Fix up all the newly imported Teensy code
Change-Id: Id051083a16336617add1d5f16fc7b7d78a30a5fe
diff --git a/motors/usb/usb_dev.c b/motors/usb/usb_dev.c
index d57ca5d..8dc8e1f 100644
--- a/motors/usb/usb_dev.c
+++ b/motors/usb/usb_dev.c
@@ -37,19 +37,30 @@
* https://github.com/payne92/bare-metal-arm
*/
-#include "usb_dev.h"
+#include "motors/usb/usb_dev.h"
#if F_CPU >= 20000000 && defined(NUM_ENDPOINTS)
-#include "kinetis.h"
-//#include "HardwareSerial.h"
-#include "usb_mem.h"
+#include "motors/core/kinetis.h"
+#include "motors/usb/usb_mem.h"
#include <string.h> // for memset
+#ifdef CDC_DATA_INTERFACE
+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 void usb_serial_flush_callback(int);
+#endif
+#ifdef CDC2_DATA_INTERFACE
+extern volatile uint8_t *usb_cdc2_transmit_flush_timer;
+#endif
+
// buffer descriptor table
typedef struct {
uint32_t desc;
- void * addr;
+ const void * addr;
} bdt_t;
__attribute__ ((section(".usbdescriptortable"), used))
@@ -146,15 +157,7 @@
static void endpoint0_transmit(const void *data, uint32_t len)
{
-#if 0
- serial_print("tx0:");
- serial_phex32((uint32_t)data);
- serial_print(",");
- serial_phex16(len);
- serial_print(ep0_tx_bdt_bank ? ", odd" : ", even");
- serial_print(ep0_tx_data_toggle ? ", d1\n" : ", d0\n");
-#endif
- table[index(0, TX, ep0_tx_bdt_bank)].addr = (void *)data;
+ table[index(0, TX, ep0_tx_bdt_bank)].addr = (const void *)data;
table[index(0, TX, ep0_tx_bdt_bank)].desc = BDT_DESC(len, ep0_tx_data_toggle);
ep0_tx_data_toggle ^= 1;
ep0_tx_bdt_bank ^= 1;
@@ -177,14 +180,13 @@
case 0x0500: // SET_ADDRESS
break;
case 0x0900: // SET_CONFIGURATION
- //serial_print("configure\n");
usb_configuration = setup.wValue;
reg = &USB0_ENDPT1;
cfg = usb_endpoint_config_table;
// clear all BDT entries, free any allocated memory...
for (i=4; i < (NUM_ENDPOINTS+1)*4; i++) {
if (table[i].desc & BDT_OWN) {
- usb_free((usb_packet_t *)((uint8_t *)(table[i].addr) - 8));
+ usb_free((const usb_packet_t *)((const uint8_t *)(table[i].addr) - 8));
}
}
// free all queued packets
@@ -282,7 +284,9 @@
}
reply_buffer[0] = 0;
reply_buffer[1] = 0;
- if (*(uint8_t *)(&USB0_ENDPT0 + i * 4) & 0x02) reply_buffer[0] = 1;
+ if (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4) & 0x02) {
+ reply_buffer[0] = 1;
+ }
data = reply_buffer;
datalen = 2;
break;
@@ -293,7 +297,7 @@
endpoint0_stall();
return;
}
- (*(uint8_t *)(&USB0_ENDPT0 + i * 4)) &= ~0x02;
+ (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4)) &= ~0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0302: // SET_FEATURE (endpoint)
@@ -303,18 +307,13 @@
endpoint0_stall();
return;
}
- (*(uint8_t *)(&USB0_ENDPT0 + i * 4)) |= 0x02;
+ (*(volatile uint8_t *)(&USB0_ENDPT0 + i * 4)) |= 0x02;
// TODO: do we need to clear the data toggle here?
break;
case 0x0680: // GET_DESCRIPTOR
case 0x0681:
- //serial_print("desc:");
- //serial_phex16(setup.wValue);
- //serial_print("\n");
for (list = usb_descriptor_list; 1; list++) {
if (list->addr == NULL) break;
- //if (setup.wValue == list->wValue &&
- //(setup.wIndex == list->wIndex) || ((setup.wValue >> 8) == 3)) {
if (setup.wValue == list->wValue && setup.wIndex == list->wIndex) {
data = list->addr;
if ((setup.wValue >> 8) == 3) {
@@ -325,36 +324,21 @@
} else {
datalen = list->length;
}
-#if 0
- serial_print("Desc found, ");
- serial_phex32((uint32_t)data);
- serial_print(",");
- serial_phex16(datalen);
- serial_print(",");
- serial_phex(data[0]);
- serial_phex(data[1]);
- serial_phex(data[2]);
- serial_phex(data[3]);
- serial_phex(data[4]);
- serial_phex(data[5]);
- serial_print("\n");
-#endif
goto send;
}
}
- //serial_print("desc: not found\n");
endpoint0_stall();
return;
#if defined(CDC_STATUS_INTERFACE)
case 0x2221: // CDC_SET_CONTROL_LINE_STATE
+ // TODO(Brian): wIndex is the interface number this is directed at. Pay
+ // attention to that.
usb_cdc_line_rtsdtr_millis = systick_millis_count;
usb_cdc_line_rtsdtr = setup.wValue;
- //serial_print("set control line state\n");
break;
case 0x2321: // CDC_SEND_BREAK
break;
case 0x2021: // CDC_SET_LINE_CODING
- //serial_print("set coding, waiting...\n");
return;
#endif
@@ -381,7 +365,6 @@
// TODO: this does not work... why?
#if defined(SEREMU_INTERFACE) || defined(KEYBOARD_INTERFACE)
case 0x0921: // HID SET_REPORT
- //serial_print(":)\n");
return;
case 0x0A21: // HID SET_IDLE
break;
@@ -472,11 +455,6 @@
return;
}
send:
- //serial_print("setup send ");
- //serial_phex32(data);
- //serial_print(",");
- //serial_phex16(datalen);
- //serial_print("\n");
if (datalen > setup.wLength) datalen = setup.wLength;
size = datalen;
@@ -520,60 +498,31 @@
{
bdt_t *b;
uint32_t pid, size;
- uint8_t *buf;
+ const uint8_t *buf;
const uint8_t *data;
b = stat2bufferdescriptor(stat);
pid = BDT_PID(b->desc);
- //count = b->desc >> 16;
buf = b->addr;
- //serial_print("pid:");
- //serial_phex(pid);
- //serial_print(", count:");
- //serial_phex(count);
- //serial_print("\n");
switch (pid) {
case 0x0D: // Setup received from host
- //serial_print("PID=Setup\n");
- //if (count != 8) ; // panic?
// grab the 8 byte setup info
- setup.word1 = *(uint32_t *)(buf);
- setup.word2 = *(uint32_t *)(buf + 4);
+ setup.word1 = *(const uint32_t *)(buf);
+ setup.word2 = *(const uint32_t *)(buf + 4);
// give the buffer back
b->desc = BDT_DESC(EP0_SIZE, DATA1);
- //table[index(0, RX, EVEN)].desc = BDT_DESC(EP0_SIZE, 1);
- //table[index(0, RX, ODD)].desc = BDT_DESC(EP0_SIZE, 1);
// clear any leftover pending IN transactions
ep0_tx_ptr = NULL;
if (ep0_tx_data_toggle) {
}
- //if (table[index(0, TX, EVEN)].desc & 0x80) {
- //serial_print("leftover tx even\n");
- //}
- //if (table[index(0, TX, ODD)].desc & 0x80) {
- //serial_print("leftover tx odd\n");
- //}
table[index(0, TX, EVEN)].desc = 0;
table[index(0, TX, ODD)].desc = 0;
// first IN after Setup is always DATA1
ep0_tx_data_toggle = 1;
-#if 0
- serial_print("bmRequestType:");
- serial_phex(setup.bmRequestType);
- serial_print(", bRequest:");
- serial_phex(setup.bRequest);
- serial_print(", wValue:");
- serial_phex16(setup.wValue);
- serial_print(", wIndex:");
- serial_phex16(setup.wIndex);
- serial_print(", len:");
- serial_phex16(setup.wLength);
- serial_print("\n");
-#endif
// actually "do" the setup request
usb_setup();
// unfreeze the USB, now that we're ready
@@ -581,18 +530,15 @@
break;
case 0x01: // OUT transaction received from host
case 0x02:
- //serial_print("PID=OUT\n");
#ifdef CDC_STATUS_INTERFACE
+ // TODO(Brian): wIndex is the interface number this is directed at. Pay
+ // attention to that.
if (setup.wRequestAndType == 0x2021 /*CDC_SET_LINE_CODING*/) {
int i;
uint8_t *dst = (uint8_t *)usb_cdc_line_coding;
- //serial_print("set line coding ");
for (i=0; i<7; i++) {
- //serial_phex(*buf);
*dst++ = *buf++;
}
- //serial_phex32(usb_cdc_line_coding[0]);
- //serial_print("\n");
if (usb_cdc_line_coding[0] == 134) usb_reboot_timer = 15;
endpoint0_transmit(NULL, 0);
}
@@ -620,9 +566,6 @@
break;
case 0x09: // IN transaction completed to host
- //serial_print("PID=IN:");
- //serial_phex(stat);
- //serial_print("\n");
// send remaining data, if any...
data = ep0_tx_ptr;
@@ -637,17 +580,10 @@
if (setup.bRequest == 5 && setup.bmRequestType == 0) {
setup.bRequest = 0;
- //serial_print("set address: ");
- //serial_phex16(setup.wValue);
- //serial_print("\n");
USB0_ADDR = setup.wValue;
}
break;
- //default:
- //serial_print("PID=unknown:");
- //serial_phex(pid);
- //serial_print("\n");
}
USB0_CTL = USB_CTL_USBENSOFEN; // clear TXSUSPENDTOKENBUSY bit
}
@@ -669,11 +605,6 @@
usb_rx_byte_count_data[endpoint] -= ret->len;
}
__enable_irq();
- //serial_print("rx, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32(ret);
- //serial_print("\n");
return ret;
}
@@ -689,17 +620,6 @@
return count;
}
-// TODO: make this an inline function...
-/*
-uint32_t usb_rx_byte_count(uint32_t endpoint)
-{
- endpoint--;
- if (endpoint >= NUM_ENDPOINTS) return 0;
- return usb_rx_byte_count_data[endpoint];
- //return usb_queue_byte_count(rx_first[endpoint]);
-}
-*/
-
uint32_t usb_tx_byte_count(uint32_t endpoint)
{
endpoint--;
@@ -729,13 +649,12 @@
// without this prioritization. The packet buffer (input) is assigned to the
// first endpoint needing memory.
//
-void usb_rx_memory(usb_packet_t *packet)
+void usb_rx_memory(const usb_packet_t *packet)
{
unsigned int i;
const uint8_t *cfg;
cfg = usb_endpoint_config_table;
- //serial_print("rx_mem:");
__disable_irq();
for (i=1; i <= NUM_ENDPOINTS; i++) {
#ifdef AUDIO_INTERFACE
@@ -747,8 +666,6 @@
table[index(i, RX, EVEN)].desc = BDT_DESC(64, 0);
usb_rx_memory_needed--;
__enable_irq();
- //serial_phex(i);
- //serial_print(",even\n");
return;
}
if (table[index(i, RX, ODD)].desc == 0) {
@@ -756,8 +673,6 @@
table[index(i, RX, ODD)].desc = BDT_DESC(64, 1);
usb_rx_memory_needed--;
__enable_irq();
- //serial_phex(i);
- //serial_print(",odd\n");
return;
}
}
@@ -782,9 +697,6 @@
endpoint--;
if (endpoint >= NUM_ENDPOINTS) return;
__disable_irq();
- //serial_print("txstate=");
- //serial_phex(tx_state[endpoint]);
- //serial_print("\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
next = TX_STATE_ODD_FREE;
@@ -852,10 +764,6 @@
{
uint8_t status, stat, t;
- //serial_print("isr");
- //status = USB0_ISTAT;
- //serial_phex(status);
- //serial_print("\n");
restart:
status = USB0_ISTAT;
@@ -867,10 +775,17 @@
if (!t) _reboot_Teensyduino_();
}
#ifdef CDC_DATA_INTERFACE
- t = usb_cdc_transmit_flush_timer;
+ t = *usb_cdc_transmit_flush_timer;
if (t) {
- usb_cdc_transmit_flush_timer = --t;
- if (t == 0) usb_serial_flush_callback();
+ *usb_cdc_transmit_flush_timer = --t;
+ if (t == 0) usb_serial_flush_callback(0);
+ }
+#endif
+#ifdef CDC2_DATA_INTERFACE
+ t = *usb_cdc2_transmit_flush_timer;
+ if (t) {
+ *usb_cdc2_transmit_flush_timer = --t;
+ if (t == 0) usb_serial_flush_callback(1);
}
#endif
#ifdef SEREMU_INTERFACE
@@ -896,26 +811,15 @@
if ((status & USB_ISTAT_TOKDNE /* 08 */ )) {
uint8_t endpoint;
stat = USB0_STAT;
- //serial_print("token: ep=");
- //serial_phex(stat >> 4);
- //serial_print(stat & 0x08 ? ",tx" : ",rx");
- //serial_print(stat & 0x04 ? ",odd\n" : ",even\n");
endpoint = stat >> 4;
if (endpoint == 0) {
usb_control(stat);
} else {
bdt_t *b = stat2bufferdescriptor(stat);
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
usb_packet_t *packet = (usb_packet_t *)((uint8_t *)(b->addr) - 8);
-#if 0
- serial_print("ep:");
- serial_phex(endpoint);
- serial_print(", pid:");
- serial_phex(BDT_PID(b->desc));
- serial_print(((uint32_t)b & 8) ? ", odd" : ", even");
- serial_print(", count:");
- serial_phex(b->desc >> 16);
- serial_print("\n");
-#endif
+#pragma GCC diagnostic pop
endpoint--; // endpoint is index to zero-based arrays
#ifdef AUDIO_INTERFACE
@@ -943,7 +847,6 @@
usb_free(packet);
packet = tx_first[endpoint];
if (packet) {
- //serial_print("tx packet\n");
tx_first[endpoint] = packet->next;
b->addr = packet->buf;
switch (tx_state[endpoint]) {
@@ -965,7 +868,6 @@
b->desc = BDT_DESC(packet->len,
((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
- //serial_print("tx no packet\n");
switch (tx_state[endpoint]) {
case TX_STATE_BOTH_FREE_EVEN_FIRST:
case TX_STATE_BOTH_FREE_ODD_FIRST:
@@ -988,18 +890,8 @@
packet->index = 0;
packet->next = NULL;
if (rx_first[endpoint] == NULL) {
- //serial_print("rx 1st, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32((uint32_t)packet);
- //serial_print("\n");
rx_first[endpoint] = packet;
} else {
- //serial_print("rx Nth, epidx=");
- //serial_phex(endpoint);
- //serial_print(", packet=");
- //serial_phex32((uint32_t)packet);
- //serial_print("\n");
rx_last[endpoint]->next = packet;
}
rx_last[endpoint] = packet;
@@ -1014,8 +906,6 @@
b->desc = BDT_DESC(64,
((uint32_t)b & 8) ? DATA1 : DATA0);
} else {
- //serial_print("starving ");
- //serial_phex(endpoint + 1);
b->desc = 0;
usb_rx_memory_needed++;
}
@@ -1032,8 +922,6 @@
if (status & USB_ISTAT_USBRST /* 01 */ ) {
- //serial_print("reset\n");
-
// initialize BDT toggle bits
USB0_CTL = USB_CTL_ODDRST;
ep0_tx_bdt_bank = 0;
@@ -1072,21 +960,16 @@
if ((status & USB_ISTAT_STALL /* 80 */ )) {
- //serial_print("stall:\n");
USB0_ENDPT0 = USB_ENDPT_EPRXEN | USB_ENDPT_EPTXEN | USB_ENDPT_EPHSHK;
USB0_ISTAT = USB_ISTAT_STALL;
}
if ((status & USB_ISTAT_ERROR /* 02 */ )) {
uint8_t err = USB0_ERRSTAT;
USB0_ERRSTAT = err;
- //serial_print("err:");
- //serial_phex(err);
- //serial_print("\n");
USB0_ISTAT = USB_ISTAT_ERROR;
}
if ((status & USB_ISTAT_SLEEP /* 10 */ )) {
- //serial_print("sleep\n");
USB0_ISTAT = USB_ISTAT_SLEEP;
}
@@ -1098,9 +981,6 @@
{
int i;
- //serial_begin(BAUD2DIV(115200));
- //serial_print("usb_init\n");
-
usb_init_serialnumber();
for (i=0; i <= NUM_ENDPOINTS*4; i++) {
@@ -1147,7 +1027,7 @@
USB0_INTEN = USB_INTEN_USBRSTEN;
// enable interrupt in NVIC...
- NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
+ //NVIC_SET_PRIORITY(IRQ_USBOTG, 112);
NVIC_ENABLE_IRQ(IRQ_USBOTG);
// enable d+ pullup