Merged robot core

1 files changed, 0 insertions, 220 deletions

diff --git a/cores/robot/CDC.cpp b/cores/robot/CDC.cpp
deleted file mode 100644
index fb25a96..0000000
--- a/cores/robot/CDC.cpp
+++ /dev/null
@@ -1,220 +0,0 @@
-
-
-/* Copyright (c) 2011, Peter Barrett  
-**  
-** Permission to use, copy, modify, and/or distribute this software for  
-** any purpose with or without fee is hereby granted, provided that the  
-** above copyright notice and this permission notice appear in all copies.  
-** 
-** THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL  
-** WARRANTIES WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED  
-** WARRANTIES OF MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR  
-** BE LIABLE FOR ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES  
-** OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS,  
-** WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION,  
-** ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS  
-** SOFTWARE.  
-*/
-
-#include "Platform.h"
-#include "USBAPI.h"
-#include <avr/wdt.h>
-
-#if defined(USBCON)
-#ifdef CDC_ENABLED
-
-typedef struct
-{
-	u32	dwDTERate;
-	u8	bCharFormat;
-	u8 	bParityType;
-	u8 	bDataBits;
-	u8	lineState;
-} LineInfo;
-
-static volatile LineInfo _usbLineInfo = { 57600, 0x00, 0x00, 0x00, 0x00 };
-
-#define WEAK __attribute__ ((weak))
-
-extern const CDCDescriptor _cdcInterface PROGMEM;
-const CDCDescriptor _cdcInterface =
-{
-	D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1),
-
-	//	CDC communication interface
-	D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),
-	D_CDCCS(CDC_HEADER,0x10,0x01),								// Header (1.10 bcd)
-	D_CDCCS(CDC_CALL_MANAGEMENT,1,1),							// Device handles call management (not)
-	D_CDCCS4(CDC_ABSTRACT_CONTROL_MANAGEMENT,6),				// SET_LINE_CODING, GET_LINE_CODING, SET_CONTROL_LINE_STATE supported
-	D_CDCCS(CDC_UNION,CDC_ACM_INTERFACE,CDC_DATA_INTERFACE),	// Communication interface is master, data interface is slave 0
-	D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_ACM),USB_ENDPOINT_TYPE_INTERRUPT,0x10,0x40),
-
-	//	CDC data interface
-	D_INTERFACE(CDC_DATA_INTERFACE,2,CDC_DATA_INTERFACE_CLASS,0,0),
-	D_ENDPOINT(USB_ENDPOINT_OUT(CDC_ENDPOINT_OUT),USB_ENDPOINT_TYPE_BULK,0x40,0),
-	D_ENDPOINT(USB_ENDPOINT_IN (CDC_ENDPOINT_IN ),USB_ENDPOINT_TYPE_BULK,0x40,0)
-};
-
-int WEAK CDC_GetInterface(u8* interfaceNum)
-{
-	interfaceNum[0] += 2;	// uses 2
-	return USB_SendControl(TRANSFER_PGM,&_cdcInterface,sizeof(_cdcInterface));
-}
-
-bool WEAK CDC_Setup(Setup& setup)
-{
-	u8 r = setup.bRequest;
-	u8 requestType = setup.bmRequestType;
-
-	if (REQUEST_DEVICETOHOST_CLASS_INTERFACE == requestType)
-	{
-		if (CDC_GET_LINE_CODING == r)
-		{
-			USB_SendControl(0,(void*)&_usbLineInfo,7);
-			return true;
-		}
-	}
-
-	if (REQUEST_HOSTTODEVICE_CLASS_INTERFACE == requestType)
-	{
-		if (CDC_SET_LINE_CODING == r)
-		{
-			USB_RecvControl((void*)&_usbLineInfo,7);
-			return true;
-		}
-
-		if (CDC_SET_CONTROL_LINE_STATE == r)
-		{
-			_usbLineInfo.lineState = setup.wValueL;
-
-			// auto-reset into the bootloader is triggered when the port, already 
-			// open at 1200 bps, is closed.  this is the signal to start the watchdog
-			// with a relatively long period so it can finish housekeeping tasks
-			// like servicing endpoints before the sketch ends
-			if (1200 == _usbLineInfo.dwDTERate) {
-				// We check DTR state to determine if host port is open (bit 0 of lineState).
-				if ((_usbLineInfo.lineState & 0x01) == 0) {
-					*(uint16_t *)0x0800 = 0x7777;
-					wdt_enable(WDTO_120MS);
-				} else {
-					// Most OSs do some intermediate steps when configuring ports and DTR can
-					// twiggle more than once before stabilizing.
-					// To avoid spurious resets we set the watchdog to 250ms and eventually
-					// cancel if DTR goes back high.
-	
-					wdt_disable();
-					wdt_reset();
-					*(uint16_t *)0x0800 = 0x0;
-				}
-			}
-			return true;
-		}
-	}
-	return false;
-}
-
-
-int _serialPeek = -1;
-void Serial_::begin(uint16_t baud_count)
-{
-}
-
-void Serial_::end(void)
-{
-}
-
-void Serial_::accept(void) 
-{
-	int i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE;
-	
-	// if we should be storing the received character into the location
-	// just before the tail (meaning that the head would advance to the
-	// current location of the tail), we're about to overflow the buffer
-	// and so we don't write the character or advance the head.
-
-	// while we have room to store a byte
-	while (i != _rx_buffer_tail) {
-		int c = USB_Recv(CDC_RX);
-		if (c == -1)
-			break;	// no more data
-		_rx_buffer[_rx_buffer_head] = c;
-		_rx_buffer_head = i;
-
-		i = (unsigned int)(_rx_buffer_head+1) % SERIAL_BUFFER_SIZE;
-	}
-}
-
-int Serial_::available(void)
-{
-	return (unsigned int)(SERIAL_BUFFER_SIZE + _rx_buffer_head - _rx_buffer_tail) % SERIAL_BUFFER_SIZE;
-}
-
-int Serial_::peek(void)
-{
-	if (_rx_buffer_head == _rx_buffer_tail) {
-		return -1;
-	} else {
-		return _rx_buffer[_rx_buffer_tail];
-	}
-}
-
-int Serial_::read(void)
-{
-	// if the head isn't ahead of the tail, we don't have any characters
-	if (_rx_buffer_head == _rx_buffer_tail) {
-		return -1;
-	} else {
-		unsigned char c = _rx_buffer[_rx_buffer_tail];
-		_rx_buffer_tail = (unsigned int)(_rx_buffer_tail + 1) % SERIAL_BUFFER_SIZE;
-		return c;
-	}	
-}
-
-void Serial_::flush(void)
-{
-	USB_Flush(CDC_TX);
-}
-
-size_t Serial_::write(uint8_t c)
-{
-	/* only try to send bytes if the high-level CDC connection itself 
-	 is open (not just the pipe) - the OS should set lineState when the port
-	 is opened and clear lineState when the port is closed.
-	 bytes sent before the user opens the connection or after
-	 the connection is closed are lost - just like with a UART. */
-	
-	// TODO - ZE - check behavior on different OSes and test what happens if an
-	// open connection isn't broken cleanly (cable is yanked out, host dies
-	// or locks up, or host virtual serial port hangs)
-	if (_usbLineInfo.lineState > 0)	{
-		int r = USB_Send(CDC_TX,&c,1);
-		if (r > 0) {
-			return r;
-		} else {
-			setWriteError();
-			return 0;
-		}
-	}
-	setWriteError();
-	return 0;
-}
-
-// This operator is a convenient way for a sketch to check whether the
-// port has actually been configured and opened by the host (as opposed
-// to just being connected to the host).  It can be used, for example, in 
-// setup() before printing to ensure that an application on the host is
-// actually ready to receive and display the data.
-// We add a short delay before returning to fix a bug observed by Federico
-// where the port is configured (lineState != 0) but not quite opened.
-Serial_::operator bool() {
-	bool result = false;
-	if (_usbLineInfo.lineState > 0) 
-		result = true;
-	delay(10);
-	return result;
-}
-
-Serial_ Serial;
-
-#endif
-#endif /* if defined(USBCON) */