main.c

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#include <stdint.h>
#include <string.h>
 
#include "ra8_board_ek_ra8d2.h"
#include "ra8_boot_entry.h"
#include "ra8_cgc.h"
#include "ra8_err.h"
#include "ra8_gpio_constants.h"
#include "ra8_isr.h"
#include "ra8_port_constants.h"
#include "ra8_port_utils.h"
#include "ra8_time.h"
#include "ra8_usb.h"
#include "usb_selftest_hid_steps.h"
 
#ifndef RA8_OFF_TARGET
#include "tx_api.h"
#include "ux_api.h"
#include "ux_dcd_ra8_usb.h"
#include "ux_device_class_hid.h"
#include "ux_device_stack.h"
 
/* Strong SysTick override: route the tick into BOTH the ra8_time millisecond
 * counter (for ra8_delay_ms and the polled host stack's timeouts) AND
 * ThreadX's timer; the 1 ms pulse also recovers the DCD's storm-guard mask. */
 
extern void _tx_timer_interrupt(void);

static volatile bool s_tx_kernel_up = false;
 
void SysTick_Handler(void);
void SysTick_Handler(void)
{
  ra8_time_on_tick();
  if (s_tx_kernel_up) {
    _tx_timer_interrupt();
    ux_dcd_ra8_usb_irq_reenable();
  }
}
#endif
 
/* -------------------------------------------------------------------------- */
/* Pinout (FSP-aligned, EK-RA8D2 v1 User's Manual) */
/* -------------------------------------------------------------------------- */

static const ra8_port_pin_t k_hid_pin_fs_vbus = (ra8_port_pin_t)k_ra8_board_usbfs_pin_vbus;

static const ra8_port_pin_t k_hid_pin_fs_vbusen = (ra8_port_pin_t)k_ra8_board_usbfs_pin_vbusen;

static const ra8_port_pin_t k_hid_pin_fs_dp = (ra8_port_pin_t)k_ra8_board_usbfs_pin_dp;

static const ra8_port_pin_t k_hid_pin_fs_dm = (ra8_port_pin_t)k_ra8_board_usbfs_pin_dm;

static const ra8_port_pin_t k_hid_pin_hs_vbus = (ra8_port_pin_t)k_ra8_board_usbhs_pin_vbus;

static const ra8_port_pin_t k_hid_pin_hs_pwr = (ra8_port_pin_t)k_ra8_board_usbhs_pin_pwr;
 
/* -------------------------------------------------------------------------- */
/* Tunables */
/* -------------------------------------------------------------------------- */
 
/*
 * The compile-time setting enums shared across the three translation units --
 * ::hid_config_t, ::hid_hex_t, ::hid_geom_t -- live in
 * `usb_selftest_hid_steps.h`. The host-only enums ::hid_phase_t,
 * ::hid_usb_req_t, and ::hid_enum_tune_t are private to the host cluster in
 * `src/usb_selftest_hid_host.c`; the console-only ::hid_mask_t is private to
 * `src/usb_selftest_hid_console.c`. Only the device-progress enum below stays
 * in this unit.
 */

typedef enum : uint32_t {
  k_hid_dev_step_stack  = 1U, 
  k_hid_dev_step_class  = 2U, 
  k_hid_dev_step_dcd    = 3U, 
  k_hid_dev_step_attach = 4U, 
  k_hid_dev_step_send   = 5U, 
} hid_dev_step_t;
 
#ifndef RA8_OFF_TARGET
 
/* -------------------------------------------------------------------------- */
/* ThreadX workers + USBX pool storage */
/* -------------------------------------------------------------------------- */

static TX_THREAD s_device_thread;

static UCHAR s_device_stack[k_hid_thread_stack];

static TX_THREAD s_host_thread;

static UCHAR s_host_stack[k_hid_host_stack];

static UCHAR s_usbx_pool[k_hid_usbx_pool_bytes];

static UX_SLAVE_CLASS_HID* s_hid_class = UX_NULL;

static TX_SEMAPHORE s_hid_active_sem;
 
/* -------------------------------------------------------------------------- */
/* J-Link probes (device side; host-side probes live in the host cluster) */
/* -------------------------------------------------------------------------- */

static volatile uint32_t s_dbg_dev_sent;
static volatile uint32_t s_dbg_dev_step;
static volatile uint32_t s_dbg_dev_err;
 
/* -------------------------------------------------------------------------- */
/* HID Report Descriptor (vendor-defined, one 8-byte input report) */
/* -------------------------------------------------------------------------- */
 
/* A minimal vendor-defined collection with a single 8-byte input report
 * (Report Size 8 bits x Report Count 8). 21 bytes total. The host does not
 * parse this -- it only needs the device to expose an interrupt-IN report
 * of a known width -- but a real HID device must publish a report
 * descriptor, so the enumeration is genuinely HID-class. */
static UCHAR s_report_descriptor[] = {
  0x06U, 0x00U, 0xFFU, /* Usage Page (Vendor Defined 0xFF00) */
  0x09U, 0x01U,        /* Usage (0x01)                       */
  0xA1U, 0x01U,        /* Collection (Application)           */
  0x09U, 0x01U,        /* Usage (0x01)                       */
  0x15U, 0x00U,        /* Logical Minimum (0)                */
  0x26U, 0xFFU, 0x00U, /* Logical Maximum (255)              */
  0x75U, 0x08U,        /* Report Size (8 bits)               */
  0x95U, 0x08U,        /* Report Count (8)                   */
  0x81U, 0x02U,        /* Input (Data,Var,Abs)               */
  0xC0U,               /* End Collection                     */
};
 
/* -------------------------------------------------------------------------- */
/* USB descriptors (HID: one interface, one interrupt-IN endpoint) */
/* -------------------------------------------------------------------------- */
 
/* HID config: one HID interface (class 0x03, no boot subclass), one
 * interrupt-IN endpoint EP1 IN (64-byte MPS), no OUT endpoint. Total config
 * blob = 9 (config) + 9 (interface) + 9 (HID class) + 7 (EP IN) = 34 = 0x22.
 * Layout per USB 2.0 sec 9.6 + HID 1.11 sec 6.2.1. PID 0x0018 marks the HID
 * self-test identity. */
static UCHAR s_device_framework_fs[] = {
  /* Device descriptor (USB 2.0 sec 9.6.1) -- 18 bytes. */
  0x12U,
  0x01U,
  0x00U,
  0x02U,
  0x00U,
  0x00U,
  0x00U,
  0x40U,
  0x09U,
  0x12U,
  0x18U, /* PID = 0x0018 (pid.codes test). */
  0x00U,
  0x00U,
  0x01U,
  0x01U,
  0x02U,
  0x03U,
  0x01U,
  /* Configuration descriptor (34 bytes total = 0x22). */
  0x09U,
  0x02U,
  0x22U,
  0x00U,
  0x01U,
  0x01U,
  0x00U,
  0x80U,
  0x32U,
  /* Interface descriptor -- HID, no boot subclass, no protocol. */
  0x09U,
  0x04U,
  0x00U,
  0x00U,
  0x01U,
  0x03U,
  0x00U,
  0x00U,
  0x00U,
  /* HID class descriptor (HID 1.11 sec 6.2.1) -- 9 bytes. bcdHID 0x0111,
     one report descriptor of sizeof(s_report_descriptor) = 21 (0x15). */
  0x09U,
  0x21U,
  0x11U,
  0x01U,
  0x00U,
  0x01U,
  0x22U,
  0x15U,
  0x00U,
  /* Interrupt-IN endpoint (EP1 IN, 64-byte MPS, 1 ms poll). */
  0x07U,
  0x05U,
  0x81U,
  0x03U,
  0x40U,
  0x00U,
  0x01U,
};

static UCHAR s_string_framework[] = {
  /* idx 1: "Brighton Sikarskie". */
  0x09U,
  0x04U,
  0x01U,
  0x12U,
  'B',
  'r',
  'i',
  'g',
  'h',
  't',
  'o',
  'n',
  ' ',
  'S',
  'i',
  'k',
  'a',
  'r',
  's',
  'k',
  'i',
  'e',
  /* idx 2: "RA8D2 HID TEST". */
  0x09U,
  0x04U,
  0x02U,
  0x0EU,
  'R',
  'A',
  '8',
  'D',
  '2',
  ' ',
  'H',
  'I',
  'D',
  ' ',
  'T',
  'E',
  'S',
  'T',
  /* idx 3: serial. */
  0x09U,
  0x04U,
  0x03U,
  0x08U,
  '0',
  '0',
  '0',
  '0',
  '0',
  '0',
  '1',
  '3',
};
 
/* USBX LANGID descriptor 0x0409 (English-US), little-endian byte pair. */
typedef enum : uint8_t {
  k_usb_langid_en_us_lo = 0x09U, 
  k_usb_langid_en_us_hi = 0x04U, 
} usb_langid_byte_t;

static UCHAR s_language_id_framework[] = {k_usb_langid_en_us_lo, k_usb_langid_en_us_hi};
 
/* -------------------------------------------------------------------------- */
/* Shared HID report pattern */
/* -------------------------------------------------------------------------- */

void hid_fill_report_body(uint8_t* out, uint32_t len)
{
  for (uint32_t i = (uint32_t)k_hid_body_idx; i < len; i++) {
    const uint32_t v = (i * (uint32_t)k_hid_pat_idx_mul) + (uint32_t)k_hid_pat_bias;
    out[i]           = (uint8_t)(v & (uint32_t)k_hid_byte_mask);
  }
}
 
/* -------------------------------------------------------------------------- */
/* HID activate / deactivate callbacks */
/* -------------------------------------------------------------------------- */

static VOID hid_activate(VOID* hid_instance)
{
  s_hid_class = (UX_SLAVE_CLASS_HID*)hid_instance;
  if (_ux_system_slave != UX_NULL) {
    _ux_system_slave->ux_system_slave_device.ux_slave_device_state =
      (unsigned long)UX_DEVICE_CONFIGURED;
  }
  (void)tx_semaphore_put(&s_hid_active_sem);
}

static VOID hid_deactivate(VOID* hid_instance)
{
  (void)hid_instance;
  s_hid_class = UX_NULL;
}
 
/* -------------------------------------------------------------------------- */
/* Device side: USBX HID interrupt-IN reports */
/* -------------------------------------------------------------------------- */

static UINT hid_usbx_stack_up(void)
{
  if (_ux_system_initialize(s_usbx_pool, k_hid_usbx_pool_bytes, UX_NULL, 0) != UX_SUCCESS) {
    return UX_ERROR;
  }
  return _ux_device_stack_initialize((UCHAR*)UX_NULL,
                                     0,
                                     s_device_framework_fs,
                                     sizeof(s_device_framework_fs),
                                     s_string_framework,
                                     sizeof(s_string_framework),
                                     s_language_id_framework,
                                     sizeof(s_language_id_framework),
                                     UX_NULL);
}

static UINT hid_get_callback(UX_SLAVE_CLASS_HID* hid, UX_SLAVE_CLASS_HID_EVENT* hid_event)
{
  (void)hid;
  hid_event->ux_device_class_hid_event_length      = (ULONG)k_hid_report_len;
  hid_event->ux_device_class_hid_event_report_id   = 0UL;
  hid_event->ux_device_class_hid_event_report_type = (ULONG)UX_DEVICE_CLASS_HID_REPORT_TYPE_INPUT;
  hid_fill_report_body(hid_event->ux_device_class_hid_event_buffer, (uint32_t)k_hid_report_len);
  hid_event->ux_device_class_hid_event_buffer[k_hid_seq_idx] = 0U;
  return UX_SUCCESS;
}

static UINT hid_class_register(void)
{
  UX_SLAVE_CLASS_HID_PARAMETER hid_params = {
    .ux_slave_class_hid_instance_activate         = hid_activate,
    .ux_slave_class_hid_instance_deactivate       = hid_deactivate,
    .ux_device_class_hid_parameter_report_address = s_report_descriptor,
    .ux_device_class_hid_parameter_report_id      = 0UL,
    .ux_device_class_hid_parameter_report_length  = (ULONG)sizeof(s_report_descriptor),
    .ux_device_class_hid_parameter_callback       = UX_NULL,
    .ux_device_class_hid_parameter_get_callback   = hid_get_callback,
  };
  static UCHAR s_class_name[] = "ux_slave_class_hid";
 
  return _ux_device_stack_class_register(s_class_name,
                                         _ux_device_class_hid_entry,
                                         1,
                                         0,
                                         &hid_params);
}

static void hid_send_iter(uint32_t* seq)
{
  if (_ux_system_slave != UX_NULL) {
    _ux_system_slave->ux_system_slave_device.ux_slave_device_state =
      (unsigned long)UX_DEVICE_CONFIGURED;
  }
  UX_SLAVE_CLASS_HID_EVENT ev;
  (void)memset(&ev, 0, sizeof(ev));
  ev.ux_device_class_hid_event_length      = (ULONG)k_hid_report_len;
  ev.ux_device_class_hid_event_report_id   = 0UL;
  ev.ux_device_class_hid_event_report_type = (ULONG)UX_DEVICE_CLASS_HID_REPORT_TYPE_INPUT;
  hid_fill_report_body(ev.ux_device_class_hid_event_buffer, (uint32_t)k_hid_report_len);
  ev.ux_device_class_hid_event_buffer[k_hid_seq_idx] = (UCHAR)(*seq & (uint32_t)k_hid_byte_mask);
  if (_ux_device_class_hid_event_set(s_hid_class, &ev) == UX_SUCCESS) {
    (*seq)++;
    s_dbg_dev_sent++;
    (void)ra8_board_led_toggle(k_ra8_board_led1);
  }
  tx_thread_sleep(1U);
}

static VOID hid_device_worker(ULONG arg)
{
  (void)arg;
 
  UINT ux = hid_usbx_stack_up();
  if (ux != UX_SUCCESS) {
    s_dbg_dev_err = (uint32_t)ux;
    return;
  }
  s_dbg_dev_step = (uint32_t)k_hid_dev_step_stack;
  ux             = hid_class_register();
  if (ux != UX_SUCCESS) {
    s_dbg_dev_err = (uint32_t)ux;
    return;
  }
  s_dbg_dev_step = (uint32_t)k_hid_dev_step_class;
  ra8_err_t e    = ux_dcd_ra8_usb_initialize(k_ra8_usb_speed_fs);
  if (e != k_ra8_ok) {
    s_dbg_dev_err = (uint32_t)e;
    return;
  }
  s_dbg_dev_step = (uint32_t)k_hid_dev_step_dcd;
  e              = ra8_usb_device_attach(k_ra8_usb_speed_fs, true);
  if (e != k_ra8_ok) {
    s_dbg_dev_err = (uint32_t)e;
    return;
  }
  s_dbg_dev_step = (uint32_t)k_hid_dev_step_attach;
 
  uint32_t seq = 0U;
  while (1) {
    if (s_hid_class == UX_NULL) {
      (void)tx_semaphore_get(&s_hid_active_sem, TX_WAIT_FOREVER);
      continue;
    }
    s_dbg_dev_step = (uint32_t)k_hid_dev_step_send;
    hid_send_iter(&seq);
  }
}

VOID tx_application_define(VOID* first_unused_memory)
{
  static CHAR s_semaphore_name[]     = "hid_active";
  static CHAR s_device_thread_name[] = "hid_device";
  static CHAR s_host_thread_name[]   = "hid_host";
 
  (void)first_unused_memory;
  s_tx_kernel_up = true;
  (void)tx_semaphore_create(&s_hid_active_sem, s_semaphore_name, 0U);
  (void)tx_thread_create(&s_device_thread,
                         s_device_thread_name,
                         hid_device_worker,
                         0UL,
                         s_device_stack,
                         k_hid_thread_stack,
                         (UINT)k_hid_dev_priority,
                         (UINT)k_hid_dev_priority,
                         TX_NO_TIME_SLICE,
                         TX_AUTO_START);
  (void)tx_thread_create(&s_host_thread,
                         s_host_thread_name,
                         hid_host_worker,
                         0UL,
                         s_host_stack,
                         k_hid_host_stack,
                         (UINT)k_hid_host_priority,
                         (UINT)k_hid_host_priority,
                         TX_NO_TIME_SLICE,
                         TX_AUTO_START);
}
#endif /* !RA8_OFF_TARGET */
 
/* -------------------------------------------------------------------------- */
/* Startup */
/* -------------------------------------------------------------------------- */

static void hid_panic_halt(void)
{
  while (1) {
    __asm__ volatile("wfi");
  }
}

static void hid_route_usb_or_halt(void)
{
  if (ra8_pfs_route_peripheral(k_hid_pin_fs_vbus, k_ra8_psel_usb_fs, "hid.fs_vbus") != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_gpio_output_init(k_hid_pin_fs_vbusen, k_ra8_level_low) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_pfs_route_peripheral(k_hid_pin_fs_dp, k_ra8_psel_usb_fs, "hid.fs_dp") != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_pfs_route_peripheral(k_hid_pin_fs_dm, k_ra8_psel_usb_fs, "hid.fs_dm") != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_board_io_expander_set_usbhs_host_mode() != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_gpio_output_init(k_hid_pin_hs_pwr, k_ra8_level_high) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_pfs_route_peripheral(k_hid_pin_hs_vbus, k_ra8_psel_usb_hs, "hid.hs_vbus") != k_ra8_ok) {
    hid_panic_halt();
  }
}

static void hid_setup_or_halt(void)
{
  uint32_t cpuclk0_hz = 0U;
  if (ra8_cgc_init() != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_cgc_usbfs_clock_enable() != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_cgc_usbhs_pll_enable() != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_cgc_get_clock_hz(k_ra8_clock_id_cpuclk0, &cpuclk0_hz) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_time_init(cpuclk0_hz) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_board_uart_console_init((uint32_t)k_hid_baud) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_board_led_init(k_ra8_board_led1) != k_ra8_ok) {
    hid_panic_halt();
  }
  if (ra8_board_led_init(k_ra8_board_led2) != k_ra8_ok) {
    hid_panic_halt();
  }
  hid_route_usb_or_halt();
}

void main(void)
{
  hid_setup_or_halt();
 
  ra8_isr_globals_enable();
 
#ifndef RA8_OFF_TARGET
  tx_kernel_enter();
#endif
 
  hid_panic_halt();
}