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LibrePilot/flight/pios/stm32f4xx/pios_usbhook.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USBHOOK USB glue code
* @brief Glue between PiOS and STM32 libs
* @{
*
* @file pios_usbhook.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Glue between PiOS and STM32 libs
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_USB
#include "pios_usb.h" /* PIOS_USB_* */
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#include "pios_usbhook.h"
#include "pios_usb_defs.h" /* struct usb_* */
#include "pios_usb_cdc_priv.h" /* PIOS_USB_CDC_* */
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#include "pios_usb_board_data.h" /* PIOS_USB_BOARD_* */
/* STM32 USB Library Definitions */
#include "usb_core.h" /* USBD_Class_cb_TypeDef */
#include "usbd_core.h" /* USBD_Init USBD_OK*/
#include "usbd_ioreq.h" /* USBD_CtlPrepareRx, USBD_CtlSendData */
#include "usbd_req.h" /* USBD_CtlError */
#include "usb_dcd_int.h" /* USBD_OTG_ISR_Handler */
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static void reconnect(void);
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/*
* External API
*/
static struct pios_usbhook_descriptor Device_Descriptor;
void PIOS_USBHOOK_RegisterDevice(const uint8_t *desc, uint16_t length)
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{
Device_Descriptor.descriptor = desc;
Device_Descriptor.length = length;
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}
static struct pios_usbhook_descriptor String_Descriptor[4];
void PIOS_USBHOOK_RegisterString(enum usb_string_desc string_id, const uint8_t *desc, uint16_t desc_size)
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{
if (string_id < NELEMENTS(String_Descriptor)) {
String_Descriptor[string_id].descriptor = desc;
String_Descriptor[string_id].length = desc_size;
}
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}
static struct pios_usbhook_descriptor Config_Descriptor;
void PIOS_USBHOOK_RegisterConfig(__attribute__((unused)) uint8_t config_id, const uint8_t *desc, uint16_t desc_size)
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{
Config_Descriptor.descriptor = desc;
Config_Descriptor.length = desc_size;
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}
static USB_OTG_CORE_HANDLE pios_usb_otg_core_handle;
static USBD_Class_cb_TypeDef class_callbacks;
static USBD_DEVICE device_callbacks;
static USBD_Usr_cb_TypeDef user_callbacks;
void PIOS_USBHOOK_Activate(void)
{
PIOS_USB_RegisterDisconnectionCallback(&reconnect);
USBD_Init(&pios_usb_otg_core_handle,
USB_OTG_FS_CORE_ID,
&device_callbacks,
&class_callbacks,
&user_callbacks);
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}
void PIOS_USBHOOK_Deactivate(void)
{
DCD_DevDisconnect(&pios_usb_otg_core_handle);
USBD_DeInit(&pios_usb_otg_core_handle);
USB_OTG_StopDevice(&pios_usb_otg_core_handle);
}
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void OTG_FS_IRQHandler(void)
{
if (!USBD_OTG_ISR_Handler(&pios_usb_otg_core_handle)) {
/* spurious interrupt, disable IRQ */
}
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}
struct usb_if_entry {
struct pios_usb_ifops *ifops;
uint32_t context;
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};
static struct usb_if_entry usb_if_table[3];
void PIOS_USBHOOK_RegisterIfOps(uint8_t ifnum, struct pios_usb_ifops *ifops, uint32_t context)
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{
PIOS_Assert(ifnum < NELEMENTS(usb_if_table));
PIOS_Assert(ifops);
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usb_if_table[ifnum].ifops = ifops;
usb_if_table[ifnum].context = context;
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}
struct usb_ep_entry {
pios_usbhook_epcb cb;
uint32_t context;
uint16_t max_len;
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};
static struct usb_ep_entry usb_epin_table[6];
void PIOS_USBHOOK_RegisterEpInCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
{
PIOS_Assert(epnum < NELEMENTS(usb_epin_table));
PIOS_Assert(cb);
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usb_epin_table[epnum].cb = cb;
usb_epin_table[epnum].context = context;
usb_epin_table[epnum].max_len = max_len;
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DCD_EP_Open(&pios_usb_otg_core_handle,
epnum | 0x80,
max_len,
USB_OTG_EP_INT);
/*
* FIXME do not hardcode endpoint type
*/
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}
extern void PIOS_USBHOOK_DeRegisterEpInCallback(uint8_t epnum)
{
PIOS_Assert(epnum < NELEMENTS(usb_epin_table));
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usb_epin_table[epnum].cb = NULL;
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DCD_EP_Close(&pios_usb_otg_core_handle, epnum | 0x80);
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}
static struct usb_ep_entry usb_epout_table[6];
void PIOS_USBHOOK_RegisterEpOutCallback(uint8_t epnum, uint16_t max_len, pios_usbhook_epcb cb, uint32_t context)
{
PIOS_Assert(epnum < NELEMENTS(usb_epout_table));
PIOS_Assert(cb);
usb_epout_table[epnum].cb = cb;
usb_epout_table[epnum].context = context;
usb_epout_table[epnum].max_len = max_len;
DCD_EP_Open(&pios_usb_otg_core_handle,
epnum,
max_len,
USB_OTG_EP_INT);
/*
* FIXME do not hardcode endpoint type
*/
/*
* Make sure we refuse OUT transactions until we explicitly
* connect a receive buffer with PIOS_USBHOOK_EndpointRx().
*
* Without this, the ST USB code will receive on this endpoint
* and blindly write the data to a NULL pointer which will
* have the side effect of placing the internal flash into an
* errored state. Address 0x0000_0000 is aliased into internal
* flash via the "Section 2.4 Boot configuration" BOOT0/1 pins.
*/
DCD_SetEPStatus(&pios_usb_otg_core_handle,
epnum,
USB_OTG_EP_RX_NAK);
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}
extern void PIOS_USBHOOK_DeRegisterEpOutCallback(uint8_t epnum)
{
PIOS_Assert(epnum < NELEMENTS(usb_epout_table));
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usb_epout_table[epnum].cb = NULL;
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DCD_EP_Close(&pios_usb_otg_core_handle, epnum);
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}
void PIOS_USBHOOK_CtrlTx(const uint8_t *buf, uint16_t len)
{
USBD_CtlSendData(&pios_usb_otg_core_handle, buf, len);
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}
void PIOS_USBHOOK_CtrlRx(uint8_t *buf, uint16_t len)
{
USBD_CtlPrepareRx(&pios_usb_otg_core_handle, buf, len);
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}
void PIOS_USBHOOK_EndpointTx(uint8_t epnum, const uint8_t *buf, uint16_t len)
{
if (pios_usb_otg_core_handle.dev.device_status == USB_OTG_CONFIGURED) {
DCD_EP_Tx(&pios_usb_otg_core_handle, epnum, buf, len);
}
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}
void PIOS_USBHOOK_EndpointRx(uint8_t epnum, uint8_t *buf, uint16_t len)
{
DCD_EP_PrepareRx(&pios_usb_otg_core_handle, epnum, buf, len);
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}
uint32_t PIOS_USBHOOK_EndpointGetStatus(uint8_t epnum)
{
return DCD_GetEPStatus(&pios_usb_otg_core_handle, epnum);
}
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/*
* Device level hooks into STM USB library
*/
static const uint8_t *PIOS_USBHOOK_DEV_GetDeviceDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = Device_Descriptor.length;
return Device_Descriptor.descriptor;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetLangIDStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = String_Descriptor[USB_STRING_DESC_LANG].length;
return String_Descriptor[USB_STRING_DESC_LANG].descriptor;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = String_Descriptor[USB_STRING_DESC_VENDOR].length;
return String_Descriptor[USB_STRING_DESC_VENDOR].descriptor;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetProductStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = String_Descriptor[USB_STRING_DESC_PRODUCT].length;
return String_Descriptor[USB_STRING_DESC_PRODUCT].descriptor;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetSerialStrDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = String_Descriptor[USB_STRING_DESC_SERIAL].length;
return String_Descriptor[USB_STRING_DESC_SERIAL].descriptor;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
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{
return NULL;
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}
static const uint8_t *PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor(__attribute__((unused)) uint8_t speed, __attribute__((unused)) uint16_t *length)
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{
return NULL;
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}
static USBD_DEVICE device_callbacks = {
.GetDeviceDescriptor = PIOS_USBHOOK_DEV_GetDeviceDescriptor,
.GetLangIDStrDescriptor = PIOS_USBHOOK_DEV_GetLangIDStrDescriptor,
.GetManufacturerStrDescriptor = PIOS_USBHOOK_DEV_GetManufacturerStrDescriptor,
.GetProductStrDescriptor = PIOS_USBHOOK_DEV_GetProductStrDescriptor,
.GetSerialStrDescriptor = PIOS_USBHOOK_DEV_GetSerialStrDescriptor,
.GetConfigurationStrDescriptor = PIOS_USBHOOK_DEV_GetConfigurationStrDescriptor,
.GetInterfaceStrDescriptor = PIOS_USBHOOK_DEV_GetInterfaceStrDescriptor,
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};
static void PIOS_USBHOOK_USR_Init(void)
{
PIOS_USB_ChangeConnectionState(false);
reconnect();
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}
static void PIOS_USBHOOK_USR_DeviceReset(__attribute__((unused)) uint8_t speed)
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{
PIOS_USB_ChangeConnectionState(false);
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}
static void PIOS_USBHOOK_USR_DeviceConfigured(void)
{
PIOS_USB_ChangeConnectionState(true);
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}
static void PIOS_USBHOOK_USR_DeviceSuspended(void)
{
/* Unhandled */
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}
static void PIOS_USBHOOK_USR_DeviceResumed(void)
{
/* Unhandled */
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}
static void PIOS_USBHOOK_USR_DeviceConnected(void)
{
/* NOP */
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}
static void PIOS_USBHOOK_USR_DeviceDisconnected(void)
{
PIOS_USB_ChangeConnectionState(false);
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}
static USBD_Usr_cb_TypeDef user_callbacks = {
.Init = PIOS_USBHOOK_USR_Init,
.DeviceReset = PIOS_USBHOOK_USR_DeviceReset,
.DeviceConfigured = PIOS_USBHOOK_USR_DeviceConfigured,
.DeviceSuspended = PIOS_USBHOOK_USR_DeviceSuspended,
.DeviceResumed = PIOS_USBHOOK_USR_DeviceResumed,
.DeviceConnected = PIOS_USBHOOK_USR_DeviceConnected,
.DeviceDisconnected = PIOS_USBHOOK_USR_DeviceDisconnected,
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};
static uint8_t PIOS_USBHOOK_CLASS_Init(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
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{
/* Call all of the registered init callbacks */
for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
struct usb_if_entry *usb_if = &(usb_if_table[i]);
if (usb_if->ifops && usb_if->ifops->init) {
usb_if->ifops->init(usb_if->context);
}
}
return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_DeInit(__attribute__((unused)) void *pdev, __attribute__((unused)) uint8_t cfgidx)
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{
/* Call all of the registered deinit callbacks */
for (uint8_t i = 0; i < NELEMENTS(usb_if_table); i++) {
struct usb_if_entry *usb_if = &(usb_if_table[i]);
if (usb_if->ifops && usb_if->ifops->deinit) {
usb_if->ifops->deinit(usb_if->context);
}
}
return USBD_OK;
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}
static struct usb_setup_request usb_ep0_active_req;
static uint8_t PIOS_USBHOOK_CLASS_Setup(__attribute__((unused)) void *pdev, USB_SETUP_REQ *req)
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{
switch (req->bmRequest & (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK)) {
case (USB_REQ_TYPE_STANDARD | USB_REQ_RECIPIENT_INTERFACE):
case (USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE):
{
uint8_t ifnum = LOBYTE(req->wIndex);
if ((ifnum < NELEMENTS(usb_if_table)) &&
(usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->setup)) {
usb_if_table[ifnum].ifops->setup(usb_if_table[ifnum].context,
(struct usb_setup_request *)req);
if (!(req->bmRequest & 0x80) && req->wLength > 0) {
/* Request is a host-to-device data setup packet, keep track of the request details for the EP0_RxReady call */
usb_ep0_active_req.bmRequestType = req->bmRequest;
usb_ep0_active_req.bRequest = req->bRequest;
usb_ep0_active_req.wValue = req->wValue;
usb_ep0_active_req.wIndex = req->wIndex;
usb_ep0_active_req.wLength = req->wLength;
}
} else {
/* No Setup handler or Setup handler failed */
USBD_CtlError(&pios_usb_otg_core_handle, req);
}
break;
}
default:
/* Unhandled Setup */
USBD_CtlError(&pios_usb_otg_core_handle, req);
break;
}
return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_EP0_TxSent(__attribute__((unused)) void *pdev)
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{
return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_EP0_RxReady(__attribute__((unused)) void *pdev)
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{
uint8_t ifnum = LOBYTE(usb_ep0_active_req.wIndex);
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if ((ifnum < NELEMENTS(usb_if_table)) &&
(usb_if_table[ifnum].ifops && usb_if_table[ifnum].ifops->ctrl_data_out)) {
usb_if_table[ifnum].ifops->ctrl_data_out(usb_if_table[ifnum].context,
&usb_ep0_active_req);
}
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return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_DataIn(void *pdev, uint8_t epnum)
{
/* Remove the direction bit so we can use this as an index */
uint8_t epnum_idx = epnum & 0x7F;
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if ((epnum_idx < NELEMENTS(usb_epin_table)) && usb_epin_table[epnum_idx].cb) {
struct usb_ep_entry *ep = &(usb_epin_table[epnum_idx]);
if (!ep->cb(ep->context, epnum_idx, ep->max_len)) {
/* NOTE: use real endpoint number including direction bit */
DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_TX_NAK);
}
}
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return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_DataOut(void *pdev, uint8_t epnum)
{
/* Remove the direction bit so we can use this as an index */
uint8_t epnum_idx = epnum & 0x7F;
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if ((epnum_idx < NELEMENTS(usb_epout_table)) && usb_epout_table[epnum_idx].cb) {
struct usb_ep_entry *ep = &(usb_epout_table[epnum_idx]);
uint16_t len = USBD_GetRxCount(pdev, epnum);
PIOS_Assert(ep->max_len >= len);
if (!ep->cb(ep->context, epnum_idx, len)) {
/* NOTE: use real endpoint number including direction bit */
DCD_SetEPStatus(pdev, epnum, USB_OTG_EP_RX_NAK);
}
}
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return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_SOF(__attribute__((unused)) void *pdev)
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{
return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_IsoINIncomplete(__attribute__((unused)) void *pdev)
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{
return USBD_OK;
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}
static uint8_t PIOS_USBHOOK_CLASS_IsoOUTIncomplete(__attribute__((unused)) void *pdev)
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{
return USBD_OK;
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}
static const uint8_t *PIOS_USBHOOK_CLASS_GetConfigDescriptor(__attribute__((unused)) uint8_t speed, uint16_t *length)
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{
*length = Config_Descriptor.length;
return Config_Descriptor.descriptor;
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}
#ifdef USB_OTG_HS_CORE
static const uint8_t *PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor(uint8_t speed, uint16_t *length)
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{
return PIOS_USBHOOK_CLASS_GetConfigDescriptor(speed, length);
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}
#endif /* USB_OTG_HS_CORE */
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#ifdef USB_SUPPORT_USER_STRING_DESC
static const uint8_t *PIOS_USBHOOK_CLASS_GetUsrStrDescriptor(uint8_t speed, uint8_t index, uint16_t *length)
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{
return NULL;
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}
#endif /* USB_SUPPORT_USER_STRING_DESC */
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static USBD_Class_cb_TypeDef class_callbacks = {
.Init = PIOS_USBHOOK_CLASS_Init,
.DeInit = PIOS_USBHOOK_CLASS_DeInit,
.Setup = PIOS_USBHOOK_CLASS_Setup,
.EP0_TxSent = PIOS_USBHOOK_CLASS_EP0_TxSent,
.EP0_RxReady = PIOS_USBHOOK_CLASS_EP0_RxReady,
.DataIn = PIOS_USBHOOK_CLASS_DataIn,
.DataOut = PIOS_USBHOOK_CLASS_DataOut,
.SOF = PIOS_USBHOOK_CLASS_SOF,
.IsoINIncomplete = PIOS_USBHOOK_CLASS_IsoINIncomplete,
.IsoOUTIncomplete = PIOS_USBHOOK_CLASS_IsoOUTIncomplete,
.GetConfigDescriptor = PIOS_USBHOOK_CLASS_GetConfigDescriptor,
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#ifdef USB_OTG_HS_CORE
.GetOtherConfigDescriptor = PIOS_USBHOOK_CLASS_GetOtherConfigDescriptor,
#endif /* USB_OTG_HS_CORE */
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#ifdef USB_SUPPORT_USER_STRING_DESC
.GetUsrStrDescriptor = PIOS_USBHOOK_CLASS_GetUsrStrDescriptor,
#endif /* USB_SUPPORT_USER_STRING_DESC */
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};
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static void reconnect(void)
{
/* Force a physical disconnect/reconnect */
DCD_DevDisconnect(&pios_usb_otg_core_handle);
DCD_DevConnect(&pios_usb_otg_core_handle);
}
#endif /* PIOS_INCLUDE_USB */