Get soft reboot working
Change-Id: I7b2707fef62ae7b3878ca3d6ed6991bea41d7d6e
diff --git a/motors/usb/BUILD b/motors/usb/BUILD
index 0696354..950de0a 100644
--- a/motors/usb/BUILD
+++ b/motors/usb/BUILD
@@ -56,6 +56,7 @@
deps = [
':usb',
':queue',
+ '//motors/core',
'//motors:util',
],
restricted_to = mcu_cpus,
diff --git a/motors/usb/cdc.cc b/motors/usb/cdc.cc
index b082750..0b59aef 100644
--- a/motors/usb/cdc.cc
+++ b/motors/usb/cdc.cc
@@ -1,6 +1,9 @@
#include "motors/usb/cdc.h"
#include <string.h>
+#include <stdint.h>
+
+#include "motors/core/time.h"
#define CHECK(c) \
do { \
@@ -301,11 +304,18 @@
return SetupResponse::kIgnored;
case NextEndpoint0Out::kLineCoding:
+ next_endpoint0_out_ = NextEndpoint0Out::kNone;
if (data_length != sizeof(line_coding_)) {
return SetupResponse::kStall;
}
memcpy(&line_coding_, data, data_length);
device()->SendEmptyEndpoint0Packet();
+ // If we're supposed to reboot, then do it.
+ if (line_coding_.rate == UINT32_C(0x97101678)) {
+ // Delay for a bit so the empty IN packet gets back to the host.
+ delay(5);
+ __asm__ __volatile__("bkpt");
+ }
return SetupResponse::kHandled;
default:
diff --git a/motors/usb/usb.cc b/motors/usb/usb.cc
index 3067695..0a05fad 100644
--- a/motors/usb/usb.cc
+++ b/motors/usb/usb.cc
@@ -250,6 +250,7 @@
// If we just finished processing a token.
if (status & USB_ISTAT_TOKDNE) {
const uint8_t stat = USB0_STAT;
+ USB0_ISTAT = USB_ISTAT_TOKDNE;
const int endpoint = G_USB_STAT_ENDP(stat);
if (endpoint == 0) {
@@ -281,8 +282,6 @@
}
}
}
-
- USB0_ISTAT = USB_ISTAT_TOKDNE;
}
if (status & USB_ISTAT_USBRST) {
@@ -355,14 +354,16 @@
dma_memory_barrier();
// Next IN and OUT packet for this endpoint (data stage/status stage)
// should both be DATA1.
- // TODO(Brian): Does this actually deal with received toggles correctly?
- bdt_entry->buffer_descriptor =
- M_USB_BD_OWN | M_USB_BD_DTS | V_USB_BD_BC(kEndpoint0MaxSize);
MutableBdtEntryFromStat(stat ^ M_USB_STAT_ODD)->buffer_descriptor =
M_USB_BD_OWN | M_USB_BD_DTS | V_USB_BD_BC(kEndpoint0MaxSize) |
M_USB_BD_DATA1;
endpoint0_tx_toggle_ = Data01::kData1;
+ // Give this buffer back. It should be DATA0 because it'll be the second
+ // received packet.
+ bdt_entry->buffer_descriptor =
+ M_USB_BD_OWN | M_USB_BD_DTS | V_USB_BD_BC(kEndpoint0MaxSize);
+
// TODO(Brian): Tell the functions a new setup packet is starting.
// CdcTty: next_endpoint0_out_ = NextEndpoint0Out::kNone;
diff --git a/motors/usb/usb.h b/motors/usb/usb.h
index 1322ce1..1d7606f 100644
--- a/motors/usb/usb.h
+++ b/motors/usb/usb.h
@@ -21,6 +21,9 @@
}
// Aligned for faster access via memcpy etc.
+//
+// Also, the Freescale example stack forces aligned buffers to work around some
+// hardware limitations which may or may not apply to our chips.
typedef void *DataPointer __attribute__((aligned(4)));
// An entry in the Buffer Descriptor Table.