CherryUSB/demo/cdc_acm_mavlink_template.c

/*
 * Copyright (c) 2025, sakumisu
 *
 * SPDX-License-Identifier: Apache-2.0
 */
#include "usbd_core.h"
#include "usbd_cdc_acm.h"
#include "chry_ringbuffer.h"
#include <mavlink.h>

/*!< endpoint address */
#define CDC_IN_EP          0x81
#define CDC_OUT_EP         0x02
#define CDC_INT_EP         0x83

#define USBD_VID           0xFFFF
#define USBD_PID           0xFFFF
#define USBD_MAX_POWER     100
#define USBD_LANGID_STRING 1033

/*!< config descriptor size */
#define USB_CONFIG_SIZE    (9 + CDC_ACM_DESCRIPTOR_LEN)

#ifdef CONFIG_USB_HS
#define CDC_MAX_MPS 512
#else
#define CDC_MAX_MPS 64
#endif

#ifdef CONFIG_USBDEV_ADVANCE_DESC
static const uint8_t device_descriptor[] = {
    USB_DEVICE_DESCRIPTOR_INIT(USB_2_0, 0xEF, 0x02, 0x01, USBD_VID, USBD_PID, 0x0100, 0x01)
};

static const uint8_t config_descriptor[] = {
    USB_CONFIG_DESCRIPTOR_INIT(USB_CONFIG_SIZE, 0x02, 0x01, USB_CONFIG_BUS_POWERED, USBD_MAX_POWER),
    CDC_ACM_DESCRIPTOR_INIT(0x00, CDC_INT_EP, CDC_OUT_EP, CDC_IN_EP, CDC_MAX_MPS, 0x02)
};

static const uint8_t device_quality_descriptor[] = {
    ///////////////////////////////////////
    /// device qualifier descriptor
    ///////////////////////////////////////
    0x0a,
    USB_DESCRIPTOR_TYPE_DEVICE_QUALIFIER,
    0x00,
    0x02,
    0x00,
    0x00,
    0x00,
    0x40,
    0x00,
    0x00,
};

static const char *string_descriptors[] = {
    (const char[]){ 0x09, 0x04 }, /* Langid */
    "CherryUSB",                  /* Manufacturer */
    "CherryUSB CDC DEMO",         /* Product */
    "2022123456",                 /* Serial Number */
};

static const uint8_t *device_descriptor_callback(uint8_t speed)
{
    return device_descriptor;
}

static const uint8_t *config_descriptor_callback(uint8_t speed)
{
    return config_descriptor;
}

static const uint8_t *device_quality_descriptor_callback(uint8_t speed)
{
    return device_quality_descriptor;
}

static const char *string_descriptor_callback(uint8_t speed, uint8_t index)
{
    if (index > 3) {
        return NULL;
    }
    return string_descriptors[index];
}

const struct usb_descriptor cdc_descriptor = {
    .device_descriptor_callback = device_descriptor_callback,
    .config_descriptor_callback = config_descriptor_callback,
    .device_quality_descriptor_callback = device_quality_descriptor_callback,
    .string_descriptor_callback = string_descriptor_callback
};
#else
/*!< global descriptor */
static const uint8_t cdc_descriptor[] = {
    USB_DEVICE_DESCRIPTOR_INIT(USB_2_0, 0xEF, 0x02, 0x01, USBD_VID, USBD_PID, 0x0100, 0x01),
    USB_CONFIG_DESCRIPTOR_INIT(USB_CONFIG_SIZE, 0x02, 0x01, USB_CONFIG_BUS_POWERED, USBD_MAX_POWER),
    CDC_ACM_DESCRIPTOR_INIT(0x00, CDC_INT_EP, CDC_OUT_EP, CDC_IN_EP, CDC_MAX_MPS, 0x02),
    ///////////////////////////////////////
    /// string0 descriptor
    ///////////////////////////////////////
    USB_LANGID_INIT(USBD_LANGID_STRING),
    ///////////////////////////////////////
    /// string1 descriptor
    ///////////////////////////////////////
    0x14,                       /* bLength */
    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
    'C', 0x00,                  /* wcChar0 */
    'h', 0x00,                  /* wcChar1 */
    'e', 0x00,                  /* wcChar2 */
    'r', 0x00,                  /* wcChar3 */
    'r', 0x00,                  /* wcChar4 */
    'y', 0x00,                  /* wcChar5 */
    'U', 0x00,                  /* wcChar6 */
    'S', 0x00,                  /* wcChar7 */
    'B', 0x00,                  /* wcChar8 */
    ///////////////////////////////////////
    /// string2 descriptor
    ///////////////////////////////////////
    0x26,                       /* bLength */
    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
    'C', 0x00,                  /* wcChar0 */
    'h', 0x00,                  /* wcChar1 */
    'e', 0x00,                  /* wcChar2 */
    'r', 0x00,                  /* wcChar3 */
    'r', 0x00,                  /* wcChar4 */
    'y', 0x00,                  /* wcChar5 */
    'U', 0x00,                  /* wcChar6 */
    'S', 0x00,                  /* wcChar7 */
    'B', 0x00,                  /* wcChar8 */
    ' ', 0x00,                  /* wcChar9 */
    'C', 0x00,                  /* wcChar10 */
    'D', 0x00,                  /* wcChar11 */
    'C', 0x00,                  /* wcChar12 */
    ' ', 0x00,                  /* wcChar13 */
    'D', 0x00,                  /* wcChar14 */
    'E', 0x00,                  /* wcChar15 */
    'M', 0x00,                  /* wcChar16 */
    'O', 0x00,                  /* wcChar17 */
    ///////////////////////////////////////
    /// string3 descriptor
    ///////////////////////////////////////
    0x16,                       /* bLength */
    USB_DESCRIPTOR_TYPE_STRING, /* bDescriptorType */
    '2', 0x00,                  /* wcChar0 */
    '0', 0x00,                  /* wcChar1 */
    '2', 0x00,                  /* wcChar2 */
    '2', 0x00,                  /* wcChar3 */
    '1', 0x00,                  /* wcChar4 */
    '2', 0x00,                  /* wcChar5 */
    '3', 0x00,                  /* wcChar6 */
    '4', 0x00,                  /* wcChar7 */
    '5', 0x00,                  /* wcChar8 */
    '6', 0x00,                  /* wcChar9 */
#ifdef CONFIG_USB_HS
    ///////////////////////////////////////
    /// device qualifier descriptor
    ///////////////////////////////////////
    0x0a,
    USB_DESCRIPTOR_TYPE_DEVICE_QUALIFIER,
    0x00,
    0x02,
    0x00,
    0x00,
    0x00,
    0x40,
    0x00,
    0x00,
#endif
    0x00
};
#endif

chry_ringbuffer_t usb_rx_rb;
uint8_t usb_rx_buffer[2048];

USB_NOCACHE_RAM_SECTION USB_MEM_ALIGNX uint8_t temp_rx_buffer[512];
USB_NOCACHE_RAM_SECTION USB_MEM_ALIGNX uint8_t usb_tx_buffer[MAVLINK_MAX_PACKET_LEN];

volatile bool ep_tx_busy_flag = false;

static void usbd_event_handler(uint8_t busid, uint8_t event)
{
    switch (event) {
        case USBD_EVENT_RESET:
            break;
        case USBD_EVENT_CONNECTED:
            break;
        case USBD_EVENT_DISCONNECTED:
            break;
        case USBD_EVENT_RESUME:
            break;
        case USBD_EVENT_SUSPEND:
            break;
        case USBD_EVENT_CONFIGURED:
            ep_tx_busy_flag = false;
            /* setup first out ep read transfer */
            usbd_ep_start_read(busid, CDC_OUT_EP, temp_rx_buffer, usbd_get_ep_mps(busid, CDC_OUT_EP));
            break;
        case USBD_EVENT_SET_REMOTE_WAKEUP:
            break;
        case USBD_EVENT_CLR_REMOTE_WAKEUP:
            break;

        default:
            break;
    }
}

void usbd_cdc_acm_bulk_out(uint8_t busid, uint8_t ep, uint32_t nbytes)
{
    USB_LOG_RAW("actual out len:%d\r\n", (unsigned int)nbytes);

    chry_ringbuffer_write(&usb_rx_rb, temp_rx_buffer, nbytes);
    usbd_ep_start_read(busid, CDC_OUT_EP, temp_rx_buffer, usbd_get_ep_mps(busid, CDC_OUT_EP));
}

void usbd_cdc_acm_bulk_in(uint8_t busid, uint8_t ep, uint32_t nbytes)
{
    USB_LOG_RAW("actual in len:%d\r\n", (unsigned int)nbytes);

    if ((nbytes % usbd_get_ep_mps(busid, ep)) == 0 && nbytes) {
        /* send zlp */
        usbd_ep_start_write(busid, CDC_IN_EP, NULL, 0);
    } else {
        ep_tx_busy_flag = false;
    }
}

/*!< endpoint call back */
struct usbd_endpoint cdc_out_ep = {
    .ep_addr = CDC_OUT_EP,
    .ep_cb = usbd_cdc_acm_bulk_out
};

struct usbd_endpoint cdc_in_ep = {
    .ep_addr = CDC_IN_EP,
    .ep_cb = usbd_cdc_acm_bulk_in
};

static struct usbd_interface intf0;
static struct usbd_interface intf1;

void cdc_acm_mavlink_init(uint8_t busid, uintptr_t reg_base)
{
    chry_ringbuffer_init(&usb_rx_rb, usb_rx_buffer, sizeof(usb_rx_buffer));
#ifdef CONFIG_USBDEV_ADVANCE_DESC
    usbd_desc_register(busid, &cdc_descriptor);
#else
    usbd_desc_register(busid, cdc_descriptor);
#endif
    usbd_add_interface(busid, usbd_cdc_acm_init_intf(busid, &intf0));
    usbd_add_interface(busid, usbd_cdc_acm_init_intf(busid, &intf1));
    usbd_add_endpoint(busid, &cdc_out_ep);
    usbd_add_endpoint(busid, &cdc_in_ep);
    usbd_initialize(busid, reg_base, usbd_event_handler);
}

void cdc_acm_mavlink_write(uint8_t *data, uint32_t len)
{
    if (!usb_device_is_configured(0)) {
        return;
    }
    ep_tx_busy_flag = true;
    usbd_ep_start_write(0, CDC_IN_EP, data, len);
    while (ep_tx_busy_flag) {
    }
}

void send_heartbeat(void)
{
    mavlink_message_t message;

    const uint8_t system_id = 42;
    const uint8_t base_mode = 0;
    const uint8_t custom_mode = 0;
    mavlink_msg_heartbeat_pack_chan(
        system_id,
        MAV_COMP_ID_PERIPHERAL,
        MAVLINK_COMM_0,
        &message,
        MAV_TYPE_GENERIC,
        MAV_AUTOPILOT_GENERIC,
        base_mode,
        custom_mode,
        MAV_STATE_STANDBY);

    const int len = mavlink_msg_to_send_buffer(usb_tx_buffer, &message);
    cdc_acm_mavlink_write(usb_tx_buffer, len);
}

void handle_heartbeat(const mavlink_message_t *message)
{
    mavlink_heartbeat_t heartbeat;
    mavlink_msg_heartbeat_decode(message, &heartbeat);

    USB_LOG_RAW("Got heartbeat from ");
    switch (heartbeat.autopilot) {
        case MAV_AUTOPILOT_GENERIC:
            USB_LOG_RAW("generic");
            break;
        case MAV_AUTOPILOT_ARDUPILOTMEGA:
            USB_LOG_RAW("ArduPilot");
            break;
        case MAV_AUTOPILOT_PX4:
            USB_LOG_RAW("PX4");
            break;
        default:
            USB_LOG_RAW("other");
            break;
    }
    USB_LOG_RAW(" autopilot\n");

    send_heartbeat();
}

void mavlink_polling(void)
{
    uint8_t ch;
    bool ret;
    mavlink_message_t message;
    mavlink_status_t status;

    ret = chry_ringbuffer_read_byte(&usb_rx_rb, &ch);
    if (ret) {
        if (mavlink_parse_char(MAVLINK_COMM_0, ch, &message, &status) == 1) {
            USB_LOG_INFO(
                "Received message %d from %d/%d\n",
                message.msgid, message.sysid, message.compid);

            switch (message.msgid) {
                case MAVLINK_MSG_ID_HEARTBEAT:
                    handle_heartbeat(&message);
                    break;
            }
        }
    }
}