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:
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commit
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@ -96,7 +96,10 @@ CSRC = $(PORTSRC) \
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$(OSALSRC) \
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$(OSALSRC) \
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$(PLATFORMSRC) \
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$(PLATFORMSRC) \
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$(BOARDSRC) \
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$(BOARDSRC) \
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main.c
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$(CHIBIOS)/os/various/devices_lib/accel/lis302dl.c \
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$(CHIBIOS)/os/various/shell.c \
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$(CHIBIOS)/os/various/chprintf.c \
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usbcfg.c main.c
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# C++ sources that can be compiled in ARM or THUMB mode depending on the global
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# setting.
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# setting.
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@ -127,6 +130,7 @@ ASMSRC = $(PORTASM)
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INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
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INCDIR = $(PORTINC) $(KERNINC) $(TESTINC) \
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$(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
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$(HALINC) $(OSALINC) $(PLATFORMINC) $(BOARDINC) \
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$(CHIBIOS)/os/various/devices_lib/accel \
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$(CHIBIOS)/os/various
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$(CHIBIOS)/os/various
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#
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#
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@ -31,8 +31,8 @@ SerialUSBDriver SDU1;
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/* Command line related. */
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/* Command line related. */
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/*===========================================================================*/
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/*===========================================================================*/
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#define SHELL_WA_SIZE THD_WA_SIZE(2048)
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#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
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#define TEST_WA_SIZE THD_WA_SIZE(256)
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#define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
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static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
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static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
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size_t n, size;
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size_t n, size;
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@ -49,7 +49,7 @@ static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
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}
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}
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static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
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static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
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static const char *states[] = {CH_THD_STATE_NAMES};
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static const char *states[] = {CH_STATE_NAMES};
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thread_t *tp;
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thread_t *tp;
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(void)argv;
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(void)argv;
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@ -62,7 +62,8 @@ static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
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do {
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do {
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chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n",
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chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s\r\n",
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(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
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(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
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(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1));
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(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
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states[tp->p_state]);
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tp = chRegNextThread(tp);
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tp = chRegNextThread(tp);
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} while (tp != NULL);
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} while (tp != NULL);
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}
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}
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@ -150,8 +151,8 @@ static const SPIConfig spi2cfg = {
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* This is a periodic thread that reads accelerometer and outputs
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* This is a periodic thread that reads accelerometer and outputs
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* result to SPI2 and PWM.
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* result to SPI2 and PWM.
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*/
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*/
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static WORKING_AREA(waThread1, 128);
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static THD_WORKING_AREA(waThread1, 128);
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static msg_t Thread1(void *arg) {
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static THD_FUNCTION(Thread1, arg) {
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static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
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static int8_t xbuf[4], ybuf[4]; /* Last accelerometer data.*/
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systime_t time; /* Next deadline.*/
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systime_t time; /* Next deadline.*/
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@ -164,7 +165,7 @@ static msg_t Thread1(void *arg) {
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lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
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lis302dlWriteRegister(&SPID1, LIS302DL_CTRL_REG3, 0x00);
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/* Reader thread loop.*/
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/* Reader thread loop.*/
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time = chTimeNow();
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time = chVTGetSystemTime();
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while (TRUE) {
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while (TRUE) {
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int32_t x, y;
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int32_t x, y;
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unsigned i;
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unsigned i;
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@ -314,7 +315,7 @@ int main(void) {
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}
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}
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else {
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else {
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/* If the previous shell exited.*/
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/* If the previous shell exited.*/
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if (chThdTerminated(shelltp)) {
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if (chThdTerminatedX(shelltp)) {
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/* Recovers memory of the previous shell.*/
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/* Recovers memory of the previous shell.*/
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chThdRelease(shelltp);
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chThdRelease(shelltp);
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shelltp = NULL;
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shelltp = NULL;
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@ -270,7 +270,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
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case USB_EVENT_ADDRESS:
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case USB_EVENT_ADDRESS:
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return;
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return;
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case USB_EVENT_CONFIGURED:
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case USB_EVENT_CONFIGURED:
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chSysLockFromIsr();
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chSysLockFromISR();
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/* Enables the endpoints specified into the configuration.
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/* Enables the endpoints specified into the configuration.
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Note, this callback is invoked from an ISR so I-Class functions
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Note, this callback is invoked from an ISR so I-Class functions
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@ -281,7 +281,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
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/* Resetting the state of the CDC subsystem.*/
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/* Resetting the state of the CDC subsystem.*/
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sduConfigureHookI(&SDU1);
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sduConfigureHookI(&SDU1);
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chSysUnlockFromIsr();
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chSysUnlockFromISR();
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return;
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return;
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case USB_EVENT_SUSPEND:
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case USB_EVENT_SUSPEND:
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return;
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return;
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@ -24,7 +24,6 @@
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#include <string.h>
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#include <string.h>
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#include "ch.h"
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#include "hal.h"
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#include "hal.h"
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#if HAL_USE_USB || defined(__DOXYGEN__)
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#if HAL_USE_USB || defined(__DOXYGEN__)
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@ -110,21 +109,6 @@ static const stm32_otg_params_t hsparams = {
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/* Driver local functions. */
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/* Driver local functions. */
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/*===========================================================================*/
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/*===========================================================================*/
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/**
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* @brief Wakes up the pump thread.
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*
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* @param[in] usbp pointer to the @p USBDriver object
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*
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* @notapi
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*/
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static void usb_lld_wakeup_pump(USBDriver *usbp) {
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if (usbp->thd_wait != NULL) {
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chThdResumeI(usbp->thd_wait);
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usbp->thd_wait = NULL;
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}
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}
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static void otg_core_reset(USBDriver *usbp) {
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static void otg_core_reset(USBDriver *usbp) {
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stm32_otg_t *otgp = usbp->otg;
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stm32_otg_t *otgp = usbp->otg;
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@ -132,7 +116,7 @@ static void otg_core_reset(USBDriver *usbp) {
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otgp->GRSTCTL = GRSTCTL_CSRST;
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otgp->GRSTCTL = GRSTCTL_CSRST;
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while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
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while ((otgp->GRSTCTL & GRSTCTL_CSRST) != 0)
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;
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;
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halPolledDelay(12);
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osalSysPolledDelayX(12);
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/* Wait AHB idle condition.*/
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/* Wait AHB idle condition.*/
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while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
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while ((otgp->GRSTCTL & GRSTCTL_AHBIDL) == 0)
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;
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;
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@ -182,7 +166,7 @@ static void otg_rxfifo_flush(USBDriver *usbp) {
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while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)
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while ((otgp->GRSTCTL & GRSTCTL_RXFFLSH) != 0)
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;
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;
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/* Wait for 3 PHY Clocks.*/
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/* Wait for 3 PHY Clocks.*/
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halPolledDelay(12);
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osalSysPolledDelayX(12);
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}
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}
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static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
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static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
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@ -192,7 +176,7 @@ static void otg_txfifo_flush(USBDriver *usbp, uint32_t fifo) {
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while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)
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while ((otgp->GRSTCTL & GRSTCTL_TXFFLSH) != 0)
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;
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;
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/* Wait for 3 PHY Clocks.*/
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/* Wait for 3 PHY Clocks.*/
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halPolledDelay(12);
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osalSysPolledDelayX(12);
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}
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}
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/**
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/**
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@ -220,8 +204,8 @@ static uint32_t otg_ram_alloc(USBDriver *usbp, size_t size) {
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next = usbp->pmnext;
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next = usbp->pmnext;
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usbp->pmnext += size;
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usbp->pmnext += size;
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chDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size,
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osalDbgAssert(usbp->pmnext <= usbp->otgparams->otg_ram_size,
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"otg_fifo_alloc(), #1", "OTG FIFO memory overflow");
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"OTG FIFO memory overflow");
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return next;
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return next;
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}
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}
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@ -269,13 +253,13 @@ static void otg_fifo_write_from_buffer(volatile uint32_t *fifop,
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* @brief Writes to a TX FIFO fetching data from a queue.
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* @brief Writes to a TX FIFO fetching data from a queue.
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*
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*
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* @param[in] fifop pointer to the FIFO register
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* @param[in] fifop pointer to the FIFO register
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* @param[in] oqp pointer to an @p OutputQueue object
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* @param[in] oqp pointer to an @p output_queue_t object
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* @param[in] n maximum number of bytes to copy
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* @param[in] n maximum number of bytes to copy
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*
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*
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* @notapi
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* @notapi
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*/
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*/
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static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
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static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
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OutputQueue *oqp,
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output_queue_t *oqp,
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size_t n) {
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size_t n) {
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size_t ntogo;
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size_t ntogo;
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@ -315,12 +299,11 @@ static void otg_fifo_write_from_queue(volatile uint32_t *fifop,
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}
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}
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/* Updating queue.*/
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/* Updating queue.*/
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chSysLock();
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osalSysLock();
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oqp->q_counter += n;
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oqp->q_counter += n;
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while (notempty(&oqp->q_waiting))
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osalQueueWakeupAllI(&oqp->q_waiting, Q_OK);
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chSchReadyI(fifo_remove(&oqp->q_waiting))->p_u.rdymsg = Q_OK;
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osalOsRescheduleS();
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chSchRescheduleS();
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osalSysUnlock();
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chSysUnlock();
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}
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}
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/**
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/**
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@ -382,13 +365,13 @@ static void otg_fifo_read_to_buffer(volatile uint32_t *fifop,
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* @brief Reads a packet from the RXFIFO.
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* @brief Reads a packet from the RXFIFO.
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*
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*
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* @param[in] fifop pointer to the FIFO register
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* @param[in] fifop pointer to the FIFO register
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* @param[in] iqp pointer to an @p InputQueue object
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* @param[in] iqp pointer to an @p input_queue_t object
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* @param[in] n number of bytes to pull from the FIFO
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* @param[in] n number of bytes to pull from the FIFO
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*
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*
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* @notapi
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* @notapi
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*/
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*/
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static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
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static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
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InputQueue *iqp,
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input_queue_t *iqp,
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size_t n) {
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size_t n) {
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size_t ntogo;
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size_t ntogo;
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@ -427,12 +410,11 @@ static void otg_fifo_read_to_queue(volatile uint32_t *fifop,
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}
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}
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/* Updating queue.*/
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/* Updating queue.*/
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chSysLock();
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osalSysLock();
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iqp->q_counter += n;
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iqp->q_counter += n;
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while (notempty(&iqp->q_waiting))
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osalQueueWakeupAllI(&iqp->q_waiting, Q_OK);
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chSchReadyI(fifo_remove(&iqp->q_waiting))->p_u.rdymsg = Q_OK;
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osalOsRescheduleS();
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chSchRescheduleS();
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osalSysUnlock();
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chSysUnlock();
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}
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}
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/**
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/**
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@ -489,7 +471,7 @@ static void otg_rxfifo_handler(USBDriver *usbp) {
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*
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*
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* @notapi
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* @notapi
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*/
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*/
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static bool_t otg_txfifo_handler(USBDriver *usbp, usbep_t ep) {
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static bool otg_txfifo_handler(USBDriver *usbp, usbep_t ep) {
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/* The TXFIFO is filled until there is space and data to be transmitted.*/
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/* The TXFIFO is filled until there is space and data to be transmitted.*/
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while (TRUE) {
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while (TRUE) {
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@ -557,11 +539,11 @@ static void otg_epin_handler(USBDriver *usbp, usbep_t ep) {
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if ((epint & DIEPINT_TXFE) &&
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if ((epint & DIEPINT_TXFE) &&
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(otgp->DIEPEMPMSK & DIEPEMPMSK_INEPTXFEM(ep))) {
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(otgp->DIEPEMPMSK & DIEPEMPMSK_INEPTXFEM(ep))) {
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/* The thread is made ready, it will be scheduled on ISR exit.*/
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/* The thread is made ready, it will be scheduled on ISR exit.*/
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chSysLockFromIsr();
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osalSysLockFromISR();
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usbp->txpending |= (1 << ep);
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usbp->txpending |= (1 << ep);
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otgp->DIEPEMPMSK &= ~(1 << ep);
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otgp->DIEPEMPMSK &= ~(1 << ep);
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usb_lld_wakeup_pump(usbp);
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osalThreadResumeI(&usbp->wait, MSG_OK);
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chSysUnlockFromIsr();
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osalSysUnlockFromISR();
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}
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}
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}
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}
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@ -626,10 +608,10 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
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if (sts & GINTSTS_RXFLVL) {
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if (sts & GINTSTS_RXFLVL) {
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/* The interrupt is masked while the thread has control or it would
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/* The interrupt is masked while the thread has control or it would
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be triggered again.*/
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be triggered again.*/
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chSysLockFromIsr();
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osalSysLockFromISR();
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otgp->GINTMSK &= ~GINTMSK_RXFLVLM;
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otgp->GINTMSK &= ~GINTMSK_RXFLVLM;
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usb_lld_wakeup_pump(usbp);
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osalThreadResumeI(&usbp->wait, MSG_OK);
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chSysUnlockFromIsr();
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osalSysUnlockFromISR();
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}
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}
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/* IN/OUT endpoints event handling.*/
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/* IN/OUT endpoints event handling.*/
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@ -669,67 +651,9 @@ static void usb_lld_serve_interrupt(USBDriver *usbp) {
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}
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}
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver interrupt handlers and threads. */
|
/* Driver interrupt handlers. */
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/*===========================================================================*/
|
/*===========================================================================*/
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static msg_t usb_lld_pump(void *p) {
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USBDriver *usbp = (USBDriver *)p;
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stm32_otg_t *otgp = usbp->otg;
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|
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chRegSetThreadName("usb_lld_pump");
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chSysLock();
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while (TRUE) {
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|
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usbep_t ep;
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uint32_t epmask;
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|
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/* Nothing to do, going to sleep.*/
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|
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if ((usbp->state == USB_STOP) ||
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((usbp->txpending == 0) && !(otgp->GINTSTS & GINTSTS_RXFLVL))) {
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otgp->GINTMSK |= GINTMSK_RXFLVLM;
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usbp->thd_wait = chThdSelf();
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chSchGoSleepS(THD_STATE_SUSPENDED);
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|
||||||
}
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chSysUnlock();
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/* Checks if there are TXFIFOs to be filled.*/
|
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for (ep = 0; ep <= usbp->otgparams->num_endpoints; ep++) {
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/* Empties the RX FIFO.*/
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|
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while (otgp->GINTSTS & GINTSTS_RXFLVL) {
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otg_rxfifo_handler(usbp);
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|
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}
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|
||||||
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|
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epmask = (1 << ep);
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|
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if (usbp->txpending & epmask) {
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|
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bool_t done;
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|
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|
|
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chSysLock();
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|
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/* USB interrupts are globally *suspended* because the peripheral
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|
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does not allow any interference during the TX FIFO filling
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|
||||||
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 */
|
||||||
|
|
||||||
/** @} */
|
/** @} */
|
||||||
|
|
|
@ -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
|
||||||
|
|
|
@ -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:
|
||||||
|
|
Loading…
Reference in New Issue