mirror of https://github.com/ArduPilot/ardupilot
341 lines
12 KiB
C
341 lines
12 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_DEVICE)
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#define __INCLUDE_FROM_ENDPOINT_C
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#include "Endpoint.h"
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#if !defined(FIXED_CONTROL_ENDPOINT_SIZE)
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uint8_t USB_ControlEndpointSize = ENDPOINT_CONTROLEP_DEFAULT_SIZE;
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#endif
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uint8_t Endpoint_BytesToEPSizeMaskDynamic(const uint16_t Size)
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{
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return Endpoint_BytesToEPSizeMask(Size);
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}
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bool Endpoint_ConfigureEndpoint_Prv(const uint8_t Number,
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const uint8_t UECFG0XData,
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const uint8_t UECFG1XData)
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{
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Endpoint_SelectEndpoint(Number);
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Endpoint_EnableEndpoint();
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UECFG1X = 0;
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UECFG0X = UECFG0XData;
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UECFG1X = UECFG1XData;
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return Endpoint_IsConfigured();
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}
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void Endpoint_ClearEndpoints(void)
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{
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UEINT = 0;
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for (uint8_t EPNum = 0; EPNum < ENDPOINT_TOTAL_ENDPOINTS; EPNum++)
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{
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Endpoint_SelectEndpoint(EPNum);
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UEIENX = 0;
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UEINTX = 0;
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UECFG1X = 0;
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Endpoint_DisableEndpoint();
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}
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}
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void Endpoint_ClearStatusStage(void)
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{
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if (USB_ControlRequest.bmRequestType & REQDIR_DEVICETOHOST)
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{
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while (!(Endpoint_IsOUTReceived()))
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{
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if (USB_DeviceState == DEVICE_STATE_Unattached)
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return;
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}
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Endpoint_ClearOUT();
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}
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else
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{
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while (!(Endpoint_IsINReady()))
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{
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if (USB_DeviceState == DEVICE_STATE_Unattached)
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return;
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}
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Endpoint_ClearIN();
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}
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}
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#if !defined(CONTROL_ONLY_DEVICE)
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uint8_t Endpoint_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 (Endpoint_GetEndpointDirection() == ENDPOINT_DIR_IN)
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{
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if (Endpoint_IsINReady())
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return ENDPOINT_READYWAIT_NoError;
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}
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else
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{
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if (Endpoint_IsOUTReceived())
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return ENDPOINT_READYWAIT_NoError;
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}
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if (USB_DeviceState == DEVICE_STATE_Unattached)
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return ENDPOINT_READYWAIT_DeviceDisconnected;
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else if (USB_DeviceState == DEVICE_STATE_Suspended)
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return ENDPOINT_READYWAIT_BusSuspended;
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else if (Endpoint_IsStalled())
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return ENDPOINT_READYWAIT_EndpointStalled;
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if (USB_INT_HasOccurred(USB_INT_SOFI))
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{
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USB_INT_Clear(USB_INT_SOFI);
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if (!(TimeoutMSRem--))
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return ENDPOINT_READYWAIT_Timeout;
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}
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}
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}
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uint8_t Endpoint_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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if ((ErrorCode = Endpoint_WaitUntilReady()))
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return ErrorCode;
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#if defined(FAST_STREAM_TRANSFERS)
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uint8_t BytesRemToAlignment = (Endpoint_BytesInEndpoint() & 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 (!(Endpoint_IsReadWriteAllowed()))
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{
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Endpoint_ClearOUT();
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#if !defined(NO_STREAM_CALLBACKS)
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if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
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return ENDPOINT_RWSTREAM_CallbackAborted;
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#endif
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if ((ErrorCode = Endpoint_WaitUntilReady()))
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return ErrorCode;
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}
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Length -= 8;
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Endpoint_Discard_Byte();
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case 7: Endpoint_Discard_Byte();
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case 6: Endpoint_Discard_Byte();
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case 5: Endpoint_Discard_Byte();
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case 4: Endpoint_Discard_Byte();
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case 3: Endpoint_Discard_Byte();
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case 2: Endpoint_Discard_Byte();
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case 1: Endpoint_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 (!(Endpoint_IsReadWriteAllowed()))
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{
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Endpoint_ClearOUT();
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#if !defined(NO_STREAM_CALLBACKS)
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if ((Callback != NULL) && (Callback() == STREAMCALLBACK_Abort))
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return ENDPOINT_RWSTREAM_CallbackAborted;
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#endif
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if ((ErrorCode = Endpoint_WaitUntilReady()))
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return ErrorCode;
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}
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else
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{
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Endpoint_Discard_Byte();
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Length--;
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}
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}
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return ENDPOINT_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 Endpoint_Write_Stream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(*((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_PStream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_EStream_LE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Stream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(*((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_EStream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_PStream_BE
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#define TEMPLATE_BUFFER_TYPE const void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearIN()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Stream_LE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr++) = Endpoint_Read_Byte()
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_EStream_LE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearOUT()
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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++, Endpoint_Read_Byte())
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Stream_BE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearOUT()
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr--) = Endpoint_Read_Byte()
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#include "Template/Template_Endpoint_RW.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_EStream_BE
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#define TEMPLATE_BUFFER_TYPE void*
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#define TEMPLATE_CLEAR_ENDPOINT() Endpoint_ClearOUT()
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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--, Endpoint_Read_Byte())
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#include "Template/Template_Endpoint_RW.c"
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#endif
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_Stream_LE
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(*((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_PStream_LE
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_EStream_LE
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr++))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_Stream_BE
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(*((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_PStream_BE
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(pgm_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Write_Control_EStream_BE
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) Endpoint_Write_Byte(eeprom_read_byte((uint8_t*)BufferPtr--))
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#include "Template/Template_Endpoint_Control_W.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Control_Stream_LE
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#define TEMPLATE_BUFFER_OFFSET(Length) 0
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr++) = Endpoint_Read_Byte()
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#include "Template/Template_Endpoint_Control_R.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Control_EStream_LE
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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++, Endpoint_Read_Byte())
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#include "Template/Template_Endpoint_Control_R.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Control_Stream_BE
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#define TEMPLATE_BUFFER_OFFSET(Length) (Length - 1)
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#define TEMPLATE_TRANSFER_BYTE(BufferPtr) *((uint8_t*)BufferPtr--) = Endpoint_Read_Byte()
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#include "Template/Template_Endpoint_Control_R.c"
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#define TEMPLATE_FUNC_NAME Endpoint_Read_Control_EStream_BE
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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--, Endpoint_Read_Byte())
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#include "Template/Template_Endpoint_Control_R.c"
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#endif
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