mirror of
https://bitbucket.org/librepilot/librepilot.git
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400 lines
11 KiB
C
400 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_COM USB COM Functions
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* @brief PIOS USB COM implementation for CDC interfaces
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* @notes This implements a CDC Serial Port
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* @{
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*
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* @file pios_usb_com_cdc.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief USB COM 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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#include "pios.h"
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#ifdef PIOS_INCLUDE_USB_CDC
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#include "pios_usb_cdc_priv.h"
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#include "pios_usb_board_data.h" /* PIOS_BOARD_*_DATA_LENGTH */
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static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context);
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static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context);
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static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail);
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static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail);
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const struct pios_com_driver pios_usb_cdc_com_driver = {
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.tx_start = PIOS_USB_CDC_TxStart,
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.rx_start = PIOS_USB_CDC_RxStart,
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.bind_tx_cb = PIOS_USB_CDC_RegisterTxCallback,
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.bind_rx_cb = PIOS_USB_CDC_RegisterRxCallback,
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.available = PIOS_USB_CheckAvailable,
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};
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enum pios_usb_cdc_dev_magic {
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PIOS_USB_CDC_DEV_MAGIC = 0xAABBCCDD,
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};
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struct pios_usb_cdc_dev {
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enum pios_usb_cdc_dev_magic magic;
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const struct pios_usb_cdc_cfg * cfg;
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uint32_t lower_id;
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pios_com_callback rx_in_cb;
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uint32_t rx_in_context;
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pios_com_callback tx_out_cb;
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uint32_t tx_out_context;
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uint8_t rx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH];
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uint8_t tx_packet_buffer[PIOS_USB_BOARD_CDC_DATA_LENGTH];
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uint32_t rx_dropped;
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uint32_t rx_oversize;
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};
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static bool PIOS_USB_CDC_validate(struct pios_usb_cdc_dev * usb_cdc_dev)
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{
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return (usb_cdc_dev && (usb_cdc_dev->magic == PIOS_USB_CDC_DEV_MAGIC));
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev;
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usb_cdc_dev = (struct pios_usb_cdc_dev *)pvPortMalloc(sizeof(*usb_cdc_dev));
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if (!usb_cdc_dev) return(NULL);
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usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
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return(usb_cdc_dev);
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}
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#else
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static struct pios_usb_cdc_dev pios_usb_cdc_devs[PIOS_USB_CDC_MAX_DEVS];
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static uint8_t pios_usb_cdc_num_devs;
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static struct pios_usb_cdc_dev * PIOS_USB_CDC_alloc(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev;
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if (pios_usb_cdc_num_devs >= PIOS_USB_CDC_MAX_DEVS) {
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return (NULL);
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}
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usb_cdc_dev = &pios_usb_cdc_devs[pios_usb_cdc_num_devs++];
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usb_cdc_dev->magic = PIOS_USB_CDC_DEV_MAGIC;
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return (usb_cdc_dev);
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}
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#endif
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static void PIOS_USB_CDC_DATA_EP_IN_Callback(void);
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static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void);
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static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void);
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static uint32_t pios_usb_cdc_id;
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/* Need a better way to pull these in */
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extern void (*pEpInt_IN[7])(void);
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extern void (*pEpInt_OUT[7])(void);
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int32_t PIOS_USB_CDC_Init(uint32_t * usbcdc_id, const struct pios_usb_cdc_cfg * cfg, uint32_t lower_id)
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{
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PIOS_Assert(usbcdc_id);
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PIOS_Assert(cfg);
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struct pios_usb_cdc_dev * usb_cdc_dev;
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usb_cdc_dev = (struct pios_usb_cdc_dev *) PIOS_USB_CDC_alloc();
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if (!usb_cdc_dev) goto out_fail;
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/* Bind the configuration to the device instance */
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usb_cdc_dev->cfg = cfg;
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usb_cdc_dev->lower_id = lower_id;
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pios_usb_cdc_id = (uint32_t) usb_cdc_dev;
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/* Bind lower level callbacks into the USB infrastructure */
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pEpInt_OUT[cfg->ctrl_tx_ep - 1] = PIOS_USB_CDC_CTRL_EP_IN_Callback;
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pEpInt_IN[cfg->data_tx_ep - 1] = PIOS_USB_CDC_DATA_EP_IN_Callback;
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pEpInt_OUT[cfg->data_rx_ep - 1] = PIOS_USB_CDC_DATA_EP_OUT_Callback;
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*usbcdc_id = (uint32_t) usb_cdc_dev;
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return 0;
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out_fail:
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return -1;
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}
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static void PIOS_USB_CDC_RegisterRxCallback(uint32_t usbcdc_id, pios_com_callback rx_in_cb, uint32_t context)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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usb_cdc_dev->rx_in_context = context;
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usb_cdc_dev->rx_in_cb = rx_in_cb;
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}
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static void PIOS_USB_CDC_RegisterTxCallback(uint32_t usbcdc_id, pios_com_callback tx_out_cb, uint32_t context)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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/*
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* Order is important in these assignments since ISR uses _cb
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* field to determine if it's ok to dereference _cb and _context
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*/
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usb_cdc_dev->tx_out_context = context;
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usb_cdc_dev->tx_out_cb = tx_out_cb;
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}
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static void PIOS_USB_CDC_RxStart(uint32_t usbcdc_id, uint16_t rx_bytes_avail) {
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
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return;
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}
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// If endpoint was stalled and there is now space make it valid
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PIOS_IRQ_Disable();
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if ((GetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep) != EP_RX_VALID) &&
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(rx_bytes_avail >= sizeof(usb_cdc_dev->rx_packet_buffer))) {
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SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID);
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}
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PIOS_IRQ_Enable();
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}
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static void PIOS_USB_CDC_SendData(struct pios_usb_cdc_dev * usb_cdc_dev)
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{
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uint16_t bytes_to_tx;
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if (!usb_cdc_dev->tx_out_cb) {
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return;
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}
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bool need_yield = false;
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bytes_to_tx = (usb_cdc_dev->tx_out_cb)(usb_cdc_dev->tx_out_context,
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usb_cdc_dev->tx_packet_buffer,
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sizeof(usb_cdc_dev->tx_packet_buffer),
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NULL,
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&need_yield);
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if (bytes_to_tx == 0) {
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return;
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}
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UserToPMABufferCopy(usb_cdc_dev->tx_packet_buffer,
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GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep),
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bytes_to_tx);
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SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, bytes_to_tx);
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SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep);
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (need_yield) {
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vPortYieldFromISR();
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}
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#endif /* PIOS_INCLUDE_FREERTOS */
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}
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static void PIOS_USB_CDC_TxStart(uint32_t usbcdc_id, uint16_t tx_bytes_avail)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)usbcdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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if (!PIOS_USB_CheckAvailable(usb_cdc_dev->lower_id)) {
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return;
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}
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if (GetEPTxStatus(usb_cdc_dev->cfg->data_tx_ep) == EP_TX_VALID) {
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/* Endpoint is already transmitting */
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return;
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}
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PIOS_USB_CDC_SendData(usb_cdc_dev);
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}
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static void PIOS_USB_CDC_DATA_EP_IN_Callback(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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PIOS_USB_CDC_SendData(usb_cdc_dev);
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}
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static void PIOS_USB_CDC_DATA_EP_OUT_Callback(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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uint32_t DataLength;
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/* Get the number of received data on the selected Endpoint */
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DataLength = GetEPRxCount(usb_cdc_dev->cfg->data_rx_ep);
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if (DataLength > sizeof(usb_cdc_dev->rx_packet_buffer)) {
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usb_cdc_dev->rx_oversize++;
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DataLength = sizeof(usb_cdc_dev->rx_packet_buffer);
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}
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/* Use the memory interface function to read from the selected endpoint */
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PMAToUserBufferCopy((uint8_t *) usb_cdc_dev->rx_packet_buffer,
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GetEPRxAddr(usb_cdc_dev->cfg->data_rx_ep),
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DataLength);
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if (!usb_cdc_dev->rx_in_cb) {
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/* No Rx call back registered, disable the receiver */
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SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK);
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return;
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}
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uint16_t headroom;
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bool need_yield = false;
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uint16_t rc;
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rc = (usb_cdc_dev->rx_in_cb)(usb_cdc_dev->rx_in_context,
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usb_cdc_dev->rx_packet_buffer,
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DataLength,
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&headroom,
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&need_yield);
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if (rc < DataLength) {
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/* Lost bytes on rx */
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usb_cdc_dev->rx_dropped += (DataLength - rc);
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}
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if (headroom >= sizeof(usb_cdc_dev->rx_packet_buffer)) {
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/* We have room for a maximum length message */
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SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_VALID);
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} else {
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/* Not enough room left for a message, apply backpressure */
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SetEPRxStatus(usb_cdc_dev->cfg->data_rx_ep, EP_RX_NAK);
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}
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#if defined(PIOS_INCLUDE_FREERTOS)
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if (need_yield) {
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vPortYieldFromISR();
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}
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#endif /* PIOS_INCLUDE_FREERTOS */
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}
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RESULT PIOS_USB_CDC_SetControlLineState(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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static uint16_t control_line_state;
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uint8_t wValue0 = pInformation->USBwValue0;
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uint8_t wValue1 = pInformation->USBwValue1;
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control_line_state = wValue1 << 8 | wValue0;
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return USB_SUCCESS;
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}
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static struct usb_cdc_line_coding line_coding = {
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.dwDTERate = htousbl(57600),
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.bCharFormat = USB_CDC_LINE_CODING_STOP_1,
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.bParityType = USB_CDC_LINE_CODING_PARITY_NONE,
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.bDataBits = 8,
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};
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RESULT PIOS_USB_CDC_SetLineCoding(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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return USB_SUCCESS;
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}
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const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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if (Length == 0) {
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pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
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return NULL;
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} else {
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return ((uint8_t *) &line_coding);
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}
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}
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struct usb_cdc_serial_state_report uart_state = {
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.bmRequestType = 0xA1,
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.bNotification = USB_CDC_NOTIFICATION_SERIAL_STATE,
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.wValue = 0,
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.wIndex = htousbs(1),
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.wLength = htousbs(2),
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.bmUartState = htousbs(0),
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};
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static void PIOS_USB_CDC_CTRL_EP_IN_Callback(void)
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{
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struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
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bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
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PIOS_Assert(valid);
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/* Give back UART State Bitmap */
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/* UART State Bitmap
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* 15-7: reserved
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* 6: bOverRun overrun error
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* 5: bParity parity error
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* 4: bFraming framing error
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* 3: bRingSignal RI
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* 2: bBreak break reception
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* 1: bTxCarrier DSR
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* 0: bRxCarrier DCD
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*/
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uart_state.bmUartState = htousbs(0x0003);
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UserToPMABufferCopy((uint8_t *) &uart_state,
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GetEPTxAddr(usb_cdc_dev->cfg->data_tx_ep),
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sizeof(uart_state));
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SetEPTxCount(usb_cdc_dev->cfg->data_tx_ep, PIOS_USB_BOARD_CDC_MGMT_LENGTH);
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SetEPTxValid(usb_cdc_dev->cfg->data_tx_ep);
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}
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#endif /* PIOS_INCLUDE_USB_CDC */
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