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Merged
merged 5 commits into from
Jul 22, 2025
Merged

USB Updates #353

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b0473a7
pbio/drv/usb/stm32: rework Pybricks USB characteristic handling
dlech Jul 20, 2025
977f8cc
pbio/sys/host: drop use of MIN macro
dlech Jul 21, 2025
a2c15a1
lib/contiki: drop some generic defines
dlech Jul 20, 2025
466b0da
nxos: usb: adapt NxOS USB configuration for Pybricks
dlech Jul 20, 2025
334d08d
pbio/drv/usb_nxt: Move driver from NxOS.
dlech Jul 20, 2025
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1 change: 0 additions & 1 deletion bricks/_common/arm_none_eabi.mk
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Original file line number Diff line number Diff line change
Expand Up @@ -515,7 +515,6 @@ NXOS_SRC_C = $(addprefix lib/pbio/platform/nxt/nxos/,\
drivers/radar.c \
drivers/rs485.c \
drivers/sensors.c \
drivers/usb.c \
interrupts.c \
lock.c \
util.c \
Expand Down
1 change: 1 addition & 0 deletions bricks/_common/sources.mk
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Expand Up @@ -187,6 +187,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
drv/uart/uart_stm32f4_ll_irq.c \
drv/uart/uart_stm32l4_ll_dma.c \
drv/usb/usb_ev3.c \
drv/usb/usb_nxt.c \
drv/usb/usb_stm32.c \
drv/watchdog/watchdog_ev3.c \
drv/watchdog/watchdog_stm32.c \
Expand Down
12 changes: 0 additions & 12 deletions lib/contiki-core/sys/cc.h
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Original file line number Diff line number Diff line change
Expand Up @@ -134,18 +134,6 @@
#define NULL 0
#endif /* NULL */

#ifndef MAX
#define MAX(n, m) (((n) < (m)) ? (m) : (n))
#endif

#ifndef MIN
#define MIN(n, m) (((n) < (m)) ? (n) : (m))
#endif

#ifndef ABS
#define ABS(n) (((n) < 0) ? -(n) : (n))
#endif


#define CC_CONCAT2(s1, s2) s1##s2
/**
Expand Down
5 changes: 3 additions & 2 deletions lib/pbio/drv/reset/reset_nxt.c
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Expand Up @@ -10,11 +10,12 @@
#include <at91sam7s256.h>
#include <nxos/drivers/_avr.h>
#include <nxos/drivers/_lcd.h>
#include <nxos/drivers/_usb.h>
#include <nxos/drivers/bt.h>

#include <pbdrv/reset.h>

#include "../usb/usb_nxt.h"

void pbdrv_reset_init(void) {
}

Expand Down Expand Up @@ -70,7 +71,7 @@ void pbdrv_reset_power_off(void) {
}

nx__lcd_shutdown();
nx__usb_disable();
pbdrv_usb_nxt_deinit();
nx__avr_power_down();
}

Expand Down
206 changes: 45 additions & 161 deletions lib/pbio/drv/usb/stm32_usbd/usbd_desc.c
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Expand Up @@ -47,11 +47,8 @@

#include <lego/usb.h>

#include <pbdrv/bluetooth.h>
#include <pbdrv/config.h>
#include <pbio/protocol.h>
#include <pbio/version.h>
#include <pbsys/storage.h>

#include "usbd_core.h"
#include "usbd_conf.h"
Expand All @@ -63,37 +60,28 @@
#define USBD_CONFIGURATION_FS_STRING "Pybricks Config"
#define USBD_INTERFACE_FS_STRING "Pybricks Interface"

static const char firmware_version[] = PBIO_VERSION_STR;
static const char software_version[] = PBIO_PROTOCOL_VERSION_STR;

// STM32 MCU Device ID register addresses
// REVISIT: make pbdrv_xxx_get_serial_number() and use that instead
#define DEVICE_ID1 (0x1FFF7A10)
#define DEVICE_ID2 (0x1FFF7A14)
#define DEVICE_ID3 (0x1FFF7A18)

#define USB_DEV_CAP_TYPE_PLATFORM (5)
// bDevCapabilityType for USB_DEVICE_CAPABITY_TYPE
#define USB_DEV_CAP_TYPE_PLATFORM (5)

#define USB_SIZ_STRING_SERIAL 0x1A
#define USB_SIZ_BOS_DESC_CONST (5 + 28 + 24)
#define USB_SIZ_UUID (128 / 8)
#define USB_SIZ_PLATFORM_HDR (4 + USB_SIZ_UUID)
#define USB_SIZ_HUB_NAME_MAX (16)
#define USB_SIZ_BOS_DESC (USB_SIZ_BOS_DESC_CONST + \
USB_SIZ_PLATFORM_HDR + USB_SIZ_HUB_NAME_MAX + \
USB_SIZ_PLATFORM_HDR + sizeof(firmware_version) - 1 + \
USB_SIZ_PLATFORM_HDR + sizeof(software_version) - 1 + \
USB_SIZ_PLATFORM_HDR + PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE)
// descriptor sizes
#define USB_SIZ_STRING_SERIAL 26
#define USB_SIZ_BOS_DESC (5 + 28 + 24)

/* USB Standard Device Descriptor */
__ALIGN_BEGIN static
#if !defined(PBDRV_CONFIG_USB_STM32F4_HUB_VARIANT_ADDR)
const
#endif
uint8_t USBD_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = {
uint8_t USBD_DeviceDesc[] __ALIGN_END = {
0x12, /* bLength */
USB_DESC_TYPE_DEVICE, /* bDescriptorType */
0x01, /* bcdUSB */ /* changed to USB version 2.01
in order to support BOS Desc */
0x02,
0x10, 0x02, /* bcdUSB = 2.1.0 (for BOS support) */
PBIO_PYBRICKS_USB_DEVICE_CLASS, /* bDeviceClass */
PBIO_PYBRICKS_USB_DEVICE_SUBCLASS, /* bDeviceSubClass */
PBIO_PYBRICKS_USB_DEVICE_PROTOCOL, /* bDeviceProtocol */
Expand All @@ -102,72 +90,75 @@ uint8_t USBD_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END = {
HIBYTE(PBDRV_CONFIG_USB_VID), /* idVendor */
LOBYTE(PBDRV_CONFIG_USB_PID), /* idProduct */
HIBYTE(PBDRV_CONFIG_USB_PID), /* idProduct */
0x00, /* bcdDevice rel. 2.00 */
0x02,
0x00, 0x02, /* bcdDevice rel. 2.0.0 */
USBD_IDX_MFC_STR, /* Index of manufacturer string */
USBD_IDX_PRODUCT_STR, /* Index of product string */
USBD_IDX_SERIAL_STR, /* Index of serial number string */
USBD_MAX_NUM_CONFIGURATION /* bNumConfigurations */
}; /* USB_DeviceDescriptor */
_Static_assert(USB_LEN_DEV_DESC == sizeof(USBD_DeviceDesc));

/** BOS descriptor. */
__ALIGN_BEGIN static uint8_t USBD_BOSDesc[USB_SIZ_BOS_DESC] __ALIGN_END =
__ALIGN_BEGIN static const uint8_t USBD_BOSDesc[] __ALIGN_END =
{
5, /* bLength */
USB_DESC_TYPE_BOS, /* bDescriptorType = BOS */
LOBYTE(USB_SIZ_BOS_DESC), /* wTotalLength */
HIBYTE(USB_SIZ_BOS_DESC), /* wTotalLength */
2, /* bNumDeviceCaps */

28, /* bLength */
// IMPORTANT: The WebUSB descriptor must be first to make Chromium happy.

24, /* bLength */
USB_DEVICE_CAPABITY_TYPE, /* bDescriptorType = Device Capability */
USB_DEV_CAP_TYPE_PLATFORM, /* bDevCapabilityType */
0x00, /* bReserved */

/*
* PlatformCapabilityUUID
* Microsoft OS 2.0 descriptor platform capability ID
* D8DD60DF-4589-4CC7-9CD2-659D9E648A9F
* WebUSB Platform Capability descriptor
* 3408B638-09A9-47A0-8BFD-A0768815B665
* RFC 4122 explains the correct byte ordering
*/
0xDF, 0x60, 0xDD, 0xD8, /* 32-bit value */
0x89, 0x45, /* 16-bit value */
0xC7, 0x4C, /* 16-bit value */
0x9C, 0xD2,
0x65, 0x9D, 0x9E, 0x64, 0x8A, 0x9F,
0x38, 0xB6, 0x08, 0x34, /* 32-bit value */
0xA9, 0x09, /* 16-bit value */
0xA0, 0x47, /* 16-bit value */
0x8B, 0xFD,
0xA0, 0x76, 0x88, 0x15, 0xB6, 0x65,

0x00, 0x00, 0x03, 0x06, /* dwWindowsVersion = 0x06030000 for Windows 8.1 Build */
LOBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
HIBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
USBD_MS_VENDOR_CODE, /* bMS_VendorCode */
0x00, /* bAltEnumCode = Does not support alternate enumeration */
LOBYTE(0x0100), /* bcdVersion */
HIBYTE(0x0100), /* bcdVersion */
USBD_VENDOR_CODE_WEBUSB, /* bVendorCode */
USBD_WEBUSB_LANDING_PAGE_IDX, /* iLandingPage */

24, /* bLength */
// IMPORTANT: The MS OS 2.0 descriptor must be last to make Chromium happy.

28, /* bLength */
USB_DEVICE_CAPABITY_TYPE, /* bDescriptorType = Device Capability */
USB_DEV_CAP_TYPE_PLATFORM, /* bDevCapabilityType */
0x00, /* bReserved */

/*
* PlatformCapabilityUUID
* WebUSB Platform Capability descriptor
* 3408B638-09A9-47A0-8BFD-A0768815B665
* Microsoft OS 2.0 descriptor platform capability ID
* D8DD60DF-4589-4CC7-9CD2-659D9E648A9F
* RFC 4122 explains the correct byte ordering
*/
0x38, 0xB6, 0x08, 0x34, /* 32-bit value */
0xA9, 0x09, /* 16-bit value */
0xA0, 0x47, /* 16-bit value */
0x8B, 0xFD,
0xA0, 0x76, 0x88, 0x15, 0xB6, 0x65,
0xDF, 0x60, 0xDD, 0xD8, /* 32-bit value */
0x89, 0x45, /* 16-bit value */
0xC7, 0x4C, /* 16-bit value */
0x9C, 0xD2,
0x65, 0x9D, 0x9E, 0x64, 0x8A, 0x9F,

LOBYTE(0x0100), /* bcdVersion */
HIBYTE(0x0100), /* bcdVersion */
USBD_WEBUSB_VENDOR_CODE, /* bVendorCode */
USBD_WEBUSB_LANDING_PAGE_IDX /* iLandingPage */
0x00, 0x00, 0x03, 0x06, /* dwWindowsVersion = 0x06030000 for Windows 8.1 Build */
LOBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
HIBYTE(USBD_SIZ_MS_OS_DSCRPTR_SET), /* wMSOSDescriptorSetTotalLength */
USBD_VENDOR_CODE_MS, /* bMS_VendorCode */
0x00, /* bAltEnumCode = Does not support alternate enumeration */
};
_Static_assert(USB_SIZ_BOS_DESC == sizeof(USBD_BOSDesc));

static uint16_t USBD_BOSDesc_Len;

__ALIGN_BEGIN const uint8_t USBD_OSDescSet[USBD_SIZ_MS_OS_DSCRPTR_SET] __ALIGN_END =
__ALIGN_BEGIN const uint8_t USBD_OSDescSet[] __ALIGN_END =
{
0x0A, 0x00, /* wLength = 10 */
0x00, 0x00, /* wDescriptorType = MS_OS_20_SET_HEADER_DESCRIPTOR */
Expand Down Expand Up @@ -254,6 +245,7 @@ __ALIGN_BEGIN const uint8_t USBD_OSDescSet[USBD_SIZ_MS_OS_DSCRPTR_SET] __ALIGN_E
'\0', '\0',
'\0', '\0'
};
_Static_assert(USBD_SIZ_MS_OS_DSCRPTR_SET == sizeof(USBD_OSDescSet));

/* USB Standard Device Descriptor */
__ALIGN_BEGIN static const uint8_t USBD_LangIDDesc[USB_LEN_LANGID_STR_DESC] __ALIGN_END = {
Expand Down Expand Up @@ -314,38 +306,6 @@ static void Get_SerialNum(void) {
}
}

/**
* @brief Add the short BLE UUID to the buffer in little-endian format.
* @param dst The destination buffer
* @param dst The short BLE UUID to add
* @retval None
*/
static void add_ble_short_uuid_le(uint8_t *dst, uint16_t short_uuid) {
/* 32-bit */
dst[0] = LOBYTE(short_uuid);
dst[1] = HIBYTE(short_uuid);
dst[2] = 0x00;
dst[3] = 0x00;

/* 16-bit */
dst[4] = 0x00;
dst[5] = 0x00;

/* 16-bit */
dst[6] = 0x00;
dst[7] = 0x10;

/* 8-byte buffer */
dst[8] = 0x80;
dst[9] = 0x00;
dst[10] = 0x00;
dst[11] = 0x80;
dst[12] = 0x5F;
dst[13] = 0x9B;
dst[14] = 0x34;
dst[15] = 0xFB;
}

/**
* @brief Returns the device descriptor.
* @param speed: Current device speed
Expand Down Expand Up @@ -443,7 +403,7 @@ static uint8_t *USBD_Pybricks_BOSDescriptor(USBD_SpeedTypeDef speed, uint16_t *l
/* Prevent unused argument(s) compilation warning */
UNUSED(speed);

*length = USBD_BOSDesc_Len;
*length = USB_SIZ_BOS_DESC;
return (uint8_t *)USBD_BOSDesc;
}

Expand Down Expand Up @@ -471,80 +431,4 @@ void USBD_Pybricks_Desc_Init(void) {
USBD_DeviceDesc[11] = HIBYTE(PBDRV_CONFIG_USB_PID_1);
}
#endif

const char *str;
size_t len;

uint8_t *ptr = &USBD_BOSDesc[USB_SIZ_BOS_DESC_CONST];

/* Add device name */
str = pbdrv_bluetooth_get_hub_name();
len = MIN(strlen(str), USB_SIZ_HUB_NAME_MAX);

*ptr++ = USB_SIZ_PLATFORM_HDR + len; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_device_name_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Device Name
memcpy(ptr, str, len);
ptr += len;

/* Add firmware version */
*ptr++ = USB_SIZ_PLATFORM_HDR + sizeof(firmware_version) - 1; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_firmware_version_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Firmware Version
memcpy(ptr, firmware_version, sizeof(firmware_version) - 1);
ptr += sizeof(firmware_version) - 1;

/* Add software (protocol) version */
*ptr++ = USB_SIZ_PLATFORM_HDR + sizeof(software_version) - 1; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
add_ble_short_uuid_le(ptr, pbio_gatt_software_version_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Software Version
memcpy(ptr, software_version, sizeof(software_version) - 1);
ptr += sizeof(software_version) - 1;

/* Add hub capabilities */
*ptr++ = USB_SIZ_PLATFORM_HDR + PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE; // bLength
*ptr++ = USB_DEVICE_CAPABITY_TYPE; // bDescriptorType
*ptr++ = USB_DEV_CAP_TYPE_PLATFORM; // bDevCapabilityType
*ptr++ = 0x00; // bReserved

// PlatformCapabilityUUID
pbio_uuid128_le_copy(ptr, pbio_pybricks_hub_capabilities_char_uuid);
ptr += USB_SIZ_UUID;

// CapabilityData: Hub Capabilities
pbio_pybricks_hub_capabilities(ptr,
USBD_PYBRICKS_MAX_PACKET_SIZE - 1,
PBSYS_CONFIG_APP_FEATURE_FLAGS,
pbsys_storage_get_maximum_program_size(),
PBSYS_CONFIG_HMI_NUM_SLOTS);
ptr += PBIO_PYBRICKS_HUB_CAPABILITIES_VALUE_SIZE;

/* Update wTotalLength field in BOS Descriptor */
USBD_BOSDesc_Len = ptr - USBD_BOSDesc;
USBD_BOSDesc[2] = LOBYTE(USBD_BOSDesc_Len);
USBD_BOSDesc[3] = HIBYTE(USBD_BOSDesc_Len);

/* Update bNumDeviceCaps field in BOS Descriptor */
USBD_BOSDesc[4] += 4;
}
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