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/*
* Copyright (c) 2024, sakumisu
*
* SPDX-License-Identifier: Apache-2.0
*/
#ifndef USB_TMC_H
#define USB_TMC_H
#define TMC_VERSION 0x0100
/* Table 43: TMC Class Code */
#define TMC_CLASS_APPLICATION 0xfe
#define TMC_APPLICATION_SUBCLASS_TMC 0x03
/* Table 44 */
#define TMC_PROTOCOL_NONE 0
#define TMC_PROTOCOL_USB488 1
/* USB TMC Class Specific Requests, Table 15 sec 4.2.1 */
#define TMC_REQUEST_INITIATE_ABORT_BULK_OUT 1
#define TMC_REQUEST_CHECK_ABORT_BULK_OUT_STATUS 2
#define TMC_REQUEST_INITIATE_ABORT_BULK_IN 3
#define TMC_REQUEST_CHECK_ABORT_BULK_IN_STATUS 4
#define TMC_REQUEST_INITIATE_CLEAR 5
#define TMC_REQUEST_CHECK_CLEAR_STATUS 6
#define TMC_REQUEST_GET_CAPABILITIES 7
#define TMC_REQUEST_INDICATOR_PULSE 64 //optional
/* USB TMC status values Table 16 */
#define TMC_STATUS_SUCCESS 1
#define TMC_STATUS_PENDING 2
#define TMC_STATUS_FAILED 0x80
#define TMC_STATUS_TRANSFER_NOT_IN_PROGRESS 0x81
#define TMC_STATUS_SPLIT_NOT_IN_PROGRESS 0x82
#define TMC_STATUS_SPLIT_IN_PROGRESS 0x83
struct tmc_bulk_header {
uint8_t MsgID;
uint8_t bTag;
uint8_t bTagInverse;
uint8_t reserved;
union {
struct _dev_dep_msg_out {
uint32_t transferSize;
uint8_t bmTransferAttributes;
uint8_t reserved[3];
} dev_dep_msg_out;
struct _req_dev_dep_msg_in {
uint32_t transferSize;
uint8_t bmTransferAttributes;
uint8_t TermChar;
uint8_t reserved[2];
} req_dev_dep_msg_in;
struct _dev_dep_msg_in {
uint32_t transferSize;
uint8_t bmTransferAttributes;
uint8_t reserved[3];
} dev_dep_msg_in;
struct _vendor_specific_out {
uint32_t transferSize;
uint8_t reserved[4];
} vendor_specific_out;
struct _req_vendor_specific_in {
uint32_t transferSize;
uint8_t reserved[4];
} req_vendor_specific_in;
struct _vendor_specific_in {
uint32_t transferSize;
uint8_t reserved[4];
} vendor_specific_in;
uint8_t data[8];
} msg_specific;
} __attribute__((packed));
/* Table 2, MsgId values */
#define TMC_MSGID_OUT_DEV_DEP_MSG_OUT 1
#define TMC_MSGID_OUT_REQUEST_DEV_DEP_MSG_IN 2
#define TMC_MSGID_IN_DEV_DEP_MSG_IN 2
/* 3-125 Reserved for USBTMC */
#define TMC_MSGID_OUT_VENDOR_SPECIFIC_OUT 126
#define TMC_MSGID_OUT_REQUEST_VENDOR_SPECIFIC_IN 127
#define TMC_MSGID_IN_VENDOR_SPECIFIC_IN 127
/* 128-255 Reserved for USBTMC subclass and VISA */
/** The last USBTMC message data byte in the transfer is the last byte of the
* USBTMC message. */
#define TMC_BULK_HEADER_TRANSFER_ATTR_EOM (1 << 0)
/** The Bulk-IN transfer must terminate on the specified TermChar. The Host may
* only set this bit if the USBTMC interface indicates it supports TermChar in
* the GET_CAPABILITIES response packet */
#define TMC_BULK_HEADER_TRANSFER_ATTR_TERMCHAR (1 << 1)
#define TMC_INTERFACE_CAPABILITY_INDICATOR_PULSE (1 << 2)
#define TMC_INTERFACE_CAPABILITY_TALK_ONLY (1 << 1)
#define TMC_INTERFACE_CAPABILITY_LISTEN_ONLY (1 << 0)
#define TMC_DEVICE_CAPABILITY_TERMCHAR (1 << 0)
struct tmc_capabilities_response {
uint8_t USBTMC_status;
uint8_t reserved0;
uint16_t bcdUSBTMC;
uint8_t InterfaceCapabilities;
uint8_t DeviceCapabilities;
uint8_t reserved1[6];
uint16_t bcdUSB488;
uint8_t InterfaceCapabilities488;
uint8_t DeviceCapabilities488;
uint8_t reserved_subclass[8];
} __attribute__((packed));
struct tmc_initiate_abort_response {
uint8_t USBTMC_status;
uint8_t bTag;
} __attribute__((packed));
struct tmc_check_abort_bulk_response {
uint8_t USBTMC_status;
uint8_t bmAbortBulkIn; // D0: BulkInFifoBytes/BulkOutFifoBytes
uint8_t reserved[2];
uint32_t NBYTES_RXD_TXD;
} __attribute__((packed));
struct tmc_check_clear_status_response {
uint8_t USBTMC_status;
uint8_t bmClear; // D0: BulkInFifoBytes/BulkOutFifoBytes
} __attribute__((packed));
// clang-format off
#define TMC_DESCRIPTOR_INIT(bInterfaceNumber, out_ep, in_ep, wMaxPacketSize, str_idx) \
USB_INTERFACE_DESCRIPTOR_INIT(bInterfaceNumber, 0x00, 0x02, 0xFE, 0x03, 0x00, str_idx), \
USB_ENDPOINT_DESCRIPTOR_INIT(out_ep, USB_ENDPOINT_TYPE_BULK, wMaxPacketSize, 0x00), \
USB_ENDPOINT_DESCRIPTOR_INIT(in_ep, USB_ENDPOINT_TYPE_BULK, wMaxPacketSize, 0x00)
// clang-format on
// clang-format off
#define TMC488_DESCRIPTOR_INIT(bInterfaceNumber, out_ep, in_ep, wMaxPacketSize, str_idx) \
USB_INTERFACE_DESCRIPTOR_INIT(bInterfaceNumber, 0x00, 0x02, 0xFE, 0x03, 0x01, str_idx), \
USB_ENDPOINT_DESCRIPTOR_INIT(out_ep, USB_ENDPOINT_TYPE_BULK, wMaxPacketSize, 0x00), \
USB_ENDPOINT_DESCRIPTOR_INIT(in_ep, USB_ENDPOINT_TYPE_BULK, wMaxPacketSize, 0x00)
// clang-format on
#endif /* USB_TMC_H */
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