mirror of https://github.com/ArduPilot/ardupilot
547 lines
18 KiB
C
547 lines
18 KiB
C
/*
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ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* 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 file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License 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, see <http://www.gnu.org/licenses/>.
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*
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "hal.h"
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#include "hwdef.h"
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#include <stdlib.h>
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#include <string.h>
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#include "usbcfg.h"
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#ifndef ARRAY_SIZE
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#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
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#endif
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#if defined(HAL_USB_PRODUCT_ID) && HAL_HAVE_DUAL_USB_CDC
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/*
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* Virtual serial ports over USB.
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*/
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SerialUSBDriver SDU1;
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SerialUSBDriver SDU2;
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static cdc_linecoding_t linecoding[] = {
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{{0x00, 0x96, 0x00, 0x00}, /* 38400. */
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LC_STOP_1, LC_PARITY_NONE, 8},
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{{0x00, 0x96, 0x00, 0x00}, /* 38400. */
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LC_STOP_1, LC_PARITY_NONE, 8}
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};
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static uint8_t ep_index[] = {0, 2};
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/*
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* Endpoints.
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*/
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#define USB_INTERRUPT_REQUEST_EP_A 1
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#define USB_DATA_AVAILABLE_EP_A 2
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#define USB_DATA_REQUEST_EP_A 2
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#define USB_INTERRUPT_REQUEST_EP_B 3
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#define USB_DATA_AVAILABLE_EP_B 4
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#define USB_DATA_REQUEST_EP_B 4
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#define USB_INTERRUPT_REQUEST_SIZE 0x10
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#define USB_DATA_SIZE 0x40
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/*
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* Interfaces
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*/
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#define USB_NUM_INTERFACES 4
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#define USB_CDC_CIF_NUM0 0
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#define USB_CDC_DIF_NUM0 1
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#define USB_CDC_CIF_NUM1 2
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#define USB_CDC_DIF_NUM1 3
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/*
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* USB Device Descriptor.
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*/
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static const uint8_t vcom_device_descriptor_data[] = {
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USB_DESC_DEVICE(
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0x0200, /* bcdUSB (1.1). */
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0xEF, /* bDeviceClass (misc). */
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0x02, /* bDeviceSubClass (common). */
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0x01, /* bDeviceProtocol (IAD). */
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USB_DATA_SIZE, /* bMaxPacketSize. */
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HAL_USB_VENDOR_ID, /* idVendor. */
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HAL_USB_PRODUCT_ID, /* idProduct. */
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0x0200, /* bcdDevice. */
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1, /* iManufacturer. */
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2, /* iProduct. */
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3, /* iSerialNumber. */
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1) /* bNumConfigurations. */
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};
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/*
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* Device Descriptor wrapper.
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*/
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static const USBDescriptor vcom_device_descriptor = {
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sizeof vcom_device_descriptor_data,
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vcom_device_descriptor_data
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};
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#define CDC_IF_DESC_SET_SIZE \
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(USB_DESC_INTERFACE_SIZE + 5 + 5 + 4 + 5 + USB_DESC_ENDPOINT_SIZE + \
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USB_DESC_INTERFACE_SIZE + (USB_DESC_ENDPOINT_SIZE * 2))
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#define CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp) \
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/* Interface Descriptor.*/ \
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USB_DESC_INTERFACE( \
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comIfNum, /* bInterfaceNumber. */ \
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0x00, /* bAlternateSetting. */ \
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0x01, /* bNumEndpoints. */ \
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CDC_COMMUNICATION_INTERFACE_CLASS, /* bInterfaceClass. */ \
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CDC_ABSTRACT_CONTROL_MODEL, /* bInterfaceSubClass. */ \
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0x01, /* bInterfaceProtocol (AT
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commands, CDC section
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4.4). */ \
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0), /* iInterface. */ \
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/* Header Functional Descriptor (CDC section 5.2.3).*/ \
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USB_DESC_BYTE (5), /* bLength. */ \
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USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
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USB_DESC_BYTE (CDC_HEADER), /* bDescriptorSubtype. */ \
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USB_DESC_BCD (0x0110), /* bcdCDC. */ \
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/* Call Management Functional Descriptor.*/ \
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USB_DESC_BYTE (5), /* bFunctionLength. */ \
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USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
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USB_DESC_BYTE (CDC_CALL_MANAGEMENT), /* bDescriptorSubtype. */ \
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USB_DESC_BYTE (0x03), /*******/ /* bmCapabilities. */ \
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USB_DESC_BYTE (datIfNum), /* bDataInterface. */ \
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/* Abstract Control Management Functional Descriptor.*/ \
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USB_DESC_BYTE (4), /* bFunctionLength. */ \
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USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
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USB_DESC_BYTE (CDC_ABSTRACT_CONTROL_MANAGEMENT), \
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USB_DESC_BYTE (0x02), /* bmCapabilities. */ \
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/* Union Functional Descriptor.*/ \
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USB_DESC_BYTE (5), /* bFunctionLength. */ \
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USB_DESC_BYTE (CDC_CS_INTERFACE), /* bDescriptorType. */ \
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USB_DESC_BYTE (CDC_UNION), /* bDescriptorSubtype. */ \
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USB_DESC_BYTE (comIfNum), /* bMasterInterface. */ \
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USB_DESC_BYTE (datIfNum), /* bSlaveInterface. */ \
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/* Endpoint, Interrupt IN.*/ \
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USB_DESC_ENDPOINT ( \
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comInEp, \
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USB_EP_MODE_TYPE_INTR, /* bmAttributes. */ \
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USB_INTERRUPT_REQUEST_SIZE, /* wMaxPacketSize. */ \
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0x01), /* bInterval. */ \
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\
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/* CDC Data Interface Descriptor.*/ \
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USB_DESC_INTERFACE( \
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datIfNum, /* bInterfaceNumber. */ \
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0x00, /* bAlternateSetting. */ \
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0x02, /* bNumEndpoints. */ \
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CDC_DATA_INTERFACE_CLASS, /* bInterfaceClass. */ \
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0x00, /* bInterfaceSubClass (CDC
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section 4.6). */ \
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0x00, /* bInterfaceProtocol (CDC
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section 4.7). */ \
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0x00), /* iInterface. */ \
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/* Endpoint, Bulk OUT.*/ \
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USB_DESC_ENDPOINT( \
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datOutEp, /* bEndpointAddress. */ \
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USB_EP_MODE_TYPE_BULK, /* bmAttributes. */ \
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USB_DATA_SIZE, /* wMaxPacketSize. */ \
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0x00), /* bInterval. */ \
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/* Endpoint, Bulk IN.*/ \
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USB_DESC_ENDPOINT( \
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datInEp, /* bEndpointAddress. */ \
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USB_EP_MODE_TYPE_BULK, /* bmAttributes. */ \
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USB_DATA_SIZE, /* wMaxPacketSize. */ \
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0x00) /* bInterval. */
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#define IAD_CDC_IF_DESC_SET_SIZE \
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(USB_DESC_INTERFACE_ASSOCIATION_SIZE + CDC_IF_DESC_SET_SIZE)
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#define IAD_CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp) \
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/* Interface Association Descriptor.*/ \
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USB_DESC_INTERFACE_ASSOCIATION( \
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comIfNum, /* bFirstInterface. */ \
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2, /* bInterfaceCount. */ \
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CDC_COMMUNICATION_INTERFACE_CLASS, /* bFunctionClass. */ \
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CDC_ABSTRACT_CONTROL_MODEL, /* bFunctionSubClass. */ \
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1, /* bFunctionProcotol. */ \
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0 /* iInterface. */ \
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), \
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/* CDC Interface descriptor set */ \
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CDC_IF_DESC_SET(comIfNum, datIfNum, comInEp, datOutEp, datInEp)
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/* Configuration Descriptor tree for a CDC.*/
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static const uint8_t vcom_configuration_descriptor_data[] = {
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/* Configuration Descriptor.*/
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USB_DESC_CONFIGURATION(
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USB_DESC_CONFIGURATION_SIZE +
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(IAD_CDC_IF_DESC_SET_SIZE * 2), /* wTotalLength. */
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USB_NUM_INTERFACES, /* bNumInterfaces. */
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0x01, /* bConfigurationValue. */
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0, /* iConfiguration. */
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0xC0, /* bmAttributes (self powered). */
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50 /* bMaxPower (100mA). */
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),
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IAD_CDC_IF_DESC_SET(
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USB_CDC_CIF_NUM0,
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USB_CDC_DIF_NUM0,
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USB_ENDPOINT_IN(USB_INTERRUPT_REQUEST_EP_A),
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USB_ENDPOINT_OUT(USB_DATA_AVAILABLE_EP_A),
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USB_ENDPOINT_IN(USB_DATA_REQUEST_EP_A)
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),
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IAD_CDC_IF_DESC_SET(
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USB_CDC_CIF_NUM1,
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USB_CDC_DIF_NUM1,
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USB_ENDPOINT_IN(USB_INTERRUPT_REQUEST_EP_B),
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USB_ENDPOINT_OUT(USB_DATA_AVAILABLE_EP_B),
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USB_ENDPOINT_IN(USB_DATA_REQUEST_EP_B)
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),
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};
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/*
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* Configuration Descriptor wrapper.
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*/
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static const USBDescriptor vcom_configuration_descriptor = {
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sizeof vcom_configuration_descriptor_data,
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vcom_configuration_descriptor_data
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};
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/*
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* U.S. English language identifier.
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*/
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static const uint8_t vcom_string0[] = {
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USB_DESC_BYTE(4), /* bLength. */
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USB_DESC_BYTE(USB_DESCRIPTOR_STRING), /* bDescriptorType. */
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USB_DESC_WORD(0x0409) /* wLANGID (U.S. English). */
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};
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/*
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* Strings wrappers array. The strings are created dynamically to
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* allow them to be setup with apj_tool
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*/
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static USBDescriptor vcom_strings[] = {
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{sizeof vcom_string0, vcom_string0},
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{0, NULL}, // manufacturer
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{0, NULL}, // product
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{0, NULL}, // version
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};
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#define USB_DESC_MAX_STRLEN 100
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static uint8_t vcom_buffers[3][2+2*USB_DESC_MAX_STRLEN];
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/*
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dynamically allocate a USB descriptor string
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*/
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static void setup_usb_string(USBDescriptor *desc, const char *str, uint8_t *b)
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{
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char str2[USB_DESC_MAX_STRLEN];
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string_substitute(str, str2);
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uint8_t len = strlen(str2);
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desc->ud_size = 2+2*len;
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desc->ud_string = (const uint8_t *)b;
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b[0] = USB_DESC_BYTE(desc->ud_size);
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b[1] = USB_DESC_BYTE(USB_DESCRIPTOR_STRING);
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uint8_t i;
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for (i=0; i<len; i++) {
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b[2+i*2] = str2[i];
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b[2+i*2+1] = 0;
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}
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}
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/*
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dynamically allocate a USB descriptor strings
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*/
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void setup_usb_strings(void)
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{
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setup_usb_string(&vcom_strings[1], HAL_USB_STRING_MANUFACTURER, vcom_buffers[0]);
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setup_usb_string(&vcom_strings[2], HAL_USB_STRING_PRODUCT, vcom_buffers[1]);
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setup_usb_string(&vcom_strings[3], HAL_USB_STRING_SERIAL, vcom_buffers[2]);
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}
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/*
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* Handles the GET_DESCRIPTOR callback. All required descriptors must be
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* handled here.
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*/
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static const USBDescriptor *get_descriptor(USBDriver *usbp,
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uint8_t dtype,
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uint8_t dindex,
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uint16_t lang) {
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(void)usbp;
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(void)lang;
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switch (dtype) {
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case USB_DESCRIPTOR_DEVICE:
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return &vcom_device_descriptor;
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case USB_DESCRIPTOR_CONFIGURATION:
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return &vcom_configuration_descriptor;
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case USB_DESCRIPTOR_STRING:
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if (dindex < 4)
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return &vcom_strings[dindex];
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}
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return NULL;
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}
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/*
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get the requested usb baudrate - 0 = none
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*/
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#if HAL_USE_SERIAL_USB
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uint32_t get_usb_baud(uint16_t endpoint_id)
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{
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for (uint8_t i = 0; i < ARRAY_SIZE(linecoding); i++) {
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if (endpoint_id == ep_index[i]) {
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uint32_t rate;
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memcpy(&rate, &linecoding[i].dwDTERate[0], sizeof(rate));
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return rate;
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}
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}
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return 0;
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}
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#endif
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/**
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* @brief IN EP1 state.
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*/
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static USBInEndpointState ep1instate;
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/**
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* @brief EP1 initialization structure (IN only).
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*/
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static const USBEndpointConfig ep1config = {
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USB_EP_MODE_TYPE_INTR,
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NULL,
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sduInterruptTransmitted,
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NULL,
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USB_INTERRUPT_REQUEST_SIZE,
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0x0000,
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&ep1instate,
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NULL,
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1,
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NULL
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};
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/**
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* @brief IN EP2 state.
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*/
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static USBInEndpointState ep2instate;
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/**
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* @brief OUT EP2 state.
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*/
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static USBOutEndpointState ep2outstate;
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/**
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* @brief EP2 initialization structure (both IN and OUT).
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*/
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static const USBEndpointConfig ep2config = {
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USB_EP_MODE_TYPE_BULK,
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NULL,
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sduDataTransmitted,
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sduDataReceived,
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USB_DATA_SIZE,
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USB_DATA_SIZE,
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&ep2instate,
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&ep2outstate,
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2,
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NULL
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};
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/**
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* @brief IN EP3 state.
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*/
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static USBInEndpointState ep3instate;
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/**
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* @brief EP3 initialization structure (IN only).
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*/
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static const USBEndpointConfig ep3config = {
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USB_EP_MODE_TYPE_INTR,
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NULL,
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sduInterruptTransmitted,
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NULL,
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USB_INTERRUPT_REQUEST_SIZE,
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0x0000,
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&ep3instate,
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NULL,
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1,
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NULL
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};
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/**
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* @brief IN EP4 state.
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*/
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static USBInEndpointState ep4instate;
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/**
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* @brief OUT EP4 state.
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*/
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static USBOutEndpointState ep4outstate;
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/**
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* @brief EP4 initialization structure (both IN and OUT).
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*/
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static const USBEndpointConfig ep4config = {
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USB_EP_MODE_TYPE_BULK,
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NULL,
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sduDataTransmitted,
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sduDataReceived,
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USB_DATA_SIZE,
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USB_DATA_SIZE,
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&ep4instate,
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&ep4outstate,
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2,
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NULL
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};
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/*
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* Handles the USB driver global events.
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*/
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static void usb_event(USBDriver *usbp, usbevent_t event) {
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extern SerialUSBDriver SDU1;
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extern SerialUSBDriver SDU2;
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switch (event) {
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case USB_EVENT_ADDRESS:
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return;
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case USB_EVENT_CONFIGURED:
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chSysLockFromISR();
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if (usbp->state == USB_ACTIVE) {
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/* Enables the endpoints specified into the configuration.
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Note, this callback is invoked from an ISR so I-Class functions
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must be used.*/
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usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_A, &ep1config);
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usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_A, &ep2config);
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usbInitEndpointI(usbp, USB_INTERRUPT_REQUEST_EP_B, &ep3config);
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usbInitEndpointI(usbp, USB_DATA_REQUEST_EP_B, &ep4config);
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/* Resetting the state of the CDC subsystem.*/
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sduConfigureHookI(&SDU1);
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sduConfigureHookI(&SDU2);
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}
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else if (usbp->state == USB_SELECTED) {
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usbDisableEndpointsI(usbp);
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}
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chSysUnlockFromISR();
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return;
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case USB_EVENT_RESET:
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/* Falls into.*/
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case USB_EVENT_UNCONFIGURED:
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/* Falls into.*/
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case USB_EVENT_SUSPEND:
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chSysLockFromISR();
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/* Disconnection event on suspend.*/
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sduSuspendHookI(&SDU1);
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sduSuspendHookI(&SDU2);
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chSysUnlockFromISR();
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return;
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case USB_EVENT_WAKEUP:
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chSysLockFromISR();
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/* Connection event on wakeup.*/
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sduWakeupHookI(&SDU1);
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sduWakeupHookI(&SDU2);
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chSysUnlockFromISR();
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return;
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case USB_EVENT_STALLED:
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return;
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}
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return;
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}
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/*
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* Handling messages not implemented in the default handler nor in the
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* SerialUSB handler.
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*/
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static bool requests_hook(USBDriver *usbp) {
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if (((usbp->setup[0] & USB_RTYPE_RECIPIENT_MASK) == USB_RTYPE_RECIPIENT_INTERFACE) &&
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(usbp->setup[1] == USB_REQ_SET_INTERFACE)) {
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usbSetupTransfer(usbp, NULL, 0, NULL);
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return true;
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}
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// process only index=2 commands here - ie the second interface - the first interface is handled via the default handler
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for (uint8_t i = 0; i < ARRAY_SIZE(linecoding); i++) {
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if ((usbp->setup[0] & USB_RTYPE_TYPE_MASK) == USB_RTYPE_TYPE_CLASS && usbp->setup[4] == ep_index[i] && usbp->setup[5] == 0x00) {
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switch (usbp->setup[1]) {
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case CDC_GET_LINE_CODING:
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usbSetupTransfer(usbp, (uint8_t *)&linecoding[i], sizeof(linecoding[i]), NULL);
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return true;
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case CDC_SET_LINE_CODING:
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usbSetupTransfer(usbp, (uint8_t *)&linecoding[i], sizeof(linecoding[i]), NULL);
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return true;
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case CDC_SET_CONTROL_LINE_STATE:
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/* Nothing to do, there are no control lines.*/
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usbSetupTransfer(usbp, NULL, 0, NULL);
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|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return sduRequestsHook(usbp);
|
|
}
|
|
|
|
/*
|
|
* Handles the USB driver global events.
|
|
*/
|
|
static void sof_handler(USBDriver *usbp) {
|
|
|
|
(void)usbp;
|
|
|
|
osalSysLockFromISR();
|
|
sduSOFHookI(&SDU1);
|
|
sduSOFHookI(&SDU2);
|
|
osalSysUnlockFromISR();
|
|
}
|
|
|
|
/*
|
|
* USB driver configuration.
|
|
*/
|
|
const USBConfig usbcfg = {
|
|
usb_event,
|
|
get_descriptor,
|
|
requests_hook,
|
|
sof_handler
|
|
};
|
|
|
|
/*
|
|
* Serial over USB driver configuration 1.
|
|
*/
|
|
const SerialUSBConfig serusbcfg1 = {
|
|
&USBD1,
|
|
USB_DATA_REQUEST_EP_A,
|
|
USB_DATA_AVAILABLE_EP_A,
|
|
USB_INTERRUPT_REQUEST_EP_A
|
|
};
|
|
|
|
/*
|
|
* Serial over USB driver configuration 2.
|
|
*/
|
|
const SerialUSBConfig serusbcfg2 = {
|
|
&USBD1,
|
|
USB_DATA_REQUEST_EP_B,
|
|
USB_DATA_AVAILABLE_EP_B,
|
|
USB_INTERRUPT_REQUEST_EP_B
|
|
};
|
|
#endif
|