mirror of
https://github.com/openmv/openmv.git
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489 lines
14 KiB
C
489 lines
14 KiB
C
/*
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* This file is part of the OpenMV project.
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*
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* Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
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* Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
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*
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* This work is licensed under the MIT license, see the file LICENSE for details.
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*
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* USB debugger.
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*/
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#include <string.h>
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#include <stdio.h>
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#include "py/nlr.h"
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#include "py/gc.h"
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#include "py/mphal.h"
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#include "py/obj.h"
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#include "py/objstr.h"
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#include "py/runtime.h"
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#include "imlib.h"
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#if MICROPY_PY_SENSOR
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#include "omv_i2c.h"
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#include "sensor.h"
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#endif
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#include "framebuffer.h"
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#include "usbdbg.h"
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#include "omv_boardconfig.h"
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#include "py_image.h"
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static int xfer_offs;
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static int xfer_size;
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static enum usbdbg_cmd cmd;
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static volatile bool script_ready;
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static volatile bool script_running;
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static volatile bool irq_enabled;
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static vstr_t script_buf;
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// These functions must be implemented by the stack.
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extern uint32_t usb_cdc_buf_len();
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extern uint32_t usb_cdc_get_buf(uint8_t *buf, uint32_t len);
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extern void usb_cdc_reset_buffers();
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void usbdbg_init() {
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cmd = USBDBG_NONE;
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script_ready = false;
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script_running = false;
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irq_enabled = false;
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vstr_init(&script_buf, 32);
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}
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bool usbdbg_script_ready() {
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return script_ready;
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}
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vstr_t *usbdbg_get_script() {
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return &script_buf;
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}
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bool usbdbg_is_busy() {
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return cmd != USBDBG_NONE;
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}
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void usbdbg_set_script_running(bool running) {
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script_running = running;
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}
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inline void usbdbg_set_irq_enabled(bool enabled) {
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if (enabled) {
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NVIC_EnableIRQ(OMV_USB_IRQN);
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} else {
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NVIC_DisableIRQ(OMV_USB_IRQN);
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}
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__DSB(); __ISB();
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irq_enabled = enabled;
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}
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static void usbdbg_interrupt_vm(bool ready) {
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// Set script ready flag
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script_ready = ready;
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// Set script running flag
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script_running = ready;
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// Disable IDE IRQ (re-enabled by pyexec or in main).
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usbdbg_set_irq_enabled(false);
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// Abort the VM.
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mp_sched_vm_abort();
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// When the VM runs again it will raise a KeyboardInterrupt.
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mp_sched_keyboard_interrupt();
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}
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bool usbdbg_get_irq_enabled() {
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return irq_enabled;
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}
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void usbdbg_data_in(uint32_t size, usbdbg_write_callback_t write_callback) {
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switch (cmd) {
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case USBDBG_FW_VERSION: {
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uint32_t buffer[3] = {
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FIRMWARE_VERSION_MAJOR,
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FIRMWARE_VERSION_MINOR,
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FIRMWARE_VERSION_PATCH,
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};
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cmd = USBDBG_NONE;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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case USBDBG_TX_BUF_LEN: {
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uint32_t tx_buf_len = usb_cdc_buf_len();
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cmd = USBDBG_NONE;
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write_callback(&tx_buf_len, sizeof(tx_buf_len));
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break;
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}
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case USBDBG_SENSOR_ID: {
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uint32_t buffer = 0xFF;
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#if MICROPY_PY_SENSOR
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if (sensor_is_detected() == true) {
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buffer = sensor_get_id();
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}
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#endif
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cmd = USBDBG_NONE;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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case USBDBG_TX_BUF: {
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uint8_t buffer[size];
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size = usb_cdc_get_buf(buffer, size);
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xfer_offs += size;
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if (xfer_offs == xfer_size) {
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cmd = USBDBG_NONE;
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}
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if (size) {
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write_callback(buffer, size);
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}
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break;
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}
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case USBDBG_FRAME_SIZE: {
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// Return 0 if FB is locked or not ready.
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uint32_t buffer[3] = { 0 };
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buffer[2] = -1; // size < 0
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// Try to lock FB. If header size < 0 frame is not ready
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if (mutex_try_lock_alternate(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
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// If header size < 0 frame is not ready
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if (JPEG_FB()->size < 0) {
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// unlock FB
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mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
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} else {
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// Return header w, h and size/bpp
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buffer[0] = JPEG_FB()->w;
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buffer[1] = JPEG_FB()->h;
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buffer[2] = JPEG_FB()->size;
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}
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}
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cmd = USBDBG_NONE;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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case USBDBG_FRAME_DUMP:
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if (xfer_offs < xfer_size) {
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write_callback(JPEG_FB()->pixels + xfer_offs, size);
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xfer_offs += size;
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if (xfer_offs == xfer_size) {
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cmd = USBDBG_NONE;
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JPEG_FB()->w = 0; JPEG_FB()->h = 0; JPEG_FB()->size = -1;
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mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
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}
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}
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break;
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case USBDBG_ARCH_STR: {
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uint8_t buffer[64];
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unsigned int uid[3] = {
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#if (OMV_BOARD_UID_SIZE == 2)
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0U,
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#else
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*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 2)),
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#endif
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*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 1)),
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*((unsigned int *) (OMV_BOARD_UID_ADDR + OMV_BOARD_UID_OFFSET * 0)),
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};
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snprintf((char *) buffer, 64, "%s [%s:%08X%08X%08X]",
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OMV_BOARD_ARCH, OMV_BOARD_TYPE, uid[0], uid[1], uid[2]);
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cmd = USBDBG_NONE;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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case USBDBG_SCRIPT_RUNNING: {
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cmd = USBDBG_NONE;
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uint32_t buffer = script_running;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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case USBDBG_GET_STATE: {
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uint32_t buffer[16] = { 0 };
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buffer[3] = -1; // size < 0
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// Set script running flag
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if (script_running) {
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buffer[0] |= USBDBG_STATE_FLAGS_SCRIPT;
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}
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// Set text buf valid flag.
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uint32_t tx_buf_len = usb_cdc_buf_len();
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if (tx_buf_len) {
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buffer[0] |= USBDBG_STATE_FLAGS_TEXT;
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}
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// Try to lock FB. If header size < 0 frame is not ready
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if (mutex_try_lock_alternate(&JPEG_FB()->lock, MUTEX_TID_IDE)) {
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// If header size < 0 frame is not ready
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if (JPEG_FB()->size < 0) {
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// unlock FB
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mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
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} else {
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// Set valid frame flag.
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buffer[0] |= USBDBG_STATE_FLAGS_FRAME;
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// Set frame width, height and size/bpp
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buffer[1] = JPEG_FB()->w;
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buffer[2] = JPEG_FB()->h;
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buffer[3] = JPEG_FB()->size;
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}
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}
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// The rest of this packet is packed with text buffer.
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if (tx_buf_len) {
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const uint32_t hdr = 16;
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tx_buf_len = OMV_MIN(tx_buf_len, (64 - hdr - 1));
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usb_cdc_get_buf((uint8_t *) buffer + hdr, tx_buf_len);
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((uint8_t *) buffer)[hdr + tx_buf_len] = 0; // Null-terminate
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}
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cmd = USBDBG_NONE;
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write_callback(&buffer, sizeof(buffer));
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break;
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}
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default: /* error */
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break;
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}
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}
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void usbdbg_data_out(uint32_t size, usbdbg_read_callback_t read_callback) {
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switch (cmd) {
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case USBDBG_FB_ENABLE: {
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read_callback(&(JPEG_FB()->enabled), 4);
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if (JPEG_FB()->enabled == 0) {
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// When disabling framebuffer, the IDE might still be holding FB lock.
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// If the IDE is not the current lock owner, this operation is ignored.
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mutex_unlock(&JPEG_FB()->lock, MUTEX_TID_IDE);
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}
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_SCRIPT_EXEC:
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// check if GC is locked before allocating memory for vstr. If GC was locked
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// at least once before the script is fully uploaded xfer_offs will be less
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// than the total size (xfer_size) and the script will Not be executed.
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if (!script_running) {
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nlr_buf_t nlr;
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if (!gc_is_locked() && nlr_push(&nlr) == 0) {
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char *buffer = vstr_add_len(&script_buf, size);
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read_callback(buffer, size);
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nlr_pop();
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}
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xfer_offs += size;
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if (xfer_offs == xfer_size) {
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cmd = USBDBG_NONE;
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// Schedule the IDE exception to interrupt the VM.
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usbdbg_interrupt_vm(true);
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}
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}
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break;
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case USBDBG_TEMPLATE_SAVE: {
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#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
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image_t image;
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framebuffer_init_image(&image);
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size = MIN(128, size);
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char buffer[size];
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read_callback(buffer, size);
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buffer[size - 1] = 0;
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rectangle_t *roi = (rectangle_t *) buffer;
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char *path = (char *) buffer + sizeof(rectangle_t);
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imlib_save_image(&image, path, roi, 50);
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#endif //IMLIB_ENABLE_IMAGE_FILE_IO
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break;
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}
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case USBDBG_DESCRIPTOR_SAVE: {
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#if defined(IMLIB_ENABLE_IMAGE_FILE_IO) \
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&& defined(IMLIB_ENABLE_KEYPOINTS)
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image_t image;
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framebuffer_init_image(&image);
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size = MIN(128, size);
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char buffer[size];
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read_callback(buffer, size);
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buffer[size - 1] = 0;
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rectangle_t *roi = (rectangle_t *) buffer;
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char *path = (char *) buffer + sizeof(rectangle_t);
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py_image_descriptor_from_roi(&image, path, roi);
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#endif //IMLIB_ENABLE_IMAGE_FILE_IO && IMLIB_ENABLE_KEYPOINTS
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_ATTR_WRITE: {
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#if MICROPY_PY_SENSOR
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struct {
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int32_t name;
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int32_t value;
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}
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attr;
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read_callback(&attr, sizeof(attr));
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switch (attr.name) {
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case ATTR_CONTRAST:
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sensor_set_contrast(attr.value);
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break;
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case ATTR_BRIGHTNESS:
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sensor_set_brightness(attr.value);
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break;
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case ATTR_SATURATION:
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sensor_set_saturation(attr.value);
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break;
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case ATTR_GAINCEILING:
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sensor_set_gainceiling(attr.value);
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break;
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default:
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break;
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}
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#endif
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_SET_TIME: {
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// TODO implement
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uint8_t buffer[32];
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read_callback(&buffer, sizeof(buffer));
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cmd = USBDBG_NONE;
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break;
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}
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case USBDBG_TX_INPUT: {
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// TODO implement
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cmd = USBDBG_NONE;
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break;
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}
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default: /* error */
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break;
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}
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}
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void usbdbg_control(void *buffer, uint8_t request, uint32_t size) {
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cmd = (enum usbdbg_cmd) request;
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switch (cmd) {
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case USBDBG_FW_VERSION:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_FRAME_SIZE:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_FRAME_DUMP:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_ARCH_STR:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_SCRIPT_EXEC:
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xfer_offs = 0;
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xfer_size = size;
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vstr_reset(&script_buf);
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break;
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case USBDBG_SCRIPT_STOP:
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if (script_running) {
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// Reset CDC buffers.
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usb_cdc_reset_buffers();
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// Schedule the IDE exception to interrupt the VM.
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usbdbg_interrupt_vm(false);
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}
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cmd = USBDBG_NONE;
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break;
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case USBDBG_SCRIPT_SAVE:
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// TODO: save running script
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cmd = USBDBG_NONE;
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break;
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case USBDBG_SCRIPT_RUNNING:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_TEMPLATE_SAVE:
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case USBDBG_DESCRIPTOR_SAVE:
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/* save template */
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_ATTR_WRITE:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_SYS_RESET:
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#if defined(OMV_BOARD_RESET)
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OMV_BOARD_RESET();
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#else
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NVIC_SystemReset();
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#endif
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break;
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case USBDBG_SYS_RESET_TO_BL: {
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#if defined(MICROPY_BOARD_ENTER_BOOTLOADER)
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MICROPY_BOARD_ENTER_BOOTLOADER(0, 0);
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#else
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NVIC_SystemReset();
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#endif
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break;
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}
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case USBDBG_FB_ENABLE: {
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xfer_offs = 0;
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xfer_size = size;
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break;
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}
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case USBDBG_TX_BUF:
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case USBDBG_TX_BUF_LEN:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_SENSOR_ID:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_SET_TIME:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_TX_INPUT:
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xfer_offs = 0;
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xfer_size = size;
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break;
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case USBDBG_GET_STATE:
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xfer_offs = 0;
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xfer_size = size;
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break;
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default: /* error */
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cmd = USBDBG_NONE;
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break;
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}
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}
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