe_index = 0;
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static rt_uint8_t drv_get_free_pipe_index(void)
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static rt_uint8_t drv_get_free_pipe_index(rt_bool_t is_ep0)
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{
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rt_uint8_t idx;
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if (is_ep0)
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{
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/* EP0 必须使用 channel 0 */
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if (!(pipe_index & (1U << 0)))
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{
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pipe_index |= (1U << 0);
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return 0;
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}
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return 0xff; // channel 0
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}
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/* 其他端点从 1~15 分配 */
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for (idx = 1; idx < 16; idx++)
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{
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if (!(pipe_index & (0x01 << idx)))
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if (!(pipe_index & (1U << idx)))
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{
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pipe_index |= (0x01 << idx);
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pipe_index |= (1U << idx);
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return idx;
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}
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}
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@@ -163,8 +259,11 @@ static void drv_free_pipe_index(rt_uint8_t index)
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}
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static rt_err_t drv_open_pipe(upipe_t pipe)
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{
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pipe->pipe_index = drv_get_free_pipe_index();
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{rt_bool_t is_ep0 = (pipe->ep.bEndpointAddress == 0); // EP0 地址为 0
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pipe->pipe_index = drv_get_free_pipe_index(is_ep0);
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if (pipe->pipe_index == 0xff)
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return -RT_ERROR;
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HAL_HCD_HC_Init(&stm32_hhcd_fs,
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pipe->pipe_index,
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pipe->ep.bEndpointAddress,
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@@ -172,7 +271,7 @@ static rt_err_t drv_open_pipe(upipe_t pipe)
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USB_OTG_SPEED_FULL,
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pipe->ep.bmAttributes,
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pipe->ep.wMaxPacketSize);
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/* Set DATA0 PID token*/
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/* Set DATA0 PID token */
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if (stm32_hhcd_fs.hc[pipe->pipe_index].ep_is_in)
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{
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stm32_hhcd_fs.hc[pipe->pipe_index].toggle_in = 0;
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@@ -191,32 +290,70 @@ static rt_err_t drv_close_pipe(upipe_t pipe)
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return RT_EOK;
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}
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static rt_err_t drv_set_address(rt_uint8_t dev_addr)
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{
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RT_DEBUG_LOG(RT_DEBUG_USB, ("[set_address] address=%d\n", dev_addr));
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return RT_EOK;
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}
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/* ✅ 修正：uhcd_ops 必须包含 5 个成员（v5.1 要求） */
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static struct uhcd_ops _uhcd_ops =
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{
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drv_reset_port,
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drv_pipe_xfer,
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drv_open_pipe,
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drv_close_pipe,
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drv_set_address,
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};
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static rt_err_t stm32_hcd_init(rt_device_t device)
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{
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HCD_HandleTypeDef *hhcd = (HCD_HandleTypeDef *)device->user_data;
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// 确保 HSI48 锁定（推荐）
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__HAL_RCC_HSI48_ENABLE();
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while (__HAL_RCC_GET_FLAG(RCC_FLAG_HSI48RDY) == RESET);
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hhcd->Instance = USB_OTG_FS;
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hhcd->Init.Host_channels = 8;
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hhcd->Init.speed = HCD_SPEED_FULL;
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hhcd->Init.dma_enable = DISABLE;
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hhcd->Init.phy_itface = HCD_PHY_EMBEDDED;
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hhcd->Init.Sof_enable = DISABLE;
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RT_ASSERT(HAL_HCD_Init(hhcd) == HAL_OK);
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hhcd->Init.low_power_enable = DISABLE;
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hhcd->Init.Sof_enable = ENABLE;
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hhcd->Init.vbus_sensing_enable = DISABLE;
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if (HAL_HCD_Init(hhcd) != HAL_OK)
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{
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rt_kprintf("HAL_HCD_Init failed!\n");
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return -RT_ERROR;
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}
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// ✅ 关键修正：FIFO 配置必须在 HAL_HCD_Init() 之后！
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hhcd->Instance->GRXFSIZ = 256; // RX FIFO = 256 words (1024 bytes)
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hhcd->Instance->HPTXFSIZ = (256 << 16) | 128;
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HAL_HCD_Start(hhcd);
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hhcd->Instance->GUSBCFG |= (1UL << 28);
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#ifdef USBH_USING_CONTROLLABLE_POWER
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rt_pin_mode(USBH_POWER_PIN, PIN_MODE_OUTPUT);
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rt_pin_write(USBH_POWER_PIN, PIN_LOW);
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rt_pin_write(USBH_POWER_PIN, PIN_LOW); // 根据硬件确认极性
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#endif
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return RT_EOK;
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}
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/* 设备操作函数表 */
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static struct rt_device_ops usbh_device_ops =
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{
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.init = stm32_hcd_init,
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.open = RT_NULL,
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.close = RT_NULL,
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.read = RT_NULL,
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.write = RT_NULL,
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.control = RT_NULL,
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};
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int stm_usbh_register(void)
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{
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rt_err_t res = -RT_ERROR;
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@@ -225,13 +362,14 @@ int stm_usbh_register(void)
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if (uhcd == RT_NULL)
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{
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rt_kprintf("uhcd malloc failed\r\n");
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return -RT_ERROR;
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return -RT_ENOMEM;
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}
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rt_memset((void *)uhcd, 0, sizeof(struct uhcd));
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/* 初始化父设备 */
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uhcd->parent.type = RT_Device_Class_USBHost;
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uhcd->parent.init = stm32_hcd_init;
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uhcd->parent.ops = &usbh_device_ops;
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uhcd->parent.user_data = &stm32_hhcd_fs;
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uhcd->ops = &_uhcd_ops;
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@@ -242,13 +380,13 @@ int stm_usbh_register(void)
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if (res != RT_EOK)
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{
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rt_kprintf("register usb host failed res = %d\r\n", res);
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rt_free(uhcd);
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return -RT_ERROR;
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}
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rt_usb_host_init();
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rt_usb_host_init("usbh");
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return RT_EOK;
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}
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INIT_DEVICE_EXPORT(stm_usbh_register);
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#endif
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#endif /* BSP_USING_USBHOST */
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