mirror of https://github.com/ArduPilot/ardupilot
297 lines
9.7 KiB
C
297 lines
9.7 KiB
C
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/*
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LUFA Library
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Copyright (C) Dean Camera, 2010.
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dean [at] fourwalledcubicle [dot] com
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www.fourwalledcubicle.com
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*/
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/*
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Copyright 2010 Dean Camera (dean [at] fourwalledcubicle [dot] com)
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Permission to use, copy, modify, distribute, and sell this
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software and its documentation for any purpose is hereby granted
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without fee, provided that the above copyright notice appear in
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all copies and that both that the copyright notice and this
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permission notice and warranty disclaimer appear in supporting
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documentation, and that the name of the author not be used in
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advertising or publicity pertaining to distribution of the
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software without specific, written prior permission.
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The author disclaim all warranties with regard to this
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software, including all implied warranties of merchantability
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and fitness. In no event shall the author be liable for any
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special, indirect or consequential damages or any damages
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whatsoever resulting from loss of use, data or profits, whether
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in an action of contract, negligence or other tortious action,
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arising out of or in connection with the use or performance of
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this software.
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*/
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#define __INCLUDE_FROM_USB_DRIVER
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#include "../HighLevel/USBMode.h"
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#if defined(USB_CAN_BE_HOST)
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#define __INCLUDE_FROM_PIPE_C
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#include "Pipe.h"
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uint8_t USB_ControlPipeSize = PIPE_CONTROLPIPE_DEFAULT_SIZE;
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bool Pipe_ConfigurePipe(const uint8_t Number,
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const uint8_t Type,
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const uint8_t Token,
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const uint8_t EndpointNumber,
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const uint16_t Size,
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const uint8_t Banks)
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{
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Pipe_SelectPipe(Number);
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Pipe_EnablePipe();
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UPCFG1X = 0;
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UPCFG0X = ((Type << EPTYPE0) | Token | ((EndpointNumber & PIPE_EPNUM_MASK) << PEPNUM0));
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UPCFG1X = ((1 << ALLOC) | Banks | Pipe_BytesToEPSizeMask(Size));
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Pipe_SetInfiniteINRequests();
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return Pipe_IsConfigured();
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}
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void Pipe_ClearPipes(void)
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{
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UPINT = 0;
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for (uint8_t PNum = 0; PNum < PIPE_TOTAL_PIPES; PNum++)
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{
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Pipe_SelectPipe(PNum);
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UPIENX = 0;
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UPINTX = 0;
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UPCFG1X = 0;
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Pipe_DisablePipe();
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}
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}
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bool Pipe_IsEndpointBound(const uint8_t EndpointAddress)
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{
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uint8_t PrevPipeNumber = Pipe_GetCurrentPipe();
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for (uint8_t PNum = 0; PNum < PIPE_TOTAL_PIPES; PNum++)
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{
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Pipe_SelectPipe(PNum);
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if (!(Pipe_IsConfigured()))
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continue;
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uint8_t PipeToken = Pipe_GetPipeToken();
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bool PipeTokenCorrect = true;
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if (PipeToken != PIPE_TOKEN_SETUP)
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PipeTokenCorrect = (PipeToken == ((EndpointAddress & PIPE_EPDIR_MASK) ? PIPE_TOKEN_IN : PIPE_TOKEN_OUT));
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if (PipeTokenCorrect && (Pipe_BoundEndpointNumber() == (EndpointAddress & PIPE_EPNUM_MASK)))
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return true;
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}
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Pipe_SelectPipe(PrevPipeNumber);
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return false;
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}
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uint8_t Pipe_WaitUntilReady(void)
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{
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#if (USB_STREAM_TIMEOUT_MS < 0xFF)
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uint8_t TimeoutMSRem = USB_STREAM_TIMEOUT_MS;
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#else
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uint16_t TimeoutMSRem = USB_STREAM_TIMEOUT_MS;
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#endif
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for (;;)
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{
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if (Pipe_GetPipeToken() == PIPE_TOKEN_IN)
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{
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if (Pipe_IsINReceived())
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return PIPE_READYWAIT_NoError;
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}
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else
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{
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if (Pipe_IsOUTReady())
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return PIPE_READYWAIT_NoError;
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}
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if (Pipe_IsStalled())
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return PIPE_READYWAIT_PipeStalled;
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else if (USB_HostState == HOST_STATE_Unattached)
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return PIPE_READYWAIT_DeviceDisconnected;
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if (USB_INT_HasOccurred(USB_INT_HSOFI))
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{
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USB_INT_Clear(USB_INT_HSOFI);
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if (!(TimeoutMSRem--))
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return PIPE_READYWAIT_Timeout;
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}
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}
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}
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uint8_t Pipe_Discard_Stream(uint16_t Length
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#if !defined(NO_STREAM_CALLBACKS)
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, StreamCallbackPtr_t Callback
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#endif
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)
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{
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uint8_t ErrorCode;
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Pipe_SetPipeToken(PIPE_TOKEN_IN);
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if ((ErrorCode = Pipe_WaitUntilReady()))
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return ErrorCode;
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#if defined(FAST_STREAM_TRANSFERS)
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uint8_t BytesRemToAlignment = (Pipe_BytesInPipe() & 0x07);
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if (Length >= 8)
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{
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Length -= BytesRemToAlignment;
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switch (BytesRemToAlignment)
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{
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default:
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do
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{
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if (!(Pipe_IsReadWriteAllowed()))
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{
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Pipe_ClearIN();
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#if !defined(NO_STREAM_CALLBACKS)
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if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
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return PIPE_RWSTREAM_CallbackAborted;
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#endif
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if ((ErrorCode = Pipe_WaitUntilReady()))
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return ErrorCode;
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}
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Length -= 8;
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Pipe_Discard_Byte();
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case 7: Pipe_Discard_Byte();
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case 6: Pipe_Discard_Byte();
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case 5: Pipe_Discard_Byte();
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case 4: Pipe_Discard_Byte();
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case 3: Pipe_Discard_Byte();
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case 2: Pipe_Discard_Byte();
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case 1: Pipe_Discard_Byte();
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} while (Length >= 8);
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}
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}
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#endif
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while (Length)
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{
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if (!(Pipe_IsReadWriteAllowed()))
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{
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Pipe_ClearIN();
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#if !defined(NO_STREAM_CALLBACKS)
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if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
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return PIPE_RWSTREAM_CallbackAborted;
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#endif
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if ((ErrorCode = Pipe_WaitUntilReady()))
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return ErrorCode;
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}
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else
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{
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Pipe_Discard_Byte();
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Length--;
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}
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}
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return PIPE_RWSTREAM_NoError;
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}
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/* The following abuses the C preprocessor in order to copy-past common code with slight alterations,
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* so that the code needs to be written once. It is a crude form of templating to reduce code maintenance. */
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#define TEMPLATE_FUNC_NAME Pipe_Write_Stream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(*((uint8_t*)BufferPtr++))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Write_PStream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Write_EStream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Write_Stream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(*((uint8_t*)BufferPtr--))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Write_PStream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Write_EStream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_OUT
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Pipe_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Read_Stream_LE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_IN
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr++) = Pipe_Read_Byte()
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Read_EStream_LE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_IN
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) eeprom_update_byte((uint8_t*)BufferPtr++, Pipe_Read_Byte())
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Read_Stream_BE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_IN
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr--) = Pipe_Read_Byte()
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#include "Template/Template_Pipe_RW.c"
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#define TEMPLATE_FUNC_NAME Pipe_Read_EStream_BE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_TOKEN PIPE_TOKEN_IN
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#define TEMPLATE_CLEAR_PIPE() Pipe_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) eeprom_update_byte((uint8_t*)BufferPtr--, Pipe_Read_Byte())
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#include "Template/Template_Pipe_RW.c"
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#endif
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