mirror of
https://bitbucket.org/librepilot/librepilot.git
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383 lines
12 KiB
C
383 lines
12 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_DEFS USB standard types and definitions
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* @brief USB standard types and definitions
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* @{
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*
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* @file pios_usb_defs.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief USB Standard types and definitions
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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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#ifndef PIOS_USB_DEFS_H
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#define PIOS_USB_DEFS_H
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#include <stdint.h> /* uint*_t */
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enum usb_desc_types {
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USB_DESC_TYPE_DEVICE = 0x01,
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USB_DESC_TYPE_CONFIGURATION = 0x02,
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USB_DESC_TYPE_STRING = 0x03,
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USB_DESC_TYPE_INTERFACE = 0x04,
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USB_DESC_TYPE_ENDPOINT = 0x05,
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USB_DESC_TYPE_IAD = 0x0B,
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USB_DESC_TYPE_HID = 0x21,
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USB_DESC_TYPE_REPORT = 0x22,
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USB_DESC_TYPE_CLASS_SPECIFIC = 0x24,
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} __attribute__((packed));
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enum usb_interface_class {
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USB_INTERFACE_CLASS_CDC = 0x02,
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USB_INTERFACE_CLASS_HID = 0x03,
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USB_INTERFACE_CLASS_DATA = 0x0A,
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} __attribute__((packed));
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enum usb_cdc_desc_subtypes {
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USB_CDC_DESC_SUBTYPE_HEADER = 0x00,
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USB_CDC_DESC_SUBTYPE_CALLMGMT = 0x01,
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USB_CDC_DESC_SUBTYPE_ABSTRACT_CTRL = 0x02,
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USB_CDC_DESC_SUBTYPE_UNION = 0x06,
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} __attribute__((packed));
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enum usb_ep_attr {
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USB_EP_ATTR_TT_CONTROL = 0x00,
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USB_EP_ATTR_TT_ISOCHRONOUS = 0x01,
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USB_EP_ATTR_TT_BULK = 0x02,
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USB_EP_ATTR_TT_INTERRUPT = 0x03,
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} __attribute__((packed));
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/* Standard macros to convert from host endian to USB endian (ie. little endian) */
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#if __BIG_ENDIAN__
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#define htousbs(v) \
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((uint16_t)( \
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((((v) >> 0) & 0xFF) << 8) | \
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((((v) >> 8) & 0xFF) << 0)))
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#define htousbl(v) \
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((uint32_t)( \
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((((v) >> 0) & 0xFF) << 24) | \
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((((v) >> 8) & 0xFF) << 16) | \
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((((v) >> 16) & 0xFF) << 8) | \
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((((v) >> 24) & 0xFF) << 0)))
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#else
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#define htousbs(v) (v)
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#define htousbl(v) (v)
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#endif
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#define USB_EP_IN(ep) ((uint8_t)(0x80 | ((ep) & 0xF)))
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#define USB_EP_OUT(ep) ((uint8_t)(0x00 | ((ep) & 0xF)))
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#define HID_ITEM_TYPE_MAIN 0x0
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#define HID_ITEM_TYPE_GLOBAL 0x1
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#define HID_ITEM_TYPE_LOCAL 0x2
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#define HID_ITEM_TYPE_RSVD 0x3
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#define HID_TAG_GLOBAL_USAGE_PAGE 0x0 /* 0b0000 */
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#define HID_TAG_GLOBAL_LOGICAL_MIN 0x1 /* 0b0001 */
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#define HID_TAG_GLOBAL_LOGICAL_MAX 0x2 /* 0b0010 */
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#define HID_TAG_GLOBAL_PHYS_MIN 0x3 /* 0b0011 */
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#define HID_TAG_GLOBAL_PHYS_MAX 0x4 /* 0b0100 */
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#define HID_TAG_GLOBAL_UNIT_EXP 0x5 /* 0b0101 */
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#define HID_TAG_GLOBAL_UNIT 0x6 /* 0b0110 */
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#define HID_TAG_GLOBAL_REPORT_SIZE 0x7 /* 0b0111 */
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#define HID_TAG_GLOBAL_REPORT_ID 0x8 /* 0b1000 */
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#define HID_TAG_GLOBAL_REPORT_CNT 0x9 /* 0b1001 */
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#define HID_TAG_GLOBAL_PUSH 0xA /* 0b1010 */
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#define HID_TAG_GLOBAL_POP 0xB /* 0b1011 */
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#define HID_TAG_MAIN_INPUT 0x8 /* 0b1000 */
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#define HID_TAG_MAIN_OUTPUT 0x9 /* 0b1001 */
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#define HID_TAG_MAIN_COLLECTION 0xA /* 0b1010 */
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#define HID_TAG_MAIN_FEATURE 0xB /* 0b1011 */
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#define HID_TAG_MAIN_ENDCOLLECTION 0xC /* 0b1100 */
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#define HID_TAG_LOCAL_USAGE 0x0 /* 0b0000 */
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#define HID_TAG_LOCAL_USAGE_MIN 0x1 /* 0b0001 */
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#define HID_TAG_LOCAL_USAGE_MAX 0x2 /* 0b0010 */
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#define HID_TAG_LOCAL_DESIG_INDEX 0x3 /* 0b0011 */
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#define HID_TAG_LOCAL_DESIG_MIN 0x4 /* 0b0100 */
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#define HID_TAG_LOCAL_DESIG_MAX 0x5 /* 0b0101 */
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/* There is no value defined for 0x6 */
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#define HID_TAG_LOCAL_STRING_INDEX 0x7 /* 0b0111 */
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#define HID_TAG_LOCAL_STRING_MIN 0x8 /* 0b1000 */
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#define HID_TAG_LOCAL_STRING_MAX 0x9 /* 0b1001 */
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#define HID_TAG_LOCAL_DELIMITER 0xA /* 0b1010 */
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#define HID_TAG_RSVD 0xF /* 0b1111 */
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#define HID_ITEM_SIZE_0 0
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#define HID_ITEM_SIZE_1 1
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#define HID_ITEM_SIZE_2 2
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#define HID_ITEM_SIZE_4 3 /* Yes, 4 bytes is represented with a size field = 3 */
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#define HID_SHORT_ITEM(tag, type, size) \
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( \
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(((tag) & 0xF) << 4) | \
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(((type) & 0x3) << 2) | \
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(((size) & 0x3) << 0))
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/* Long items have a fixed prefix */
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#define HID_LONG_ITEM HID_SHORT_ITEM(HID_TAG_RSVD, HID_ITEM_TYPE_RSVD, HID_ITEM_SIZE_2)
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#define HID_MAIN_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_0)
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#define HID_MAIN_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_1)
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#define HID_MAIN_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_2)
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#define HID_MAIN_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_MAIN, HID_ITEM_SIZE_4)
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#define HID_GLOBAL_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_0)
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#define HID_GLOBAL_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_1)
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#define HID_GLOBAL_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_2)
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#define HID_GLOBAL_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_GLOBAL, HID_ITEM_SIZE_4)
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#define HID_LOCAL_ITEM_0(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_0)
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#define HID_LOCAL_ITEM_1(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_1)
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#define HID_LOCAL_ITEM_2(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_2)
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#define HID_LOCAL_ITEM_4(tag) HID_SHORT_ITEM((tag), HID_ITEM_TYPE_LOCAL, HID_ITEM_SIZE_4)
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struct usb_device_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint16_t bcdUSB;
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uint8_t bDeviceClass;
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uint8_t bDeviceSubClass;
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uint8_t bDeviceProtocol;
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uint8_t bMaxPacketSize0;
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uint16_t idVendor;
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uint16_t idProduct;
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uint16_t bcdDevice;
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uint8_t iManufacturer;
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uint8_t iProduct;
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uint8_t iSerialNumber;
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uint8_t bNumConfigurations;
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} __attribute__((packed));
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struct usb_configuration_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint16_t wTotalLength;
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uint8_t bNumInterfaces;
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uint8_t bConfigurationValue;
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uint8_t iConfiguration;
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uint8_t bmAttributes;
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uint8_t bMaxPower;
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} __attribute__((packed));
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struct usb_interface_association_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bFirstInterface;
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uint8_t bInterfaceCount;
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uint8_t bFunctionClass;
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uint8_t bFunctionSubClass;
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uint8_t bFunctionProtocol;
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uint8_t iInterface;
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} __attribute__((packed));
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struct usb_interface_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bInterfaceNumber;
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uint8_t bAlternateSetting;
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uint8_t bNumEndpoints;
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uint8_t bInterfaceClass;
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uint8_t bInterfaceSubClass;
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uint8_t nInterfaceProtocol;
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uint8_t iInterface;
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} __attribute__((packed));
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struct usb_hid_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint16_t bcdHID;
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uint8_t bCountryCode;
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uint8_t bNumDescriptors;
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uint8_t bClassDescriptorType;
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uint16_t wItemLength;
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} __attribute__((packed));
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struct usb_endpoint_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bEndpointAddress;
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uint8_t bmAttributes;
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uint16_t wMaxPacketSize;
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uint8_t bInterval;
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} __attribute__((packed));
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struct usb_setup_request {
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uint8_t bmRequestType;
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uint8_t bRequest;
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uint16_t wValue;
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uint16_t wIndex;
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uint16_t wLength;
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} __attribute__((packed));
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#define USB_REQ_TYPE_STANDARD 0x00
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#define USB_REQ_TYPE_CLASS 0x20
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#define USB_REQ_TYPE_VENDOR 0x40
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#define USB_REQ_TYPE_MASK 0x60
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#define USB_REQ_RECIPIENT_DEVICE 0x00
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#define USB_REQ_RECIPIENT_INTERFACE 0x01
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#define USB_REQ_RECIPIENT_ENDPOINT 0x02
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#define USB_REQ_RECIPIENT_MASK 0x03
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enum usb_standard_requests {
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USB_REQ_GET_STATUS = 0x00,
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USB_REQ_CLEAR_FEATURE = 0x01,
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/* what is 0x02? */
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USB_REQ_SET_FEATURE = 0x03,
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/* what is 0x04? */
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USB_REQ_SET_ADDRESS = 0x05,
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USB_REQ_GET_DESCRIPTOR = 0x06,
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USB_REQ_SET_DESCRIPTOR = 0x07,
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USB_REQ_GET_CONFIGURATION = 0x08,
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USB_REQ_SET_CONFIGURATION = 0x09,
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USB_REQ_GET_INTERFACE = 0x0A,
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USB_REQ_SET_INTERFACE = 0x0B,
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USB_REQ_SYNCH_FRAME = 0x0C,
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};
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enum usb_hid_requests {
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USB_HID_REQ_GET_REPORT = 0x01,
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USB_HID_REQ_GET_IDLE = 0x02,
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USB_HID_REQ_GET_PROTOCOL = 0x03,
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/* 0x04-0x08 Reserved */
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USB_HID_REQ_SET_REPORT = 0x09,
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USB_HID_REQ_SET_IDLE = 0x0A,
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USB_HID_REQ_SET_PROTOCOL = 0x0B,
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};
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enum usb_cdc_requests {
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USB_CDC_REQ_SET_LINE_CODING = 0x20,
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USB_CDC_REQ_GET_LINE_CODING = 0x21,
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USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
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};
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struct usb_cdc_header_func_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint16_t bcdCDC;
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} __attribute__((packed));
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struct usb_cdc_callmgmt_func_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bmCapabilities;
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uint8_t bDataInterface;
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} __attribute__((packed));
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struct usb_cdc_acm_func_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bmCapabilities;
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} __attribute__((packed));
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struct usb_cdc_union_func_desc {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint8_t bDescriptorSubType;
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uint8_t bMasterInterface;
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uint8_t bSlaveInterface;
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} __attribute__((packed));
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#define USB_LANGID_ENGLISH_US 0x0409
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struct usb_string_langid {
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uint8_t bLength;
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uint8_t bDescriptorType;
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uint16_t bLangID;
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} __attribute__((packed));
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struct usb_cdc_line_coding {
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uint32_t dwDTERate;
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uint8_t bCharFormat;
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uint8_t bParityType;
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uint8_t bDataBits;
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} __attribute__((packed));
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enum usb_cdc_line_coding_stop {
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USB_CDC_LINE_CODING_STOP_1 = 0,
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USB_CDC_LINE_CODING_STOP_1_5 = 1,
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USB_CDC_LINE_CODING_STOP_2 = 2,
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} __attribute__((packed));
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enum usb_cdc_line_coding_parity {
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USB_CDC_LINE_CODING_PARITY_NONE = 0,
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USB_CDC_LINE_CODING_PARITY_ODD = 1,
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USB_CDC_LINE_CODING_PARITY_EVEN = 2,
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USB_CDC_LINE_CODING_PARITY_MARK = 3,
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USB_CDC_LINE_CODING_PARITY_SPACE = 4,
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} __attribute__((packed));
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struct usb_cdc_serial_state_report {
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uint8_t bmRequestType;
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uint8_t bNotification;
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uint16_t wValue;
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uint16_t wIndex;
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uint16_t wLength;
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uint16_t bmUartState;
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} __attribute__((packed));
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enum usb_cdc_notification {
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USB_CDC_NOTIFICATION_SERIAL_STATE = 0x20,
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} __attribute__((packed));
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/*
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* OpenPilot Specific USB Definitions
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*/
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#define USB_VENDOR_ID_OPENPILOT 0x20A0
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enum usb_product_ids {
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USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
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USB_PRODUCT_ID_OPLINK = 0x415C,
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USB_PRODUCT_ID_CC3D = 0x415D,
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USB_PRODUCT_ID_REVOLUTION = 0x415E,
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USB_PRODUCT_ID_OSD = 0x4194,
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USB_PRODUCT_ID_SPARE = 0x4195,
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} __attribute__((packed));
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enum usb_op_board_ids {
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USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
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/* Board ID 2 may be unused or AHRS */
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USB_OP_BOARD_ID_OPLINK = 3,
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/* USB_OP_BOARD_ID_COPTERCONTROL = 4, */
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USB_OP_BOARD_ID_REVOLUTION = 5,
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USB_OP_BOARD_ID_OSD = 6,
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} __attribute__((packed));
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enum usb_op_board_modes {
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USB_OP_BOARD_MODE_BL = 1,
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USB_OP_BOARD_MODE_FW = 2,
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} __attribute__((packed));
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#define USB_OP_DEVICE_VER(board_id, board_mode) \
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( \
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((board_id & 0xFF) << 8) | \
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((board_mode & 0xFF) << 0))
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#endif /* PIOS_USB_DEFS_H */
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