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_serial.h b/motors/usb/usb_serial.h
new file mode 100644
index 0000000..8367f05
--- /dev/null
+++ b/motors/usb/usb_serial.h
@@ -0,0 +1,172 @@
+/* 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.
+ */
+
+#ifndef USBserial_h_
+#define USBserial_h_
+
+#include "usb_desc.h"
+
+#if (defined(CDC_STATUS_INTERFACE) && defined(CDC_DATA_INTERFACE)) || defined(USB_DISABLED)
+
+#include <inttypes.h>
+
+#if F_CPU >= 20000000 && !defined(USB_DISABLED)
+
+// C language implementation
+#ifdef __cplusplus
+extern "C" {
+#endif
+int usb_serial_getchar(void);
+int usb_serial_peekchar(void);
+int usb_serial_available(void);
+int usb_serial_read(void *buffer, uint32_t size);
+void usb_serial_flush_input(void);
+int usb_serial_putchar(uint8_t c);
+int usb_serial_write(const void *buffer, uint32_t size);
+int usb_serial_write_buffer_free(void);
+void usb_serial_flush_output(void);
+extern uint32_t usb_cdc_line_coding[2];
+extern volatile uint32_t usb_cdc_line_rtsdtr_millis;
+extern volatile uint32_t systick_millis_count;
+extern volatile uint8_t usb_cdc_line_rtsdtr;
+extern volatile uint8_t usb_cdc_transmit_flush_timer;
+extern volatile uint8_t usb_configuration;
+#ifdef __cplusplus
+}
+#endif
+
+#define USB_SERIAL_DTR 0x01
+#define USB_SERIAL_RTS 0x02
+
+// C++ interface
+#ifdef __cplusplus
+#include "Stream.h"
+class usb_serial_class : public Stream
+{
+public:
+ constexpr usb_serial_class() {}
+ void begin(long) {
+ uint32_t millis_begin = systick_millis_count;
+ while (!(*this)) {
+ // wait up to 2.5 seconds for Arduino Serial Monitor
+ // Yes, this is a long time, but some Windows systems open
+ // the port very slowly. This wait allows programs for
+ // Arduino Uno to "just work" (without forcing a reboot when
+ // the port is opened), and when no PC is connected the user's
+ // sketch still gets to run normally after this wait time.
+ if ((uint32_t)(systick_millis_count - millis_begin) > 2500) break;
+ }
+ }
+ void end() { /* TODO: flush output and shut down USB port */ };
+ virtual int available() { return usb_serial_available(); }
+ virtual int read() { return usb_serial_getchar(); }
+ virtual int peek() { return usb_serial_peekchar(); }
+ virtual void flush() { usb_serial_flush_output(); } // TODO: actually wait for data to leave USB...
+ virtual void clear(void) { usb_serial_flush_input(); }
+ virtual size_t write(uint8_t c) { return usb_serial_putchar(c); }
+ virtual size_t write(const uint8_t *buffer, size_t size) { return usb_serial_write(buffer, size); }
+ size_t write(unsigned long n) { return write((uint8_t)n); }
+ size_t write(long n) { return write((uint8_t)n); }
+ size_t write(unsigned int n) { return write((uint8_t)n); }
+ size_t write(int n) { return write((uint8_t)n); }
+ virtual int availableForWrite() { return usb_serial_write_buffer_free(); }
+ using Print::write;
+ void send_now(void) { usb_serial_flush_output(); }
+ uint32_t baud(void) { return usb_cdc_line_coding[0]; }
+ uint8_t stopbits(void) { uint8_t b = usb_cdc_line_coding[1]; if (!b) b = 1; return b; }
+ uint8_t paritytype(void) { return usb_cdc_line_coding[1] >> 8; } // 0=none, 1=odd, 2=even
+ uint8_t numbits(void) { return usb_cdc_line_coding[1] >> 16; }
+ uint8_t dtr(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_DTR) ? 1 : 0; }
+ uint8_t rts(void) { return (usb_cdc_line_rtsdtr & USB_SERIAL_RTS) ? 1 : 0; }
+ operator bool() { return usb_configuration &&
+ (usb_cdc_line_rtsdtr & (USB_SERIAL_DTR | USB_SERIAL_RTS)) &&
+ ((uint32_t)(systick_millis_count - usb_cdc_line_rtsdtr_millis) >= 25);
+ }
+ size_t readBytes(char *buffer, size_t length) {
+ size_t count=0;
+ unsigned long startMillis = millis();
+ do {
+ count += usb_serial_read(buffer + count, length - count);
+ if (count >= length) return count;
+ } while(millis() - startMillis < _timeout);
+ setReadError();
+ return count;
+ }
+
+};
+extern usb_serial_class Serial;
+extern void serialEvent(void);
+#endif // __cplusplus
+
+
+#else // F_CPU < 20000000
+
+// Allow Arduino programs using Serial to compile, but Serial will do nothing.
+#ifdef __cplusplus
+#include "Stream.h"
+class usb_serial_class : public Stream
+{
+public:
+ constexpr usb_serial_class() {}
+ void begin(long) { };
+ void end() { };
+ virtual int available() { return 0; }
+ virtual int read() { return -1; }
+ virtual int peek() { return -1; }
+ virtual void flush() { }
+ virtual void clear() { }
+ virtual size_t write(uint8_t c) { return 1; }
+ virtual size_t write(const uint8_t *buffer, size_t size) { return size; }
+ size_t write(unsigned long n) { return 1; }
+ size_t write(long n) { return 1; }
+ size_t write(unsigned int n) { return 1; }
+ size_t write(int n) { return 1; }
+ int availableForWrite() { return 0; }
+ using Print::write;
+ void send_now(void) { }
+ uint32_t baud(void) { return 0; }
+ uint8_t stopbits(void) { return 1; }
+ uint8_t paritytype(void) { return 0; }
+ uint8_t numbits(void) { return 8; }
+ uint8_t dtr(void) { return 1; }
+ uint8_t rts(void) { return 1; }
+ operator bool() { return true; }
+};
+
+extern usb_serial_class Serial;
+extern void serialEvent(void);
+#endif // __cplusplus
+
+
+#endif // F_CPU
+
+#endif // CDC_STATUS_INTERFACE && CDC_DATA_INTERFACE
+
+#endif // USBserial_h_