Implementing a USB Keyboard Device

The Tock kernel supports implementing a USB device and we can setup our kernel so that it is recognized as a USB keyboard device. This is necessary to enable the HOTP key to send the generated key to the computer when logging in.

Background

This module configures your hardware board to be a USB HID device. From Wikipedia:

The USB human interface device class (USB HID class) is a part of the USB specification for computer peripherals: it specifies a device class (a type of computer hardware) for human interface devices such as keyboards, mice, game controllers and alphanumeric display devices.

The USB HID class describes devices used with nearly every modern computer. Many predefined functions exist in the USB HID class. These functions allow hardware manufacturers to design a product to USB HID class specifications and expect it to work with any software that also meets these specifications.

Enabling USB HID will allow your board to operate as a normal keyboard. As far as your computer is concerned, you plugged in a USB keyboard. This means your board and microcontroller can "type" to your computer.

Configuring the Kernel

We need to setup our kernel to include USB support, and particularly the USB HID (keyboard) profile. This requires modifying the board's main.rs file. These steps will guide you through adding the USB HID device as a new resource provided by the Tock kernel on your hardware board. You will also expose this resource to userspace via the syscall interface.

1. USB Strings

You first need to create three strings that will represent this device to the USB host.

You should add the following setup near the end of main.rs, just before the creating the Platform struct.

#![allow(unused)]
fn main() {
// Create the strings we include in the USB descriptor.
let strings = static_init!(
    [&str; 3],
    [
        "Nordic Semiconductor", // Manufacturer
        "nRF52840dk - TockOS",  // Product
        "serial0001",           // Serial number
    ]
);
}

2. Include USB HID Capsule Type

Now we need to instantiate the keyboard USB capsule in the board. This capsule provides the USB Keyboard HID stack needed to interface with the USB hardware and provide an interface to communicate as a HID device.

In general, adding a capsule to a Tock kernel can be somewhat cumbersome. To simplify this, we use what we call a "component" to bundle all of the setup. We can use the pre-made KeyboardHidComponent component.

First we define a type for the capsule, which is board-specific as it refers to the specific microcontroller on the board. This type can become unwieldy and redundant, so specifying a type makes adding the same capsule and component to multiple boards more consistent.

Near the top of the main.rs file, include the correct definitions based on your board. In particular, the UsbHw definition must match the type of the USB hardware driver for your specific microcontroller.

#![allow(unused)]
fn main() {
// USB Keyboard HID - for nRF52840dk
type UsbHw = nrf52840::usbd::Usbd<'static>; // For any nRF52840 board.
type KeyboardHidDriver = components::keyboard_hid::KeyboardHidComponentType<UsbHw>;

// ------------------------------

// USB Keyboard HID - for imix
type UsbHw = sam4l::usbc::Usbc<'static>; // For any SAM4L board.
type KeyboardHidDriver = components::keyboard_hid::KeyboardHidComponentType<UsbHw>;
}

3. Include USB HID Capsule Component

Once we have the type we can include the actual component. This should go below the strings object declared before.

Again the usb_device variable must match for your specific board. Choose the type correctly from the examples in the code snippet.

#![allow(unused)]
fn main() {
// For nRF52840dk
let usb_device = &nrf52840_peripherals.usbd;

// For imix
let usb_device = &peripherals.usbc;

// Generic HID Keyboard component usage
let (keyboard_hid, keyboard_hid_driver) = components::keyboard_hid::KeyboardHidComponent::new(
    board_kernel,
    capsules_core::driver::NUM::KeyboardHid as usize,
    usb_device,
    0x1915, // Nordic Semiconductor
    0x503a,
    strings,
)
.finalize(components::keyboard_hid_component_static!(UsbHw));
}

4. Activate USB HID Support

Towards the end of the main.rs, you need to enable the USB HID driver:

#![allow(unused)]
fn main() {
keyboard_hid.enable();
keyboard_hid.attach();
}

5. Expose USB HID to Userspace

Finally, we need to make sure that userspace applications can use the USB HID interface.

First, we need to keep track of a reference to our USB HID stack by adding the driver to the Platform struct:

#![allow(unused)]
fn main() {
pub struct Platform {
	...
	keyboard_hid_driver: &'static KeyboardHidDriver,
    ...
}
}

and then adding the object to where Platform is constructed:

#![allow(unused)]
fn main() {
let platform = Platform {
    ...
    keyboard_hid_driver,
    ...
};
}

Next we need to map syscalls from userspace to our kernel driver by editing the SyscallDriverLookup implementation for the board:

#![allow(unused)]
fn main() {
// Keyboard HID Driver Num:
const KEYBOARD_HID_DRIVER_NUM: usize = capsules_core::driver::NUM::KeyboardHid as usize;

impl SyscallDriverLookup for Platform {
    fn with_driver<F, R>(&self, driver_num: usize, f: F) -> R
    where
        F: FnOnce(Option<&dyn kernel::syscall::SyscallDriver>) -> R,
    {
        match driver_num {
            ...
            KEYBOARD_HID_DRIVER_NUM => f(Some(self.keyboard_hid_driver)),
            ...
        }
    }
}
}

Compiling and Installing the Kernel

Now you should be able to compile the kernel and load it on to your board.

cd tock/boards/<board name>
make install

Connecting the USB Device

We will use both USB cables on our hardware. The main USB header is for debugging and programming. The USB header connected directly to the microcontroller will be the USB device. Ensure both USB devices are connected to your computer.

Testing the USB Keyboard

To test the USB keyboard device will will use a simple userspace application. libtock-c includes an example app which just prints a string via USB keyboard when a button is pressed.

cd libtock-c/examples/tests/keyboard_hid
make
tockloader install

Position your cursor somewhere benign, like a new terminal. Then press a button on the board.

Checkpoint: You should see a welcome message from your hardware!

The Tock Book