feat(firmware/c_board): Migrate USB stack from HAL CDC to TinyUSB

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "firmware/bsp/hpm_sdk"]
 	path = firmware/rmcs_board/bsp/hpm_sdk
 	url = https://github.com/Alliance-Algorithm/hpm_sdk.git
+[submodule "firmware/c_board/bsp/tinyusb"]
+	path = firmware/c_board/bsp/tinyusb
+	url = https://github.com/qzhhhi/tinyusb.git

firmware/c_board/CMakeLists.txt

@@ -23,6 +23,12 @@ enable_language(C CXX ASM)
 set(LIBRMCS_PROJECT_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../..")
 cmake_path(ABSOLUTE_PATH LIBRMCS_PROJECT_ROOT NORMALIZE)
 
+set(LIBRMCS_TINYUSB_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/bsp/tinyusb")
+if(NOT EXISTS "${LIBRMCS_TINYUSB_ROOT}/src/tusb.h")
+    message(FATAL_ERROR "TinyUSB submodule not found at ${LIBRMCS_TINYUSB_ROOT}. "
+        "Run: git submodule update --init firmware/c_board/bsp/tinyusb")
+endif()
+
 if(NOT DEFINED LIBRMCS_PROJECT_VERSION OR LIBRMCS_PROJECT_VERSION STREQUAL "")
     execute_process(
         COMMAND ".scripts/generate_version"
@@ -43,6 +49,29 @@ list(APPEND TOOLCHAIN_LINK_LIBRARIES "stdc++")
 # Bring in CubeMX generated HAL build definitions.
 add_subdirectory(bsp/HAL/cmake/stm32cubemx)
 
+add_library(tinyusb_device OBJECT)
+target_sources(tinyusb_device PRIVATE
+    "${LIBRMCS_TINYUSB_ROOT}/src/tusb.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/common/tusb_fifo.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/device/usbd.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/device/usbd_control.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/class/vendor/vendor_device.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dwc2_common.c"
+    "${LIBRMCS_TINYUSB_ROOT}/src/portable/synopsys/dwc2/dcd_dwc2.c"
+)
+target_include_directories(tinyusb_device SYSTEM PUBLIC
+    "${LIBRMCS_TINYUSB_ROOT}/src"
+)
+target_include_directories(tinyusb_device PUBLIC
+    "${CMAKE_CURRENT_SOURCE_DIR}/include"
+)
+target_compile_definitions(tinyusb_device PUBLIC
+    CFG_TUSB_MCU=OPT_MCU_STM32F4
+)
+target_link_libraries(tinyusb_device PUBLIC
+    stm32cubemx
+)
+
 # Mark CubeMX/HAL headers as SYSTEM so they show up as `-isystem` in
 # compile_commands.json (clang-tidy should not warn on third-party code).
 if(TARGET stm32cubemx)
@@ -126,4 +155,5 @@ list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
 
 target_link_libraries(${CMAKE_PROJECT_NAME}
     stm32cubemx
+    tinyusb_device
 )

firmware/c_board/bsp/HAL/Core/Inc/usb_otg.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    usb_otg.h
+  * @brief   This file contains all the function prototypes for
+  *          the usb_otg.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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_OTG_H__
+#define __USB_OTG_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_USB_OTG_FS_PCD_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __USB_OTG_H__ */
+

firmware/c_board/bsp/HAL/Core/Src/main.c

@@ -22,7 +22,7 @@
 #include "spi.h"
 #include "tim.h"
 #include "usart.h"
-#include "usb_device.h"
+#include "usb_otg.h"
 #include "gpio.h"
 
 /* Private includes ----------------------------------------------------------*/
@@ -92,33 +92,18 @@ int main(void)
   DWT->CYCCNT = 0;
   DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
 
-  // Generate USB PID from STM32 12-byte unique id using simple CRC-16 algorithm.
-  extern __ALIGN_BEGIN uint8_t USBD_FS_DeviceDesc[USB_LEN_DEV_DESC] __ALIGN_END;
-  uint16_t pid  = 0xFFFF;
-  uint8_t *data = (uint8_t*)0x1FFF7A10u;
-  size_t len    = 12;
-  while (len--) {
-    pid ^= *data++;
-    for (int i = 0; i < 8; i++) {
-      if (pid & 1) pid = (pid >> 1) ^ 0x8408;
-      else         pid = (pid >> 1);
-    }
-  }
-  USBD_FS_DeviceDesc[10] = LOBYTE(pid);
-  USBD_FS_DeviceDesc[11] = HIBYTE(pid);
-
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
   MX_SPI1_Init();
-  MX_USB_DEVICE_Init();
   MX_CAN1_Init();
   MX_CAN2_Init();
   MX_USART1_UART_Init();
   MX_USART3_UART_Init();
   MX_USART6_UART_Init();
   MX_TIM5_Init();
+  MX_USB_OTG_FS_PCD_Init();
   /* USER CODE BEGIN 2 */
 
   AppEntry();

firmware/c_board/bsp/HAL/Core/Src/stm32f4xx_it.c

@@ -20,9 +20,10 @@
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
 #include "stm32f4xx_it.h"
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-/* USER CODE END Includes */
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include <tusb.h>
+/* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
@@ -55,13 +56,13 @@
 /* USER CODE END 0 */
 
 /* External variables --------------------------------------------------------*/
-extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 extern CAN_HandleTypeDef hcan1;
 extern CAN_HandleTypeDef hcan2;
 extern SPI_HandleTypeDef hspi1;
 extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart3;
 extern UART_HandleTypeDef huart6;
+extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -305,12 +306,14 @@ void CAN2_RX0_IRQHandler(void)
 /**
   * @brief This function handles USB On The Go FS global interrupt.
   */
-void OTG_FS_IRQHandler(void)
-{
-  /* USER CODE BEGIN OTG_FS_IRQn 0 */
-
-  /* USER CODE END OTG_FS_IRQn 0 */
-  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
+void OTG_FS_IRQHandler(void)
+{
+  /* USER CODE BEGIN OTG_FS_IRQn 0 */
+  tusb_int_handler(0, true);
+  return;
+
+  /* USER CODE END OTG_FS_IRQn 0 */
+  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
   /* USER CODE BEGIN OTG_FS_IRQn 1 */
 
   /* USER CODE END OTG_FS_IRQn 1 */

firmware/c_board/bsp/HAL/Core/Src/usb_otg.c

@@ -0,0 +1,122 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    usb_otg.c
+  * @brief   This file provides code for the configuration
+  *          of the USB_OTG instances.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 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 */
+/* Includes ------------------------------------------------------------------*/
+#include "usb_otg.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+PCD_HandleTypeDef hpcd_USB_OTG_FS;
+
+/* USB_OTG_FS init function */
+
+void MX_USB_OTG_FS_PCD_Init(void)
+{
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 0 */
+
+  /* USER CODE END USB_OTG_FS_Init 0 */
+
+  /* USER CODE BEGIN USB_OTG_FS_Init 1 */
+
+  /* USER CODE END USB_OTG_FS_Init 1 */
+  hpcd_USB_OTG_FS.Instance = USB_OTG_FS;
+  hpcd_USB_OTG_FS.Init.dev_endpoints = 4;
+  hpcd_USB_OTG_FS.Init.speed = PCD_SPEED_FULL;
+  hpcd_USB_OTG_FS.Init.dma_enable = DISABLE;
+  hpcd_USB_OTG_FS.Init.phy_itface = PCD_PHY_EMBEDDED;
+  hpcd_USB_OTG_FS.Init.Sof_enable = DISABLE;
+  hpcd_USB_OTG_FS.Init.low_power_enable = DISABLE;
+  hpcd_USB_OTG_FS.Init.lpm_enable = DISABLE;
+  hpcd_USB_OTG_FS.Init.vbus_sensing_enable = DISABLE;
+  hpcd_USB_OTG_FS.Init.use_dedicated_ep1 = DISABLE;
+  if (HAL_PCD_Init(&hpcd_USB_OTG_FS) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN USB_OTG_FS_Init 2 */
+
+  /* USER CODE END USB_OTG_FS_Init 2 */
+
+}
+
+void HAL_PCD_MspInit(PCD_HandleTypeDef* pcdHandle)
+{
+
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  if(pcdHandle->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 0 */
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**USB_OTG_FS GPIO Configuration
+    PA12     ------> USB_OTG_FS_DP
+    PA11     ------> USB_OTG_FS_DM
+    */
+    GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_11;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
+    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+    /* USB_OTG_FS clock enable */
+    __HAL_RCC_USB_OTG_FS_CLK_ENABLE();
+
+    /* USB_OTG_FS interrupt Init */
+    HAL_NVIC_SetPriority(OTG_FS_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspInit 1 */
+  }
+}
+
+void HAL_PCD_MspDeInit(PCD_HandleTypeDef* pcdHandle)
+{
+
+  if(pcdHandle->Instance==USB_OTG_FS)
+  {
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 0 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_USB_OTG_FS_CLK_DISABLE();
+
+    /**USB_OTG_FS GPIO Configuration
+    PA12     ------> USB_OTG_FS_DP
+    PA11     ------> USB_OTG_FS_DM
+    */
+    HAL_GPIO_DeInit(GPIOA, GPIO_PIN_12|GPIO_PIN_11);
+
+    /* USB_OTG_FS interrupt Deinit */
+    HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
+  /* USER CODE BEGIN USB_OTG_FS_MspDeInit 1 */
+
+  /* USER CODE END USB_OTG_FS_MspDeInit 1 */
+  }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */