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git-svn-id: svn://svn.code.sf.net/p/chibios/svn/branches/kernel_3_dev@6304 35acf78f-673a-0410-8e92-d51de3d6d3f4

This commit is contained in:
gdisirio 2013-09-14 10:00:36 +00:00
parent 3ed3be799e
commit c0b3c5e8b2
6 changed files with 129 additions and 177 deletions
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6
demos/rt/RT-STM32F407-DISCOVERY-MEMS/Makefile
View File

@ -96,7 +96,10 @@ CSRC = $(PORTSRC) \
$(OSALSRC) \ $(OSALSRC) \
$(PLATFORMSRC) \ $(PLATFORMSRC) \
$(BOARDSRC) \ $(BOARDSRC) \
main.c $(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \
$(CHIBIOS)/os/various/shell.c \
$(CHIBIOS)/os/various/chprintf.c \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global # C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting. # setting.
@ -127,6 +130,7 @@ ASMSRC = $(PORTASM)
INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \ INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
$(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \ $(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various/devices_lib/accel \
$(CHIBIOS)/os/various $(CHIBIOS)/os/various
# #

17
demos/rt/RT-STM32F407-DISCOVERY-MEMS/main.c
View File

@ -31,8 +31,8 @@ SerialUSBDriver SDU1;
/* Command line related. */ /* Command line related. */
/*===========================================================================*/ /*===========================================================================*/
#define SHELL_WA_SIZE THD_WA_SIZE(2048) #define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
#define TEST_WA_SIZE THD_WA_SIZE(256) #define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) { static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
size_t n, size; size_t n, size;
@ -49,7 +49,7 @@ static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
} }
static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) { static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
static const char *states[] = {CH_THD_STATE_NAMES}; static const char *states[] = {CH_STATE_NAMES};
thread_t *tp; thread_t *tp;
(void)argv; (void)argv;
@ -62,7 +62,8 @@ static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
do { do {
chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n", chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13, (uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1)); (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state]);
tp = chRegNextThread(tp); tp = chRegNextThread(tp);
} while (tp != NULL); } while (tp != NULL);
} }
@ -150,8 +151,8 @@ static const SPIConfig spi2cfg = {
* This is a periodic thread that reads accelerometer and outputs * This is a periodic thread that reads accelerometer and outputs
* result to SPI2 and PWM. * result to SPI2 and PWM.
*/ */
static WORKING_AREA(waThread1, 128); static THD_WORKING_AREA(waThread1, 128);
static msg_t Thread1(void *arg) { static THD_FUNCTION(Thread1, arg) {
static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/ static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
systime_t time; /* Next deadline.*/ systime_t time; /* Next deadline.*/
@ -164,7 +165,7 @@ static msg_t Thread1(void *arg) {
lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00); lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
/* Reader thread loop.*/ /* Reader thread loop.*/
time = chTimeNow(); time = chVTGetSystemTime();
while (TRUE) { while (TRUE) {
int32_t x, y; int32_t x, y;
unsigned i; unsigned i;
@ -314,7 +315,7 @@ int main(void) {
} }
else { else {
/* If the previous shell exited.*/ /* If the previous shell exited.*/
if (chThdTerminated(shelltp)) { if (chThdTerminatedX(shelltp)) {
/* Recovers memory of the previous shell.*/ /* Recovers memory of the previous shell.*/
chThdRelease(shelltp); chThdRelease(shelltp);
shelltp = NULL; shelltp = NULL;

4
demos/rt/RT-STM32F407-DISCOVERY-MEMS/usbcfg.c
View File

@ -270,7 +270,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
case USB_EVENT_ADDRESS: case USB_EVENT_ADDRESS:
return; return;
case USB_EVENT_CONFIGURED: case USB_EVENT_CONFIGURED:
chSysLockFromIsr(); chSysLockFromISR();
/* Enables the endpoints specified into the configuration. /* Enables the endpoints specified into the configuration.
Note, this callback is invoked from an ISR so I-Class functions Note, this callback is invoked from an ISR so I-Class functions
@ -281,7 +281,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
/* Resetting the state of the CDC subsystem.*/ /* Resetting the state of the CDC subsystem.*/
sduConfigureHookI(&SDU1); sduConfigureHookI(&SDU1);
chSysUnlockFromIsr(); chSysUnlockFromISR();
return; return;
case USB_EVENT_SUSPEND: case USB_EVENT_SUSPEND:
return; return;

257
os/hal/ports/STM32/OTGv1/usb_lld.c
View File

@ -24,7 +24,6 @@
#include <string.h> #include <string.h>
#include "ch.h"
#include "hal.h" #include "hal.h"
#if HAL_USE_USB || defined(__DOXYGEN__) #if HAL_USE_USB || defined(__DOXYGEN__)
@ -110,21 +109,6 @@ static const stm32_otg_params_t hsparams = {
/* Driver local functions. */ /* Driver local functions. */
/*===========================================================================*/ /*===========================================================================*/
/**
* @brief Wakes up the pump thread.
*
* @param[in] usbp pointer to the @p USBDriver object
*
* @notapi
*/
static void usb_lld_wakeup_pump(USBDriver *usbp) {
if (usbp->thd_wait != NULL) {
chThdResumeI(usbp->thd_wait);
usbp->thd_wait = NULL;
}
}
static void otg_core_reset(USBDriver *usbp) { static void otg_core_reset(USBDriver *usbp) {
stm32_otg_t *otgp = usbp->otg; stm32_otg_t *otgp = usbp->otg;
@ -132,7 +116,7 @@ static void otg_core_reset(USBDriver *usbp) {
otgp->GRSTCTL = GRSTCTL_CSRST; otgp->GRSTCTL = GRSTCTL_CSRST;
while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0) while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
; ;
halPolledDelay(12); osalSysPolledDelayX(12);
/* Wait AHB idle condition.*/ /* Wait AHB idle condition.*/
while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0) while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
; ;
@ -182,7 +166,7 @@ static void otg_rxfifo_flush(USBDriver *usbp) {
while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0) while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)
; ;
/* Wait for 3 PHY Clocks.*/ /* Wait for 3 PHY Clocks.*/
halPolledDelay(12); osalSysPolledDelayX(12);
} }
static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) { static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
@ -192,7 +176,7 @@ static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0) while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)
; ;
/* Wait for 3 PHY Clocks.*/ /* Wait for 3 PHY Clocks.*/
halPolledDelay(12); osalSysPolledDelayX(12);
} }
/** /**
@ -220,8 +204,8 @@ static uint32_t otg_ram_alloc(USBDriver *usbp, size_t size) {
next = usbp->pmnext; next = usbp->pmnext;
usbp->pmnext += size; usbp->pmnext += size;
chDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size, osalDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size,
"otg_fifo_alloc(), #1", "OTG FIFO memory overflow"); "OTG FIFO memory overflow");
return next; return next;
} }
@ -269,13 +253,13 @@ static void otg_fifo_write_from_buffer(volatile uint32_t *fifop,
* @brief Writes to a TX FIFO fetching data from a queue. * @brief Writes to a TX FIFO fetching data from a queue.
* *
* @param[in] fifop pointer to the FIFO register * @param[in] fifop pointer to the FIFO register
* @param[in] oqp pointer to an @p OutputQueue object * @param[in] oqp pointer to an @p output_queue_t object
* @param[in] n maximum number of bytes to copy * @param[in] n maximum number of bytes to copy
* *
* @notapi * @notapi
*/ */
static void otg_fifo_write_from_queue(volatile uint32_t *fifop, static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
OutputQueue *oqp, output_queue_t *oqp,
size_t n) { size_t n) {
size_t ntogo; size_t ntogo;
@ -315,12 +299,11 @@ static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
} }
/* Updating queue.*/ /* Updating queue.*/
chSysLock(); osalSysLock();
oqp->q_counter += n; oqp->q_counter += n;
while (notempty(&oqp->q_waiting)) osalQueueWakeupAllI(&oqp->q_waiting, Q_OK);
chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK; osalOsRescheduleS();
chSchRescheduleS(); osalSysUnlock();
chSysUnlock();
} }
/** /**
@ -382,13 +365,13 @@ static void otg_fifo_read_to_buffer(volatile uint32_t *fifop,
* @brief Reads a packet from the RXFIFO. * @brief Reads a packet from the RXFIFO.
* *
* @param[in] fifop pointer to the FIFO register * @param[in] fifop pointer to the FIFO register
* @param[in] iqp pointer to an @p InputQueue object * @param[in] iqp pointer to an @p input_queue_t object
* @param[in] n number of bytes to pull from the FIFO * @param[in] n number of bytes to pull from the FIFO
* *
* @notapi * @notapi
*/ */
static void otg_fifo_read_to_queue(volatile uint32_t *fifop, static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
InputQueue *iqp, input_queue_t *iqp,
size_t n) { size_t n) {
size_t ntogo; size_t ntogo;
@ -427,12 +410,11 @@ static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
} }
/* Updating queue.*/ /* Updating queue.*/
chSysLock(); osalSysLock();
iqp->q_counter += n; iqp->q_counter += n;
while (notempty(&iqp->q_waiting)) osalQueueWakeupAllI(&iqp->q_waiting, Q_OK);
chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK; osalOsRescheduleS();
chSchRescheduleS(); osalSysUnlock();
chSysUnlock();
} }
/** /**
@ -489,7 +471,7 @@ static void otg_rxfifo_handler(USBDriver *usbp) {
* *
* @notapi * @notapi
*/ */
static bool_t otg_txfifo_handler(USBDriver *usbp, usbep_t ep) { static bool otg_txfifo_handler(USBDriver *usbp, usbep_t ep) {
/* The TXFIFO is filled until there is space and data to be transmitted.*/ /* The TXFIFO is filled until there is space and data to be transmitted.*/
while (TRUE) { while (TRUE) {
@ -557,11 +539,11 @@ static void otg_epin_handler(USBDriver *usbp, usbep_t ep) {
if ((epint & DIEPINT_TXFE) && if ((epint & DIEPINT_TXFE) &&
(otgp->DIEPEMPMSK & DIEPEMPMSK_INEPTXFEM(ep))) { (otgp->DIEPEMPMSK & DIEPEMPMSK_INEPTXFEM(ep))) {
/* The thread is made ready, it will be scheduled on ISR exit.*/ /* The thread is made ready, it will be scheduled on ISR exit.*/
chSysLockFromIsr(); osalSysLockFromISR();
usbp->txpending |= (1 << ep); usbp->txpending |= (1 << ep);
otgp->DIEPEMPMSK &= ~(1 << ep); otgp->DIEPEMPMSK &= ~(1 << ep);
usb_lld_wakeup_pump(usbp); osalThreadResumeI(&usbp->wait, MSG_OK);
chSysUnlockFromIsr(); osalSysUnlockFromISR();
} }
} }
@ -626,10 +608,10 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
if (sts & GINTSTS_RXFLVL) { if (sts & GINTSTS_RXFLVL) {
/* The interrupt is masked while the thread has control or it would /* The interrupt is masked while the thread has control or it would
be triggered again.*/ be triggered again.*/
chSysLockFromIsr(); osalSysLockFromISR();
otgp->GINTMSK &= ~GINTMSK_RXFLVLM; otgp->GINTMSK &= ~GINTMSK_RXFLVLM;
usb_lld_wakeup_pump(usbp); osalThreadResumeI(&usbp->wait, MSG_OK);
chSysUnlockFromIsr(); osalSysUnlockFromISR();
} }
/* IN/OUT endpoints event handling.*/ /* IN/OUT endpoints event handling.*/
@ -669,67 +651,9 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
} }
/*===========================================================================*/ /*===========================================================================*/
/* Driver interrupt handlers and threads. */ /* Driver interrupt handlers. */
/*===========================================================================*/ /*===========================================================================*/
static msg_t usb_lld_pump(void *p) {
USBDriver *usbp = (USBDriver *)p;
stm32_otg_t *otgp = usbp->otg;
chRegSetThreadName("usb_lld_pump");
chSysLock();
while (TRUE) {
usbep_t ep;
uint32_t epmask;
/* Nothing to do, going to sleep.*/
if ((usbp->state == USB_STOP) ||
((usbp->txpending == 0) && !(otgp->GINTSTS & GINTSTS_RXFLVL))) {
otgp->GINTMSK |= GINTMSK_RXFLVLM;
usbp->thd_wait = chThdSelf();
chSchGoSleepS(THD_STATE_SUSPENDED);
}
chSysUnlock();
/* Checks if there are TXFIFOs to be filled.*/
for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
/* Empties the RX FIFO.*/
while (otgp->GINTSTS & GINTSTS_RXFLVL) {
otg_rxfifo_handler(usbp);
}
epmask = (1 << ep);
if (usbp->txpending & epmask) {
bool_t done;
chSysLock();
/* USB interrupts are globally *suspended* because the peripheral
does not allow any interference during the TX FIFO filling
operation.
Synopsys document: DesignWare Cores USB 2.0 Hi-Speed On-The-Go (OTG)
"The application has to finish writing one complete packet before
switching to a different channel/endpoint FIFO. Violating this
rule results in an error.".*/
otgp->GAHBCFG &= ~GAHBCFG_GINTMSK;
usbp->txpending &= ~epmask;
chSysUnlock();
done = otg_txfifo_handler(usbp, ep);
chSysLock();
otgp->GAHBCFG |= GAHBCFG_GINTMSK;
if (!done)
otgp->DIEPEMPMSK |= epmask;
chSysUnlock();
}
}
chSysLock();
}
chSysUnlock();
return 0;
}
#if STM32_USB_USE_OTG1 || defined(__DOXYGEN__) #if STM32_USB_USE_OTG1 || defined(__DOXYGEN__)
#if !defined(STM32_OTG1_HANDLER) #if !defined(STM32_OTG1_HANDLER)
#error "STM32_OTG1_HANDLER not defined" #error "STM32_OTG1_HANDLER not defined"
@ -739,13 +663,13 @@ static msg_t usb_lld_pump(void *p) {
* *
* @isr * @isr
*/ */
CH_IRQ_HANDLER(STM32_OTG1_HANDLER) { OSAL_IRQ_HANDLER(STM32_OTG1_HANDLER) {
CH_IRQ_PROLOGUE(); OSAL_IRQ_PROLOGUE();
usb_lld_serve_interrupt(&USBD1); usb_lld_serve_interrupt(&USBD1);
CH_IRQ_EPILOGUE(); OSAL_IRQ_EPILOGUE();
} }
#endif #endif
@ -758,13 +682,13 @@ CH_IRQ_HANDLER(STM32_OTG1_HANDLER) {
* *
* @isr * @isr
*/ */
CH_IRQ_HANDLER(STM32_OTG2_HANDLER) { OSAL_IRQ_HANDLER(STM32_OTG2_HANDLER) {
CH_IRQ_PROLOGUE(); OSAL_IRQ_PROLOGUE();
usb_lld_serve_interrupt(&USBD2); usb_lld_serve_interrupt(&USBD2);
CH_IRQ_EPILOGUE(); OSAL_IRQ_EPILOGUE();
} }
#endif #endif
@ -782,46 +706,16 @@ void usb_lld_init(void) {
/* Driver initialization.*/ /* Driver initialization.*/
#if STM32_USB_USE_OTG1 #if STM32_USB_USE_OTG1
usbObjectInit(&USBD1); usbObjectInit(&USBD1);
USBD1.thd_ptr = NULL; USBD1.wait = NULL;
USBD1.thd_wait = NULL;
USBD1.otg = OTG_FS; USBD1.otg = OTG_FS;
USBD1.otgparams = &fsparams; USBD1.otgparams = &fsparams;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD1.wa_pump;
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + sizeof(USBD1.wa_pump) - sizeof(Thread),
CH_STACK_FILL_VALUE);
}
#endif
#endif #endif
#if STM32_USB_USE_OTG2 #if STM32_USB_USE_OTG2
usbObjectInit(&USBD2); usbObjectInit(&USBD2);
USBD2.thd_ptr = NULL; USBD2.wait = NULL;
USBD2.thd_wait = NULL;
USBD2.otg = OTG_HS; USBD2.otg = OTG_HS;
USBD2.otgparams = &hsparams; USBD2.otgparams = &hsparams;
/* Filling the thread working area here because the function
@p chThdCreateI() does not do it.*/
#if CH_DBG_FILL_THREADS
{
void *wsp = USBD2.wa_pump;
_thread_memfill((uint8_t *)wsp,
(uint8_t *)wsp + sizeof(Thread),
CH_THREAD_FILL_VALUE);
_thread_memfill((uint8_t *)wsp + sizeof(Thread),
(uint8_t *)wsp + sizeof(USBD2.wa_pump) - sizeof(Thread),
CH_STACK_FILL_VALUE);
}
#endif
#endif #endif
} }
@ -847,8 +741,7 @@ void usb_lld_start(USBDriver *usbp) {
rccResetOTG_FS(); rccResetOTG_FS();
/* Enables IRQ vector.*/ /* Enables IRQ vector.*/
nvicEnableVector(STM32_OTG1_NUMBER, nvicEnableVector(STM32_OTG1_NUMBER, STM32_USB_OTG1_IRQ_PRIORITY);
CORTEX_PRIORITY_MASK(STM32_USB_OTG1_IRQ_PRIORITY));
} }
#endif #endif
#if STM32_USB_USE_OTG2 #if STM32_USB_USE_OTG2
@ -858,20 +751,11 @@ void usb_lld_start(USBDriver *usbp) {
rccResetOTG_HS(); rccResetOTG_HS();
/* Enables IRQ vector.*/ /* Enables IRQ vector.*/
nvicEnableVector(STM32_OTG2_NUMBER, nvicEnableVector(STM32_OTG2_NUMBER, STM32_USB_OTG2_IRQ_PRIORITY);
CORTEX_PRIORITY_MASK(STM32_USB_OTG2_IRQ_PRIORITY));
} }
#endif #endif
/* Creates the data pump threads in a suspended state. Note, it is
created only once, the first time @p usbStart() is invoked.*/
usbp->txpending = 0; usbp->txpending = 0;
if (usbp->thd_ptr == NULL)
usbp->thd_ptr = usbp->thd_wait = chThdCreateI(usbp->wa_pump,
sizeof usbp->wa_pump,
STM32_USB_OTG_THREAD_PRIO,
usb_lld_pump,
usbp);
/* - Forced device mode. /* - Forced device mode.
- USB turn-around time = TRDT_VALUE. - USB turn-around time = TRDT_VALUE.
@ -1295,6 +1179,77 @@ void usb_lld_clear_in(USBDriver *usbp, usbep_t ep) {
usbp->otg->ie[ep].DIEPCTL &= ~DIEPCTL_STALL; usbp->otg->ie[ep].DIEPCTL &= ~DIEPCTL_STALL;
} }
/**
* @brief USB data transfer loop.
* @details This function must be executed by a system thread in order to
* make the USB driver work.
* @note The data copy part of the driver is implemented in this thread
* in order to not perform heavy tasks withing interrupt handlers.
*
* @param[in] p pointer to the @p USBDriver object
* @return The function never returns.
*
* @special
*/
msg_t usb_lld_pump(void *p) {
USBDriver *usbp = (USBDriver *)p;
stm32_otg_t *otgp = usbp->otg;
#if defined(__CHIBIOS_RT__)
chRegSetThreadName("usb_lld_pump");
#endif
osalSysLock();
while (true) {
usbep_t ep;
uint32_t epmask;
/* Nothing to do, going to sleep.*/
if ((usbp->state == USB_STOP) ||
((usbp->txpending == 0) && !(otgp->GINTSTS & GINTSTS_RXFLVL))) {
otgp->GINTMSK |= GINTMSK_RXFLVLM;
osalThreadSuspendS(&usbp->wait);
}
osalSysUnlock();
/* Checks if there are TXFIFOs to be filled.*/
for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
/* Empties the RX FIFO.*/
while (otgp->GINTSTS & GINTSTS_RXFLVL) {
otg_rxfifo_handler(usbp);
}
epmask = (1 << ep);
if (usbp->txpending & epmask) {
bool done;
osalSysLock();
/* USB interrupts are globally *suspended* because the peripheral
does not allow any interference during the TX FIFO filling
operation.
Synopsys document: DesignWare Cores USB 2.0 Hi-Speed On-The-Go (OTG)
"The application has to finish writing one complete packet before
switching to a different channel/endpoint FIFO. Violating this
rule results in an error.".*/
otgp->GAHBCFG &= ~GAHBCFG_GINTMSK;
usbp->txpending &= ~epmask;
osalSysUnlock();
done = otg_txfifo_handler(usbp, ep);
osalSysLock();
otgp->GAHBCFG |= GAHBCFG_GINTMSK;
if (!done)
otgp->DIEPEMPMSK |= epmask;
osalSysUnlock();
}
}
osalSysLock();
}
osalSysUnlock();
return 0;
}
#endif /* HAL_USE_USB */ #endif /* HAL_USE_USB */
/** @} */ /** @} */

19
os/hal/ports/STM32/OTGv1/usb_lld.h
View File

@ -198,7 +198,7 @@ typedef struct {
/** /**
* @brief Buffer mode, queue or linear. * @brief Buffer mode, queue or linear.
*/ */
bool_t txqueued; bool txqueued;
/** /**
* @brief Requested transmit transfer size. * @brief Requested transmit transfer size.
*/ */
@ -218,7 +218,7 @@ typedef struct {
/** /**
* @brief Pointer to the output queue. * @brief Pointer to the output queue.
*/ */
OutputQueue *txqueue; output_queue_t *txqueue;
} queue; } queue;
} mode; } mode;
} USBInEndpointState; } USBInEndpointState;
@ -230,7 +230,7 @@ typedef struct {
/** /**
* @brief Buffer mode, queue or linear. * @brief Buffer mode, queue or linear.
*/ */
bool_t rxqueued; bool rxqueued;
/** /**
* @brief Requested receive transfer size. * @brief Requested receive transfer size.
*/ */
@ -250,7 +250,7 @@ typedef struct {
/** /**
* @brief Pointer to the input queue. * @brief Pointer to the input queue.
*/ */
InputQueue *rxqueue; input_queue_t *rxqueue;
} queue; } queue;
} mode; } mode;
} USBOutEndpointState; } USBOutEndpointState;
@ -441,18 +441,10 @@ struct USBDriver {
* @brief Mask of TXFIFOs to be filled by the pump thread. * @brief Mask of TXFIFOs to be filled by the pump thread.
*/ */
uint32_t txpending; uint32_t txpending;
/**
* @brief Pointer to the thread.
*/
Thread *thd_ptr;
/** /**
* @brief Pointer to the thread when it is sleeping or @p NULL. * @brief Pointer to the thread when it is sleeping or @p NULL.
*/ */
Thread *thd_wait; thread_reference_t wait;
/**
* @brief Working area for the dedicated data pump thread;
*/
WORKING_AREA(wa_pump, STM32_USB_OTG_THREAD_STACK_SIZE);
}; };
/*===========================================================================*/ /*===========================================================================*/
@ -523,6 +515,7 @@ extern "C" {
void usb_lld_stall_in(USBDriver *usbp, usbep_t ep); void usb_lld_stall_in(USBDriver *usbp, usbep_t ep);
void usb_lld_clear_out(USBDriver *usbp, usbep_t ep); void usb_lld_clear_out(USBDriver *usbp, usbep_t ep);
void usb_lld_clear_in(USBDriver *usbp, usbep_t ep); void usb_lld_clear_in(USBDriver *usbp, usbep_t ep);
msg_t usb_lld_pump(void *p);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

3
os/various/devices_lib/accel/lis302dl.c
View File

@ -22,7 +22,6 @@
* @{ * @{
*/ */
#include "ch.h"
#include "hal.h" #include "hal.h"
#include "lis302dl.h" #include "lis302dl.h"
@ -81,7 +80,7 @@ void lis302dlWriteRegister(SPIDriver *spip, uint8_t reg, uint8_t value) {
default: default:
/* Reserved register must not be written, according to the datasheet /* Reserved register must not be written, according to the datasheet
this could permanently damage the device.*/ this could permanently damage the device.*/
chDbgAssert(FALSE, "lis302dlWriteRegister(), #1", "reserved register"); osalDbgAssert(FALSE, "reserved register");
case LIS302DL_WHO_AM_I: case LIS302DL_WHO_AM_I:
case LIS302DL_HP_FILTER_RESET: case LIS302DL_HP_FILTER_RESET:
case LIS302DL_STATUS_REG: case LIS302DL_STATUS_REG: