Move include/math.h to include/nuttx/math.h

git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4568 42af7a65-404d-4744-a932-0658087f49c3

5 files changed, 194 insertions, 74 deletions

diff --git a/apps/ChangeLog.txt b/apps/ChangeLog.txt
index 26f83eb96..1dc674e7c 100755
--- a/apps/ChangeLog.txt
+++ b/apps/ChangeLog.txt
@@ -217,3 +217,5 @@
 	  the NuttShell (NSH) within an NX window.
 	* apps/system/readline:  Now uses standard definitions from
 	  include/nuttx/ascii.h and vt100.h
+	* Kconfig, */Kconfig:  Added skeleton Kconfig files to all directories that
+	  may need them.
diff --git a/nuttx/Makefile b/nuttx/Makefile
index a413fb7a2..4b832898e 100644
--- a/nuttx/Makefile
+++ b/nuttx/Makefile
@@ -251,6 +251,18 @@ BIN		= nuttx$(EXEEXT)
 all: $(BIN)
 .PHONY: context clean_context check_context export subdir_clean clean subdir_distclean distclean apps_clean apps_distclean
 
+# Targets used to copy include/nuttx/math.h.  If CONFIG_ARCH_MATH_H is
+# defined, then there is an architecture specific math.h header file
+# that will be included indirectly from include/math.h.  But first, we
+# have to copy math.h from include/nuttx/. to include/.
+
+ifeq ($(CONFIG_ARCH_MATH_H),y)
+include/math.h: include/nuttx/math.h
+	@cp -f include/nuttx/math.h include/math.h
+else
+include/math.h:
+endif
+
 # Targets used to build include/nuttx/version.h.  Creation of version.h is
 # part of the overall NuttX configuration sequency.  Notice that the
 # tools/mkversion tool is cuilt and used to create include/nuttx/version.h
@@ -331,7 +343,7 @@ dirlinks: include/arch include/arch/board include/arch/chip $(ARCH_SRC)/board $(
 # the config.h and version.h header files in the include/nuttx directory and
 # the establishment of symbolic links to configured directories.
 
-context: check_context include/nuttx/config.h include/nuttx/version.h dirlinks
+context: check_context include/nuttx/config.h include/nuttx/version.h include/math.h dirlinks
 	@for dir in $(CONTEXTDIRS) ; do \
 		$(MAKE) -C $$dir TOPDIR="$(TOPDIR)" context; \
 	done
@@ -343,6 +355,8 @@ context: check_context include/nuttx/config.h include/nuttx/version.h dirlinks
 
 clean_context:
 	@rm -f include/nuttx/config.h
+	@rm -f include/nuttx/version.h
+	@rm -f include/math.h
 	@$(DIRUNLINK) include/arch/board
 	@$(DIRUNLINK) include/arch/chip
 	@$(DIRUNLINK) include/arch
diff --git a/nuttx/README.txt b/nuttx/README.txt
index 5c3ec5683..47e50a870 100755
--- a/nuttx/README.txt
+++ b/nuttx/README.txt
@@ -128,8 +128,8 @@ Notes about Header Files:
 
   Header Files Provided by Your Toolchain.
 
-    Certain header files, such as setjmp.h and varargs.h, may still be
-    needed from your toolchain and your compiler may not, however, be able
+    Certain header files, such as setjmp.h, stdargs.h, and math.h, may still
+    be needed from your toolchain and your compiler may not, however, be able
     to find these if you compile NuttX without using standard header file.
     If that is the case, one solution is to copy those header file from
     your toolchain into the NuttX include directory.
@@ -148,11 +148,21 @@ Notes about Header Files:
     Even though you should not use a foreign C-Library, you may still need
     to use other, external libraries with NuttX.  In particular, you may
     need to use the math library, libm.a.  The math libary header file,
-    math.h, is a special case.  A stub math.h header file is included at
-    nuttx/include/math.h.  This stub header file can be used to "redirect"
-    the inclusion to an architecture-specific math.h header file.  But, if
-    you need your toolchain's math.h header file, the simplest thing to do
-    is probably to just remove the nuttx/include/math.h header file.
+    math.h, is a special case.  If you do nothing, the standard math.h
+    header file that is provided with your toolchain will be used.
+
+    If you have a custom, architecture specific math.h header file, then
+    that header file should be placed at arch/<cpu>/include/math.h.  There
+    is a stub math.h header file located at include/nuttx/math.h.  This stub
+    header file can be used to "redirect" the inclusion to an architecture-
+    specific math.h header file.  If you add an architecture specific math.h
+    header file then you should also define CONFIG_ARCH_MATH_H=y in your
+    NuttX Configuration file.  If CONFIG_ARCH_MATH_H is selected, then the
+    top-level Makefile will copy the stub math.h header file from
+    include/nuttx/matn.h to include/math.h where it will become the system
+    math.h header file.  The stub math.h header file does nothing other
+    than to include that archicture-specific math.h header file as the
+    system math.h header file.
 
 CONFIGURING NUTTX
 ^^^^^^^^^^^^^^^^^
diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
index 2bf2c9e8d..19bd3f17b 100755
--- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
+++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c
@@ -120,15 +120,16 @@
 #define STM32_TRACEERR_DISPATCHSTALL        0x000f
 #define STM32_TRACEERR_DRIVER               0x0010
 #define STM32_TRACEERR_DRIVERREGISTERED     0x0011
-#define STM32_TRACEERR_EP0SETUPSTALLED      0x0012
-#define STM32_TRACEERR_EPINNULLPACKET       0x0013
-#define STM32_TRACEERR_EPOUTNULLPACKET      0x0014
-#define STM32_TRACEERR_INVALIDCTRLREQ       0x0015
-#define STM32_TRACEERR_INVALIDPARMS         0x0016
-#define STM32_TRACEERR_IRQREGISTRATION      0x0017
-#define STM32_TRACEERR_NOEP                 0x0018
-#define STM32_TRACEERR_NOTCONFIGURED        0x0019
-#define STM32_TRACEERR_EPOUTQEMPTY          0x001a
+#define STM32_TRACEERR_EP0NOSETUP           0x0012
+#define STM32_TRACEERR_EP0SETUPSTALLED      0x0013
+#define STM32_TRACEERR_EPINNULLPACKET       0x0014
+#define STM32_TRACEERR_EPOUTNULLPACKET      0x0015
+#define STM32_TRACEERR_INVALIDCTRLREQ       0x0016
+#define STM32_TRACEERR_INVALIDPARMS         0x0017
+#define STM32_TRACEERR_IRQREGISTRATION      0x0018
+#define STM32_TRACEERR_NOEP                 0x0019
+#define STM32_TRACEERR_NOTCONFIGURED        0x001a
+#define STM32_TRACEERR_EPOUTQEMPTY          0x001b
 
 /* Trace interrupt codes */
 
@@ -333,6 +334,7 @@ struct stm32_usbdev_s
   uint8_t                 configured:1;  /* 1: Class driver has been configured */
   uint8_t                 wakeup:1;      /* 1: Device remote wake-up */
   uint8_t                 dotest:1;      /* 1: Test mode selected */
+  uint8_t                 setup:1;       /* 1: SETUP received */
 
   uint8_t                 devstate;      /* See enum stm32_devstate_e */
   uint8_t                 ep0state;      /* See enum stm32_ep0state_e */
@@ -374,6 +376,7 @@ static bool       stm32_addlast(FAR struct stm32_ep_s *privep,
 
 static inline void stm32_ep0xfer(uint8_t epphy, FAR uint8_t *data, uint32_t nbytes);
 static void        stm32_ep0read(FAR uint8_t *dest, uint16_t len);
+static void        stm32_ep0configsetup(FAR struct stm32_usbdev_s *priv)
 
 /* IN request handling */
 
@@ -728,6 +731,24 @@ static void stm32_ep0read(FAR uint8_t *dest, uint16_t len)
     }
 }
 
+/*******************************************************************************
+ * Name: stm32_ep0configsetup
+ *
+ * Description:
+ *   Setup to receive a SETUP packet.
+ *
+ *******************************************************************************/
+
+static void stm32_ep0configsetup(FAR struct stm32_usbdev_s *priv)
+{
+  uint32_t regval;
+
+  regval = (USB_SIZEOF_CTRLREQ * 3 << OTGFS_DOEPTSIZ0_XFRSIZ_SHIFT) ||
+           (OTGFS_DOEPTSIZ0_PKTCNT) ||
+           (3 << OTGFS_DOEPTSIZ0_STUPCNT_SHIFT);
+  stm32_putreg(regval, STM32_OTGFS_DOEPTSIZ0);
+}
+
 /****************************************************************************
  * Name: stm32_wrrequest
  *
@@ -943,49 +964,105 @@ static void stm32_epoutsetup(FAR struct stm32_usbdev_s *priv,
                              FAR struct stm32_ep_s *privep)
 {
   struct stm32_req_s *privreq;
+  uint32_t regaddr;
+  uint32_t regval;
+  uint32_t xfrsize;
+  uint32_t pktcnt;
 
-  /* Loop until a valid request is found (or the request queue is empty) */
+  /* Make sure that there is not already a pending request request.  If there is,
+   * just return, leaving the newly received request in the request queue.
+   */
 
-  for (;;)
+  if (!priv->active)
     {
-     /* Get a reference to the request at the head of the endpoint's request queue */
+      /* Loop until a valid request is found (or the request queue is empty).
+       * The loop is only need to look at the request queue again is an invalid
+       * read request is encountered.
+       */
 
-      privreq = stm32_rqpeek(privep);
-      if (!privreq)
+      for (;;)
         {
-          /* There are no read requests to be setup.  Configure the hardware to
-           * NAK any incoming packets.
-           */
+          /* Get a reference to the request at the head of the endpoint's request queue */
+
+          privreq = stm32_rqpeek(privep);
+          if (!privreq)
+            {
+              /* There are no read requests to be setup.  Configure the hardware to
+               * NAK any incoming packets.
+               */
 #warning "Missing logic"
 
-          usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EPOUTQEMPTY), privep->epphy);
-          privep->active = false;
-          return;
-        }
+              usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EPOUTQEMPTY), privep->epphy);
+              privep->active = false;
+              return;
+            }
 
-      ullvdbg("EP%d: len=%d\n", privep->epphy, privreq->req.len);
+          ullvdbg("EP%d: len=%d\n", privep->epphy, privreq->req.len);
 
-      /* Ignore any attempt to receive a zero length packet (this really
-       * should not happen.
-       */
+          /* Ignore any attempt to receive a zero length packet (this really
+           * should not happen.
+           */
 
-      if (privreq->req.len == 0)
-        {
-          usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EPOUTNULLPACKET), 0);
-          stm32_reqcomplete(privep, OK);
+          if (privreq->req.len <= 0)
+            {
+              usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EPOUTNULLPACKET), 0);
+              stm32_reqcomplete(privep, OK);
+            }
+
+          /* Otherwise, we have a usable read request... break out of the loop */
+
+          else
+            {
+              break;
+            }
         }
 
-      /* Otherwise, we have a usable read request... break out of the loop */
+      /* Setup the pending read into the request buffer.  First calculate:
+       *
+       * pktcnt   = the number of packets (of maxpacket bytes) required to
+       *   perform the transfer.
+       * xfrsize = The total number of bytes required (in units of
+       *   maxpacket bytes).
+       */
 
-      else
+      pktcnt  = (privreq->req.len + (privep->ep.maxpacket - 1)) / privep->ep.maxpacket;
+      xfrsize = pktcnt * privep->ep.maxpacket;
+
+      /* Then setup the hardware to perform this transfer */
+
+      regaddr = STM32_OTGFS_DOEPTSIZ(privep->epphy);
+      regval  = stm32_getreg(regaddr);
+      regval &= ~(OTGFS_DOEPTSIZ_XFRSIZ_MASK | OTGFS_DOEPTSIZ_PKTCNT_MASK);
+      regval |= (xfrsize << OTGFS_DOEPTSIZ_XFRSIZ_SHIFT);
+      regval |= (pktcnt  << OTGFS_DOEPTSIZ_PKTCNT_SHIFT);
+      stm32_putreg(regval, regaddr);
+
+      /* Then enable the transfer */
+
+      regaddr = STM32_OTGFS_DOEPCTL(privep->epphy);
+      regval  = stm32_getreg(regaddr);
+
+#ifdef CONFIG_USBDEV_ISOCHRONOUS
+      if (privep->eptype == USB_EP_ATTR_XFER_ISOC)
         {
-          break;
+          if (privep->odd)
+            {
+              regval |= OTGFS_DOEPCTL_SD1PID;
+            }
+          else
+            {
+              regval |= OTGFS_DOEPCTL_SD0PID;
+            }
         }
-    }
+#endif
 
-  /* Set up the pending read into the request buffer */
-#warning "Missing logic"
-  privep->active = true;
+      regval |= (OTGFS_DOEPCTL_CNAK | OTGFS_DOEPCTL_EPENA);
+      stm32_putreg(regval, regaddr);
+
+      /* A transfer is now active on this endpoint */
+
+      privep->active = true;
+    }
 }
 
 /*******************************************************************************
@@ -1267,6 +1344,8 @@ static void stm32_ep0complete(struct stm32_usbdev_s *priv, uint8_t epphy)
       break;
     }
 
+  /* Check if the packet processing resulting in a STALL */
+
   if (priv->stalled)
     {
       usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EP0SETUPSTALLED), priv->ep0state);
@@ -1816,6 +1895,14 @@ static inline void stm32_ep0setup(struct stm32_usbdev_s *priv)
 {
   struct stm32_ctrlreq_s ctrlreq;
 
+  /* Verify that a SETUP was received */
+
+  if (!priv->setup)
+    {
+      usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EP0NOSETUP), priv->ep0state);
+      return;
+    }
+
   /* Terminate any pending requests - since all DTDs will have been retired 
    * because of the setup packet.
    */
@@ -1829,10 +1916,6 @@ static inline void stm32_ep0setup(struct stm32_usbdev_s *priv)
   priv->epin[EP0].stalled = false;
   priv->stalled = false;
 
-  /* Read EP0 setup data */
-#warning "Doesn't this conflict with logic in stm32_rxinterrupt?"
-  stm32_ep0read((FAR uint8_t*)&ctrlreq, USB_SIZEOF_CTRLREQ);
-
   /* Starting a control request - update state */
 
   priv->ep0state = (priv->ctrlreq.type & USB_REQ_DIR_IN) ? EP0STATE_SETUP_IN : EP0STATE_SETUP_OUT;
@@ -1863,11 +1946,17 @@ static inline void stm32_ep0setup(struct stm32_usbdev_s *priv)
       stm32_stdrequest(priv, &ctrlreq);
     }
 
+  /* Check if the setup processing resulted in a STALL */
+
   if (priv->stalled)
     {
       usbtrace(TRACE_DEVERROR(STM32_TRACEERR_EP0SETUPSTALLED), priv->ep0state);
       stm32_ep0stall(priv);
     }
+
+  /* The SETUP data has been processed */
+
+  priv->setup = false;
 }
 
 /*******************************************************************************
@@ -1909,7 +1998,7 @@ static inline void stm32_epout(FAR struct stm32_usbdev_s *priv, uint8_t epno)
         {
           priv->ep0state = EP0STATE_STATUS_OUT;
           stm32_rxsetup(priv, privep, NULL, 0);
-          stm32_ep0outstart(priv);
+          stm32_ep0configsetup(priv);
         }
     }
 
@@ -1960,7 +2049,11 @@ static inline void stm32_epoutinterrupt(FAR struct stm32_usbdev_s *priv)
           doepint  = stm32_getreg(STM32_OTGFS_DOEPINT(epno));
           doepint &= stm32_getreg(STM32_OTGFS_DOEPMSK);
 
-          /* Transfer completed interrupt */
+          /* Transfer completed interrupt.  This interrupt is trigged when
+           * stm32_rxinterrupt() removes the last packet data from the RxFIFO.
+           * In this case, core internally sets the NAK bit for this endpoint to
+           * prevent it from receiving any more packets.
+           */
 
           if ((doepint & OTGFS_DOEPINT_XFRC) != 0)
             {
@@ -2384,10 +2477,16 @@ static inline void stm32_rxinterrupt(FAR struct stm32_usbdev_s *priv)
       {
         usbtrace(TRACE_INTDECODE(STM32_TRACEINTID_SETUPRECVD), epphy);
 
-        /* Read EP0 setup data */
+        /* Read EP0 setup data.  NOTE:  If multipe SETUP packets are received,
+         * the last one overwrites the previous setup packets and only that
+         * last SETUP packet will be processed.
+         */
 
         stm32_ep0read((FAR uint8_t*)&priv->ctrlreq, USB_SIZEOF_CTRLREQ);
-#warning "REVISIT... doesn't this conflict with logic in ep0setup?"
+
+        /* The SETUP data has been processed */
+
+        priv->setup = false;
       }
       break;
 
@@ -2571,7 +2670,7 @@ static int stm32_usbinterrupt(int irq, FAR void *context)
         }
       usbtrace(TRACE_INTENTRY(STM32_TRACEINTID_USB), (uint16_t)regval);
 
-      /* OUT endpoint interrupt */
+      /* OUT endpoint interrupt. */
 
       if ((regval & OTGFS_GINT_OEP) != 0)
         {
@@ -3391,7 +3490,7 @@ static void stm32_ep0stall(FAR struct stm32_usbdev_s *priv)
   stm32_epsetstall(&priv->epin[EP0]);
   stm32_epsetstall(&priv->epout[EP0]);
   priv->stalled = true;
-  stm32_ep0outstart(priv);
+  stm32_ep0configsetup(priv);
 }
 
 /*******************************************************************************
@@ -3476,9 +3575,11 @@ static FAR struct usbdev_ep_s *stm32_allocep(FAR struct usbdev_s *dev, uint8_t e
       epset &= STM32_EPBULKSET;
       break;
 
+#ifdef CONFIG_USBDEV_ISOCHRONOUS
     case USB_EP_ATTR_XFER_ISOC: /* Isochronous endpoint */
       epset &= STM32_EPISOCSET;
       break;
+#endif
 
     case USB_EP_ATTR_XFER_CONTROL: /* Control endpoint -- not a valid choice */
     default:
diff --git a/nuttx/include/math.h b/nuttx/include/nuttx/math.h
index c14220146..e44497241 100644
--- a/nuttx/include/math.h
+++ b/nuttx/include/nuttx/math.h
@@ -1,8 +1,8 @@
 /****************************************************************************
- * include/math.h
+ * include/nuttx/math.h
  *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <spudmonkey@racsa.co.cr>
+ *   Copyright (C) 2009, 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,8 @@
  *
  ****************************************************************************/
 
-#ifndef __INCLUDE_MATH_H
-#define __INCLUDE_MATH_H
+#ifndef __INCLUDE_NUTTX_MATH_H
+#define __INCLUDE_NUTTX_MATH_H
 
 /****************************************************************************
  * Included Files
@@ -42,9 +42,15 @@
 
 #include <nuttx/config.h>
 
+/* If CONFIG_ARCH_MATH_H is defined, then the top-level Makefile will copy
+ * this header file to include/math.h where it will become the system math.h
+ * header file.  In this case, the architecture specific code must provide
+ * an arch/<cpy>/include/math.h file which will be included below:
+ */
+
 #ifdef CONFIG_ARCH_MATH_H
 #  include <arch/math.h>
-#else
+#endif
 
 /****************************************************************************
  * Type Definitions
@@ -54,17 +60,4 @@
  * Public Function Prototypes
  ****************************************************************************/
 
-#ifdef __cplusplus
-#define EXTERN extern "C"
-extern "C" {
-#else
-#define EXTERN extern
-#endif
-
-#undef EXTERN
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* CONFIG_ARCH_MATH_H */
-#endif /* __INCLUDE_MATH_H */
+#endif /* __INCLUDE_NUTTX_MATH_H */