Support switching between usb host and device

Author: rechrtb

src/Hardware/SAME70/Devices.cpp

@@ -122,8 +122,12 @@ void DeviceInit() noexcept
 #endif
 
 #if CORE_USES_TINYUSB
+#if SUPPORT_USB_DRIVE && CFG_TUH_ENABLED
+	CoreUsbInit(NvicPriorityUSB, UsbVBusPin, UsbPowerSwitchPin, UsbModePin, UsbDetectPin);
+#else
 	CoreUsbInit(NvicPriorityUSB);
-	usbDeviceTask.Create(CoreUsbDeviceTask, "USBD", nullptr, TaskPriority::UsbPriority);
+#endif
+	usbDeviceTask.Create(CoreUsbDeviceTask, "USBHD", nullptr, TaskPriority::UsbPriority);
 #endif
 }
 
@@ -134,6 +138,7 @@ void StopAnalogTask() noexcept
 void StopUsbTask() noexcept
 {
 #if CORE_USES_TINYUSB
+	CoreUsbStop();
 	usbDeviceTask.TerminateAndUnlink();
 #endif
 }

src/Platform/Platform.cpp

@@ -47,6 +47,10 @@
 #include <Storage/SdCardVolume.h>
 #include <Accelerometers/Accelerometers.h>
 
+#if SUPPORT_USB_DRIVE
+#include <TinyUsbInterface.h>
+#endif
+
 #if SAM4E || SAM4S || SAME70
 # include <AnalogIn.h>
 using LegacyAnalogIn::AdcBits;
@@ -2039,6 +2043,48 @@ GCodeResult Platform::HandleM575(GCodeBuffer& gb, const StringRef& reply) THROWS
 {
 	// Get the channel specified by the command and the corresponding GCode buffer
 	const size_t chan = gb.GetLimitedUIValue('P', NumSerialChannels);
+
+	bool modeChangeSeen = false;
+	bool hostMode = false;
+	gb.TryGetBValue('H', hostMode, modeChangeSeen);
+
+#if SUPPORT_USB_DRIVE
+	if (chan == 0)
+	{
+		bool result = SetUsbHostMode(hostMode, reply);
+
+		// If setting to host mode then return result immediately. However, if setting to device,
+		// check that succeeded first so that the rest of the M575 code can be executed.
+		if (hostMode)
+		{
+			return result ? GCodeResult::ok : GCodeResult::error;
+		}
+		else
+		{
+			if (!result)
+			{
+				return GCodeResult::error;
+			}
+		}
+	}
+	else
+	{
+		// H=1 is only valid on channel 0, otherwise ignored.
+		if (hostMode)
+		{
+			reply.printf("USB host mode not supported on channel other than 0");
+			return GCodeResult::error;
+		}
+	}
+#else
+	// H=0 is ignored when USB host not supported.
+	if (modeChangeSeen && hostMode)
+	{
+		reply.printf("USB host mode not supported");
+		return GCodeResult::error;
+	}
+#endif
+
 	GCodeBuffer * const gbp = reprap.GetGCodes().GetSerialGCodeBuffer(chan);
 
 #if HAS_AUX_DEVICES
@@ -2109,7 +2155,7 @@ GCodeResult Platform::HandleM575(GCodeBuffer& gb, const StringRef& reply) THROWS
 		if (   gbp != nullptr
 			&& newMode != AuxDevice::AuxMode::disabled
 			&& newMode != AuxDevice::AuxMode::device
-		   )
+		)
 		{
 			gbp->Enable(val);						// enable I/O and set the CRC and checksum requirements, also sets Marlin or PanelDue compatibility
 		}
@@ -2136,7 +2182,7 @@ GCodeResult Platform::HandleM575(GCodeBuffer& gb, const StringRef& reply) THROWS
 		{
 			if (!IsAuxEnabled(chan - 1)
 				&& (chan >= NumSerialChannels || auxDevices[chan - 1].GetMode() != AuxDevice::AuxMode::device)
-			   )
+			)
 			{
 				reply.printf("Channel %u is disabled", chan);
 			}
@@ -2170,6 +2216,7 @@ GCodeResult Platform::HandleM575(GCodeBuffer& gb, const StringRef& reply) THROWS
 			}
 		}
 	}
+
 	return GCodeResult::ok;
 }
 
@@ -3219,6 +3266,18 @@ void Platform::SetBaudRate(size_t chan, uint32_t br) noexcept
 	}
 }
 
+#if SUPPORT_USB_DRIVE
+bool Platform::SetUsbHostMode(bool hostMode, const StringRef& reply) noexcept
+{
+#if CORE_USES_TINYUSB && CFG_TUH_ENABLED
+	return CoreUsbSetHostMode(hostMode, reply);
+#else
+	reply.copy("Host mode not supported by USB stack");
+	return false; // unimplemented if not using tinyUSB
+#endif
+}
+#endif
+
 uint32_t Platform::GetBaudRate(size_t chan) const noexcept
 {
 	return (chan != 0 && chan < NumSerialChannels) ? auxDevices[chan - 1].GetBaudRate() : 0;

src/Platform/Platform.h

@@ -280,6 +280,9 @@ class Platform INHERIT_OBJECT_MODEL
 	void SetGateWay(IPAddress gw) noexcept;
 	IPAddress GateWay() const noexcept;
 	void SetBaudRate(size_t chan, uint32_t br) noexcept;
+#if SUPPORT_USB_DRIVE
+	bool SetUsbHostMode(bool host, const StringRef& reply) noexcept;
+#endif
 	uint32_t GetBaudRate(size_t chan) const noexcept;
 	void SetCommsProperties(size_t chan, uint32_t cp) noexcept;
 	uint32_t GetCommsProperties(size_t chan) const noexcept;