USB Middleware

firmware/cmake/bootlib.cmake

@@ -43,6 +43,7 @@ function(stm32f4_boot_binary
             "${STM32_HAL_SRCS}"
             "${SYSCALLS}"
             "${MD5_LOCATION}"
+            FALSE
     )
 
     # Add bootloader-specific files.
@@ -121,6 +122,7 @@ function(stm32h7_boot_binary
             "${STM32_HAL_SRCS}"
             "${SYSCALLS}"
             "${MD5_LOCATION}"
+            FALSE
     )
 
     # Add bootloader-specific files.

firmware/cmake/stmlib.cmake

@@ -54,15 +54,18 @@ message("  🔃 Registered stm32f412rx_cube_library() function")
 # HAL_CONF_DIR: src/cubemx/Inc
 # HAL_SRCS: the ones that we want, stripped prefixes
 # SYSCALLS: most of the functions defined inside are weak references, only used to make sure it builds without error.
+# USB_ENABLED: flags if usb middleware should be included.
 function(stm32f412rx_cube_library
         HAL_LIB_NAME
         HAL_CONF_DIR
         HAL_SRCS
         SYSCALLS
         IOC_CHECKSUM
+        USB_ENABLED
 )
     set(DRIVERS_DIR "${STM32CUBEF4_SOURCE_DIR}/Drivers")
     set(FREERTOS_DIR "${STM32CUBEF4_SOURCE_DIR}/Middlewares/Third_Party/FreeRTOS/Source")
+    set(USB_MIDDLEWARE_DIR "${STM32CUBEF4_SOURCE_DIR}/Middlewares/ST/STM32_USB_Device_Library")
 
     # Set include directories for STM32Cube library.
     set(STM32CUBE_INCLUDE_DIRS
@@ -81,9 +84,16 @@ function(stm32f412rx_cube_library
             "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/Sample/FreeRTOSV10"
     )
 
+    file(GLOB USB_SRCS
+        "${USB_MIDDLEWARE_DIR}/Class/CDC/Src/usbd_cdc.c"
+
+        "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_core.c"
+        "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ctlreq.c"
+        "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ioreq.c"
+    )
+
     # HAL sources.
     set(STM32_HAL_SRCS)
-
     foreach (HAL_SRC ${HAL_SRCS})
         list(APPEND STM32_HAL_SRCS "${DRIVERS_DIR}/STM32F4xx_HAL_Driver/Src/${HAL_SRC}")
     endforeach ()
@@ -112,6 +122,20 @@ function(stm32f412rx_cube_library
     set(STARTUP_SRC "${DRIVERS_DIR}/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f412rx.s")
 
     set(STM32CUBE_SRCS ${STM32_HAL_SRCS} ${RTOS_SRCS} ${SYSTEMVIEW_SRCS} ${SYSCALLS} ${IOC_CHECKSUM} ${STARTUP_SRC} ${NEWLIB_SRCS})
+    if(USB_ENABLED)
+        list(APPEND STM32CUBE_SRCS 
+            "${USB_MIDDLEWARE_DIR}/Class/CDC/Src/usbd_cdc.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_core.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ctlreq.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ioreq.c"
+        )
+
+        list(APPEND STM32CUBE_INCLUDE_DIRS 
+            "${USB_MIDDLEWARE_DIR}/Core/Inc" 
+            "${USB_MIDDLEWARE_DIR}/Class/CDC/Inc"
+        )
+    endif()
+
     embedded_library(
             "${HAL_LIB_NAME}"
             "${STM32CUBE_SRCS}"
@@ -133,26 +157,29 @@ function(stm32h733xx_cube_library
         HAL_SRCS
         SYSCALLS
         IOC_CHECKSUM
+        USB_ENABLED
 )
     set(DRIVERS_DIR "${STM32CUBEH7_SOURCE_DIR}/Drivers")
     set(FREERTOS_DIR "${STM32CUBEH7_SOURCE_DIR}/Middlewares/Third_Party/FreeRTOS/Source")
+    set(USB_MIDDLEWARE_DIR "${STM32CUBEH7_SOURCE_DIR}/Middlewares/ST/STM32_USB_Device_Library")
 
     # Set include directories for STM32Cube library.
     set(STM32CUBE_INCLUDE_DIRS
-            "${HAL_CONF_DIR}"
-            "${DRIVERS_DIR}/STM32H7xx_HAL_Driver/Inc"
-            "${DRIVERS_DIR}/STM32H7xx_HAL_Driver/Inc/Legacy"
-            "${FREERTOS_DIR}/include"
-            "${FREERTOS_DIR}/CMSIS_RTOS_V2"
-            "${FREERTOS_DIR}/portable/GCC/ARM_CM4F"
-            "${DRIVERS_DIR}/CMSIS/Device/ST/STM32H7xx/Include"
-            "${DRIVERS_DIR}/CMSIS/Include"
-            # SEGGER SystemView includes.
-            "${THIRD_PARTY_DIR}/sysview"
-            "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/SEGGER"
-            "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/Config"
-            "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/Sample/FreeRTOSV10"
+        "${HAL_CONF_DIR}"
+        "${DRIVERS_DIR}/STM32H7xx_HAL_Driver/Inc"
+        "${DRIVERS_DIR}/STM32H7xx_HAL_Driver/Inc/Legacy"
+        "${FREERTOS_DIR}/include"
+        "${FREERTOS_DIR}/CMSIS_RTOS_V2"
+        "${FREERTOS_DIR}/portable/GCC/ARM_CM4F"
+        "${DRIVERS_DIR}/CMSIS/Device/ST/STM32H7xx/Include"
+        "${DRIVERS_DIR}/CMSIS/Include"
+
+        # SEGGER SystemView includes.
+        "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/SEGGER"
+        "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/Config"
+        "${SEGGER_SYSTEMVIEW_SOURCE_DIR}/Sample/FreeRTOSV10"
     )
+
     # HAL sources.
     set(STM32_HAL_SRCS)
     foreach (HAL_SRC ${HAL_SRCS})
@@ -184,6 +211,26 @@ function(stm32h733xx_cube_library
     set(STARTUP_SRC "${DRIVERS_DIR}/CMSIS/Device/ST/STM32H7xx/Source/Templates/gcc/startup_stm32h733xx.s")
 
     set(STM32CUBE_SRCS ${STM32_HAL_SRCS} ${RTOS_SRCS} ${SYSTEMVIEW_SRCS} ${SYSCALLS} ${IOC_CHECKSUM} ${STARTUP_SRC})
+
+    # Handle usb srcs and include directories.
+    # Currently, all our USB devices are of the Communications Device Class (CDC).
+    # If we want to ever support different device classes, 
+    # you will need to add a argument to this function with the requested class.
+    if(USB_ENABLED)
+        list(APPEND STM32CUBE_SRCS 
+            "${USB_MIDDLEWARE_DIR}/Class/CDC/Src/usbd_cdc.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_core.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ctlreq.c"
+            "${USB_MIDDLEWARE_DIR}/Core/Src/usbd_ioreq.c"
+        )
+
+        list(APPEND STM32CUBE_INCLUDE_DIRS 
+            "${USB_MIDDLEWARE_DIR}/Core/Inc" 
+            "${USB_MIDDLEWARE_DIR}/Class/CDC/Inc"
+        )
+    endif()
+
+
     embedded_library(
             "${HAL_LIB_NAME}"
             "${STM32CUBE_SRCS}"
@@ -197,4 +244,4 @@ function(stm32h733xx_cube_library
             STM32H733xx
             CANFD
     )
-endfunction()
+endfunction()

firmware/dev/f4dev/CMakeLists.txt

@@ -36,6 +36,9 @@ IF ("${TARGET}" STREQUAL "binary")
             "stm32f4xx_hal.c"
             "stm32f4xx_hal_sd.c"
             "stm32f4xx_ll_sdmmc.c"
+            "stm32f4xx_hal_pcd.c"
+            "stm32f4xx_hal_pcd_ex.c"
+            "stm32f4xx_ll_usb.c"
     )
 
     # Pass syscalls to the cube library so we can build without warnings.
@@ -46,6 +49,7 @@ IF ("${TARGET}" STREQUAL "binary")
             "${STM32_HAL_SRCS}"
             "${SYSCALLS}"
             "${MD5_LOCATION}"
+            TRUE
     )
 
     embedded_binary(

firmware/dev/f4dev/src/cubemx/Inc/stm32f4xx_hal_conf.h

@@ -71,7 +71,7 @@ extern "C"
 /* #define HAL_SMARTCARD_MODULE_ENABLED */
 /* #define HAL_SMBUS_MODULE_ENABLED */
 /* #define HAL_WWDG_MODULE_ENABLED */
-/* #define HAL_PCD_MODULE_ENABLED */
+#define HAL_PCD_MODULE_ENABLED
 /* #define HAL_HCD_MODULE_ENABLED */
 /* #define HAL_DSI_MODULE_ENABLED */
 /* #define HAL_QSPI_MODULE_ENABLED */

firmware/dev/f4dev/src/cubemx/Inc/stm32f4xx_it.h

@@ -59,6 +59,7 @@ extern "C"
     void TIM6_IRQHandler(void);
     void CAN2_RX0_IRQHandler(void);
     void CAN2_RX1_IRQHandler(void);
+    void OTG_FS_IRQHandler(void);
     /* USER CODE BEGIN EFP */
 
     /* USER CODE END EFP */

firmware/dev/f4dev/src/cubemx/Inc/usb_device.h

@@ -0,0 +1,103 @@
+/* USER CODE BEGIN Header */
+/**
+ ******************************************************************************
+ * @file           : usb_device.h
+ * @version        : v1.0_Cube
+ * @brief          : Header for usb_device.c file.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __USB_DEVICE__H__
+#define __USB_DEVICE__H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+#include "stm32f4xx_hal.h"
+#include "usbd_def.h"
+
+    /* USER CODE BEGIN INCLUDE */
+
+    /* USER CODE END INCLUDE */
+
+    /** @addtogroup USBD_OTG_DRIVER
+     * @{
+     */
+
+    /** @defgroup USBD_DEVICE USBD_DEVICE
+     * @brief Device file for Usb otg low level driver.
+     * @{
+     */
+
+    /** @defgroup USBD_DEVICE_Exported_Variables USBD_DEVICE_Exported_Variables
+     * @brief Public variables.
+     * @{
+     */
+
+    /* Private variables ---------------------------------------------------------*/
+    /* USER CODE BEGIN PV */
+
+    /* USER CODE END PV */
+
+    /* Private function prototypes -----------------------------------------------*/
+    /* USER CODE BEGIN PFP */
+
+    /* USER CODE END PFP */
+
+    /*
+     * -- Insert your variables declaration here --
+     */
+    /* USER CODE BEGIN VARIABLES */
+
+    /* USER CODE END VARIABLES */
+    /**
+     * @}
+     */
+
+    /** @defgroup USBD_DEVICE_Exported_FunctionsPrototype USBD_DEVICE_Exported_FunctionsPrototype
+     * @brief Declaration of public functions for Usb device.
+     * @{
+     */
+
+    /** USB Device initialization function. */
+    void MX_USB_DEVICE_Init(void);
+
+    /*
+     * -- Insert functions declaration here --
+     */
+    /* USER CODE BEGIN FD */
+
+    /* USER CODE END FD */
+    /**
+     * @}
+     */
+
+    /**
+     * @}
+     */
+
+    /**
+     * @}
+     */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_DEVICE__H__ */