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LibrePilot/flight/pios/stm32f4xx/pios_usb_cdc.c

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/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_USB_COM USB COM Functions
* @brief PIOS USB COM implementation for CDC interfaces
* @notes This implements a CDC Serial Port
* @{
*
* @file pios_usb_com_cdc.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief USB COM functions (STM32 dependent code)
* @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_CDC
#include "pios_usb_cdc_priv.h"
#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */
#include "pios_usbhook.h" /* PIOS_USBHOOK_* */
/* Implement COM layer driver API */
static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context);
static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context);
static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail);
static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail);
static bool PIOS_USB_CDC_Available(uint32_t usbcdc_id);
const struct pios_com_driver pios_usb_cdc_com_driver = {
.tx_start = PIOS_USB_CDC_TxStart,
.rx_start = PIOS_USB_CDC_RxStart,
.bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback,
.bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback,
.available = PIOS_USB_CDC_Available,
};
enum pios_usb_cdc_dev_magic {
PIOS_USB_CDC_DEV_MAGIC = 0xAABBCCDD,
};
struct pios_usb_cdc_dev {
enum pios_usb_cdc_dev_magic magic;
const struct pios_usb_cdc_cfg *cfg;
uint32_t lower_id;
pios_com_callback rx_in_cb;
uint32_t rx_in_context;
pios_com_callback tx_out_cb;
uint32_t tx_out_context;
bool usb_ctrl_if_enabled;
bool usb_data_if_enabled;
uint8_t rx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH] __attribute__((aligned(4)));
volatile bool rx_active;
/*
* NOTE: This is -1 as somewhat of a hack. It ensures that we always send packets
* that are strictly < maxPacketSize for this interface which means we never have
* to bother with zero length packets (ZLP).
*/
uint8_t tx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH - 1] __attribute__((aligned(4)));
volatile bool tx_active;
uint8_t ctrl_tx_packet_buffer[PIOS_USB_BOARD_CDC_MGMT_LENGTH] __attribute__((aligned(4)));
uint32_t rx_dropped;
uint32_t rx_oversize;
/*
* Used to hold the current state of the simulated UART. Changes to this
* variable may trigger new USB CDC Notification packets to be sent to the host.
*/
volatile uint16_t prev_uart_state;
};
static bool PIOS_USB_CDC_validate(struct pios_usb_cdc_dev *usb_cdc_dev)
{
return usb_cdc_dev && (usb_cdc_dev->magic == PIOS_USB_CDC_DEV_MAGIC);
}
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_usb_cdc_dev *PIOS_USB_CDC_alloc(void)
{
struct pios_usb_cdc_dev *usb_cdc_dev;
usb_cdc_dev = (struct pios_usb_cdc_dev *)pvPortMalloc(sizeof(struct pios_usb_cdc_dev));
if (!usb_cdc_dev) {
return NULL;
}
memset(usb_cdc_dev, 0, sizeof(struct pios_usb_cdc_dev));
usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
return usb_cdc_dev;
}
#else
static struct pios_usb_cdc_dev pios_usb_cdc_devs[PIOS_USB_CDC_MAX_DEVS];
static uint8_t pios_usb_cdc_num_devs;
static struct pios_usb_cdc_dev *PIOS_USB_CDC_alloc(void)
{
struct pios_usb_cdc_dev *usb_cdc_dev;
if (pios_usb_cdc_num_devs >= PIOS_USB_CDC_MAX_DEVS) {
return NULL;
}
usb_cdc_dev = &pios_usb_cdc_devs[pios_usb_cdc_num_devs++];
memset(usb_cdc_dev, 0, sizeof(struct pios_usb_cdc_dev));
usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
return usb_cdc_dev;
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
/* Implement USB_IFOPS for CDC Control Interface */
static void PIOS_USB_CDC_CTRL_IF_Init(uint32_t usb_cdc_id);
static void PIOS_USB_CDC_CTRL_IF_DeInit(uint32_t usb_cdc_id);
static bool PIOS_USB_CDC_CTRL_IF_Setup(uint32_t usb_cdc_id, struct usb_setup_request *req);
static void PIOS_USB_CDC_CTRL_IF_CtrlDataOut(uint32_t usb_cdc_id, const struct usb_setup_request *req);
static struct pios_usb_ifops usb_cdc_ctrl_ifops = {
.init = PIOS_USB_CDC_CTRL_IF_Init,
.deinit = PIOS_USB_CDC_CTRL_IF_DeInit,
.setup = PIOS_USB_CDC_CTRL_IF_Setup,
.ctrl_data_out = PIOS_USB_CDC_CTRL_IF_CtrlDataOut,
};
/* Implement USB_IFOPS for CDC Data Interface */
static void PIOS_USB_CDC_DATA_IF_Init(uint32_t usb_cdc_id);
static void PIOS_USB_CDC_DATA_IF_DeInit(uint32_t usb_cdc_id);
static bool PIOS_USB_CDC_DATA_IF_Setup(uint32_t usb_cdc_id, struct usb_setup_request *req);
static void PIOS_USB_CDC_DATA_IF_CtrlDataOut(uint32_t usb_cdc_id, const struct usb_setup_request *req);
static struct pios_usb_ifops usb_cdc_data_ifops = {
.init = PIOS_USB_CDC_DATA_IF_Init,
.deinit = PIOS_USB_CDC_DATA_IF_DeInit,
.setup = PIOS_USB_CDC_DATA_IF_Setup,
.ctrl_data_out = PIOS_USB_CDC_DATA_IF_CtrlDataOut,
};
static uint32_t pios_usb_cdc_id;
int32_t PIOS_USB_CDC_Init(uint32_t *usbcdc_id, const struct pios_usb_cdc_cfg *cfg, uint32_t lower_id)
{
PIOS_Assert(usbcdc_id);
PIOS_Assert(cfg);
struct pios_usb_cdc_dev *usb_cdc_dev;
usb_cdc_dev = (struct pios_usb_cdc_dev *)PIOS_USB_CDC_alloc();
if (!usb_cdc_dev) {
goto out_fail;
}
/* Bind the configuration to the device instance */
usb_cdc_dev->cfg = cfg;
usb_cdc_dev->lower_id = lower_id;
pios_usb_cdc_id = (uint32_t)usb_cdc_dev;
/* Rx and Tx are not active yet */
usb_cdc_dev->rx_active = false;
usb_cdc_dev->tx_active = false;
/* Clear stats */
usb_cdc_dev->rx_dropped = 0;
usb_cdc_dev->rx_oversize = 0;
/* Initialize the uart state */
usb_cdc_dev->prev_uart_state = 0;
/* Register class specific interface callbacks with the USBHOOK layer */
usb_cdc_dev->usb_ctrl_if_enabled = false;
PIOS_USBHOOK_RegisterIfOps(cfg->ctrl_if, &usb_cdc_ctrl_ifops, (uint32_t)usb_cdc_dev);
/* Register class specific interface callbacks with the USBHOOK layer */
usb_cdc_dev->usb_data_if_enabled = false;
PIOS_USBHOOK_RegisterIfOps(cfg->data_if, &usb_cdc_data_ifops, (uint32_t)usb_cdc_dev);
*usbcdc_id = (uint32_t)usb_cdc_dev;
return 0;
out_fail:
return -1;
}
static bool PIOS_USB_CDC_SendData(struct pios_usb_cdc_dev *usb_cdc_dev)
{
uint16_t bytes_to_tx;
if (!usb_cdc_dev->tx_out_cb) {
return false;
}
bool need_yield = false;
bytes_to_tx = (usb_cdc_dev->tx_out_cb)(usb_cdc_dev->tx_out_context,
usb_cdc_dev->tx_packet_buffer,
sizeof(usb_cdc_dev->tx_packet_buffer),
NULL,
&need_yield);
if (bytes_to_tx == 0) {
return false;
}
/*
* Mark this endpoint as being tx active _before_ actually transmitting
* to make sure we don't race with the Tx completion interrupt
*/
usb_cdc_dev->tx_active = true;
PIOS_USBHOOK_EndpointTx(usb_cdc_dev->cfg->data_tx_ep,
usb_cdc_dev->tx_packet_buffer,
bytes_to_tx);
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
return true;
}
static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/* Make sure this USB interface has been initialized */
if (!usb_cdc_dev->usb_data_if_enabled) {
return;
}
if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
return;
}
// If endpoint was stalled and there is now space make it valid
if (!usb_cdc_dev->rx_active && (rx_bytes_avail >= PIOS_USB_BOARD_CDC_DATA_LENGTH)) {
PIOS_USBHOOK_EndpointRx(usb_cdc_dev->cfg->data_rx_ep,
usb_cdc_dev->rx_packet_buffer,
sizeof(usb_cdc_dev->rx_packet_buffer));
usb_cdc_dev->rx_active = true;
}
}
static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, __attribute__((unused)) uint16_t tx_bytes_avail)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/* Make sure this USB interface has been initialized */
if (!usb_cdc_dev->usb_data_if_enabled) {
return;
}
if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
return;
}
if (!usb_cdc_dev->tx_active) {
/* Transmitter is not currently active, send a report */
PIOS_USB_CDC_SendData(usb_cdc_dev);
}
}
static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usb_cdc_dev->rx_in_context = context;
usb_cdc_dev->rx_in_cb = rx_in_cb;
}
static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/*
* Order is important in these assignments since ISR uses _cb
* field to determine if it's ok to dereference _cb and _context
*/
usb_cdc_dev->tx_out_context = context;
usb_cdc_dev->tx_out_cb = tx_out_cb;
}
static bool PIOS_USB_CDC_CTRL_EP_IN_Callback(uint32_t usb_cdc_id, uint8_t epnum, uint16_t len);
static void PIOS_USB_CDC_CTRL_IF_Init(uint32_t usb_cdc_id)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return;
}
/* Register endpoint specific callbacks with the USBHOOK layer */
PIOS_USBHOOK_RegisterEpInCallback(usb_cdc_dev->cfg->ctrl_tx_ep,
sizeof(usb_cdc_dev->ctrl_tx_packet_buffer),
PIOS_USB_CDC_CTRL_EP_IN_Callback,
(uint32_t)usb_cdc_dev);
usb_cdc_dev->usb_ctrl_if_enabled = true;
}
static void PIOS_USB_CDC_CTRL_IF_DeInit(uint32_t usb_cdc_id)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return;
}
/* DeRegister endpoint specific callbacks with the USBHOOK layer */
usb_cdc_dev->usb_data_if_enabled = false;
}
static uint8_t cdc_altset;
static struct usb_cdc_line_coding line_coding = {
.dwDTERate = htousbl(57600),
.bCharFormat = USB_CDC_LINE_CODING_STOP_1,
.bParityType = USB_CDC_LINE_CODING_PARITY_NONE,
.bDataBits = 8,
};
static uint16_t control_line_state;
static bool PIOS_USB_CDC_CTRL_IF_Setup(uint32_t usb_cdc_id, struct usb_setup_request *req)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return false;
}
/* Make sure this is a request for an interface we know about */
uint8_t ifnum = req->wIndex & 0xFF;
if (ifnum != usb_cdc_dev->cfg->ctrl_if) {
return false;
}
switch (req->bmRequestType & (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK)) {
case (USB_REQ_TYPE_STANDARD | USB_REQ_RECIPIENT_INTERFACE):
switch (req->bRequest) {
case USB_REQ_GET_INTERFACE:
PIOS_USBHOOK_CtrlTx(&cdc_altset, 1);
break;
case USB_REQ_SET_INTERFACE:
cdc_altset = (uint8_t)(req->wValue);
break;
default:
/* Unhandled standard request */
return false;
break;
}
break;
case (USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE):
switch (req->bRequest) {
case USB_CDC_REQ_SET_LINE_CODING:
PIOS_USBHOOK_CtrlRx((uint8_t *)&line_coding, sizeof(line_coding));
break;
case USB_CDC_REQ_GET_LINE_CODING:
PIOS_USBHOOK_CtrlTx((uint8_t *)&line_coding, sizeof(line_coding));
break;
case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
control_line_state = req->wValue;
break;
default:
/* Unhandled class request */
return false;
break;
}
break;
default:
/* Unhandled request */
return false;
}
return true;
}
static bool PIOS_USB_CDC_Available(uint32_t usbcdc_id)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
return PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id) &&
(control_line_state & USB_CDC_CONTROL_LINE_STATE_DTE_PRESENT);
}
/**
* Called *after* the data has been written to the buffer provided in the setup stage. The
* setup request is passed in here again so we know *which* EP0 data out has just completed.
*/
static void PIOS_USB_CDC_CTRL_IF_CtrlDataOut(uint32_t usb_cdc_id, const struct usb_setup_request *req)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return;
}
/* Make sure this is a request for an interface we know about */
uint8_t ifnum = req->wIndex & 0xFF;
if (ifnum != usb_cdc_dev->cfg->ctrl_if) {
return;
}
switch (req->bmRequestType & (USB_REQ_TYPE_MASK | USB_REQ_RECIPIENT_MASK)) {
case (USB_REQ_TYPE_STANDARD | USB_REQ_RECIPIENT_INTERFACE):
switch (req->bRequest) {
default:
/* Unhandled standard request */
return;
break;
}
break;
case (USB_REQ_TYPE_CLASS | USB_REQ_RECIPIENT_INTERFACE):
switch (req->bRequest) {
case USB_CDC_REQ_SET_LINE_CODING:
/*
* If we cared to, this is where we would apply the new line coding
* that is now stored in the line_coding struct. This could be used
* to notify the upper COM layer that the baud rate has changed. This
* may be useful in the case of a COM USB bridge where we would
* auto-adjust the USART baud rate based on the line coding set here.
*/
break;
default:
/* Unhandled class request */
return;
break;
}
break;
default:
/* Unhandled request */
return;
}
}
static struct usb_cdc_serial_state_report uart_state = {
.bmRequestType = 0xA1,
.bNotification = USB_CDC_NOTIFICATION_SERIAL_STATE,
.wValue = 0,
.wIndex = htousbs(1),
.wLength = htousbs(2),
.bmUartState = htousbs(0),
};
static bool PIOS_USB_CDC_CTRL_EP_IN_Callback(
__attribute__((unused)) uint32_t usb_cdc_id,
__attribute__((unused)) uint8_t epnum,
__attribute__((unused)) uint16_t len)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
/* Give back UART State Bitmap */
/* UART State Bitmap
* 15-7: reserved
* 6: bOverRun overrun error
* 5: bParity parity error
* 4: bFraming framing error
* 3: bRingSignal RI
* 2: bBreak break reception
* 1: bTxCarrier DSR
* 0: bRxCarrier DCD
*/
/* Currently, we only handle TxCarrier and RxCarrier reporting */
uint16_t new_uart_state = 0;
if (usb_cdc_dev->tx_out_cb) {
/* Someone is going to providing FC->PC data, advertise an RxCarrier to the host */
new_uart_state |= 0x1;
}
if (usb_cdc_dev->rx_in_cb) {
/* Someone is consuming PC->FC data, advertise a TxCarrier to the host */
new_uart_state |= 0x2;
}
/* Has anything changed since we last sent a notification? */
if ((new_uart_state ^ usb_cdc_dev->prev_uart_state) & 0x3) {
usb_cdc_dev->prev_uart_state = new_uart_state;
uart_state.bmUartState = htousbs(new_uart_state);
PIOS_USBHOOK_EndpointTx(usb_cdc_dev->cfg->ctrl_tx_ep,
(uint8_t *)&uart_state,
sizeof(uart_state));
}
return true;
}
static bool PIOS_USB_CDC_DATA_EP_IN_Callback(uint32_t usb_cdc_id, uint8_t epnum, uint16_t len);
static bool PIOS_USB_CDC_DATA_EP_OUT_Callback(uint32_t usb_cdc_id, uint8_t epnum, uint16_t len);
static void PIOS_USB_CDC_DATA_IF_Init(uint32_t usb_cdc_id)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return;
}
/* Register endpoint specific callbacks with the USBHOOK layer */
PIOS_USBHOOK_RegisterEpInCallback(usb_cdc_dev->cfg->data_tx_ep,
sizeof(usb_cdc_dev->tx_packet_buffer),
PIOS_USB_CDC_DATA_EP_IN_Callback,
(uint32_t)usb_cdc_dev);
PIOS_USBHOOK_RegisterEpOutCallback(usb_cdc_dev->cfg->data_rx_ep,
sizeof(usb_cdc_dev->rx_packet_buffer),
PIOS_USB_CDC_DATA_EP_OUT_Callback,
(uint32_t)usb_cdc_dev);
usb_cdc_dev->usb_data_if_enabled = true;
}
static void PIOS_USB_CDC_DATA_IF_DeInit(uint32_t usb_cdc_id)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return;
}
/* DeRegister endpoint specific callbacks with the USBHOOK layer */
usb_cdc_dev->usb_data_if_enabled = false;
PIOS_USBHOOK_DeRegisterEpInCallback(usb_cdc_dev->cfg->data_tx_ep);
PIOS_USBHOOK_DeRegisterEpOutCallback(usb_cdc_dev->cfg->data_rx_ep);
}
static bool PIOS_USB_CDC_DATA_IF_Setup(
__attribute__((unused)) uint32_t usb_cdc_id,
__attribute__((unused)) struct usb_setup_request *req)
{
/* There are no valid EP0 transactions for CDC DATA interfaces */
PIOS_Assert(0);
return false;
}
/**
* Called *after* the data has been written to the buffer provided in the setup stage. The
* setup request is passed in here again so we know *which* EP0 data out has just completed.
*/
static void PIOS_USB_CDC_DATA_IF_CtrlDataOut(
__attribute__((unused)) uint32_t usb_cdc_id,
__attribute__((unused)) const struct usb_setup_request *req)
{
/* CDC DATA interfaces don't have any OUT data stages on the control endpoint */
PIOS_Assert(0);
}
/**
* @brief Callback used to indicate a transmission from device INto host completed
* Checks if any data remains, pads it into HID packet and sends.
*/
static bool PIOS_USB_CDC_DATA_EP_IN_Callback(
__attribute__((unused)) uint32_t usb_cdc_id,
__attribute__((unused)) uint8_t epnum,
__attribute__((unused)) uint16_t len)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
PIOS_Assert(valid);
bool rc = PIOS_USB_CDC_SendData(usb_cdc_dev);
if (!rc) {
/* No additional data was transmitted, note that tx is no longer active */
usb_cdc_dev->tx_active = false;
}
return rc;
}
static bool PIOS_USB_CDC_DATA_EP_OUT_Callback(
__attribute__((unused)) uint32_t usb_cdc_id,
__attribute__((unused)) uint8_t epnum,
uint16_t len)
{
struct pios_usb_cdc_dev *usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
if (!PIOS_USB_CDC_validate(usb_cdc_dev)) {
return false;
}
if (len > sizeof(usb_cdc_dev->rx_packet_buffer)) {
len = sizeof(usb_cdc_dev->rx_packet_buffer);
}
if (!usb_cdc_dev->rx_in_cb) {
/* No Rx call back registered, disable the receiver */
usb_cdc_dev->rx_active = false;
return false;
}
uint16_t headroom;
bool need_yield = false;
uint16_t bytes_rxed;
bytes_rxed = (usb_cdc_dev->rx_in_cb)(usb_cdc_dev->rx_in_context,
usb_cdc_dev->rx_packet_buffer,
len,
&headroom,
&need_yield);
if (bytes_rxed < len) {
/* Lost bytes on rx */
usb_cdc_dev->rx_dropped += (len - bytes_rxed);
}
bool rc;
if (headroom >= sizeof(usb_cdc_dev->rx_packet_buffer)) {
/* We have room for a maximum length message */
PIOS_USBHOOK_EndpointRx(usb_cdc_dev->cfg->data_rx_ep,
usb_cdc_dev->rx_packet_buffer,
sizeof(usb_cdc_dev->rx_packet_buffer));
rc = true;
} else {
/* Not enough room left for a message, apply backpressure */
usb_cdc_dev->rx_active = false;
rc = false;
}
#if defined(PIOS_INCLUDE_FREERTOS)
if (need_yield) {
vPortYieldFromISR();
}
#endif /* PIOS_INCLUDE_FREERTOS */
return rc;
}
#endif /* PIOS_INCLUDE_USB_CDC */
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