Add unmodified Teensy files
BUILD file and modifications to sanify coming soon. These are unmodified
from Teensyduino 1.37 for change tracking purposes.
Change-Id: Id55e2eba0e03260d14ea58ae4c536ae271315164
diff --git a/motors/usb/usb_mem.c b/motors/usb/usb_mem.c
new file mode 100644
index 0000000..41b4596
--- /dev/null
+++ b/motors/usb/usb_mem.c
@@ -0,0 +1,109 @@
+/* Teensyduino Core Library
+ * http://www.pjrc.com/teensy/
+ * Copyright (c) 2017 PJRC.COM, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * 1. The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * 2. If the Software is incorporated into a build system that allows
+ * selection among a list of target devices, then similar target
+ * devices manufactured by PJRC.COM must be included in the list of
+ * target devices and selectable in the same manner.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include "usb_dev.h"
+#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
+
+#include "kinetis.h"
+//#include "HardwareSerial.h"
+#include "usb_mem.h"
+
+__attribute__ ((section(".usbbuffers"), used))
+unsigned char usb_buffer_memory[NUM_USB_BUFFERS * sizeof(usb_packet_t)];
+
+static uint32_t usb_buffer_available = 0xFFFFFFFF;
+
+// use bitmask and CLZ instruction to implement fast free list
+// http://www.archivum.info/gnu.gcc.help/2006-08/00148/Re-GCC-Inline-Assembly.html
+// http://gcc.gnu.org/ml/gcc/2012-06/msg00015.html
+// __builtin_clz()
+
+usb_packet_t * usb_malloc(void)
+{
+ unsigned int n, avail;
+ uint8_t *p;
+
+ __disable_irq();
+ avail = usb_buffer_available;
+ n = __builtin_clz(avail); // clz = count leading zeros
+ if (n >= NUM_USB_BUFFERS) {
+ __enable_irq();
+ return NULL;
+ }
+ //serial_print("malloc:");
+ //serial_phex(n);
+ //serial_print("\n");
+
+ usb_buffer_available = avail & ~(0x80000000 >> n);
+ __enable_irq();
+ p = usb_buffer_memory + (n * sizeof(usb_packet_t));
+ //serial_print("malloc:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+ *(uint32_t *)p = 0;
+ *(uint32_t *)(p + 4) = 0;
+ return (usb_packet_t *)p;
+}
+
+// for the receive endpoints to request memory
+extern uint8_t usb_rx_memory_needed;
+extern void usb_rx_memory(usb_packet_t *packet);
+
+void usb_free(usb_packet_t *p)
+{
+ unsigned int n, mask;
+
+ //serial_print("free:");
+ n = ((uint8_t *)p - usb_buffer_memory) / sizeof(usb_packet_t);
+ if (n >= NUM_USB_BUFFERS) return;
+ //serial_phex(n);
+ //serial_print("\n");
+
+ // if any endpoints are starving for memory to receive
+ // packets, give this memory to them immediately!
+ if (usb_rx_memory_needed && usb_configuration) {
+ //serial_print("give to rx:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+ usb_rx_memory(p);
+ return;
+ }
+
+ mask = (0x80000000 >> n);
+ __disable_irq();
+ usb_buffer_available |= mask;
+ __enable_irq();
+
+ //serial_print("free:");
+ //serial_phex32((int)p);
+ //serial_print("\n");
+}
+
+#endif // F_CPU >= 20 MHz && defined(NUM_ENDPOINTS)