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42a02e5662
similar driver format to the PIOS_USART system. (p.s. are you happy now, PT?) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2029 ebee16cc-31ac-478f-84a7-5cbb03baadba
349 lines
11 KiB
C
349 lines
11 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_USB_HID USB HID Functions
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* @brief PIOS USB HID implementation
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* @notes This implements a very simple HID device with a simple data in
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* and data out endpoints.
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* @{
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*
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* @file pios_usb_hid.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* Parts by Thorsten Klose (tk@midibox.org)
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* @brief USB HID functions (STM32 dependent code)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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#include "usb_lib.h"
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#include "pios_usb_hid_desc.h"
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#include "stm32f10x.h"
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#include "fifo_buffer.h"
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#if defined(PIOS_INCLUDE_USB_HID)
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const struct pios_com_driver pios_usb_com_driver = {
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.tx_nb = PIOS_USB_HID_TxBufferPutMoreNonBlocking,
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.tx = PIOS_USB_HID_TxBufferPutMore,
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.rx = PIOS_USB_HID_RxBufferGet,
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.rx_avail = PIOS_USB_HID_RxBufferUsed,
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};
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// TODO: Eventually replace the transmit and receive buffers with bigger ring bufers
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// so there isn't hte 64 byte cap in place by the USB interrupt packet definition
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/* Rx/Tx status */
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static uint8_t transfer_possible = 0;
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static uint8_t rx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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static uint8_t tx_packet_buffer[PIOS_USB_HID_DATA_LENGTH + 2] = { 0 };
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t_fifo_buffer rx_pios_fifo_buffer;
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t_fifo_buffer tx_pios_fifo_buffer;
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/**
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* Initialises USB COM layer
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* \param[in] mode currently only mode 0 supported
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* \return < 0 if initialisation failed
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_Init(uint32_t mode)
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{
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/* Currently only mode 0 supported */
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if (mode != 0) {
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/* Unsupported mode */
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return -1;
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}
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fifoBuf_init(&rx_pios_fifo_buffer);
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fifoBuf_init(&tx_pios_fifo_buffer);
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PIOS_USB_HID_Reenumerate();
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/* Enable the USB Interrupts */
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/* 2 bit for pre-emption priority, 2 bits for subpriority */
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NVIC_InitTypeDef NVIC_InitStructure;
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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NVIC_InitStructure.NVIC_IRQChannel = USB_LP_CAN1_RX0_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 8;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* Select USBCLK source */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable the USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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/* Update the USB serial number from the chip */
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uint8_t sn[25];
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PIOS_SYS_SerialNumberGet((char *)sn);
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for (uint8_t i = 0; sn[i] != '\0' && (2 * i) < PIOS_HID_StringSerial[0]; i++) {
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PIOS_HID_StringSerial[2 + 2 * i] = sn[i];
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}
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USB_Init();
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USB_SIL_Init();
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return 0; /* No error */
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}
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/**
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* This function is called by the USB driver on cable connection/disconnection
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* \param[in] connected connection status (1 if connected)
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* \return < 0 on errors
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_ChangeConnectionState(uint32_t Connected)
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{
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// In all cases: re-initialise USB HID driver
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if (Connected) {
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transfer_possible = 1;
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//TODO: Check SetEPRxValid(ENDP1);
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#if defined(USB_LED_ON)
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USB_LED_ON; // turn the USB led on
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#endif
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} else {
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// Cable disconnected: disable transfers
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transfer_possible = 0;
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#if defined(USB_LED_OFF)
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USB_LED_OFF; // turn the USB led off
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#endif
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}
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return 0;
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}
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int32_t PIOS_USB_HID_Reenumerate()
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{
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/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
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_SetCNTR(CNTR_FRES | CNTR_PDWN);
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/* Using a "dirty" method to force a re-enumeration: */
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/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
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/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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PIOS_DELAY_WaitmS(50);
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/* Release power-down, still hold reset */
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_SetCNTR(CNTR_PDWN);
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PIOS_DELAY_WaituS(5);
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/* CNTR_FRES = 0 */
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_SetCNTR(0);
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/* Clear pending interrupts */
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_SetISTR(0);
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/* Configure USB clock */
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/* USBCLK = PLLCLK / 1.5 */
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RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
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/* Enable USB clock */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
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return 0;
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}
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/**
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* This function returns the connection status of the USB HID interface
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* \return 1: interface available
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* \return 0: interface not available
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_CheckAvailable(uint8_t id)
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{
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return (PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) != 0 && transfer_possible ? 1 : 0;
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}
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void sendChunk()
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{
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uint32_t size = fifoBuf_getUsed(&tx_pios_fifo_buffer);
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if (size > 0) {
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if (size > PIOS_USB_HID_DATA_LENGTH)
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size = PIOS_USB_HID_DATA_LENGTH;
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#ifdef USB_HID
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fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[1], size + 1);
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tx_packet_buffer[0] = 1; /* report ID */
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#else
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fifoBuf_getData(&tx_pios_fifo_buffer, &tx_packet_buffer[2], size);
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tx_packet_buffer[0] = 1; /* report ID */
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tx_packet_buffer[1] = size; /* valid data length */
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#endif
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/* Wait for any pending transmissions to complete */
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while (GetEPTxStatus(ENDP1) == EP_TX_VALID) {
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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UserToPMABufferCopy((uint8_t *) tx_packet_buffer, GetEPTxAddr(EP1_IN & 0x7F), size + 2);
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SetEPTxCount((EP1_IN & 0x7F), PIOS_USB_HID_DATA_LENGTH + 2);
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/* Send Buffer */
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SetEPTxValid(ENDP1);
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}
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}
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/**
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* Puts more than one byte onto the transmit buffer (used for atomic sends)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if port unavailable (disconnected)
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* \return -2 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_TxBufferPutMoreNonBlocking(uint8_t id, const uint8_t * buffer, uint16_t len)
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{
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uint16_t ret;
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if(!transfer_possible)
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return -1;
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uint8_t previous_data = fifoBuf_getUsed(&tx_pios_fifo_buffer);
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if (len > fifoBuf_getFree(&tx_pios_fifo_buffer))
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return -2; /* Cannot send all requested bytes */
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/* don't check returned bytes because it should always succeed */
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/* after previous thread and no meaningful way to deal with the */
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/* case it only buffers half the bytes */
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ret = fifoBuf_putData(&tx_pios_fifo_buffer, buffer, len);
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/* If no previous data queued and not sending, then TX complete interrupt not likely so send manually */
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if (previous_data == 0 && GetEPTxStatus(ENDP1) != EP_TX_VALID)
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sendChunk();
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return 0;
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}
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/**
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* Puts more than one byte onto the transmit buffer (used for atomic sends)<br>
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* (Blocking Function)
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* \param[in] *buffer pointer to buffer which should be transmitted
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* \param[in] len number of bytes which should be transmitted
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* \return 0 if no error
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* \return -1 if too many bytes to be send
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_TxBufferPutMore(uint8_t id, const uint8_t * buffer, uint16_t len)
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{
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if(len > (fifoBuf_getUsed(&tx_pios_fifo_buffer) + fifoBuf_getFree(&tx_pios_fifo_buffer)))
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return -1;
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uint32_t error;
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while ((error = PIOS_USB_HID_TxBufferPutMoreNonBlocking(id, buffer, len)) == -2) {
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#if defined(PIOS_INCLUDE_FREERTOS)
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taskYIELD();
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#endif
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}
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return error;
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}
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/**
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* Gets a byte from the receive buffer
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* \return -1 if no new byte available
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* \return >= 0: received byte
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* \note Applications shouldn't call this function directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_RxBufferGet(uint8_t id)
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{
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uint8_t read;
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if(fifoBuf_getUsed(&rx_pios_fifo_buffer) == 0)
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return -1;
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read = fifoBuf_getByte(&rx_pios_fifo_buffer);
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// If endpoint was stalled and there is now space make it valid
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if ((GetEPRxStatus(ENDP1) != EP_RX_VALID) && (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62)) {
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SetEPRxStatus(ENDP1, EP_RX_VALID);
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}
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return read;
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}
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/**
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* Returns number of used bytes in receive buffer
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* \return > 0: number of used bytes
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* \return 0 nothing available
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* \note Applications shouldn't call these functions directly, instead please use \ref PIOS_COM layer functions
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*/
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int32_t PIOS_USB_HID_RxBufferUsed(uint8_t id)
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{
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return fifoBuf_getUsed(&rx_pios_fifo_buffer);
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}
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/**
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* @brief Callback used to indicate a transmission from device INto host completed
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* Checks if any data remains, pads it into HID packet and sends.
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*/
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void PIOS_USB_HID_EP1_IN_Callback(void)
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{
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sendChunk();
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}
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/**
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* EP1 OUT Callback Routine
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*/
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void PIOS_USB_HID_EP1_OUT_Callback(void)
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{
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uint32_t DataLength = 0;
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/* Read received data (63 bytes) */
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/* Get the number of received data on the selected Endpoint */
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DataLength = GetEPRxCount(ENDP1 & 0x7F);
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/* Use the memory interface function to write to the selected endpoint */
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PMAToUserBufferCopy((uint8_t *) &rx_packet_buffer[0], GetEPRxAddr(ENDP1 & 0x7F), DataLength);
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/* The first byte is report ID (not checked), the second byte is the valid data length */
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#ifdef USB_HID
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fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[1], PIOS_USB_HID_DATA_LENGTH + 1);
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#else
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fifoBuf_putData(&rx_pios_fifo_buffer, &rx_packet_buffer[2], rx_packet_buffer[1]);
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#endif
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// Only reactivate endpoint if available space in buffer
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if (fifoBuf_getFree(&rx_pios_fifo_buffer) > 62) {
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SetEPRxStatus(ENDP1, EP_RX_VALID);
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} else {
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SetEPRxStatus(ENDP1, EP_RX_NAK);
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}
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}
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#endif
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/**
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* @}
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* @}
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*/
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