mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-09-28 16:13:37 +08:00
Samuel Sadok
a1c67e6ba1
The previous implementation was based on blocking calls, i.e. the platform dependent output channel would block on a write operation and by extension the Fibre decoder could also block when given data by an input channel. The revised implementation in this commit is based around a fully asynchronous (i.e. non-blocking) stream interface.
38 lines
681 B
C
38 lines
681 B
C
#ifndef __INTERFACE_USB_HPP
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#define __INTERFACE_USB_HPP
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <cmsis_os.h>
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#include <stdint.h>
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extern osThreadId usb_thread;
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extern const uint32_t stack_size_usb_thread;
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typedef struct {
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uint32_t rx_cnt;
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uint32_t tx_cnt;
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uint32_t tx_overrun_cnt;
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} USBStats_t;
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extern USBStats_t usb_stats_;
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void usb_rx_process_packet(uint8_t *buf, uint32_t len, uint8_t endpoint_pair);
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void start_usb_server(void);
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#ifdef __cplusplus
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}
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#endif
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#ifdef __cplusplus
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#include <fibre/../../stream_utils.hpp>
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extern fibre::BufferedStreamSink<64> usb_cdc_stdout_sink;
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extern bool usb_cdc_stdout_pending;
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#endif
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#endif // __INTERFACE_USB_HPP
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