智能车校赛摄像头循迹代码参考

/* * Copyright (c) 2015 - 2016, Freescale Semiconductor, Inc. * Copyright 2016 NXP * All rights reserved. * * SPDX-License-Identifier: BSD-3-Clause */ #include "usb_host_config.h" #if ((defined USB_HOST_CONFIG_EHCI) && (USB_HOST_CONFIG_EHCI > 0U)) #include "usb_host.h" #include "usb_host_hci.h" #include "usb_host_devices.h" #include "fsl_device_registers.h" #include "usb_host_ehci.h" #include "usb_phy.h" #if ((defined USB_HOST_CONFIG_COMPLIANCE_TEST) && (USB_HOST_CONFIG_COMPLIANCE_TEST)) #include "usb_host.h" #endif /******************************************************************************* * Definitions ******************************************************************************/ #if defined(USB_STACK_USE_DEDICATED_RAM) && (USB_STACK_USE_DEDICATED_RAM > 0U) #error The SOC does not suppoort dedicated RAM case. #endif #define USB_HOST_EHCI_BANDWIDTH_DELAY (3500U) #define USB_HOST_EHCI_BANDWIDTH_HUB_LS_SETUP (333U) #define USB_HOST_EHCI_BANDWIDTH_FRAME_TOTOAL_TIME (900U) #if ((defined USB_HOST_CONFIG_COMPLIANCE_TEST) && (USB_HOST_CONFIG_COMPLIANCE_TEST)) #define USB_HOST_EHCI_TEST_DESCRIPTOR_LENGTH (18U) #define USB_HOST_EHCI_PORTSC_PTC_J_STATE (0x01U) #define USB_HOST_EHCI_PORTSC_PTC_K_STATE (0x02U) #define USB_HOST_EHCI_PORTSC_PTC_SE0_NAK (0x03U) #define USB_HOST_EHCI_PORTSC_PTC_PACKET (0x04U) #define USB_HOST_EHCI_PORTSC_PTC_FORCE_ENABLE_HS (0x05U) #define USB_HOST_EHCI_PORTSC_PTC_FORCE_ENABLE_FS (0x06U) #define USB_HOST_EHCI_PORTSC_PTC_FORCE_ENABLE_LS (0x07U) #endif /******************************************************************************* * Prototypes ******************************************************************************/ /*! * @brief compute data bandwidth time. * * @param speed data speed. * @param pipeType data type. * @param direction data direction. * @param dataLength data length. * *@return time value. */ static uint32_t USB_HostBandwidthComputeTime(uint8_t speed, uint8_t pipeType, uint8_t direction, uint32_t dataLength); /*! * @brief compute current allocated bandwidth when ehci work as full-speed or low-speed host. * * @param ehciInstance ehci instance pointer. * @param frameIndex frame index. * @param frameBandwidths return frame bandwidth data. */ static void USB_HostBandwidthFslsHostComputeCurrent(usb_host_ehci_instance_t *ehciInstance, uint16_t frameIndex, uint16_t *frameBandwidth); /*! * @brief compute current hub's allocated FS/LS bandwidth when ehci work as hi-speed host. * * @param ehciInstance ehci instance pointer. * @param hubNumber hub address. * @param frameIndex frame index. * @param frameBandwidths return frame bandwidth data. */ static void USB_HostBandwidthHsHostComputeCurrentFsls(usb_host_ehci_instance_t *ehciInstance, uint32_t hubNumber, uint16_t frameIndex, uint8_t frameBandwidths[8]); /*! * @brief compute current allocated HS bandwidth when ehci work as hi-speed host. * * @param ehciInstance ehci instance pointer. * @param frameIndex frame index. * @param frameBandwidths return frame bandwidth data. */ static void USB_HostBandwidthHsHostComputeCurrentHsAll(usb_host_ehci_instance_t *ehciInstance, uint16_t frameIndex, uint8_t frameBandwidths[8]); /*! * @brief allocate HS bandwidth when host work as high-speed host. * * @param ehciInstance ehci instance pointer. * @param uframeInterval micro-frame interval. * @param timeData time for allocating. * @param uframe_index_out return start uframe index. * * @return kStatus_USB_Success or error codes. */ static usb_status_t USB_HostBandwidthHsHostAllocateHsCommon(usb_host_ehci_instance_t *ehciInstance, uint16_t uframeInterval, uint16_t timeData, uint16_t *uframeIndexOut); /*! * @brief allocate HS interrupt bandwidth when host work as high-speed host. * * @param ehciInstance ehci instance pointer. * @param ehciPipePointer ehci pipe pointer. * * @return kStatus_USB_Success or error codes. */ static usb_status_t USB_HostBandwidthHsHostAllocateInterrupt(usb_host_ehci_instance_t *ehciInstance, usb_host_ehci_pipe_t *ehciPipePointer); /*! * @brief allocate bandwidth when host work as full-speed or low-speed host. * * @param ehciInstance ehci instance pointer. * @param ehciPipePointer ehci pipe pointer. * * @return kStatus_USB_Success or error codes. */ static usb_status_t USB_HostBandwidthFslsHostAllocate(usb_host_ehci_instance_t *ehciInstance, usb_host_ehci_pipe_t *ehciPipePointer); /*! * @brief get the 2 power value of uint8_t. * * @param value input uint8_t value. */ static uint8_t USB_HostEhciGet2PowerValue(uint8_t value); /*! * @brief memory zero. * * @param buffer buffer pointer. * @param length buffer length. */ static void USB_HostEhciZeroMem(uint32_t *buffer, uint32_t length); /*! * @brief host ehci delay. * * @param ehciIpBase ehci ip base address. * @param ms millisecond. */ static void USB_HostEhciDelay(USBHS_Type *ehciIpBase, uint32_t ms); /*! * @brief host ehci start async schedule. * * @param ehciInstance ehci instance pointer. */ static void USB_HostEhciStartAsync(usb_host_ehci_instance_t *ehciInstance); /*! * @brief host ehci stop async schedule. * * @param ehciInstance ehci instance pointer. */ static void USB_HostEhciStopAsync(usb_host_ehci_instance_t *ehciInstance); /*! * @brief host ehci start periodic schedule. * * @param ehciInstance ehci instance pointer. */ static void USB_HostEhciStartPeriodic(usb_host_ehci_instance_t *ehciInstance); /*! * @brief host ehci stop periodic schedule. * * @param ehciInstance ehci instance pointer. */ static void USB_HostEhciStopPeriodic(usb_host_ehci_instance_t *ehciInstance); /*! * @brief initialize the qtd for one transfer. * * @param ehciInstance ehci instance pointer. * @param ehciPipePointer ehci pipe pointer. * @param transfer transfer information. * *@return kStatus_USB_Success or error codes. */ static usb_status_t USB_HostEhciQhQtdListInit(usb_host_ehci_instance_t *ehciInstance, usb_host_ehci_pipe_t *ehciPipePointer, usb_host_transfer_t *transfer); /*! * @brief release the qtd list. * * @param ehciInstance ehci instance pointer. * @param ehciQtdStart qtd list start pointer. * @param ehciQtdEnd qtd list end pointer. * *@return the transfer's length. */ static uint32_t USB_HostEhciQtdListRelease(usb_host_ehci_instance_t *ehciInstance, usb_host_ehci_qtd_t *ehciQtdStart, usb_host_ehci_qtd_t *ehciQtdEnd); /*! * @brief de-initialize qh's linking qtd list. * 1. remove qtd from qh; 2. remove transfer from qh; 3. release qtd; 4. transfer callback. * * @param ehciInstance ehci instance pointer. * @param ehciPipePointer ehci pipe. * *@return kStatus_USB_Success or error codes. */ static usb_status_t USB_HostEhciQhQtdListDeinit(usb_host_ehci_instance_t *ehciInstance,