diff --git a/Firmware/Board/v3/Inc/usbd_cdc_if.h b/Firmware/Board/v3/Inc/usbd_cdc_if.h index c15e8b91..ed1d6705 100644 --- a/Firmware/Board/v3/Inc/usbd_cdc_if.h +++ b/Firmware/Board/v3/Inc/usbd_cdc_if.h @@ -132,7 +132,7 @@ extern USBD_CDC_ItfTypeDef USBD_Interface_fops_FS; * @{ */ -uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len); +uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len, uint8_t endpoint_pair); /* USER CODE BEGIN EXPORTED_FUNCTIONS */ /* USER CODE END EXPORTED_FUNCTIONS */ diff --git a/Firmware/Board/v3/Inc/usbd_conf.h b/Firmware/Board/v3/Inc/usbd_conf.h index bf276186..a897ba43 100644 --- a/Firmware/Board/v3/Inc/usbd_conf.h +++ b/Firmware/Board/v3/Inc/usbd_conf.h @@ -89,6 +89,7 @@ * @brief Defines for configuration of the Usb device. * @{ */ + #define MS_VendorCode 'P' /*---------- -----------*/ #define USBD_MAX_NUM_INTERFACES 1 diff --git a/Firmware/Board/v3/Inc/usbd_desc.h b/Firmware/Board/v3/Inc/usbd_desc.h index 18d1f34e..2a74de31 100644 --- a/Firmware/Board/v3/Inc/usbd_desc.h +++ b/Firmware/Board/v3/Inc/usbd_desc.h @@ -2,7 +2,7 @@ ****************************************************************************** * @file : usbd_desc.h * @version : v1.0_Cube - * @brief : Header for usbd_conf.c file. + * @brief : Header for usbd_desc.c file. ****************************************************************************** * This notice applies to any and all portions of this file * that are not between comment pairs USER CODE BEGIN and @@ -46,6 +46,7 @@ * ****************************************************************************** */ + /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __USBD_DESC__H__ #define __USBD_DESC__H__ diff --git a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h index d937b2e8..c029e22a 100644 --- a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h +++ b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc/usbd_cdc.h @@ -52,13 +52,15 @@ #define CDC_IN_EP 0x81 /* EP1 for data IN */ #define CDC_OUT_EP 0x01 /* EP1 for data OUT */ #define CDC_CMD_EP 0x82 /* EP2 for CDC commands */ +#define ODRIVE_IN_EP 0x83 /* EP3 IN: ODrive device TX endpoint */ +#define ODRIVE_OUT_EP 0x03 /* EP3 OUT: ODrive device RX endpoint */ /* CDC Endpoints parameters: you can fine tune these values depending on the needed baudrates and performance. */ -#define CDC_DATA_HS_MAX_PACKET_SIZE 512 /* Endpoint IN & OUT Packet size */ +#define CDC_DATA_HS_MAX_PACKET_SIZE 64 /* Endpoint IN & OUT Packet size */ #define CDC_DATA_FS_MAX_PACKET_SIZE 64 /* Endpoint IN & OUT Packet size */ #define CDC_CMD_PACKET_SIZE 8 /* Control Endpoint Packet size */ -#define USB_CDC_CONFIG_DESC_SIZ 67 +#define USB_CDC_CONFIG_DESC_SIZ (67 + 39) #define CDC_DATA_HS_IN_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE #define CDC_DATA_HS_OUT_PACKET_SIZE CDC_DATA_HS_MAX_PACKET_SIZE @@ -103,23 +105,29 @@ typedef struct _USBD_CDC_Itf int8_t (* Init) (void); int8_t (* DeInit) (void); int8_t (* Control) (uint8_t, uint8_t * , uint16_t); - int8_t (* Receive) (uint8_t *, uint32_t *); + int8_t (* Receive) (uint8_t *, uint32_t *, uint8_t); }USBD_CDC_ItfTypeDef; +typedef struct +{ + uint8_t* Buffer; + uint32_t Length; + volatile uint8_t State; +} +USBD_CDC_EP_HandleTypeDef; typedef struct { uint32_t data[CDC_DATA_HS_MAX_PACKET_SIZE/4]; /* Force 32bits alignment */ uint8_t CmdOpCode; - uint8_t CmdLength; - uint8_t *RxBuffer; - uint8_t *TxBuffer; - uint32_t RxLength; - uint32_t TxLength; - - __IO uint32_t TxState; - __IO uint32_t RxState; + uint8_t CmdLength; + + USBD_CDC_EP_HandleTypeDef CDC_Tx; + USBD_CDC_EP_HandleTypeDef CDC_Rx; + + USBD_CDC_EP_HandleTypeDef ODRIVE_Tx; + USBD_CDC_EP_HandleTypeDef ODRIVE_Rx; } USBD_CDC_HandleTypeDef; @@ -151,14 +159,15 @@ uint8_t USBD_CDC_RegisterInterface (USBD_HandleTypeDef *pdev, uint8_t USBD_CDC_SetTxBuffer (USBD_HandleTypeDef *pdev, uint8_t *pbuff, - uint16_t length); + uint16_t length, + uint8_t endpoint_pair); uint8_t USBD_CDC_SetRxBuffer (USBD_HandleTypeDef *pdev, - uint8_t *pbuff); + uint8_t *pbuff, uint8_t endpoint_pair); -uint8_t USBD_CDC_ReceivePacket (USBD_HandleTypeDef *pdev); +uint8_t USBD_CDC_ReceivePacket (USBD_HandleTypeDef *pdev, uint8_t endpoint_pair); -uint8_t USBD_CDC_TransmitPacket (USBD_HandleTypeDef *pdev); +uint8_t USBD_CDC_TransmitPacket (USBD_HandleTypeDef *pdev, uint8_t endpoint_pair); /** * @} */ diff --git a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c index 24465641..73313522 100644 --- a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c +++ b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c @@ -132,6 +132,9 @@ static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc (uint16_t *length); uint8_t *USBD_CDC_GetDeviceQualifierDescriptor (uint16_t *length); +static uint8_t USBD_WinUSBComm_SetupVendor(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req); +//static uint8_t * USBD_GetUsrStrDescriptor(struct _USBD_HandleTypeDef *pdev, uint8_t index, uint16_t *length); + /* USB Standard Device Descriptor */ __ALIGN_BEGIN static uint8_t USBD_CDC_DeviceQualifierDesc[USB_LEN_DEV_QUALIFIER_DESC] __ALIGN_END = { @@ -173,24 +176,37 @@ USBD_ClassTypeDef USBD_CDC = USBD_CDC_GetFSCfgDesc, USBD_CDC_GetOtherSpeedCfgDesc, USBD_CDC_GetDeviceQualifierDescriptor, + USBD_UsrStrDescriptor }; /* USB CDC device Configuration Descriptor */ -__ALIGN_BEGIN uint8_t USBD_CDC_CfgHSDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = +__ALIGN_BEGIN uint8_t USBD_CDC_CfgDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = { /*Configuration Descriptor*/ 0x09, /* bLength: Configuration Descriptor size */ USB_DESC_TYPE_CONFIGURATION, /* bDescriptorType: Configuration */ USB_CDC_CONFIG_DESC_SIZ, /* wTotalLength:no of returned bytes */ 0x00, - 0x02, /* bNumInterfaces: 2 interface */ + 0x03, /* bNumInterfaces: 3 interfaces (2 for CDC, 1 custom) */ 0x01, /* bConfigurationValue: Configuration value */ 0x00, /* iConfiguration: Index of string descriptor describing the configuration */ 0xC0, /* bmAttributes: self powered */ 0x32, /* MaxPower 0 mA */ + + /////////////////////////////////////////////////////////////////////////////// + + /* Interface Association Descriptor: CDC device (virtual com port) */ + 0x08, /* bLength: IAD size */ + 0x0B, /* bDescriptorType: Interface Association Descriptor */ + 0x00, /* bFirstInterface */ + 0x02, /* bInterfaceCount */ + 0x02, /* bFunctionClass: Communication Interface Class */ + 0x02, /* bFunctionSubClass: Abstract Control Model */ + 0x01, /* bFunctionProtocol: Common AT commands */ + 0x00, /* iFunction */ /*---------------------------------------------------------------------------*/ - + /*Interface Descriptor */ 0x09, /* bLength: Interface Descriptor size */ USB_DESC_TYPE_INTERFACE, /* bDescriptorType: Interface */ @@ -202,7 +218,7 @@ __ALIGN_BEGIN uint8_t USBD_CDC_CfgHSDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = 0x02, /* bInterfaceSubClass: Abstract Control Model */ 0x01, /* bInterfaceProtocol: Common AT commands */ 0x00, /* iInterface: */ - + /*Header Functional Descriptor*/ 0x05, /* bLength: Endpoint Descriptor size */ 0x24, /* bDescriptorType: CS_INTERFACE */ @@ -229,7 +245,7 @@ __ALIGN_BEGIN uint8_t USBD_CDC_CfgHSDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = 0x06, /* bDescriptorSubtype: Union func desc */ 0x00, /* bMasterInterface: Communication class interface */ 0x01, /* bSlaveInterface0: Data Class Interface */ - + /*Endpoint 2 Descriptor*/ 0x07, /* bLength: Endpoint Descriptor size */ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ @@ -267,196 +283,52 @@ __ALIGN_BEGIN uint8_t USBD_CDC_CfgHSDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = 0x02, /* bmAttributes: Bulk */ LOBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), /* wMaxPacketSize: */ HIBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), - 0x00 /* bInterval: ignore for Bulk transfer */ -} ; + 0x00, /* bInterval: ignore for Bulk transfer */ + /////////////////////////////////////////////////////////////////////////////// + + /* Interface Association Descriptor: custom device */ + 0x08, /* bLength: IAD size */ + 0x0B, /* bDescriptorType: Interface Association Descriptor */ + 0x02, /* bFirstInterface */ + 0x01, /* bInterfaceCount */ + 0x00, /* bFunctionClass: */ + 0x00, /* bFunctionSubClass: */ + 0x00, /* bFunctionProtocol: */ + 0x06, /* iFunction */ -/* USB CDC device Configuration Descriptor */ -__ALIGN_BEGIN uint8_t USBD_CDC_CfgFSDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = -{ - /*Configuration Descriptor*/ - 0x09, /* bLength: Configuration Descriptor size */ - USB_DESC_TYPE_CONFIGURATION, /* bDescriptorType: Configuration */ - USB_CDC_CONFIG_DESC_SIZ, /* wTotalLength:no of returned bytes */ - 0x00, - 0x02, /* bNumInterfaces: 2 interface */ - 0x01, /* bConfigurationValue: Configuration value */ - 0x00, /* iConfiguration: Index of string descriptor describing the configuration */ - 0xC0, /* bmAttributes: self powered */ - 0x32, /* MaxPower 0 mA */ - - /*---------------------------------------------------------------------------*/ - - /*Interface Descriptor */ - 0x09, /* bLength: Interface Descriptor size */ - USB_DESC_TYPE_INTERFACE, /* bDescriptorType: Interface */ - /* Interface descriptor type */ - 0x00, /* bInterfaceNumber: Number of Interface */ - 0x00, /* bAlternateSetting: Alternate setting */ - 0x01, /* bNumEndpoints: One endpoints used */ - 0x02, /* bInterfaceClass: Communication Interface Class */ - 0x02, /* bInterfaceSubClass: Abstract Control Model */ - 0x01, /* bInterfaceProtocol: Common AT commands */ - 0x00, /* iInterface: */ - - /*Header Functional Descriptor*/ - 0x05, /* bLength: Endpoint Descriptor size */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x00, /* bDescriptorSubtype: Header Func Desc */ - 0x10, /* bcdCDC: spec release number */ - 0x01, - - /*Call Management Functional Descriptor*/ - 0x05, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x01, /* bDescriptorSubtype: Call Management Func Desc */ - 0x00, /* bmCapabilities: D0+D1 */ - 0x01, /* bDataInterface: 1 */ - - /*ACM Functional Descriptor*/ - 0x04, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x02, /* bDescriptorSubtype: Abstract Control Management desc */ - 0x02, /* bmCapabilities */ - - /*Union Functional Descriptor*/ - 0x05, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x06, /* bDescriptorSubtype: Union func desc */ - 0x00, /* bMasterInterface: Communication class interface */ - 0x01, /* bSlaveInterface0: Data Class Interface */ - - /*Endpoint 2 Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ - CDC_CMD_EP, /* bEndpointAddress */ - 0x03, /* bmAttributes: Interrupt */ - LOBYTE(CDC_CMD_PACKET_SIZE), /* wMaxPacketSize: */ - HIBYTE(CDC_CMD_PACKET_SIZE), - 0x10, /* bInterval: */ /*---------------------------------------------------------------------------*/ /*Data class interface descriptor*/ 0x09, /* bLength: Endpoint Descriptor size */ USB_DESC_TYPE_INTERFACE, /* bDescriptorType: */ - 0x01, /* bInterfaceNumber: Number of Interface */ + 0x02, /* bInterfaceNumber: Number of Interface */ 0x00, /* bAlternateSetting: Alternate setting */ 0x02, /* bNumEndpoints: Two endpoints used */ - 0x0A, /* bInterfaceClass: CDC */ - 0x00, /* bInterfaceSubClass: */ + 0x00, /* bInterfaceClass: vendor specific */ + 0x01, /* bInterfaceSubClass: ODrive Communication */ 0x00, /* bInterfaceProtocol: */ 0x00, /* iInterface: */ /*Endpoint OUT Descriptor*/ 0x07, /* bLength: Endpoint Descriptor size */ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ - CDC_OUT_EP, /* bEndpointAddress */ + ODRIVE_OUT_EP, /* bEndpointAddress */ 0x02, /* bmAttributes: Bulk */ - LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize: */ - HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), + LOBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), /* wMaxPacketSize: */ + HIBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), 0x00, /* bInterval: ignore for Bulk transfer */ /*Endpoint IN Descriptor*/ 0x07, /* bLength: Endpoint Descriptor size */ USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ - CDC_IN_EP, /* bEndpointAddress */ + ODRIVE_IN_EP, /* bEndpointAddress */ 0x02, /* bmAttributes: Bulk */ - LOBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), /* wMaxPacketSize: */ - HIBYTE(CDC_DATA_FS_MAX_PACKET_SIZE), - 0x00 /* bInterval: ignore for Bulk transfer */ + LOBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), /* wMaxPacketSize: */ + HIBYTE(CDC_DATA_HS_MAX_PACKET_SIZE), + 0x00, /* bInterval: ignore for Bulk transfer */ } ; -__ALIGN_BEGIN uint8_t USBD_CDC_OtherSpeedCfgDesc[USB_CDC_CONFIG_DESC_SIZ] __ALIGN_END = -{ - 0x09, /* bLength: Configuation Descriptor size */ - USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION, - USB_CDC_CONFIG_DESC_SIZ, - 0x00, - 0x02, /* bNumInterfaces: 2 interfaces */ - 0x01, /* bConfigurationValue: */ - 0x04, /* iConfiguration: */ - 0xC0, /* bmAttributes: */ - 0x32, /* MaxPower 100 mA */ - - /*Interface Descriptor */ - 0x09, /* bLength: Interface Descriptor size */ - USB_DESC_TYPE_INTERFACE, /* bDescriptorType: Interface */ - /* Interface descriptor type */ - 0x00, /* bInterfaceNumber: Number of Interface */ - 0x00, /* bAlternateSetting: Alternate setting */ - 0x01, /* bNumEndpoints: One endpoints used */ - 0x02, /* bInterfaceClass: Communication Interface Class */ - 0x02, /* bInterfaceSubClass: Abstract Control Model */ - 0x01, /* bInterfaceProtocol: Common AT commands */ - 0x00, /* iInterface: */ - - /*Header Functional Descriptor*/ - 0x05, /* bLength: Endpoint Descriptor size */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x00, /* bDescriptorSubtype: Header Func Desc */ - 0x10, /* bcdCDC: spec release number */ - 0x01, - - /*Call Management Functional Descriptor*/ - 0x05, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x01, /* bDescriptorSubtype: Call Management Func Desc */ - 0x00, /* bmCapabilities: D0+D1 */ - 0x01, /* bDataInterface: 1 */ - - /*ACM Functional Descriptor*/ - 0x04, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x02, /* bDescriptorSubtype: Abstract Control Management desc */ - 0x02, /* bmCapabilities */ - - /*Union Functional Descriptor*/ - 0x05, /* bFunctionLength */ - 0x24, /* bDescriptorType: CS_INTERFACE */ - 0x06, /* bDescriptorSubtype: Union func desc */ - 0x00, /* bMasterInterface: Communication class interface */ - 0x01, /* bSlaveInterface0: Data Class Interface */ - - /*Endpoint 2 Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - USB_DESC_TYPE_ENDPOINT , /* bDescriptorType: Endpoint */ - CDC_CMD_EP, /* bEndpointAddress */ - 0x03, /* bmAttributes: Interrupt */ - LOBYTE(CDC_CMD_PACKET_SIZE), /* wMaxPacketSize: */ - HIBYTE(CDC_CMD_PACKET_SIZE), - 0xFF, /* bInterval: */ - - /*---------------------------------------------------------------------------*/ - - /*Data class interface descriptor*/ - 0x09, /* bLength: Endpoint Descriptor size */ - USB_DESC_TYPE_INTERFACE, /* bDescriptorType: */ - 0x01, /* bInterfaceNumber: Number of Interface */ - 0x00, /* bAlternateSetting: Alternate setting */ - 0x02, /* bNumEndpoints: Two endpoints used */ - 0x0A, /* bInterfaceClass: CDC */ - 0x00, /* bInterfaceSubClass: */ - 0x00, /* bInterfaceProtocol: */ - 0x00, /* iInterface: */ - - /*Endpoint OUT Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ - CDC_OUT_EP, /* bEndpointAddress */ - 0x02, /* bmAttributes: Bulk */ - 0x40, /* wMaxPacketSize: */ - 0x00, - 0x00, /* bInterval: ignore for Bulk transfer */ - - /*Endpoint IN Descriptor*/ - 0x07, /* bLength: Endpoint Descriptor size */ - USB_DESC_TYPE_ENDPOINT, /* bDescriptorType: Endpoint */ - CDC_IN_EP, /* bEndpointAddress */ - 0x02, /* bmAttributes: Bulk */ - 0x40, /* wMaxPacketSize: */ - 0x00, - 0x00 /* bInterval */ -}; /** * @} @@ -508,6 +380,19 @@ static uint8_t USBD_CDC_Init (USBD_HandleTypeDef *pdev, USBD_EP_TYPE_BULK, CDC_DATA_FS_OUT_PACKET_SIZE); } + + /* Open ODrive IN endpoint */ + USBD_LL_OpenEP(pdev, + ODRIVE_IN_EP, + USBD_EP_TYPE_BULK, + pdev->dev_speed == USBD_SPEED_HIGH ? CDC_DATA_HS_IN_PACKET_SIZE : CDC_DATA_FS_IN_PACKET_SIZE); + + /* Open ODrive OUT endpoint */ + USBD_LL_OpenEP(pdev, + ODRIVE_OUT_EP, + USBD_EP_TYPE_BULK, + pdev->dev_speed == USBD_SPEED_HIGH ? CDC_DATA_HS_OUT_PACKET_SIZE : CDC_DATA_FS_OUT_PACKET_SIZE); + /* Open Command IN EP */ USBD_LL_OpenEP(pdev, CDC_CMD_EP, @@ -529,15 +414,17 @@ static uint8_t USBD_CDC_Init (USBD_HandleTypeDef *pdev, ((USBD_CDC_ItfTypeDef *)pdev->pUserData)->Init(); /* Init Xfer states */ - hcdc->TxState =0; - hcdc->RxState =0; + hcdc->CDC_Tx.State =0; + hcdc->CDC_Rx.State =0; + hcdc->ODRIVE_Tx.State =0; + hcdc->ODRIVE_Rx.State =0; if(pdev->dev_speed == USBD_SPEED_HIGH ) { /* Prepare Out endpoint to receive next packet */ USBD_LL_PrepareReceive(pdev, CDC_OUT_EP, - hcdc->RxBuffer, + hcdc->CDC_Rx.Buffer, CDC_DATA_HS_OUT_PACKET_SIZE); } else @@ -545,11 +432,15 @@ static uint8_t USBD_CDC_Init (USBD_HandleTypeDef *pdev, /* Prepare Out endpoint to receive next packet */ USBD_LL_PrepareReceive(pdev, CDC_OUT_EP, - hcdc->RxBuffer, + hcdc->CDC_Rx.Buffer, CDC_DATA_FS_OUT_PACKET_SIZE); } - + /* Prepare ODrive Out endpoint to receive next packet */ + USBD_LL_PrepareReceive(pdev, + ODRIVE_OUT_EP, + hcdc->ODRIVE_Rx.Buffer, + CDC_DATA_FS_OUT_PACKET_SIZE); } return ret; } @@ -566,17 +457,25 @@ static uint8_t USBD_CDC_DeInit (USBD_HandleTypeDef *pdev, { uint8_t ret = 0; - /* Open EP IN */ + /* Close EP IN */ USBD_LL_CloseEP(pdev, CDC_IN_EP); - /* Open EP OUT */ + /* Close EP OUT */ USBD_LL_CloseEP(pdev, CDC_OUT_EP); - /* Open Command IN EP */ + /* Close Command IN EP */ USBD_LL_CloseEP(pdev, CDC_CMD_EP); + + /* Close EP IN */ + USBD_LL_CloseEP(pdev, + ODRIVE_IN_EP); + + /* Close EP OUT */ + USBD_LL_CloseEP(pdev, + ODRIVE_OUT_EP); /* DeInit physical Interface components */ @@ -648,6 +547,9 @@ static uint8_t USBD_CDC_Setup (USBD_HandleTypeDef *pdev, case USB_REQ_SET_INTERFACE : break; } + + case USB_REQ_TYPE_VENDOR: + return USBD_WinUSBComm_SetupVendor(pdev, req); default: break; @@ -668,8 +570,12 @@ static uint8_t USBD_CDC_DataIn (USBD_HandleTypeDef *pdev, uint8_t epnum) if(pdev->pClassData != NULL) { - - hcdc->TxState = 0; + // NOTE: We would logically expect xx_IN_EP here, but we actually get the xx_OUT_EP + if (epnum == CDC_OUT_EP) + hcdc->CDC_Tx.State = 0; + if (epnum == ODRIVE_OUT_EP) + hcdc->ODRIVE_Tx.State = 0; + //Note: We could use independent semaphores for simoultainous USB transmission. osSemaphoreRelease(sem_usb_tx); return USBD_OK; } @@ -689,15 +595,24 @@ static uint8_t USBD_CDC_DataIn (USBD_HandleTypeDef *pdev, uint8_t epnum) static uint8_t USBD_CDC_DataOut (USBD_HandleTypeDef *pdev, uint8_t epnum) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*) pdev->pClassData; + + USBD_CDC_EP_HandleTypeDef* hEP_Rx; + if (epnum == CDC_OUT_EP) { + hEP_Rx = &hcdc->CDC_Rx; + } else if (epnum == ODRIVE_OUT_EP) { + hEP_Rx = &hcdc->ODRIVE_Rx; + } else { + return USBD_FAIL; + } /* Get the received data length */ - hcdc->RxLength = USBD_LL_GetRxDataSize (pdev, epnum); + hEP_Rx->Length = USBD_LL_GetRxDataSize (pdev, epnum); /* USB data will be immediately processed, this allow next USB traffic being NAKed till the end of the application Xfer */ if(pdev->pClassData != NULL) { - ((USBD_CDC_ItfTypeDef *)pdev->pUserData)->Receive(hcdc->RxBuffer, &hcdc->RxLength); + ((USBD_CDC_ItfTypeDef *)pdev->pUserData)->Receive(hEP_Rx->Buffer, &hEP_Rx->Length, epnum); return USBD_OK; } @@ -740,8 +655,8 @@ static uint8_t USBD_CDC_EP0_RxReady (USBD_HandleTypeDef *pdev) */ static uint8_t *USBD_CDC_GetFSCfgDesc (uint16_t *length) { - *length = sizeof (USBD_CDC_CfgFSDesc); - return USBD_CDC_CfgFSDesc; + *length = sizeof (USBD_CDC_CfgDesc); + return USBD_CDC_CfgDesc; } /** @@ -753,8 +668,8 @@ static uint8_t *USBD_CDC_GetFSCfgDesc (uint16_t *length) */ static uint8_t *USBD_CDC_GetHSCfgDesc (uint16_t *length) { - *length = sizeof (USBD_CDC_CfgHSDesc); - return USBD_CDC_CfgHSDesc; + *length = sizeof (USBD_CDC_CfgDesc); + return USBD_CDC_CfgDesc; } /** @@ -766,8 +681,8 @@ static uint8_t *USBD_CDC_GetHSCfgDesc (uint16_t *length) */ static uint8_t *USBD_CDC_GetOtherSpeedCfgDesc (uint16_t *length) { - *length = sizeof (USBD_CDC_OtherSpeedCfgDesc); - return USBD_CDC_OtherSpeedCfgDesc; + *length = sizeof (USBD_CDC_CfgDesc); + return USBD_CDC_CfgDesc; } /** @@ -810,12 +725,22 @@ uint8_t USBD_CDC_RegisterInterface (USBD_HandleTypeDef *pdev, */ uint8_t USBD_CDC_SetTxBuffer (USBD_HandleTypeDef *pdev, uint8_t *pbuff, - uint16_t length) + uint16_t length, + uint8_t endpoint_pair) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*) pdev->pClassData; - hcdc->TxBuffer = pbuff; - hcdc->TxLength = length; + USBD_CDC_EP_HandleTypeDef* hEP_Tx; + if (endpoint_pair == CDC_OUT_EP) { + hEP_Tx = &hcdc->CDC_Tx; + } else if (endpoint_pair == ODRIVE_OUT_EP) { + hEP_Tx = &hcdc->ODRIVE_Tx; + } else { + return USBD_FAIL; + } + + hEP_Tx->Buffer = pbuff; + hEP_Tx->Length = length; return USBD_OK; } @@ -828,11 +753,20 @@ uint8_t USBD_CDC_SetTxBuffer (USBD_HandleTypeDef *pdev, * @retval status */ uint8_t USBD_CDC_SetRxBuffer (USBD_HandleTypeDef *pdev, - uint8_t *pbuff) + uint8_t *pbuff, uint8_t endpoint_pair) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*) pdev->pClassData; + + USBD_CDC_EP_HandleTypeDef* hEP_Rx; + if (endpoint_pair == CDC_OUT_EP) { + hEP_Rx = &hcdc->CDC_Rx; + } else if (endpoint_pair == ODRIVE_OUT_EP) { + hEP_Rx = &hcdc->ODRIVE_Rx; + } else { + return USBD_FAIL; + } - hcdc->RxBuffer = pbuff; + hEP_Rx->Buffer = pbuff; return USBD_OK; } @@ -844,23 +778,36 @@ uint8_t USBD_CDC_SetRxBuffer (USBD_HandleTypeDef *pdev, * @param epnum: endpoint number * @retval status */ -uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev) +uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev, uint8_t endpoint_pair) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*) pdev->pClassData; if(pdev->pClassData != NULL) { - if(hcdc->TxState == 0) + // Select Endpoint + USBD_CDC_EP_HandleTypeDef* hEP_Tx; + uint8_t in_ep; + if (endpoint_pair == CDC_OUT_EP) { + hEP_Tx = &hcdc->CDC_Tx; + in_ep = CDC_IN_EP; + } else if (endpoint_pair == ODRIVE_OUT_EP) { + hEP_Tx = &hcdc->ODRIVE_Tx; + in_ep = ODRIVE_IN_EP; + } else { + return USBD_FAIL; + } + + if(hEP_Tx->State == 0) { /* Tx Transfer in progress */ - hcdc->TxState = 1; + hEP_Tx->State = 1; /* Transmit next packet */ USBD_LL_Transmit(pdev, - CDC_IN_EP, - hcdc->TxBuffer, - hcdc->TxLength); - + in_ep, + hEP_Tx->Buffer, + hEP_Tx->Length); + return USBD_OK; } else @@ -881,29 +828,32 @@ uint8_t USBD_CDC_TransmitPacket(USBD_HandleTypeDef *pdev) * @param pdev: device instance * @retval status */ -uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev) +uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev, uint8_t endpoint_pair) { USBD_CDC_HandleTypeDef *hcdc = (USBD_CDC_HandleTypeDef*) pdev->pClassData; /* Suspend or Resume USB Out process */ if(pdev->pClassData != NULL) { - if(pdev->dev_speed == USBD_SPEED_HIGH ) - { - /* Prepare Out endpoint to receive next packet */ - USBD_LL_PrepareReceive(pdev, - CDC_OUT_EP, - hcdc->RxBuffer, - CDC_DATA_HS_OUT_PACKET_SIZE); - } - else - { - /* Prepare Out endpoint to receive next packet */ - USBD_LL_PrepareReceive(pdev, - CDC_OUT_EP, - hcdc->RxBuffer, - CDC_DATA_FS_OUT_PACKET_SIZE); + // Select Endpoint + USBD_CDC_EP_HandleTypeDef* hEP_Rx; + uint8_t out_ep; + if (endpoint_pair == CDC_OUT_EP) { + hEP_Rx = &hcdc->CDC_Rx; + out_ep = CDC_OUT_EP; + } else if (endpoint_pair == ODRIVE_OUT_EP) { + hEP_Rx = &hcdc->ODRIVE_Rx; + out_ep = ODRIVE_OUT_EP; + } else { + return USBD_FAIL; } + + /* Prepare Out endpoint to receive next packet */ + USBD_LL_PrepareReceive(pdev, + out_ep, + hEP_Rx->Buffer, + pdev->dev_speed == USBD_SPEED_HIGH ? CDC_DATA_HS_OUT_PACKET_SIZE : CDC_DATA_FS_OUT_PACKET_SIZE); + return USBD_OK; } else @@ -911,6 +861,184 @@ uint8_t USBD_CDC_ReceivePacket(USBD_HandleTypeDef *pdev) return USBD_FAIL; } } + + +/* WinUSB support ------------------------------------------------------------*/ +/* +* This section tells Windows that it should automatically load the WinUSB driver +* for the device (more specifically, interface 2 because it's a composite device). +* This allows for driverless communication with the device. +*/ + +#define NUM_INTERFACES 1 + +#if NUM_INTERFACES == 2 +#define USB_WINUSBCOMM_COMPAT_ID_OS_DESC_SIZ (16 + 24 + 24) +#else +#define USB_WINUSBCOMM_COMPAT_ID_OS_DESC_SIZ (16 + 24) +#endif + + +// This associates winusb driver with the device +__ALIGN_BEGIN uint8_t USBD_WinUSBComm_Extended_Compat_ID_OS_Desc[USB_WINUSBCOMM_COMPAT_ID_OS_DESC_SIZ] __ALIGN_END = +{ + // +-- Offset in descriptor + // | +-- Size + // v v + USB_WINUSBCOMM_COMPAT_ID_OS_DESC_SIZ, 0, 0, 0, // 0 dwLength 4 DWORD The length, in bytes, of the complete extended compat ID descriptor + 0x00, 0x01, // 4 bcdVersion 2 BCD The descriptor’s version number, in binary coded decimal (BCD) format + 0x04, 0x00, // 6 wIndex 2 WORD An index that identifies the particular OS feature descriptor + NUM_INTERFACES, // 8 bCount 1 BYTE The number of custom property sections + 0, 0, 0, 0, 0, 0, 0, // 9 RESERVED 7 BYTEs Reserved + // ===================== + // 16 + + // +-- Offset from function section start + // | +-- Size + // v v + 2, // 0 bFirstInterfaceNumber 1 BYTE The interface or function number + 0, // 1 RESERVED 1 BYTE Reserved + 0x57, 0x49, 0x4E, 0x55, 0x53, 0x42, 0x00, 0x00, // 2 compatibleID 8 BYTEs The function’s compatible ID ("WINUSB") + 0, 0, 0, 0, 0, 0, 0, 0, // 10 subCompatibleID 8 BYTEs The function’s subcompatible ID + 0, 0, 0, 0, 0, 0, // 18 RESERVED 6 BYTEs Reserved + // ================================= + // 24 +#if NUM_INTERFACES == 2 + // +-- Offset from function section start + // | +-- Size + // v v + 2, // 0 bFirstInterfaceNumber 1 BYTE The interface or function number + 0, // 1 RESERVED 1 BYTE Reserved + 0x57, 0x49, 0x4E, 0x55, 0x53, 0x42, 0x00, 0x00, // 2 compatibleID 8 BYTEs The function’s compatible ID ("WINUSB") + 0, 0, 0, 0, 0, 0, 0, 0, // 10 subCompatibleID 8 BYTEs The function’s subcompatible ID + 0, 0, 0, 0, 0, 0, // 18 RESERVED 6 BYTEs Reserved + // ================================= + // 24 +#endif +}; + + +// Properties are added to: +// HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Enum\USB\VID_xxxx&PID_xxxx\sssssssss\Device Parameters +// Use USBDeview or similar to uninstall + +__ALIGN_BEGIN uint8_t USBD_WinUSBComm_Extended_Properties_OS_Desc[0xB6] __ALIGN_END = +{ + 0xB6, 0x00, 0x00, 0x00, // 0 dwLength 4 DWORD The length, in bytes, of the complete extended properties descriptor + 0x00, 0x01, // 4 bcdVersion 2 BCD The descriptor’s version number, in binary coded decimal (BCD) format + 0x05, 0x00, // 6 wIndex 2 WORD The index for extended properties OS descriptors + 0x02, 0x00, // 8 wCount 2 WORD The number of custom property sections that follow the header section + // ==================== + // 10 +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + 0x84, 0x00, 0x00, 0x00, // 0 dwSize 4 DWORD The size of this custom properties section + 0x01, 0x00, 0x00, 0x00, // 4 dwPropertyDataType 4 DWORD Property data format + 0x28, 0x00, // 8 wPropertyNameLength 2 DWORD Property name length + // ======================================== + // 10 + // 10 bPropertyName PNL WCHAR[] The property name + '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, 0,0, + // ======================================== + // 40 (0x28) + + 0x4E, 0x00, 0x00, 0x00, // 10 + PNL dwPropertyDataLength 4 DWORD Length of the buffer holding the property data + // ======================================== + // 4 + // 14 + PNL bPropertyData PDL Format-dependent Property data + '{',0, 'E',0, 'A',0, '0',0, 'B',0, 'D',0, '5',0, 'C',0, + '3',0, '-',0, '5',0, '0',0, 'F',0, '3',0, '-',0, '4',0, + '8',0, '8',0, '8',0, '-',0, '8',0, '4',0, 'B',0, '4',0, + '-',0, '7',0, '4',0, 'E',0, '5',0, '0',0, 'E',0, '1',0, + '6',0, '4',0, '9',0, 'D',0, 'B',0, '}',0, 0 ,0, + // ======================================== + // 78 (0x4E) +/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + 0x3E, 0x00, 0x00, 0x00, // 0 dwSize 0x00000030 (62 bytes) + 0x01, 0x00, 0x00, 0x00, // 4 dwPropertyDataType 0x00000001 (Unicode string) + 0x0C, 0x00, // 8 wPropertyNameLength 0x000C (12 bytes) + // ======================================== + // 10 + 'L',0, 'a',0, 'b',0, 'e',0, 'l',0, 0,0, + // 10 bPropertyName “Label” + // ======================================== + // 12 + 0x24, 0x00, 0x00, 0x00, // 22 dwPropertyDataLength 0x00000016 (36 bytes) + // ======================================== + // 4 + 'O',0, 'D',0, 'r',0, 'i',0, 'v',0, 'e',0, 0,0 + // 26 bPropertyData “ODrive” + // ======================================== + // 14 + +}; + + + +static uint8_t USBD_WinUSBComm_GetMSExtendedCompatIDOSDescriptor (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req) +{ + switch (req->wIndex) + { + case 0x04: + USBD_CtlSendData (pdev, USBD_WinUSBComm_Extended_Compat_ID_OS_Desc, req->wLength); + break; + default: + USBD_CtlError(pdev , req); + return USBD_FAIL; + } + return USBD_OK; +} +static uint8_t USBD_WinUSBComm_GetMSExtendedPropertiesOSDescriptor (USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req) +{ + uint8_t byInterfaceIndex = (uint8_t)req->wValue; + if ( req->wIndex != 0x05 ) + { + USBD_CtlError(pdev , req); + return USBD_FAIL; + } + switch ( byInterfaceIndex ) + { + case 0: +#if NUM_INTERFACES == 2 + case 1: +#endif + USBD_CtlSendData (pdev, USBD_WinUSBComm_Extended_Properties_OS_Desc, req->wLength); + break; + default: + USBD_CtlError(pdev , req); + return USBD_FAIL; + } + return USBD_OK; +} +static uint8_t USBD_WinUSBComm_SetupVendorDevice(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req) +{ + USBD_CtlError(pdev , req); + return USBD_FAIL; +} +static uint8_t USBD_WinUSBComm_SetupVendorInterface(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req) +{ + USBD_CtlError(pdev , req); + // TODO: check if this is important + return USBD_FAIL; +} +static uint8_t USBD_WinUSBComm_SetupVendor(USBD_HandleTypeDef *pdev, USBD_SetupReqTypedef *req) +{ + switch ( req->bmRequest & USB_REQ_RECIPIENT_MASK ) + { + case USB_REQ_RECIPIENT_DEVICE: + return ( MS_VendorCode == req->bRequest ) ? USBD_WinUSBComm_GetMSExtendedCompatIDOSDescriptor(pdev, req) : USBD_WinUSBComm_SetupVendorDevice(pdev, req); + case USB_REQ_RECIPIENT_INTERFACE: + return ( MS_VendorCode == req->bRequest ) ? USBD_WinUSBComm_GetMSExtendedPropertiesOSDescriptor(pdev, req) : USBD_WinUSBComm_SetupVendorInterface(pdev, req); + case USB_REQ_RECIPIENT_ENDPOINT: + // fall through + default: + break; + } + USBD_CtlError(pdev , req); + return USBD_FAIL; +} + /** * @} */ diff --git a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h index 8fbe81e4..f259b51d 100644 --- a/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h +++ b/Firmware/Board/v3/Middlewares/ST/STM32_USB_Device_Library/Core/Inc/usbd_def.h @@ -68,7 +68,9 @@ #define USBD_IDX_PRODUCT_STR 0x02 #define USBD_IDX_SERIAL_STR 0x03 #define USBD_IDX_CONFIG_STR 0x04 -#define USBD_IDX_INTERFACE_STR 0x05 +#define USBD_IDX_INTERFACE_STR 0x05 +#define USBD_IDX_ODRIVE_INTF_STR 0x06 +#define USBD_IDX_MICROSOFT_DESC_STR 0xEE #define USB_REQ_TYPE_STANDARD 0x00 #define USB_REQ_TYPE_CLASS 0x20 diff --git a/Firmware/Board/v3/Src/usbd_cdc_if.c b/Firmware/Board/v3/Src/usbd_cdc_if.c index fcc712a3..b8cb6e6c 100644 --- a/Firmware/Board/v3/Src/usbd_cdc_if.c +++ b/Firmware/Board/v3/Src/usbd_cdc_if.c @@ -117,10 +117,12 @@ /* Create buffer for reception and transmission */ /* It's up to user to redefine and/or remove those define */ /** Received data over USB are stored in this buffer */ -uint8_t UserRxBufferFS[APP_RX_DATA_SIZE]; +uint8_t CDCRxBufferFS[APP_RX_DATA_SIZE]; +uint8_t ODRIVERxBufferFS[APP_RX_DATA_SIZE]; /** Data to send over USB CDC are stored in this buffer */ -uint8_t UserTxBufferFS[APP_TX_DATA_SIZE]; +uint8_t CDCTxBufferFS[APP_TX_DATA_SIZE]; +uint8_t ODRIVETxBufferFS[APP_TX_DATA_SIZE]; /* USER CODE BEGIN PRIVATE_VARIABLES */ /* USER CODE END PRIVATE_VARIABLES */ @@ -151,7 +153,7 @@ extern USBD_HandleTypeDef hUsbDeviceFS; static int8_t CDC_Init_FS(void); static int8_t CDC_DeInit_FS(void); static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length); -static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len); +static int8_t CDC_Receive_FS(uint8_t* pbuf, uint32_t *Len, uint8_t endpoint_pair); /* USER CODE BEGIN PRIVATE_FUNCTIONS_DECLARATION */ /* USER CODE END PRIVATE_FUNCTIONS_DECLARATION */ @@ -289,7 +291,7 @@ static int8_t CDC_Control_FS(uint8_t cmd, uint8_t* pbuf, uint16_t length) * @param Len: Number of data received (in bytes) * @retval Result of the operation: USBD_OK if all operations are OK else USBD_FAIL */ -static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len) +static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len, uint8_t endpoint_pair) { /* USER CODE BEGIN 6 */ usb_rx_process_packet(Buf, *Len, endpoint_pair); @@ -309,7 +311,7 @@ static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len) * @param Len: Number of data to be sent (in bytes) * @retval USBD_OK if all operations are OK else USBD_FAIL or USBD_BUSY */ -uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len) +uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len, uint8_t endpoint_pair) { uint8_t result = USBD_OK; /* USER CODE BEGIN 7 */ diff --git a/Firmware/Board/v3/Src/usbd_conf.c b/Firmware/Board/v3/Src/usbd_conf.c index 7046dc96..2d66d4a1 100644 --- a/Firmware/Board/v3/Src/usbd_conf.c +++ b/Firmware/Board/v3/Src/usbd_conf.c @@ -66,7 +66,7 @@ /* USER CODE END PV */ - PCD_HandleTypeDef hpcd_USB_OTG_FS; +PCD_HandleTypeDef hpcd_USB_OTG_FS; void _Error_Handler(char * file, int line); /* External functions --------------------------------------------------------*/ @@ -154,6 +154,23 @@ void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle) */ void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd) { + USBD_StatusTypeDef ret = USBD_OK; + USBD_HandleTypeDef *pdev = hpcd->pData; + USBD_SetupReqTypedef *req = &pdev->request; + USBD_ParseSetupRequest(req, (uint8_t *)hpcd->Setup); + if ( ( USB_REQ_TYPE_VENDOR == (req->bmRequest & USB_REQ_TYPE_MASK) ) && ( MS_VendorCode == req->bRequest ) ) + { + pdev->ep0_state = USBD_EP0_SETUP; + pdev->ep0_data_len = pdev->request.wLength; + + ret = pdev->pClass->Setup(pdev, req); + + if( (req->wLength == 0) && (ret == USBD_OK) ) + { + USBD_CtlSendStatus(pdev); + } + return; + } USBD_LL_SetupStage((USBD_HandleTypeDef*)hpcd->pData, (uint8_t *)hpcd->Setup); } @@ -312,7 +329,7 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev) pdev->pData = &hpcd_USB_OTG_FS; hpcd_USB_OTG_FS.Instance = USB_OTG_FS; - hpcd_USB_OTG_FS.Init.dev_endpoints = 4; + hpcd_USB_OTG_FS.Init.dev_endpoints = 6; hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL; hpcd_USB_OTG_FS.Init.dma_enable = DISABLE; hpcd_USB_OTG_FS.Init.ep0_mps = DEP0CTL_MPS_64; @@ -329,7 +346,8 @@ USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev) HAL_PCDEx_SetRxFiFo(&hpcd_USB_OTG_FS, 0x80); HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 0, 0x40); - HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 1, 0x80); + HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 1, 0x40); // CDC IN endpoint + HAL_PCDEx_SetTxFiFo(&hpcd_USB_OTG_FS, 3, 0x40); // ODrive IN endpoint } return USBD_OK; }